version: 66.09
glider: 166
mission: 6
dive: 390
start: 10 17 111 8 15 58
data:
$ID,166
$MISSION,6
$DIVE,390
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,240
$T_MISSION,270
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,240
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24893.982
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,20
$C_ROLL_DIVE,1610
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,171011,080807,2334.863,12353.833,47,1.1,47,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-60.2
$GPS2,171011,081536,2334.837,12353.898,46,1.6,62,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2329.438,12343.701
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,243.3,20000,-16.7,-13.750
$D_GRID,3148
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-292.0,0.0,0.0,0,133,0.00,0.00,-113.45,0.000,2,0.000,0.000,119,1567,3160,0,0,0,0,0,0
$GC,136,-0.73,-292.0,6.1,-9.7,16,167,9.35,1.12,-14.52,0.000,4,0.219,0.066,2492,2303,3963,0,0,0,0,0,0
$GC,348,-0.64,-292.0,77.7,-23.2,54,357,0.12,0.98,0.00,0.000,6,0.148,0.039,2534,1642,3964,0,0,0,0,0,0
$GC,671,-0.61,-292.0,138.6,-16.4,115,681,0.00,1.08,0.00,0.000,4,0.000,0.041,2533,913,3966,0,0,0,0,0,0
$GC,697,-0.58,-292.0,142.8,-17.2,118,705,0.00,1.02,0.00,0.000,6,0.000,0.037,2530,1607,3965,0,0,0,0,0,0
$GC,1020,-0.55,-292.0,198.4,-17.1,179,1029,0.12,1.05,0.00,0.000,4,0.170,0.044,2560,2311,3965,0,0,0,0,0,0
$GC,1065,-0.56,-292.0,204.4,-13.8,186,1073,0.00,1.05,0.00,0.000,6,0.000,0.038,2560,1606,3966,0,0,0,0,0,0
$GC,1389,-0.59,-292.0,243.0,-10.9,247,1397,0.00,1.05,0.00,0.000,4,0.000,0.045,2556,2303,3965,0,0,0,0,0,0
$GC,1488,-0.62,-292.0,253.7,-9.8,262,1492,0.00,1.05,0.00,0.000,6,0.000,0.041,2557,1606,3965,0,0,0,0,0,0
$GC,1821,-0.65,-292.0,290.1,-12.0,293,1825,0.00,1.05,0.00,0.000,4,0.000,0.046,2552,2300,3965,0,0,0,0,0,0
$GC,1891,-0.69,-292.0,298.2,-10.9,299,1895,0.00,1.05,0.00,0.000,6,0.000,0.041,2552,1607,3965,0,0,0,0,0,0
$GC,2224,-0.71,-292.0,336.0,-11.0,330,2228,0.12,1.08,0.00,0.000,4,0.083,0.047,2472,2298,3964,0,0,0,0,0,0
$GC,2378,-0.67,-292.0,360.4,-16.2,343,2385,0.15,1.05,0.00,0.000,6,0.135,0.042,2523,1608,3963,0,0,0,0,0,0
$GC,2705,-0.67,-292.0,400.5,-12.2,374,2708,0.00,1.08,0.00,0.000,4,0.000,0.049,2520,2306,3962,0,0,0,0,0,0
$GC,2799,-0.69,-292.0,411.3,-11.4,382,2802,0.00,1.05,0.00,0.000,6,0.000,0.042,2520,1609,3961,0,0,0,0,0,0
$GC,3130,-0.70,-292.0,452.2,-12.1,413,3134,0.00,1.05,0.00,0.000,4,0.000,0.050,2516,2296,3960,0,0,0,0,0,0
$GC,3172,-0.72,-292.0,456.8,-11.2,416,3179,0.00,1.05,0.00,0.000,6,0.000,0.043,2516,1607,3959,0,0,0,0,0,0
$GC,3498,-0.74,-292.0,494.1,-10.9,447,3501,0.00,1.08,0.00,0.000,4,0.000,0.051,2510,2295,3957,0,0,0,0,0,0
$GC,3569,-0.77,-292.0,501.5,-10.6,453,3573,0.00,1.05,0.00,0.000,6,0.000,0.043,2510,1608,3956,0,0,0,0,0,0
$GC,3901,-0.78,-292.0,540.7,-12.2,484,3904,0.00,1.08,0.00,0.000,4,0.000,0.052,2506,2298,3955,0,0,0,0,0,0
$GC,3962,-0.81,-292.0,547.4,-11.7,489,3966,0.00,1.05,0.00,0.000,6,0.000,0.045,2506,1609,3954,0,0,0,0,0,0
$GC,4294,-0.82,-292.0,587.7,-11.4,520,4297,0.00,1.08,0.00,0.000,4,0.000,0.054,2502,2301,3951,0,0,0,0,0,0
$GC,4357,-0.85,-292.0,594.2,-10.0,525,4364,0.00,1.05,0.00,0.000,6,0.000,0.047,2502,1614,3950,0,0,0,0,0,0
$GC,4686,-0.86,-292.0,629.9,-10.9,544,4691,0.10,1.08,0.00,0.000,4,0.100,0.055,2440,2291,3948,0,0,0,0,0,0
$GC,4726,-0.82,-292.0,635.3,-14.5,545,4733,0.10,1.05,0.00,0.000,6,0.142,0.047,2474,1607,3947,0,0,0,0,0,0
$GC,5043,-0.81,-292.0,677.4,-12.9,561,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1607,3945,0,0,0,0,0,0
$GC,5354,-0.79,-292.0,716.1,-12.5,576,5358,0.00,1.08,0.00,0.000,4,0.000,0.057,2484,2292,3942,0,0,0,0,0,0
$GC,5404,-0.79,-292.0,722.8,-12.0,578,5408,0.00,1.05,0.00,0.000,6,0.000,0.047,2485,1607,3942,0,0,0,0,0,0
$GC,5732,-0.79,-292.0,764.1,-12.8,594,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1607,3939,0,0,0,0,0,0
$GC,6043,-0.79,-292.0,805.4,-13.5,609,6047,0.00,1.08,0.00,0.000,4,0.000,0.059,2482,2291,3937,0,0,0,0,0,0
$GC,6071,-0.79,-292.0,809.5,-13.1,610,6074,0.00,1.05,0.00,0.000,6,0.000,0.048,2482,1607,3936,0,0,0,0,0,0
$GC,6398,-0.79,-292.0,855.2,-14.2,626,6402,0.00,1.08,0.00,0.000,4,0.000,0.060,2477,2289,3934,0,0,0,0,0,0
$GC,6427,-0.79,-292.0,859.2,-13.7,627,6431,0.00,1.05,0.00,0.000,6,0.000,0.050,2477,1609,3934,0,0,0,0,0,0
$GC,6755,-0.78,-292.0,906.0,-14.0,643,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1609,3931,0,0,0,0,0,0
$GC,7067,-0.77,-292.0,947.7,-13.3,658,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1609,3929,0,0,0,0,0,0
$GC,7373,-0.77,-292.0,986.7,-12.2,673,7377,0.00,1.10,0.00,0.000,4,0.000,0.063,2472,2290,3927,0,0,0,0,0,0
$STATE,7398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7398,begin apogee
$GC,7405,-0.11,0.0,990.2,11.7,674,7636,0.70,0.00,226.23,1.427,6,0.122,0.000,2700,1781,2884,0,0,0,0,0,0
$STATE,7639,end apogee,CONTROL_FINISHED_OK
$STATE,7639,begin climb
$GC,7641,0.73,292.0,999.1,0.0,685,7917,0.77,1.15,267.17,1.370,4,0.057,0.053,2993,1068,1692,0,0,0,0,0,0
$GC,7943,0.68,292.0,957.7,18.0,699,7947,0.00,1.12,0.00,0.000,6,0.000,0.051,2993,1756,1690,0,0,0,0,0,0
$GC,8277,0.64,292.0,897.8,17.3,715,8281,0.15,1.15,0.00,0.000,4,0.174,0.060,2948,2491,1686,0,0,0,0,0,0
$GC,8384,0.68,326.5,883.2,12.7,719,8421,0.00,1.10,32.50,1.299,6,0.000,0.048,2951,1784,1552,0,0,0,0,0,0
$GC,8737,0.71,349.6,836.7,13.0,737,8762,0.00,0.00,22.58,1.261,6,0.000,0.000,2951,1784,1458,0,0,0,0,0,0
$GC,9069,0.75,381.5,794.5,12.7,753,9104,0.10,1.12,30.77,1.266,4,0.103,0.050,3010,1044,1327,0,0,0,0,0,0
$GC,9136,0.71,381.5,783.4,17.4,756,9140,0.10,1.17,0.00,0.000,6,0.143,0.047,2980,1787,1326,0,0,0,0,0,0
$GC,9472,0.70,381.5,733.1,15.1,772,9476,0.00,1.05,0.00,0.000,4,0.000,0.056,2979,2484,1323,0,0,0,0,0,0
$GC,9499,0.70,381.5,728.2,14.9,773,9503,0.00,1.10,0.00,0.000,6,0.000,0.045,2982,1766,1323,0,0,0,0,0,0
$GC,9827,0.68,381.5,677.1,15.8,789,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1766,1322,0,0,0,0,0,0
$GC,10138,0.67,381.5,628.5,15.5,804,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1766,1321,0,0,0,0,0,0
$GC,10449,0.66,381.5,580.0,15.1,825,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1766,1321,0,0,0,0,0,0
$GC,10771,0.65,381.5,530.7,15.6,855,10775,0.00,1.12,0.00,0.000,4,0.000,0.053,2979,2487,1320,0,0,0,0,0,0
$GC,10817,0.65,381.5,523.1,14.9,859,10821,0.00,1.10,0.00,0.000,6,0.000,0.044,2982,1773,1320,0,0,0,0,0,0
$GC,11148,0.65,381.5,474.6,14.4,890,11152,0.00,1.08,0.00,0.000,4,0.000,0.049,2988,1065,1320,0,0,0,0,0,0
$GC,11186,0.65,381.5,468.9,14.3,893,11194,0.08,1.10,0.00,0.000,6,0.148,0.042,2959,1796,1320,0,0,0,0,0,0
$GC,11512,0.79,470.4,430.9,10.9,924,11602,0.12,1.17,78.60,1.043,4,0.090,0.046,3034,1074,964,0,0,0,0,0,0
$GC,11638,0.76,470.4,408.6,19.2,935,11643,0.12,1.10,0.00,0.000,6,0.131,0.041,2994,1785,963,0,0,0,0,0,0
$GC,11969,0.78,470.6,360.9,13.7,966,11973,0.00,1.05,0.00,0.000,4,0.000,0.049,2993,2476,960,0,0,0,0,0,0
$GC,11995,0.83,494.0,357.7,13.0,968,12021,0.00,1.08,20.92,0.929,6,0.000,0.041,2996,1770,870,0,0,0,0,0,0
$GC,12347,0.85,494.0,309.8,14.1,1001,12351,0.00,1.05,0.00,0.000,4,0.000,0.047,3001,1075,865,0,0,0,0,0,0
$GC,12373,0.88,494.0,306.5,14.0,1003,12377,0.00,1.08,0.00,0.000,6,0.000,0.039,2998,1790,865,0,0,0,0,0,0
$GC,12705,0.94,520.9,262.8,12.9,1034,12734,0.15,1.15,24.88,0.852,4,0.074,0.044,3084,1066,759,0,0,0,0,0,0
$GC,12789,0.89,520.9,246.1,23.7,1042,12798,0.15,1.08,0.00,0.000,6,0.138,0.039,3035,1780,755,0,0,0,0,0,0
$GC,13116,0.89,520.9,188.8,16.1,1103,13126,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1780,752,0,0,0,0,0,0
$GC,13443,0.91,520.9,138.9,14.3,1164,13451,0.00,1.08,0.00,0.000,4,0.000,0.044,3030,1071,751,0,0,0,0,0,0
$GC,13480,0.93,520.9,133.2,14.3,1170,13488,0.00,1.05,0.00,0.000,6,0.000,0.036,3028,1786,751,0,0,0,0,0,0
$GC,13808,1.10,610.9,92.0,10.9,1231,13886,0.20,1.12,69.53,0.722,4,0.062,0.041,3140,1067,453,0,0,0,0,0,0
$GC,13949,1.06,610.9,62.0,20.1,1253,13958,0.15,1.05,0.00,0.000,6,0.130,0.036,3091,1780,445,0,0,0,0,0,0
$GC,14279,1.14,648.8,23.0,12.6,1314,14287,0.00,1.08,0.00,0.000,4,0.000,0.044,3093,1068,436,0,0,0,0,0,0
$GC,14342,1.25,720.1,14.1,11.5,1325,14350,0.12,1.05,0.00,0.000,6,0.043,0.035,3179,1783,435,0,0,0,0,0,0
$STATE,14402,end climb,SURFACE_DEPTH_REACHED
$STATE,14402,begin surface coast
$FINISH,1.3,1.019759
$STATE,14413,end surface coast,CONTROL_FINISHED_OK
$STATE,14417,begin surface
$SM_CCo,14495,0.00,0.000,0,0,434,600.98
$SM_GC,1.95,7.90,0.00,0.00,0.038,0.000,0.000,133,1568,434,-8.04,-1.19,600.98,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12353.80,171011,030348
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.62
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.70
$XPDR_PINGS,117
$24V_AH,23.0,94.392
$10V_AH,9.8,65.751
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.900,62.425,773.175,0.000,0.000,27.217,20.940,189.994,29.250,0.000,63.301,3136.673,7299.291,754.854,3273.615,459.962,0.000,2085.482,0.000,2993.919,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,65.790,1427.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.435,1369.154,1511.389,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330452
$DATA_FILE_SIZE,73608,1338
$CAP_FILE_SIZE,162501,0
$CFSIZE,260165632,112504832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,121855,2333.966,12352.782,42,1.4,43,-3.3