version: 66.09
glider: 166
mission: 6
dive: 391
start: 10 17 111 12 28 11
data:
$ID,166
$MISSION,6
$DIVE,391
$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,-24895.24
$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,77
$R_STBD_OVSHOOT,54
$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
$GPS1,171011,121855,2333.966,12352.782,42,1.4,43,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-59.1
$GPS2,171011,122749,2333.923,12352.752,33,1.8,45,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2328.524,12342.556
$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,3265
$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,-113.43,0.000,2,0.000,0.000,121,1569,3185,0,0,0,0,0,0
$GC,136,-0.73,-292.0,6.4,-11.0,16,166,9.38,1.08,-14.23,0.000,4,0.219,0.060,2498,2311,3963,0,0,0,0,0,0
$GC,404,-0.67,-292.0,90.7,-19.8,65,412,0.10,1.00,0.00,0.000,6,0.144,0.037,2525,1629,3964,0,0,0,0,0,0
$GC,729,-0.63,-292.0,149.3,-17.1,126,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1629,3965,0,0,0,0,0,0
$GC,1058,-0.61,-292.0,204.3,-16.6,187,1066,0.00,1.00,0.00,0.000,4,0.000,0.043,2522,2299,3966,0,0,0,0,0,0
$GC,1117,-0.60,-292.0,213.2,-15.0,197,1126,0.08,1.00,0.00,0.000,6,0.135,0.037,2547,1618,3966,0,0,0,0,0,0
$GC,1444,-0.61,-292.0,256.9,-12.3,253,1448,0.00,1.02,0.00,0.000,4,0.000,0.044,2545,2297,3966,0,0,0,0,0,0
$GC,1500,-0.63,-292.0,263.6,-10.9,258,1504,0.00,1.02,0.00,0.000,6,0.000,0.038,2545,1607,3965,0,0,0,0,0,0
$GC,1831,-0.64,-292.0,302.6,-12.4,289,1835,0.00,1.05,0.00,0.000,4,0.000,0.045,2541,2298,3965,0,0,0,0,0,0
$GC,1934,-0.67,-292.0,314.6,-11.1,298,1938,0.00,1.02,0.00,0.000,6,0.000,0.040,2541,1612,3965,0,0,0,0,0,0
$GC,2266,-0.69,-292.0,354.1,-11.8,329,2269,0.00,1.05,0.00,0.000,4,0.000,0.048,2536,2299,3963,0,0,0,0,0,0
$GC,2439,-0.72,-292.0,372.6,-10.1,344,2446,0.00,1.05,0.00,0.000,6,0.000,0.042,2536,1602,3962,0,0,0,0,0,0
$GC,2765,-0.74,-292.0,409.8,-11.9,375,2769,0.00,1.05,0.00,0.000,4,0.000,0.049,2531,2293,3960,0,0,0,0,0,0
$GC,2857,-0.78,-292.0,420.2,-10.6,383,2861,0.08,1.02,0.00,0.000,6,0.050,0.042,2464,1607,3960,0,0,0,0,0,0
$GC,3187,-0.73,-292.0,477.0,-17.1,414,3189,0.15,0.00,0.00,0.000,6,0.162,0.000,2506,1607,3958,0,0,0,0,0,0
$GC,3506,-0.73,-292.0,515.8,-12.1,444,3509,0.00,1.05,0.00,0.000,4,0.000,0.050,2503,2287,3956,0,0,0,0,0,0
$GC,3552,-0.74,-292.0,521.4,-12.3,448,3556,0.00,1.02,0.00,0.000,6,0.000,0.043,2504,1614,3956,0,0,0,0,0,0
$GC,3883,-0.74,-292.0,559.8,-11.0,479,3887,0.00,1.05,0.00,0.000,4,0.000,0.053,2499,2291,3953,0,0,0,0,0,0
$GC,3975,-0.76,-292.0,569.8,-10.7,487,3979,0.00,1.05,0.00,0.000,6,0.000,0.044,2499,1602,3952,0,0,0,0,0,0
$GC,4308,-0.76,-292.0,607.8,-11.2,515,4311,0.00,1.08,0.00,0.000,4,0.000,0.053,2494,2287,3950,0,0,0,0,0,0
$GC,4426,-0.78,-292.0,620.8,-10.3,520,4430,0.00,1.05,0.00,0.000,6,0.000,0.046,2494,1607,3949,0,0,0,0,0,0
$GC,4755,-0.78,-292.0,660.9,-12.9,536,4759,0.00,1.05,0.00,0.000,4,0.000,0.055,2492,2287,3946,0,0,0,0,0,0
$GC,4795,-0.80,-292.0,666.4,-12.8,537,4801,0.00,1.05,0.00,0.000,6,0.000,0.047,2492,1605,3946,0,0,0,0,0,0
$GC,5111,-0.80,-292.0,708.5,-13.3,553,5115,0.00,1.08,0.00,0.000,4,0.000,0.057,2488,2290,3943,0,0,0,0,0,0
$GC,5146,-0.81,-292.0,713.0,-12.8,554,5150,0.00,1.05,0.00,0.000,6,0.000,0.047,2488,1606,3942,0,0,0,0,0,0
$GC,5468,-0.81,-292.0,752.5,-12.1,570,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1606,3939,0,0,0,0,0,0
$GC,5780,-0.82,-292.0,787.9,-11.4,585,5784,0.00,1.08,0.00,0.000,4,0.000,0.059,2494,2287,3938,0,0,0,0,0,0
$GC,5819,-0.84,-292.0,792.6,-11.1,586,5826,0.00,1.05,0.00,0.000,6,0.000,0.050,2497,1610,3937,0,0,0,0,0,0
$GC,6135,-0.84,-292.0,829.0,-11.6,602,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1610,3935,0,0,0,0,0,0
$GC,6447,-0.85,-292.0,863.8,-11.2,617,6451,0.00,1.10,0.00,0.000,4,0.000,0.061,2495,2293,3932,0,0,0,0,0,0
$GC,6509,-0.87,-292.0,870.9,-10.3,619,6516,0.00,1.05,0.00,0.000,6,0.000,0.050,2494,1618,3931,0,0,0,0,0,0
$GC,6827,-0.87,-292.0,906.3,-11.5,635,6831,0.00,1.05,0.00,0.000,4,0.000,0.061,2490,2282,3929,0,0,0,0,0,0
$GC,6861,-0.88,-292.0,910.3,-10.7,636,6865,0.00,1.05,0.00,0.000,6,0.000,0.051,2490,1607,3929,0,0,0,0,0,0
$GC,7185,-0.88,-292.0,947.2,-11.8,652,7189,0.00,1.08,0.00,0.000,4,0.000,0.056,2490,910,3927,0,0,0,0,0,0
$GC,7221,-0.88,-292.0,951.8,-12.1,653,7224,0.00,1.08,0.00,0.000,6,0.000,0.050,2485,1596,3926,0,0,0,0,0,0
$STATE,7540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7540,begin apogee
$GC,7546,-0.11,0.0,991.0,11.8,669,7779,0.68,0.00,225.18,1.435,6,0.125,0.000,2702,1785,2883,0,0,0,0,0,0
$STATE,7781,end apogee,CONTROL_FINISHED_OK
$STATE,7781,begin climb
$GC,7783,0.73,292.0,1002.9,0.0,680,8061,0.75,1.20,266.88,1.379,4,0.055,0.055,2987,1078,1692,0,0,0,0,0,0
$GC,8114,0.69,292.0,964.4,15.8,695,8118,0.00,1.12,0.00,0.000,6,0.000,0.050,2987,1776,1690,0,0,0,0,0,0
$GC,8435,0.65,292.0,913.7,15.8,711,8439,0.12,1.10,0.00,0.000,4,0.178,0.060,2952,2484,1686,0,0,0,0,0,0
$GC,8483,0.66,300.9,907.1,13.5,713,8498,0.00,1.08,8.65,1.121,6,0.000,0.049,2955,1789,1657,0,0,0,0,0,0
$GC,8816,0.66,314.1,863.3,13.3,729,8835,0.00,0.00,14.43,1.235,6,0.000,0.000,2955,1789,1602,0,0,0,0,0,0
$GC,9146,0.66,314.1,818.1,13.9,745,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1789,1600,0,0,0,0,0,0
$GC,9453,0.66,314.1,772.5,15.2,760,9457,0.00,1.10,0.00,0.000,4,0.000,0.051,2960,1064,1598,0,0,0,0,0,0
$GC,9485,0.66,314.1,767.2,15.5,761,9490,0.00,1.12,0.00,0.000,6,0.000,0.047,2957,1788,1598,0,0,0,0,0,0
$GC,9809,0.66,314.1,718.9,14.5,777,9813,0.00,1.10,0.00,0.000,4,0.000,0.050,2960,1072,1598,0,0,0,0,0,0
$GC,9855,0.66,314.1,712.3,13.8,779,9859,0.00,1.10,0.00,0.000,6,0.000,0.045,2960,1790,1597,0,0,0,0,0,0
$GC,10188,0.69,339.5,668.9,12.9,795,10214,0.00,0.00,24.48,1.215,6,0.000,0.000,2960,1790,1498,0,0,0,0,0,0
$GC,10520,0.72,360.9,626.4,13.1,811,10545,0.00,1.12,20.85,1.164,4,0.000,0.046,2964,1075,1411,0,0,0,0,0,0
$GC,10609,0.72,361.5,614.2,13.7,815,10613,0.00,1.10,0.00,0.000,6,0.000,0.044,2964,1788,1410,0,0,0,0,0,0
$GC,10938,0.76,397.5,571.0,12.6,841,10976,0.00,1.10,34.28,1.150,4,0.000,0.053,2964,2478,1263,0,0,0,0,0,0
$GC,11001,0.83,434.3,563.0,12.6,846,11045,0.10,1.10,34.60,1.121,6,0.049,0.042,3032,1763,1112,0,0,0,0,0,0
$GC,11362,0.78,434.3,492.2,20.4,880,11367,0.12,1.12,0.00,0.000,4,0.168,0.053,2995,2484,1108,0,0,0,0,0,0
$GC,11410,0.78,434.3,483.9,16.3,884,11414,0.00,1.08,0.00,0.000,6,0.000,0.044,2997,1777,1108,0,0,0,0,0,0
$GC,11741,0.78,434.3,429.3,16.0,915,11745,0.00,1.05,0.00,0.000,4,0.000,0.048,3003,1075,1107,0,0,0,0,0,0
$GC,11826,0.78,434.3,415.8,16.1,922,11833,0.00,1.08,0.00,0.000,6,0.000,0.041,3000,1789,1106,0,0,0,0,0,0
$GC,12152,0.78,434.3,368.4,14.3,953,12155,0.00,1.08,0.00,0.000,4,0.000,0.047,3004,1083,1107,0,0,0,0,0,0
$GC,12190,0.78,434.3,362.5,14.9,956,12197,0.00,1.05,0.00,0.000,6,0.000,0.041,3000,1783,1106,0,0,0,0,0,0
$GC,12515,0.78,434.3,317.0,14.6,987,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1783,1106,0,0,0,0,0,0
$GC,12840,0.80,434.3,272.8,13.8,1017,12843,0.00,1.08,0.00,0.000,4,0.000,0.046,3004,1078,1106,0,0,0,0,0,0
$GC,12919,0.84,454.1,261.9,13.1,1024,12943,0.00,1.05,17.58,0.843,6,0.000,0.038,3000,1783,1032,0,0,0,0,0,0
$GC,13260,0.93,507.8,218.2,12.1,1079,13313,0.12,1.15,47.28,0.836,4,0.089,0.044,3076,1069,812,0,0,0,0,0,0
$GC,13356,0.90,507.8,200.8,20.8,1093,13365,0.12,1.08,0.00,0.000,6,0.138,0.037,3036,1785,808,0,0,0,0,0,0
$GC,13687,0.92,514.8,150.3,13.5,1154,13703,0.00,1.10,6.53,0.614,4,0.000,0.044,3032,1080,784,0,0,0,0,0,0
$GC,13788,0.96,535.2,135.9,13.1,1171,13811,0.00,1.02,19.40,0.728,6,0.000,0.037,3031,1773,701,0,0,0,0,0,0
$GC,14131,1.13,629.5,95.3,10.8,1234,14202,0.20,1.08,57.00,0.718,4,0.063,0.039,3142,1082,452,0,0,0,0,1,0
$GC,14214,1.07,629.5,79.1,23.4,1245,14223,0.15,1.05,0.00,0.000,6,0.135,0.037,3092,1787,449,0,0,0,0,0,0
$GC,14542,1.18,687.7,34.0,11.9,1306,14550,0.00,1.08,0.00,0.000,4,0.000,0.042,3095,1072,438,0,0,0,0,0,0
$GC,14612,1.23,705.6,24.2,13.2,1318,14620,0.10,1.05,0.00,0.000,6,0.047,0.035,3171,1786,438,0,0,0,0,0,0
$STATE,14726,end climb,SURFACE_DEPTH_REACHED
$STATE,14728,begin surface coast
$FINISH,1.2,0.997610
$STATE,14744,end surface coast,CONTROL_FINISHED_OK
$STATE,14745,begin surface
$SM_CCo,14822,0.00,0.000,0,0,436,600.49
$SM_GC,2.04,7.80,0.00,0.00,0.034,0.000,0.000,129,1590,436,-8.05,-0.57,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12352.49,171011,080836
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.57
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.70
$XPDR_PINGS,100
$24V_AH,23.0,94.684
$10V_AH,9.8,65.904
$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,20.050,62.500,777.100,0.000,0.000,28.847,23.258,285.603,25.000,0.000,45.876,3144.662,7569.035,747.253,3413.958,460.840,0.000,2112.388,0.000,3045.915,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,69.615,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.133,1372.973,1508.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,76862,1342
$CAP_FILE_SIZE,163628,0
$CFSIZE,260165632,112414720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171011,163631,2333.962,12351.481,39,1.3,39,-3.3