version: 66.09
glider: 166
mission: 6
dive: 392
start: 10 17 111 16 46 25
data:
$ID,166
$MISSION,6
$DIVE,392
$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,-24896.5
$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,53
$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
$GPS1,171011,163631,2333.962,12351.481,39,1.3,39,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-61.4
$GPS2,171011,164601,2333.951,12351.427,39,1.2,46,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2328.551,12341.230
$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,3354
$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,16,-0.73,-292.0,0.0,0.0,0,130,0.00,0.00,-110.80,0.000,2,0.000,0.000,123,1586,3118,0,0,0,0,0,0
$GC,135,-0.73,-292.0,6.0,-8.6,16,165,9.40,1.15,-14.77,0.000,4,0.220,0.068,2496,2313,3964,0,0,0,0,0,0
$GC,402,-0.65,-292.0,99.3,-22.5,65,411,0.10,1.05,0.00,0.000,6,0.148,0.038,2527,1615,3965,0,0,0,0,0,0
$GC,726,-0.61,-292.0,159.8,-18.7,126,734,0.00,1.05,0.00,0.000,4,0.000,0.045,2523,2299,3966,0,0,0,0,0,0
$GC,792,-0.58,-292.0,171.5,-17.3,137,801,0.10,1.02,0.00,0.000,6,0.135,0.041,2556,1623,3966,0,0,0,0,0,0
$GC,1119,-0.58,-292.0,217.4,-13.3,198,1127,0.00,1.02,0.00,0.000,4,0.000,0.047,2553,2295,3966,0,0,0,0,0,0
$GC,1188,-0.60,-292.0,226.2,-12.4,210,1196,0.00,1.05,0.00,0.000,6,0.000,0.041,2553,1601,3966,0,0,0,0,0,0
$GC,1514,-0.61,-292.0,268.2,-13.2,258,1517,0.00,1.05,0.00,0.000,4,0.000,0.046,2548,2296,3966,0,0,0,0,0,0
$GC,1633,-0.64,-292.0,281.6,-10.8,268,1641,0.00,1.05,0.00,0.000,6,0.000,0.041,2548,1603,3966,0,0,0,0,0,0
$GC,1959,-0.66,-292.0,318.7,-11.5,299,1963,0.00,1.05,0.00,0.000,4,0.000,0.047,2543,2296,3965,0,0,0,0,0,0
$GC,2053,-0.69,-292.0,328.7,-10.5,307,2057,0.00,1.05,0.00,0.000,6,0.000,0.041,2543,1602,3965,0,0,0,0,0,0
$GC,2384,-0.72,-292.0,365.9,-10.2,338,2388,0.00,1.05,0.00,0.000,4,0.000,0.047,2539,2295,3963,0,0,0,0,0,0
$GC,2513,-0.76,-292.0,377.8,-9.2,349,2518,0.08,1.02,0.00,0.000,6,0.050,0.041,2468,1611,3963,0,0,0,0,0,0
$GC,2846,-0.72,-292.0,435.6,-17.8,380,2851,0.15,1.08,0.00,0.000,4,0.161,0.048,2513,911,3960,0,0,0,0,0,0
$GC,2891,-0.72,-292.0,442.9,-14.4,384,2895,0.00,1.02,0.00,0.000,6,0.000,0.043,2509,1591,3960,0,0,0,0,0,0
$GC,3225,-0.72,-292.0,485.6,-13.3,415,3228,0.00,1.08,0.00,0.000,4,0.000,0.050,2503,2307,3959,0,0,0,0,0,0
$GC,3340,-0.73,-292.0,500.2,-12.1,425,3344,0.00,1.05,0.00,0.000,6,0.000,0.044,2503,1614,3958,0,0,0,0,0,0
$GC,3674,-0.73,-292.0,543.8,-12.3,456,3677,0.00,1.05,0.00,0.000,4,0.000,0.051,2498,2299,3955,0,0,0,0,0,0
$GC,3765,-0.76,-292.0,554.3,-10.6,464,3769,0.00,1.05,0.00,0.000,6,0.000,0.045,2499,1608,3954,0,0,0,0,0,0
$GC,4096,-0.76,-292.0,592.8,-11.4,495,4100,0.00,1.08,0.00,0.000,4,0.000,0.052,2495,2301,3951,0,0,0,0,0,0
$GC,4147,-0.78,-292.0,598.2,-10.4,499,4154,0.00,1.05,0.00,0.000,6,0.000,0.045,2495,1617,3950,0,0,0,0,0,0
$GC,4464,-0.78,-292.0,634.8,-12.0,516,4467,0.00,1.08,0.00,0.000,4,0.000,0.054,2491,2305,3948,0,0,0,0,0,0
$GC,4522,-0.80,-292.0,641.7,-11.8,518,4526,0.00,1.08,0.00,0.000,6,0.000,0.046,2491,1603,3948,0,0,0,0,0,0
$GC,4843,-0.80,-292.0,684.8,-13.7,534,4847,0.00,1.10,0.00,0.000,4,0.000,0.056,2489,2308,3945,0,0,0,0,0,0
$GC,4915,-0.82,-292.0,693.6,-12.3,537,4919,0.00,1.08,0.00,0.000,6,0.000,0.047,2490,1605,3945,0,0,0,0,0,0
$GC,5248,-0.82,-292.0,736.6,-12.5,553,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1605,3940,0,0,0,0,0,0
$GC,5560,-0.82,-292.0,774.3,-12.0,568,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1605,3938,0,0,0,0,0,0
$GC,5867,-0.82,-292.0,808.6,-10.8,583,5871,0.00,1.10,0.00,0.000,4,0.000,0.059,2499,2301,3936,0,0,0,0,0,0
$GC,5922,-0.84,-292.0,814.1,-9.6,585,5926,0.00,1.08,0.00,0.000,6,0.000,0.050,2499,1608,3935,0,0,0,0,0,0
$GC,6246,-0.84,-292.0,847.5,-10.8,601,6249,0.00,1.10,0.00,0.000,4,0.000,0.062,2494,2301,3933,0,0,0,0,0,0
$GC,6302,-0.85,-292.0,853.5,-9.9,603,6306,0.00,1.08,0.00,0.000,6,0.000,0.050,2493,1609,3932,0,0,0,0,0,0
$GC,6623,-0.85,-292.0,889.3,-11.8,619,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1610,3930,0,0,0,0,0,0
$GC,6935,-0.85,-292.0,925.1,-11.6,634,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1609,3928,0,0,0,0,0,0
$GC,7242,-0.85,-292.0,961.3,-11.9,649,7246,0.00,1.10,0.00,0.000,4,0.000,0.063,2489,2301,3925,0,0,0,0,0,0
$GC,7271,-0.87,-292.0,964.9,-11.4,650,7274,0.00,1.08,0.00,0.000,6,0.000,0.052,2489,1613,3925,0,0,0,0,0,0
$STATE,7492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7492,begin apogee
$GC,7498,-0.11,0.0,992.4,12.3,661,7731,0.68,0.00,225.75,1.438,6,0.127,0.000,2704,1769,2884,0,0,0,0,0,0
$STATE,7733,end apogee,CONTROL_FINISHED_OK
$STATE,7733,begin climb
$GC,7736,0.73,292.0,1004.5,0.0,672,8014,0.75,1.23,267.67,1.384,4,0.057,0.062,2980,2486,1693,0,0,0,0,0,0
$GC,8089,0.71,292.0,961.5,15.6,688,8092,0.00,1.12,0.00,0.000,6,0.000,0.052,2986,1787,1690,0,0,0,0,0,0
$GC,8411,0.67,292.0,907.0,17.5,704,8414,0.00,1.12,0.00,0.000,4,0.000,0.055,2990,1063,1687,0,0,0,0,0,0
$GC,8444,0.63,292.0,900.8,17.8,705,8448,0.12,1.12,0.00,0.000,6,0.142,0.050,2950,1781,1686,0,0,0,0,0,0
$GC,8767,0.63,292.0,853.5,14.8,721,8770,0.00,1.08,0.00,0.000,4,0.000,0.059,2949,2484,1685,0,0,0,0,0,0
$GC,8822,0.63,292.0,845.0,14.2,723,8826,0.00,1.10,0.00,0.000,6,0.000,0.049,2952,1771,1684,0,0,0,0,0,0
$GC,9147,0.65,316.1,801.5,13.0,739,9172,0.00,0.00,23.02,1.267,6,0.000,0.000,2952,1771,1595,0,0,0,0,0,0
$GC,9474,0.66,328.9,758.2,13.3,755,9496,0.00,1.17,13.18,1.180,4,0.000,0.056,2950,2495,1543,0,0,0,0,0,0
$GC,9530,0.71,352.7,750.5,13.0,757,9562,0.00,1.12,23.73,1.230,6,0.000,0.047,2953,1770,1446,0,0,0,0,0,0
$GC,9875,0.75,388.0,706.4,12.6,774,9917,0.00,1.12,33.42,1.232,4,0.000,0.053,2958,1072,1301,0,0,0,0,0,0
$GC,10001,0.82,429.8,689.4,12.4,779,10051,0.12,1.10,39.65,1.211,6,0.050,0.044,3029,1783,1130,0,0,0,0,0,0
$GC,10359,0.78,429.8,620.1,19.4,797,10364,0.12,1.08,0.00,0.000,4,0.164,0.055,2993,2482,1126,0,0,0,0,0,0
$GC,10388,0.76,429.8,615.0,18.0,798,10392,0.00,1.08,0.00,0.000,6,0.000,0.046,2996,1782,1126,0,0,0,0,0,0
$GC,10711,0.76,429.8,563.8,15.7,824,10715,0.00,1.08,0.00,0.000,4,0.000,0.050,3001,1067,1125,0,0,0,0,0,0
$GC,10771,0.76,429.8,554.7,15.9,829,10774,0.00,1.10,0.00,0.000,6,0.000,0.044,2998,1790,1125,0,0,0,0,0,0
$GC,11101,0.76,429.8,504.5,14.8,860,11105,0.00,1.10,0.00,0.000,4,0.000,0.048,3001,1075,1125,0,0,0,0,0,0
$GC,11153,0.76,429.8,496.8,15.1,864,11160,0.00,1.08,0.00,0.000,6,0.000,0.042,2998,1788,1124,0,0,0,0,0,0
$GC,11478,0.76,429.8,445.1,16.1,895,11482,0.00,1.10,0.00,0.000,4,0.000,0.047,3002,1069,1124,0,0,0,0,0,0
$GC,11512,0.76,429.8,439.7,16.1,898,11516,0.00,1.08,0.00,0.000,6,0.000,0.041,2998,1781,1123,0,0,0,0,0,0
$GC,11842,0.76,429.8,391.9,14.0,929,11846,0.00,1.08,0.00,0.000,4,0.000,0.048,3002,1082,1123,0,0,0,0,0,0
$GC,11935,0.76,429.8,379.1,14.2,937,11938,0.00,1.05,0.00,0.000,6,0.000,0.041,2998,1781,1123,0,0,0,0,0,0
$GC,12266,0.76,429.8,332.1,14.7,968,12269,0.00,1.08,0.00,0.000,4,0.000,0.047,3002,1077,1123,0,0,0,0,0,0
$GC,12338,0.76,429.8,321.0,15.0,974,12345,0.00,1.05,0.00,0.000,6,0.000,0.040,2999,1782,1123,0,0,0,0,0,0
$GC,12665,0.81,460.5,277.0,12.8,1005,12701,0.00,1.15,26.55,0.880,4,0.000,0.047,3002,1063,1005,0,0,0,0,0,0
$GC,12719,0.86,482.3,269.8,13.1,1009,12749,0.00,1.08,20.45,0.849,6,0.000,0.037,2999,1778,916,0,0,0,0,0,0
$GC,13068,0.98,550.0,228.0,11.6,1059,13135,0.17,1.15,60.17,0.843,4,0.070,0.047,3093,1071,640,0,0,0,0,0,0
$GC,13185,0.93,550.0,203.5,22.4,1077,13194,0.15,1.08,0.00,0.000,6,0.143,0.037,3046,1786,635,0,0,0,0,0,0
$GC,13516,0.94,550.0,149.5,15.0,1138,13524,0.00,1.10,0.00,0.000,4,0.000,0.046,3045,1069,630,0,0,0,0,0,0
$GC,13547,0.95,550.0,144.9,15.5,1142,13555,0.00,1.05,0.00,0.000,6,0.000,0.037,3042,1779,630,0,0,0,0,0,0
$GC,13875,1.07,616.2,100.5,11.7,1203,13927,0.12,0.00,43.17,0.721,6,0.089,0.000,3116,1779,454,0,0,0,0,0,0
$GC,14244,1.07,616.2,42.3,16.9,1270,14252,0.00,1.08,0.00,0.000,4,0.000,0.044,3117,1069,440,0,0,0,0,0,0
$GC,14326,1.11,656.4,29.7,12.5,1285,14334,0.00,1.05,0.00,0.000,6,0.000,0.035,3117,1781,439,0,0,0,0,0,0
$STATE,14486,end climb,SURFACE_DEPTH_REACHED
$STATE,14486,begin surface coast
$FINISH,1.3,1.011406
$STATE,14503,end surface coast,CONTROL_FINISHED_OK
$STATE,14503,begin surface
$SM_CCo,14581,0.00,0.000,0,0,437,600.25
$SM_GC,2.04,7.62,0.00,0.00,0.034,0.000,0.000,151,1556,437,-8.04,-1.53,600.25,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12350.54,171011,121226
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.49
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.50
$XPDR_PINGS,109
$24V_AH,23.0,94.978
$10V_AH,9.8,66.055
$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,19.700,65.400,776.775,0.000,0.000,55.309,61.892,192.811,27.250,0.000,46.977,3098.541,7465.576,750.502,3356.026,462.040,0.000,2113.784,0.000,3012.602,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,73.440,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.408,1350.247,1460.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73596,1318
$CAP_FILE_SIZE,162402,0
$CFSIZE,260165632,112332800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,205036,2333.713,12350.059,31,1.3,31,-3.3