version: 66.09
glider: 166
mission: 6
dive: 394
start: 10 18 111 1 12 49
data:
$ID,166
$MISSION,6
$DIVE,394
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-24899.016
$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,66
$R_STBD_OVSHOOT,63
$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
$GPS1,181011,010154,2334.618,12348.597,31,1.9,48,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-57.7
$GPS2,181011,011225,2334.667,12348.613,33,1.9,51,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,245.9,249999,-16.7,-13.750
$D_GRID,3369
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.73,-292.0,0.0,0.0,0,130,0.00,0.00,-109.75,0.000,2,0.000,0.000,119,1573,3064,0,0,0,0,0,0
$GC,135,-0.73,-292.0,5.5,-7.7,15,168,9.40,1.12,-16.83,0.000,4,0.220,0.067,2497,2296,3963,0,0,0,0,0,0
$GC,336,-0.63,-292.0,74.9,-28.7,50,344,0.12,1.00,0.00,0.000,6,0.147,0.040,2535,1626,3964,0,0,0,0,0,0
$GC,665,-0.60,-292.0,140.9,-19.0,111,673,0.00,1.00,0.00,0.000,4,0.000,0.045,2532,2289,3965,0,0,0,0,0,0
$GC,729,-0.58,-292.0,151.5,-16.2,121,738,0.00,1.02,0.00,0.000,6,0.000,0.042,2530,1609,3965,0,0,0,0,0,0
$GC,1061,-0.55,-292.0,209.8,-17.3,182,1069,0.12,1.05,0.00,0.000,4,0.161,0.048,2563,2278,3965,0,0,0,0,0,0
$GC,1168,-0.60,-292.0,223.7,-11.4,201,1177,0.00,1.00,0.00,0.000,6,0.000,0.043,2563,1615,3965,0,0,0,0,0,0
$GC,1501,-0.63,-292.0,259.2,-9.8,253,1504,0.00,1.02,0.00,0.000,4,0.000,0.047,2558,2293,3965,0,0,0,0,0,0
$GC,1607,-0.67,-292.0,268.4,-8.2,262,1615,0.00,1.02,0.00,0.000,6,0.000,0.041,2558,1612,3965,0,0,0,0,0,0
$GC,1936,-0.71,-292.0,299.1,-10.2,293,1941,0.12,1.05,0.00,0.000,4,0.082,0.049,2473,2287,3964,0,0,0,0,0,0
$GC,2033,-0.67,-292.0,314.8,-16.8,301,2041,0.15,1.02,0.00,0.000,6,0.129,0.043,2525,1609,3964,0,0,0,0,0,0
$GC,2358,-0.67,-292.0,359.2,-13.3,332,2362,0.00,1.02,0.00,0.000,4,0.000,0.049,2523,2280,3963,0,0,0,0,0,0
$GC,2407,-0.68,-292.0,364.8,-12.0,336,2411,0.00,1.00,0.00,0.000,6,0.000,0.043,2523,1615,3962,0,0,0,0,0,0
$GC,2739,-0.70,-292.0,407.1,-12.3,367,2742,0.00,1.02,0.00,0.000,4,0.000,0.050,2518,2285,3960,0,0,0,0,0,0
$GC,2787,-0.72,-292.0,412.9,-12.4,371,2791,0.00,1.02,0.00,0.000,6,0.000,0.043,2518,1606,3960,0,0,0,0,0,0
$GC,3119,-0.72,-292.0,457.1,-12.9,402,3123,0.00,1.05,0.00,0.000,4,0.000,0.050,2513,2290,3958,0,0,0,0,0,0
$GC,3215,-0.74,-292.0,468.0,-11.3,410,3219,0.00,1.02,0.00,0.000,6,0.000,0.044,2514,1611,3957,0,0,0,0,0,0
$GC,3546,-0.75,-292.0,507.9,-11.2,441,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1611,3955,0,0,0,0,0,0
$GC,3868,-0.77,-292.0,540.8,-10.4,471,3872,0.00,1.05,0.00,0.000,4,0.000,0.054,2509,2290,3952,0,0,0,0,0,0
$GC,3984,-0.80,-292.0,552.2,-9.3,481,3988,0.00,1.02,0.00,0.000,6,0.000,0.047,2509,1620,3951,0,0,0,0,0,0
$GC,4316,-0.81,-292.0,586.9,-10.9,512,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1620,3949,0,0,0,0,0,0
$GC,4631,-0.84,-292.0,621.5,-11.3,533,4635,0.00,1.02,0.00,0.000,4,0.000,0.055,2504,2278,3946,0,0,0,0,0,0
$GC,4682,-0.86,-292.0,627.5,-10.9,535,4686,0.08,1.02,0.00,0.000,6,0.055,0.047,2445,1612,3946,0,0,0,0,0,0
$GC,5012,-0.82,-292.0,680.2,-16.3,551,5017,0.10,1.08,0.00,0.000,4,0.182,0.058,2475,2280,3943,0,0,0,0,0,0
$GC,5045,-0.81,-292.0,686.2,-15.6,552,5049,0.00,1.02,0.00,0.000,6,0.000,0.050,2474,1616,3942,0,0,0,0,0,0
$GC,5367,-0.80,-292.0,734.4,-14.7,568,5371,0.00,1.05,0.00,0.000,4,0.000,0.058,2473,2285,3940,0,0,0,0,0,0
$GC,5408,-0.80,-292.0,740.3,-14.1,569,5415,0.00,1.05,0.00,0.000,6,0.000,0.049,2482,1604,3940,0,0,0,0,0,0
$GC,5724,-0.78,-292.0,784.7,-13.3,585,5728,0.00,1.05,0.00,0.000,4,0.000,0.060,2477,2276,3937,0,0,0,0,0,0
$GC,5775,-0.78,-292.0,791.3,-12.3,587,5779,0.00,1.02,0.00,0.000,6,0.000,0.049,2477,1609,3936,0,0,0,0,0,0
$GC,6105,-0.77,-292.0,832.7,-12.8,603,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1609,3934,0,0,0,0,0,0
$GC,6412,-0.76,-292.0,870.5,-12.0,618,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1609,3932,0,0,0,0,0,0
$GC,6723,-0.74,-292.0,907.7,-12.1,633,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1609,3929,0,0,0,0,0,0
$GC,7030,-0.74,-292.0,945.7,-12.4,648,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1609,3927,0,0,0,0,0,0
$GC,7339,-0.74,-292.0,984.4,-12.8,663,7343,0.00,1.10,0.00,0.000,4,0.000,0.056,2477,902,3924,0,0,0,0,0,0
$STATE,7382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7382,begin apogee
$GC,7392,-0.11,0.0,990.5,13.6,665,7627,0.73,0.00,225.88,1.431,6,0.124,0.000,2705,1749,2882,0,0,0,0,0,0
$STATE,7632,end apogee,CONTROL_FINISHED_OK
$STATE,7632,begin climb
$GC,7634,0.73,292.0,1002.6,0.0,676,7909,0.77,1.23,266.98,1.377,4,0.051,0.067,2995,2479,1692,0,0,0,0,0,0
$GC,7951,0.69,292.0,962.0,17.3,691,7956,0.10,1.12,0.00,0.000,6,0.155,0.050,2970,1781,1690,0,0,0,0,0,0
$GC,8274,0.67,292.0,913.5,14.8,707,8278,0.00,1.10,0.00,0.000,4,0.000,0.054,2973,1064,1686,0,0,0,0,0,0
$GC,8330,0.64,292.0,904.7,14.9,709,8333,0.00,1.12,0.00,0.000,6,0.000,0.050,2971,1780,1686,0,0,0,0,0,0
$GC,8652,0.62,292.0,857.0,14.7,725,8655,0.00,1.10,0.00,0.000,4,0.000,0.059,2969,2490,1684,0,0,0,0,0,0
$GC,8700,0.61,292.0,850.0,15.0,727,8705,0.10,1.12,0.00,0.000,6,0.149,0.049,2941,1769,1684,0,0,0,0,0,0
$GC,9033,0.67,343.5,809.8,12.1,743,9085,0.00,1.15,48.22,1.311,4,0.000,0.054,2944,1066,1482,0,0,0,0,0,0
$GC,9144,0.74,386.2,796.3,12.4,748,9193,0.08,1.12,41.08,1.273,6,0.059,0.045,2991,1779,1309,0,0,0,0,0,0
$GC,9523,0.72,386.2,731.5,16.8,766,9527,0.00,1.08,0.00,0.000,4,0.000,0.056,2991,2483,1304,0,0,0,0,0,0
$GC,9578,0.72,386.2,722.0,14.8,768,9583,0.00,1.10,0.00,0.000,6,0.000,0.045,2995,1771,1304,0,0,0,0,0,0
$GC,9901,0.70,386.2,670.5,15.7,784,9904,0.00,1.10,0.00,0.000,4,0.000,0.054,2995,2483,1302,0,0,0,0,0,0
$GC,9942,0.69,386.2,664.0,15.3,785,9950,0.08,1.08,0.00,0.000,6,0.152,0.047,2975,1784,1302,0,0,0,0,0,0
$GC,10257,0.69,386.2,619.7,14.1,801,10261,0.00,1.08,0.00,0.000,4,0.000,0.049,2978,1066,1302,0,0,0,0,0,0
$GC,10319,0.69,386.2,610.6,14.3,803,10325,0.00,1.10,0.00,0.000,6,0.000,0.044,2975,1787,1301,0,0,0,0,0,0
$GC,10645,0.69,386.2,565.1,13.8,830,10649,0.00,1.10,0.00,0.000,4,0.000,0.050,2979,1074,1300,0,0,0,0,0,0
$GC,10692,0.70,398.0,558.3,13.4,834,10707,0.00,1.08,11.02,1.042,6,0.000,0.043,2978,1781,1260,0,0,0,0,0,0
$GC,11033,0.70,398.0,512.3,13.8,866,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1781,1259,0,0,0,0,0,0
$GC,11355,0.70,398.0,468.8,13.9,896,11359,0.00,1.08,0.00,0.000,4,0.000,0.048,2984,1074,1259,0,0,0,0,0,0
$GC,11400,0.70,398.0,461.6,14.9,900,11404,0.00,1.08,0.00,0.000,6,0.000,0.041,2982,1787,1259,0,0,0,0,0,0
$GC,11734,0.73,422.7,417.1,13.0,931,11762,0.00,0.00,23.23,1.008,6,0.000,0.000,2982,1787,1160,0,0,0,0,0,0
$GC,12080,0.80,460.2,376.1,12.6,964,12118,0.00,1.10,33.72,0.985,4,0.000,0.044,2986,1066,1007,0,0,0,0,0,0
$GC,12227,0.88,504.1,356.7,12.4,976,12272,0.08,1.08,40.15,0.958,6,0.058,0.039,3048,1781,827,0,0,0,0,0,0
$GC,12595,0.84,504.1,288.4,18.3,1010,12603,0.12,0.00,0.00,0.000,6,0.161,0.000,3015,1786,820,0,0,0,0,0,0
$GC,12925,0.84,504.1,240.8,14.2,1046,12933,0.00,1.08,0.00,0.000,4,0.000,0.047,3019,1074,818,0,0,0,0,0,0
$GC,12996,0.86,504.1,231.1,14.1,1058,13004,0.00,1.05,0.00,0.000,6,0.000,0.039,3015,1779,818,0,0,0,0,0,0
$GC,13329,0.95,559.5,189.5,12.0,1119,13384,0.10,1.15,48.88,0.813,4,0.103,0.046,3079,1060,602,0,0,0,0,0,0
$GC,13425,0.92,559.5,172.3,19.5,1133,13435,0.10,1.08,0.00,0.000,6,0.140,0.038,3044,1776,597,0,0,0,0,0,0
$GC,13759,0.96,573.4,125.4,13.3,1194,13775,0.00,0.00,12.60,0.689,6,0.000,0.000,3043,1776,545,0,0,0,0,0,0
$GC,14099,1.16,684.1,88.1,10.3,1256,14130,0.22,1.10,23.48,0.693,4,0.057,0.042,3160,1062,452,0,0,0,0,0,0
$GC,14203,1.09,684.1,62.9,27.6,1273,14213,0.17,1.08,0.00,0.000,6,0.140,0.037,3102,1787,444,0,0,0,0,0,0
$GC,14538,1.19,747.3,8.7,11.8,1334,14546,0.00,1.08,0.00,0.000,4,0.000,0.044,3105,1075,440,0,0,0,0,0,0
$STATE,14578,end climb,SURFACE_DEPTH_REACHED
$STATE,14578,begin surface coast
$FINISH,1.6,1.021928
$STATE,14590,end surface coast,CONTROL_FINISHED_OK
$STATE,14590,begin surface
$SM_CCo,14671,0.00,0.000,0,0,438,600.00
$SM_GC,1.94,7.62,0.00,0.00,0.037,0.000,0.000,150,1618,438,-8.03,0.23,600.00,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12344.01,181011,010125
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.29
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.50
$XPDR_PINGS,112
$24V_AH,23.0,95.565
$10V_AH,9.8,66.362
$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,20.375,59.825,775.225,0.000,0.000,52.970,76.389,229.240,28.000,0.000,52.478,3320.100,7304.759,778.181,3393.745,486.176,0.000,2093.956,0.000,3012.125,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,67.320,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.634,1376.504,1503.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,76712,1343
$CAP_FILE_SIZE,161388,0
$CFSIZE,260165632,112160768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.255, 42.2,1
$GPS,181011,051853,2335.248,12347.223,38,1.9,54,-3.3