version: 66.09
glider: 166
mission: 6
dive: 395
start: 10 18 111 5 28 14
data:
$ID,166
$MISSION,6
$DIVE,395
$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,-24900.273
$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,34
$R_STBD_OVSHOOT,48
$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
$GPS1,181011,051853,2335.248,12347.223,38,1.9,54,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-58.0
$GPS2,181011,052750,2335.317,12347.254,47,1.5,61,-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,238.3,248028,-16.7,-13.750
$D_GRID,3323
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.73,-292.0,0.0,0.0,0,132,0.00,0.00,-110.47,0.000,2,0.000,0.000,146,1624,3118,0,0,0,0,0,0
$GC,137,-0.73,-292.0,5.9,-9.1,15,168,9.27,1.08,-15.27,0.000,4,0.220,0.073,2496,2310,3964,0,0,0,0,0,0
$GC,370,-0.65,-292.0,82.7,-22.8,57,378,0.10,1.08,0.00,0.000,6,0.145,0.039,2527,1592,3965,0,0,0,0,0,0
$GC,698,-0.61,-292.0,149.3,-17.1,118,707,0.00,1.08,0.00,0.000,4,0.000,0.046,2523,2298,3966,0,0,0,0,0,0
$GC,895,-0.59,-292.0,179.6,-15.1,153,904,0.08,1.02,0.00,0.000,6,0.135,0.041,2547,1619,3966,0,0,0,0,0,0
$GC,1226,-0.59,-292.0,229.7,-15.9,214,1235,0.00,1.02,0.00,0.000,4,0.000,0.044,2544,2304,3966,0,0,0,0,0,0
$GC,1331,-0.61,-292.0,244.7,-12.7,233,1339,0.00,1.05,0.00,0.000,6,0.000,0.041,2545,1606,3966,0,0,0,0,0,0
$GC,1670,-0.63,-292.0,285.7,-10.7,267,1674,0.00,1.05,0.00,0.000,4,0.000,0.045,2540,2305,3966,0,0,0,0,0,0
$GC,1765,-0.66,-292.0,295.2,-9.7,275,1768,0.00,1.05,0.00,0.000,6,0.000,0.040,2541,1604,3966,0,0,0,0,0,0
$GC,2096,-0.67,-292.0,331.5,-11.3,306,2100,0.00,1.08,0.00,0.000,4,0.000,0.047,2536,2306,3964,0,0,0,0,0,0
$GC,2157,-0.70,-292.0,337.9,-10.7,311,2161,0.00,1.05,0.00,0.000,6,0.000,0.041,2536,1605,3964,0,0,0,0,0,0
$GC,2489,-0.72,-292.0,377.1,-11.5,342,2492,0.00,1.05,0.00,0.000,4,0.000,0.047,2531,2302,3963,0,0,0,0,0,0
$GC,2529,-0.75,-292.0,381.7,-11.5,345,2536,0.00,1.05,0.00,0.000,6,0.000,0.042,2531,1604,3963,0,0,0,0,0,0
$GC,2855,-0.78,-292.0,417.6,-9.9,376,2859,0.10,1.10,0.00,0.000,4,0.097,0.048,2462,2306,3960,0,0,0,0,0,0
$GC,2903,-0.75,-292.0,423.8,-15.0,380,2908,0.10,1.05,0.00,0.000,6,0.135,0.043,2497,1612,3960,0,0,0,0,0,0
$GC,3234,-0.74,-292.0,467.4,-12.7,411,3238,0.00,1.05,0.00,0.000,4,0.000,0.051,2494,2295,3958,0,0,0,0,0,0
$GC,3328,-0.74,-292.0,478.5,-11.7,419,3332,0.00,1.02,0.00,0.000,6,0.000,0.044,2494,1613,3957,0,0,0,0,0,0
$GC,3659,-0.74,-292.0,521.8,-13.4,450,3663,0.00,1.05,0.00,0.000,4,0.000,0.051,2489,2294,3955,0,0,0,0,0,0
$GC,3744,-0.74,-292.0,532.3,-12.2,457,3751,0.00,1.05,0.00,0.000,6,0.000,0.044,2490,1604,3954,0,0,0,0,0,0
$GC,4070,-0.74,-292.0,572.5,-11.9,488,4073,0.00,1.08,0.00,0.000,4,0.000,0.052,2485,2297,3952,0,0,0,0,0,0
$GC,4129,-0.74,-292.0,579.0,-11.4,493,4133,0.00,1.05,0.00,0.000,6,0.000,0.044,2485,1604,3951,0,0,0,0,0,0
$GC,4455,-0.74,-292.0,623.5,-14.2,516,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1604,3949,0,0,0,0,0,0
$GC,4767,-0.74,-292.0,666.8,-13.8,531,4771,0.00,1.08,0.00,0.000,4,0.000,0.054,2485,2300,3947,0,0,0,0,0,0
$GC,4868,-0.75,-292.0,680.2,-12.4,535,4872,0.00,1.05,0.00,0.000,6,0.000,0.046,2488,1612,3945,0,0,0,0,0,0
$GC,5190,-0.75,-292.0,720.1,-11.6,551,5194,0.00,1.08,0.00,0.000,4,0.000,0.058,2489,2300,3942,0,0,0,0,0,0
$GC,5238,-0.75,-292.0,725.1,-10.7,553,5242,0.00,1.05,0.00,0.000,6,0.000,0.048,2489,1614,3942,0,0,0,0,0,0
$GC,5570,-0.75,-292.0,764.5,-11.5,569,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1614,3939,0,0,0,0,0,0
$GC,5882,-0.75,-292.0,798.7,-11.0,584,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1614,3937,0,0,0,0,0,0
$GC,6189,-0.75,-292.0,834.3,-11.8,599,6193,0.00,1.08,0.00,0.000,4,0.000,0.059,2490,2299,3934,0,0,0,0,0,0
$GC,6259,-0.76,-292.0,842.3,-11.3,602,6262,0.00,1.08,0.00,0.000,6,0.000,0.050,2490,1603,3933,0,0,0,0,0,0
$GC,6593,-0.76,-292.0,887.7,-13.9,618,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1603,3931,0,0,0,0,0,0
$GC,6901,-0.76,-292.0,929.8,-13.3,633,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1603,3928,0,0,0,0,0,0
$GC,7210,-0.76,-292.0,969.8,-12.7,648,7214,0.00,1.08,0.00,0.000,4,0.000,0.060,2485,2287,3927,0,0,0,0,0,0
$GC,7245,-0.76,-292.0,974.0,-11.9,649,7249,0.00,1.05,0.00,0.000,6,0.000,0.051,2485,1611,3926,0,0,0,0,0,0
$STATE,7379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7379,begin apogee
$GC,7385,-0.11,0.0,991.1,12.7,656,7619,0.68,0.00,226.15,1.437,6,0.125,0.000,2702,1771,2883,0,0,0,0,0,0
$STATE,7621,end apogee,CONTROL_FINISHED_OK
$STATE,7621,begin climb
$GC,7624,0.73,292.0,1004.3,0.0,667,7899,0.75,1.20,268.65,1.385,4,0.055,0.060,2983,2477,1693,0,0,0,0,0,0
$GC,7929,0.69,292.0,969.3,15.1,681,7936,0.00,1.12,0.00,0.000,6,0.000,0.050,2986,1785,1691,0,0,0,0,0,0
$GC,8247,0.65,292.0,917.4,16.9,697,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1785,1687,0,0,0,0,0,0
$GC,8554,0.61,292.0,866.7,16.2,712,8559,0.15,1.08,0.00,0.000,4,0.172,0.057,2943,2478,1685,0,0,0,0,0,0
$GC,8625,0.66,335.4,857.5,12.4,715,8671,0.00,1.08,41.12,1.317,6,0.000,0.047,2945,1780,1515,0,0,0,0,0,0
$GC,8999,0.66,335.4,807.1,13.8,733,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1780,1511,0,0,0,0,0,0
$GC,9310,0.66,335.4,762.7,14.4,748,9314,0.00,1.10,0.00,0.000,4,0.000,0.051,2951,1066,1509,0,0,0,0,0,0
$GC,9338,0.66,335.4,758.2,14.2,749,9342,0.00,1.10,0.00,0.000,6,0.000,0.046,2948,1786,1508,0,0,0,0,0,0
$GC,9666,0.67,336.7,712.6,13.7,765,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1786,1508,0,0,0,0,0,0
$GC,9978,0.74,385.7,673.4,12.2,780,10029,0.10,1.12,46.75,1.237,4,0.106,0.048,3005,1071,1310,0,0,0,0,0,0
$GC,10044,0.70,385.7,662.9,16.8,783,10049,0.10,1.10,0.00,0.000,6,0.143,0.044,2974,1775,1309,0,0,0,0,0,0
$GC,10380,0.70,385.7,615.5,13.9,799,10384,0.00,1.08,0.00,0.000,4,0.000,0.054,2969,2483,1306,0,0,0,0,0,0
$GC,10449,0.73,397.4,605.8,13.4,802,10464,0.00,1.08,11.68,1.077,6,0.000,0.045,2973,1779,1263,0,0,0,0,0,0
$GC,10783,0.74,407.8,561.6,13.4,830,10799,0.00,1.10,10.82,1.040,4,0.000,0.050,2978,1066,1220,0,0,0,0,0,0
$GC,10851,0.77,429.1,552.4,13.1,836,10877,0.00,1.10,20.77,1.102,6,0.000,0.044,2974,1785,1133,0,0,0,0,0,0
$GC,11203,0.83,469.8,507.2,12.5,869,11250,0.12,1.10,37.17,1.095,4,0.090,0.054,3039,2484,966,0,0,0,0,0,0
$GC,11269,0.79,469.8,495.8,18.5,874,11277,0.12,1.10,0.00,0.000,6,0.146,0.043,3003,1776,965,0,0,0,0,0,0
$GC,11594,0.79,469.8,445.3,15.7,905,11597,0.00,1.05,0.00,0.000,4,0.000,0.047,3007,1072,962,0,0,0,0,0,0
$GC,11634,0.79,469.8,438.8,15.9,908,11641,0.00,1.08,0.00,0.000,6,0.000,0.044,3004,1782,962,0,0,0,0,0,0
$GC,11960,0.79,469.8,387.1,15.8,939,11961,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1782,962,0,0,0,0,0,0
$GC,12282,0.79,469.8,337.4,16.1,969,12286,0.00,1.08,0.00,0.000,4,0.000,0.047,3007,1077,961,0,0,0,0,0,0
$GC,12320,0.79,469.8,330.4,16.1,972,12327,0.00,1.08,0.00,0.000,6,0.000,0.041,3007,1792,961,0,0,0,0,0,0
$GC,12648,0.80,469.8,282.7,13.9,1003,12652,0.00,1.08,0.00,0.000,4,0.000,0.045,3011,1078,961,0,0,0,0,0,0
$GC,12683,0.82,469.8,277.7,13.8,1006,12686,0.00,1.05,0.00,0.000,6,0.000,0.039,3011,1784,960,0,0,0,0,0,0
$GC,13014,0.89,510.3,233.4,12.5,1048,13059,0.00,1.08,35.50,0.855,4,0.000,0.048,3010,2475,801,0,0,0,0,0,0
$GC,13090,0.99,560.5,223.8,12.2,1059,13142,0.12,1.08,45.85,0.835,6,0.044,0.040,3084,1761,598,0,0,0,0,0,0
$GC,13470,0.96,560.5,141.4,20.3,1126,13479,0.00,1.08,0.00,0.000,4,0.000,0.047,3082,2476,588,0,0,0,0,0,0
$GC,13499,0.93,560.5,135.5,19.9,1130,13509,0.10,1.05,0.00,0.000,6,0.140,0.040,3052,1777,587,0,0,0,0,0,0
$GC,13833,1.02,610.4,88.3,12.2,1191,13872,0.00,1.10,33.58,0.711,4,0.000,0.044,3053,2481,453,0,0,0,0,0,0
$GC,13902,1.23,725.7,80.6,10.1,1201,13910,0.20,1.05,0.00,0.000,6,0.035,0.039,3169,1781,447,0,0,0,0,0,0
$GC,14235,1.18,725.7,3.1,25.6,1262,14245,0.15,1.05,0.00,0.000,4,0.096,0.044,3102,1078,441,0,0,0,0,0,0
$STATE,14251,end climb,SURFACE_DEPTH_REACHED
$STATE,14251,begin surface coast
$FINISH,1.4,1.022054
$STATE,14276,end surface coast,CONTROL_FINISHED_OK
$STATE,14276,begin surface
$SM_CCo,14357,0.00,0.000,0,0,439,599.76
$SM_GC,1.99,7.68,0.00,0.00,0.040,0.000,0.000,149,1624,439,-8.04,0.40,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12340.75,181011,010147
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.96
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.10
$XPDR_PINGS,106
$24V_AH,23.0,95.863
$10V_AH,9.7,66.506
$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,19.925,60.000,778.050,0.000,0.000,28.516,25.232,274.876,26.500,0.000,61.801,3129.604,7377.751,762.391,3145.169,462.128,0.000,2030.891,0.000,2794.155,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,73.440,1437.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.289,1299.493,1318.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73463,1268
$CAP_FILE_SIZE,154289,0
$CFSIZE,260165632,112087040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.272, 52.1,1
$GPS,181011,092857,2335.265,12346.290,27,99.0,46,-3.3