version: 66.09
glider: 166
mission: 6
dive: 396
start: 10 18 111 9 37 33
data:
$ID,166
$MISSION,6
$DIVE,396
$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,-24901.537
$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,44
$R_STBD_OVSHOOT,53
$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
$GPS1,181011,092857,2335.265,12346.290,27,99.0,46,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-55.7
$GPS2,181011,093709,2335.282,12346.359,37,1.7,38,-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,243.2,246532,-16.7,-13.750
$D_GRID,3270
$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,16,begin dive
$GC,18,-0.73,-292.0,0.0,0.0,0,139,0.00,0.00,-118.32,0.000,2,0.000,0.000,144,1629,3275,0,0,0,0,0,0
$GC,145,-0.73,-292.0,5.6,-6.1,16,176,9.27,1.02,-12.38,0.000,4,0.220,0.074,2500,2297,3963,0,0,0,0,0,0
$GC,383,-0.65,-292.0,87.8,-26.1,59,392,0.10,1.02,0.00,0.000,6,0.147,0.040,2530,1611,3965,0,0,0,0,0,0
$GC,712,-0.60,-292.0,155.2,-18.2,120,720,0.00,1.05,0.00,0.000,4,0.000,0.047,2526,2302,3965,0,0,0,0,0,0
$GC,925,-0.58,-292.0,187.9,-14.2,159,934,0.08,1.05,0.00,0.000,6,0.135,0.043,2550,1613,3966,0,0,0,0,0,0
$GC,1256,-0.58,-292.0,231.4,-12.8,220,1264,0.00,1.02,0.00,0.000,4,0.000,0.046,2547,2295,3966,0,0,0,0,0,0
$GC,1314,-0.59,-292.0,238.4,-11.4,230,1323,0.00,1.02,0.00,0.000,6,0.000,0.041,2547,1610,3966,0,0,0,0,0,0
$GC,1644,-0.61,-292.0,277.3,-12.0,270,1648,0.00,1.08,0.00,0.000,4,0.000,0.047,2543,2297,3966,0,0,0,0,0,0
$GC,1737,-0.64,-292.0,287.7,-11.1,278,1741,0.00,1.02,0.00,0.000,6,0.000,0.041,2543,1611,3966,0,0,0,0,0,0
$GC,2068,-0.67,-292.0,322.5,-9.5,309,2072,0.00,1.05,0.00,0.000,4,0.000,0.044,2544,905,3966,0,0,0,0,0,0
$GC,2095,-0.70,-292.0,325.0,-9.8,311,2099,0.00,1.05,0.00,0.000,6,0.000,0.041,2538,1605,3966,0,0,0,0,0,0
$GC,2427,-0.72,-292.0,364.3,-12.5,342,2430,0.00,1.02,0.00,0.000,4,0.000,0.046,2533,2302,3964,0,0,0,0,0,0
$GC,2543,-0.75,-292.0,377.0,-10.5,352,2547,0.00,1.05,0.00,0.000,6,0.000,0.042,2533,1604,3963,0,0,0,0,0,0
$GC,2875,-0.78,-292.0,411.0,-9.6,383,2879,0.12,1.10,0.00,0.000,4,0.083,0.047,2453,2307,3962,0,0,0,0,0,0
$GC,2915,-0.74,-292.0,416.2,-14.3,386,2924,0.15,1.05,0.00,0.000,6,0.132,0.041,2504,1612,3961,0,0,0,0,0,0
$GC,3241,-0.74,-292.0,458.8,-12.8,417,3244,0.00,1.08,0.00,0.000,4,0.000,0.050,2501,2310,3959,0,0,0,0,0,0
$GC,3304,-0.74,-292.0,466.6,-12.4,422,3312,0.00,1.05,0.00,0.000,6,0.000,0.042,2502,1612,3958,0,0,0,0,0,0
$GC,3630,-0.74,-292.0,505.4,-12.0,453,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1612,3957,0,0,0,0,0,0
$GC,3954,-0.74,-292.0,547.7,-13.5,483,3958,0.00,1.05,0.00,0.000,4,0.000,0.052,2497,2296,3954,0,0,0,0,0,0
$GC,4016,-0.76,-292.0,556.6,-12.6,488,4022,0.00,1.05,0.00,0.000,6,0.000,0.044,2497,1605,3954,0,0,0,0,0,0
$GC,4341,-0.76,-292.0,598.9,-12.7,519,4345,0.00,1.08,0.00,0.000,4,0.000,0.053,2493,2297,3951,0,0,0,0,0,0
$GC,4433,-0.77,-292.0,609.6,-11.2,524,4437,0.00,1.05,0.00,0.000,6,0.000,0.044,2493,1607,3950,0,0,0,0,0,0
$GC,4768,-0.77,-292.0,648.3,-11.6,540,4772,0.00,1.08,0.00,0.000,4,0.000,0.054,2490,2304,3947,0,0,0,0,0,0
$GC,4838,-0.79,-292.0,656.1,-10.7,543,4842,0.00,1.05,0.00,0.000,6,0.000,0.047,2491,1615,3947,0,0,0,0,0,0
$GC,5174,-0.79,-292.0,693.6,-10.9,559,5178,0.00,1.08,0.00,0.000,4,0.000,0.057,2490,2305,3945,0,0,0,0,0,0
$GC,5258,-0.81,-292.0,702.2,-9.2,562,5265,0.00,1.08,0.00,0.000,6,0.000,0.048,2492,1605,3944,0,0,0,0,0,0
$GC,5576,-0.81,-292.0,736.0,-11.0,578,5580,0.00,1.08,0.00,0.000,4,0.000,0.057,2491,2297,3940,0,0,0,0,0,0
$GC,5626,-0.83,-292.0,741.9,-10.9,580,5630,0.00,1.05,0.00,0.000,6,0.000,0.047,2494,1606,3940,0,0,0,0,0,0
$GC,5953,-0.83,-292.0,783.8,-13.6,596,5957,0.00,1.10,0.00,0.000,4,0.000,0.059,2491,2304,3938,0,0,0,0,0,0
$GC,6040,-0.84,-292.0,794.7,-12.3,599,6046,0.00,1.08,0.00,0.000,6,0.000,0.050,2491,1610,3937,0,0,0,0,0,0
$GC,6356,-0.84,-292.0,838.0,-14.3,615,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1610,3935,0,0,0,0,0,0
$GC,6667,-0.84,-292.0,879.6,-13.1,630,6671,0.00,1.10,0.00,0.000,4,0.000,0.061,2487,2295,3932,0,0,0,0,0,0
$GC,6694,-0.84,-292.0,883.6,-13.1,631,6698,0.00,1.05,0.00,0.000,6,0.000,0.050,2487,1616,3932,0,0,0,0,0,0
$GC,7022,-0.84,-292.0,925.5,-12.8,647,7026,0.00,1.08,0.00,0.000,4,0.000,0.054,2487,913,3930,0,0,0,0,0,0
$GC,7052,-0.84,-292.0,929.3,-12.7,648,7056,0.00,1.08,0.00,0.000,6,0.000,0.050,2482,1602,3930,0,0,0,0,0,0
$GC,7379,-0.84,-292.0,969.1,-11.6,664,7383,0.00,1.08,0.00,0.000,4,0.000,0.060,2476,2302,3928,0,0,0,0,0,0
$GC,7448,-0.84,-292.0,976.4,-10.4,667,7452,0.00,1.08,0.00,0.000,6,0.000,0.050,2476,1606,3927,0,0,0,0,0,0
$STATE,7572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7573,begin apogee
$GC,7581,-0.11,0.0,991.0,11.5,673,7814,0.70,0.00,226.52,1.431,6,0.129,0.000,2700,1782,2883,0,0,0,0,0,0
$STATE,7819,end apogee,CONTROL_FINISHED_OK
$STATE,7819,begin climb
$GC,7821,0.73,292.0,1001.0,0.0,684,8102,0.75,1.20,267.70,1.374,4,0.056,0.060,2982,2484,1693,0,0,0,0,0,0
$GC,8263,0.70,292.0,938.6,16.8,704,8267,0.00,1.10,0.00,0.000,6,0.000,0.050,2986,1786,1689,0,0,0,0,0,0
$GC,8596,0.66,292.0,882.6,16.4,720,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1786,1686,0,0,0,0,0,0
$GC,8905,0.62,292.0,830.3,17.1,735,8907,0.15,0.00,0.00,0.000,6,0.171,0.000,2948,1786,1685,0,0,0,0,0,0
$GC,9216,0.62,292.0,786.3,13.9,750,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1786,1683,0,0,0,0,0,0
$GC,9529,0.68,345.0,746.7,12.1,765,9584,0.00,1.17,49.35,1.271,4,0.000,0.054,2947,2497,1478,0,0,0,0,0,0
$GC,9659,0.78,407.1,730.6,11.8,771,9725,0.10,1.12,58.65,1.247,6,0.052,0.045,3014,1781,1223,0,0,0,0,0,0
$GC,10034,0.74,407.1,662.1,19.1,789,10038,0.00,1.08,0.00,0.000,4,0.000,0.050,3019,1068,1218,0,0,0,0,0,0
$GC,10063,0.71,407.1,656.2,19.8,790,10068,0.12,1.10,0.00,0.000,6,0.145,0.046,2979,1787,1218,0,0,0,0,0,0
$GC,10390,0.71,407.1,606.2,14.2,806,10394,0.00,1.02,0.00,0.000,4,0.000,0.054,2976,2477,1217,0,0,0,0,0,0
$GC,10431,0.71,407.9,600.7,13.7,807,10438,0.00,1.08,0.00,0.000,6,0.000,0.045,2979,1774,1217,0,0,0,0,0,0
$GC,10756,0.72,421.7,557.2,13.3,838,10776,0.00,0.00,13.38,1.059,6,0.000,0.000,2979,1773,1163,0,0,0,0,0,0
$GC,11095,0.74,433.6,513.1,13.4,870,11111,0.00,1.05,12.07,1.011,4,0.000,0.047,2984,1069,1115,0,0,0,0,0,0
$GC,11192,0.75,433.6,499.9,13.9,878,11196,0.00,1.08,0.00,0.000,6,0.000,0.044,2981,1776,1114,0,0,0,0,0,0
$GC,11523,0.77,438.4,454.6,13.6,909,11532,0.00,0.00,5.53,0.789,6,0.000,0.000,2981,1776,1095,0,0,0,0,0,0
$GC,11851,0.82,471.3,411.2,12.7,940,11884,0.00,0.00,30.50,1.002,6,0.000,0.000,2981,1779,962,0,0,0,0,0,0
$GC,12200,0.91,517.7,370.2,12.3,973,12249,0.17,1.15,42.22,0.966,4,0.070,0.047,3072,1068,772,0,0,0,0,0,0
$GC,12301,0.86,517.7,349.0,23.7,982,12306,0.12,1.10,0.00,0.000,6,0.143,0.041,3030,1786,768,0,0,0,0,0,0
$GC,12635,0.84,517.7,287.2,18.8,1013,12638,0.00,1.05,0.00,0.000,4,0.000,0.048,3026,2482,763,0,0,0,0,0,0
$GC,12726,0.84,517.7,271.5,15.5,1021,12730,0.00,1.08,0.00,0.000,6,0.000,0.041,3029,1771,763,0,0,0,0,0,0
$GC,13055,0.84,517.7,217.3,15.2,1070,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1771,762,0,0,0,0,0,0
$GC,13383,0.93,572.0,170.6,12.0,1131,13436,0.00,0.00,48.72,0.799,6,0.000,0.000,3029,1771,549,0,0,0,0,0,0
$GC,13759,1.17,707.6,130.7,9.5,1198,13797,0.25,1.05,24.23,0.722,4,0.054,0.041,3158,1079,453,0,0,0,0,1,0
$GC,13850,1.09,707.6,109.9,27.9,1212,13860,0.15,1.05,0.00,0.000,6,0.148,0.038,3105,1786,447,0,0,0,0,0,0
$GC,14184,1.09,707.6,45.1,15.0,1273,14192,0.00,1.00,0.00,0.000,4,0.000,0.045,3099,2470,441,0,0,0,0,0,0
$GC,14244,1.11,707.6,34.9,16.2,1283,14252,0.00,1.02,0.00,0.000,6,0.000,0.040,3100,1782,440,0,0,0,0,0,0
$STATE,14455,end climb,SURFACE_DEPTH_REACHED
$STATE,14455,begin surface coast
$FINISH,1.5,1.022073
$STATE,14474,end surface coast,CONTROL_FINISHED_OK
$STATE,14474,begin surface
$SM_CCo,14551,0.00,0.000,0,0,438,600.00
$SM_GC,2.01,7.57,0.00,0.00,0.034,0.000,0.000,147,1598,438,-8.04,-0.34,600.00,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12349.23,181011,050527
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.65
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.30
$XPDR_PINGS,125
$24V_AH,22.9,96.159
$10V_AH,9.7,66.657
$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,19.825,56.000,778.875,0.000,0.000,24.228,18.121,255.419,31.250,0.000,39.350,3276.715,7174.902,770.180,3335.617,470.399,0.000,2109.326,0.000,3021.728,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,74.205,1431.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.102,1356.552,1458.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73571,1325
$CAP_FILE_SIZE,158631,0
$CFSIZE,260165632,112001024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.264, 64.5,1
$GPS,181011,134136,2335.084,12345.814,44,1.7,55,-3.3