version: 66.09
glider: 166
mission: 6
dive: 397
start: 10 18 111 13 51 30
data:
$ID,166
$MISSION,6
$DIVE,397
$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,-24902.795
$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,52
$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
$GPS1,181011,134136,2335.084,12345.814,44,1.7,55,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-56.1
$GPS2,181011,135106,2335.078,12345.911,40,1.9,45,-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,251.8,245700,-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,19,-0.73,-292.0,0.0,0.0,0,130,0.00,0.00,-109.20,0.000,2,0.000,0.000,140,1597,3056,0,0,0,0,0,0
$GC,136,-0.73,-292.0,5.9,-9.4,15,168,9.30,1.08,-16.55,0.000,4,0.220,0.070,2506,910,3964,0,0,0,0,0,0
$GC,409,-0.65,-292.0,95.5,-23.1,64,418,0.08,1.05,0.00,0.000,6,0.155,0.042,2527,1598,3965,0,0,0,0,0,0
$GC,739,-0.60,-292.0,164.7,-19.8,125,748,0.00,1.05,0.00,0.000,4,0.000,0.047,2523,2305,3966,0,0,0,0,0,0
$GC,883,-0.60,-292.0,190.0,-15.7,151,891,0.00,1.05,0.00,0.000,6,0.000,0.041,2521,1614,3966,0,0,0,0,0,0
$GC,1211,-0.58,-292.0,246.9,-15.8,212,1220,0.12,1.08,0.00,0.000,4,0.157,0.047,2552,2304,3966,0,0,0,0,0,0
$GC,1329,-0.62,-292.0,260.9,-10.5,224,1333,0.00,1.05,0.00,0.000,6,0.000,0.042,2552,1605,3966,0,0,0,0,0,0
$GC,1662,-0.66,-292.0,296.5,-10.1,255,1666,0.00,1.08,0.00,0.000,4,0.000,0.047,2547,2310,3966,0,0,0,0,0,0
$GC,1690,-0.69,-292.0,299.2,-10.2,257,1693,0.00,1.05,0.00,0.000,6,0.000,0.041,2547,1609,3966,0,0,0,0,0,0
$GC,2021,-0.72,-292.0,336.7,-11.3,288,2025,0.00,1.05,0.00,0.000,4,0.000,0.047,2543,2308,3965,0,0,0,0,0,0
$GC,2142,-0.76,-292.0,348.7,-9.9,298,2149,0.10,1.05,0.00,0.000,6,0.044,0.042,2460,1608,3964,0,0,0,0,0,0
$GC,2467,-0.70,-292.0,408.0,-18.3,329,2472,0.20,1.05,0.00,0.000,4,0.153,0.043,2521,915,3963,0,0,0,0,0,0
$GC,2504,-0.69,-292.0,413.9,-16.3,332,2508,0.00,1.05,0.00,0.000,6,0.000,0.041,2518,1612,3963,0,0,0,0,0,0
$GC,2835,-0.69,-292.0,455.6,-12.4,363,2839,0.00,1.05,0.00,0.000,4,0.000,0.047,2512,2315,3960,0,0,0,0,0,0
$GC,2941,-0.71,-292.0,467.6,-11.8,372,2945,0.00,1.05,0.00,0.000,6,0.000,0.043,2512,1619,3959,0,0,0,0,0,0
$GC,3272,-0.71,-292.0,510.8,-12.8,403,3275,0.00,1.08,0.00,0.000,4,0.000,0.050,2507,2315,3957,0,0,0,0,0,0
$GC,3335,-0.73,-292.0,518.3,-11.5,408,3342,0.00,1.08,0.00,0.000,6,0.000,0.043,2507,1611,3957,0,0,0,0,0,0
$GC,3661,-0.74,-292.0,557.3,-11.7,439,3665,0.00,1.08,0.00,0.000,4,0.000,0.049,2508,904,3954,0,0,0,0,0,0
$GC,3732,-0.76,-292.0,565.1,-11.1,445,3735,0.00,1.08,0.00,0.000,6,0.000,0.043,2502,1608,3954,0,0,0,0,0,0
$GC,4065,-0.77,-292.0,602.7,-11.1,475,4068,0.00,1.05,0.00,0.000,4,0.000,0.052,2497,2301,3952,0,0,0,0,0,0
$GC,4179,-0.80,-292.0,615.5,-10.8,480,4182,0.00,1.08,0.00,0.000,6,0.000,0.045,2498,1604,3950,0,0,0,0,0,0
$GC,4512,-0.80,-292.0,657.1,-12.7,496,4515,0.00,1.10,0.00,0.000,4,0.000,0.054,2495,2304,3948,0,0,0,0,0,0
$GC,4586,-0.82,-292.0,665.9,-11.5,499,4590,0.00,1.08,0.00,0.000,6,0.000,0.047,2496,1609,3947,0,0,0,0,0,0
$GC,4914,-0.82,-292.0,706.1,-11.9,515,4918,0.00,1.10,0.00,0.000,4,0.000,0.057,2498,2308,3944,0,0,0,0,0,0
$GC,4978,-0.84,-292.0,712.8,-10.4,517,4985,0.00,1.08,0.00,0.000,6,0.000,0.048,2500,1611,3944,0,0,0,0,0,0
$GC,5294,-0.84,-292.0,748.0,-11.2,533,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1611,3941,0,0,0,0,0,0
$GC,5603,-0.84,-292.0,785.4,-12.1,548,5607,0.00,1.08,0.00,0.000,4,0.000,0.058,2500,2298,3939,0,0,0,0,0,0
$GC,5735,-0.86,-292.0,799.8,-10.7,553,5743,0.00,1.05,0.00,0.000,6,0.000,0.049,2501,1614,3937,0,0,0,0,0,0
$GC,6051,-0.86,-292.0,836.9,-11.6,569,6055,0.00,1.08,0.00,0.000,4,0.000,0.060,2496,2297,3935,0,0,0,0,0,0
$GC,6104,-0.88,-292.0,842.6,-10.7,571,6109,0.08,1.08,0.00,0.000,6,0.058,0.050,2439,1604,3935,0,0,0,0,0,0
$GC,6435,-0.83,-292.0,896.0,-16.4,587,6439,0.15,1.10,0.00,0.000,4,0.170,0.054,2478,901,3932,0,0,0,0,0,0
$GC,6527,-0.83,-292.0,908.9,-13.1,591,6531,0.00,1.10,0.00,0.000,6,0.000,0.050,2475,1607,3931,0,0,0,0,0,0
$GC,6859,-0.83,-292.0,949.9,-11.8,607,6863,0.00,1.08,0.00,0.000,4,0.000,0.058,2470,2306,3929,0,0,0,0,0,0
$GC,6933,-0.83,-292.0,958.2,-11.0,610,6937,0.00,1.08,0.00,0.000,6,0.000,0.050,2470,1609,3929,0,0,0,0,0,0
$STATE,7196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7196,begin apogee
$GC,7202,-0.11,0.0,990.8,12.6,623,7437,0.73,0.00,226.20,1.426,6,0.125,0.000,2703,1787,2883,0,0,0,0,0,0
$STATE,7439,end apogee,CONTROL_FINISHED_OK
$STATE,7439,begin climb
$GC,7441,0.73,292.0,1001.4,0.0,634,7718,0.77,1.17,267.80,1.373,4,0.055,0.055,2992,1084,1693,0,0,0,0,0,0
$GC,7755,0.69,292.0,963.1,16.9,649,7759,0.00,1.12,0.00,0.000,6,0.000,0.051,2992,1780,1690,0,0,0,0,0,0
$GC,8090,0.64,292.0,904.6,17.6,665,8094,0.15,1.10,0.00,0.000,4,0.172,0.060,2949,2484,1687,0,0,0,0,0,0
$GC,8180,0.64,292.0,890.9,14.4,669,8184,0.00,1.08,0.00,0.000,6,0.000,0.048,2952,1788,1686,0,0,0,0,0,0
$GC,8516,0.63,292.0,842.1,14.9,685,8519,0.00,1.08,0.00,0.000,4,0.000,0.053,2957,1080,1684,0,0,0,0,0,0
$GC,8565,0.63,292.0,833.9,14.9,687,8569,0.00,1.10,0.00,0.000,6,0.000,0.047,2955,1790,1684,0,0,0,0,0,0
$GC,8896,0.62,292.0,785.6,14.6,703,8900,0.00,1.05,0.00,0.000,4,0.000,0.057,2956,2478,1683,0,0,0,0,0,0
$GC,8935,0.62,292.0,779.2,14.4,704,8942,0.00,1.08,0.00,0.000,6,0.000,0.045,2958,1777,1683,0,0,0,0,0,0
$GC,9252,0.61,293.5,735.5,13.7,720,9256,0.00,1.08,0.00,0.000,4,0.000,0.054,2958,2477,1681,0,0,0,0,0,0
$GC,9301,0.61,295.9,729.1,13.7,722,9304,0.00,1.08,0.00,0.000,6,0.000,0.046,2963,1780,1681,0,0,0,0,0,0
$GC,9634,0.61,310.3,684.0,13.3,738,9657,0.00,1.12,16.98,1.184,4,0.000,0.050,2968,1069,1619,0,0,0,0,0,0
$GC,9715,0.60,312.3,673.0,13.7,741,9719,0.08,1.10,0.00,0.000,6,0.146,0.044,2944,1785,1617,0,0,0,0,0,0
$GC,10038,0.67,359.9,633.7,12.2,757,10088,0.00,0.00,47.25,1.203,6,0.000,0.000,2944,1785,1416,0,0,0,0,0,0
$GC,10403,0.74,396.2,587.7,12.6,779,10441,0.12,1.08,34.08,1.150,4,0.090,0.050,3008,2478,1268,0,0,0,0,0,0
$GC,10491,0.72,396.2,572.9,18.2,786,10495,0.10,1.10,0.00,0.000,6,0.145,0.044,2980,1774,1266,0,0,0,0,0,0
$GC,10821,0.72,396.2,523.8,14.9,817,10825,0.00,1.05,0.00,0.000,4,0.000,0.050,2983,1078,1264,0,0,0,0,0,0
$GC,10856,0.72,396.2,518.8,14.2,820,10860,0.00,1.08,0.00,0.000,6,0.000,0.042,2983,1784,1264,0,0,0,0,0,0
$GC,11187,0.72,396.2,470.9,13.8,851,11191,0.00,1.08,0.00,0.000,4,0.000,0.048,2986,1080,1264,0,0,0,0,0,0
$GC,11244,0.72,396.2,462.8,14.0,856,11249,0.00,1.05,0.00,0.000,6,0.000,0.042,2984,1778,1264,0,0,0,0,0,0
$GC,11575,0.72,396.2,415.5,14.3,887,11576,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1778,1264,0,0,0,0,0,0
$GC,11895,0.72,396.2,371.7,13.8,917,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1780,1264,0,0,0,0,0,0
$GC,12217,0.78,435.9,329.6,12.5,947,12256,0.00,1.15,35.08,0.942,4,0.000,0.048,2987,1075,1106,0,0,0,0,0,0
$GC,12281,0.84,466.1,320.9,12.8,952,12315,0.00,1.08,27.83,0.912,6,0.000,0.040,2985,1778,982,0,0,0,0,0,0
$GC,12635,0.94,514.6,276.4,12.2,985,12683,0.17,1.08,42.97,0.886,4,0.068,0.043,3078,1068,784,0,0,0,0,0,0
$GC,12712,0.89,514.6,261.9,22.1,991,12717,0.12,1.08,0.00,0.000,6,0.143,0.039,3037,1778,781,0,0,0,0,0,0
$GC,13039,0.89,514.6,203.7,16.4,1047,13048,0.00,1.02,0.00,0.000,4,0.000,0.047,3034,2468,776,0,0,0,0,0,0
$GC,13093,0.90,514.6,195.2,14.9,1056,13101,0.00,1.05,0.00,0.000,6,0.000,0.041,3033,1773,776,0,0,0,0,0,0
$GC,13424,0.94,526.2,151.0,13.4,1117,13440,0.00,1.10,10.15,0.690,4,0.000,0.046,3036,1065,737,0,0,0,0,0,0
$GC,13513,1.00,551.8,139.5,12.9,1132,13544,0.00,1.08,23.88,0.741,6,0.000,0.037,3035,1789,632,0,0,0,0,0,0
$GC,13868,1.15,632.3,99.1,11.2,1196,13915,0.22,1.15,41.95,0.712,4,0.054,0.043,3158,1063,454,0,0,0,0,0,0
$GC,13967,1.10,632.3,78.2,22.9,1211,13977,0.17,1.08,0.00,0.000,6,0.142,0.036,3102,1787,447,0,0,0,0,0,0
$GC,14302,1.10,632.3,16.8,20.2,1272,14310,0.00,1.08,0.00,0.000,4,0.000,0.043,3104,1069,440,0,0,0,0,0,0
$GC,14347,1.12,632.3,9.7,14.7,1279,14356,0.00,1.02,0.00,0.000,6,0.000,0.034,3105,1776,440,0,0,0,0,0,0
$STATE,14393,end climb,SURFACE_DEPTH_REACHED
$STATE,14393,begin surface coast
$FINISH,1.4,0.998506
$STATE,14416,end surface coast,CONTROL_FINISHED_OK
$STATE,14416,begin surface
$SM_CCo,14494,0.00,0.000,0,0,438,599.76
$SM_GC,1.87,7.65,0.00,0.00,0.037,0.000,0.000,147,1594,438,-8.06,-0.42,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12347.27,181011,090918
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.10
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.70
$XPDR_PINGS,117
$24V_AH,23.0,96.447
$10V_AH,9.7,66.806
$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,20.325,67.225,774.150,0.000,0.000,58.487,42.451,212.414,29.250,0.000,46.700,3232.068,7287.882,754.799,3289.048,483.820,0.000,2094.661,0.000,2965.252,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,70.380,1425.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,880.909,1323.182,1384.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73515,1291
$CAP_FILE_SIZE,164074,0
$CFSIZE,260165632,111902720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256, 61.2,1
$GPS,181011,175445,2335.329,12345.016,40,2.2,59,-3.3