version: 66.09
glider: 166
mission: 6
dive: 398
start: 10 18 111 18 2 28
data:
$ID,166
$MISSION,6
$DIVE,398
$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,-24904.059
$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,48
$R_STBD_OVSHOOT,55
$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
$GPS1,181011,175445,2335.329,12345.016,40,2.2,59,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-61.2
$GPS2,181011,180204,2335.302,12345.061,15,99.0,34,-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,249.8,244391,-16.7,-13.750
$D_GRID,3236
$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,17,-0.73,-292.0,0.0,0.0,0,132,0.00,0.00,-112.03,0.000,2,0.000,0.000,138,1595,3129,0,0,0,0,0,0
$GC,135,-0.73,-292.0,6.2,-10.0,15,167,9.15,1.08,-15.32,0.000,4,0.213,0.070,2496,2297,3962,0,0,0,0,0,0
$GC,360,-0.62,-292.0,85.8,-30.7,55,369,0.12,1.02,0.00,0.000,6,0.145,0.039,2536,1609,3963,0,0,0,0,0,0
$GC,687,-0.56,-292.0,156.5,-20.6,116,695,0.00,1.05,0.00,0.000,4,0.000,0.047,2533,2300,3964,0,0,0,0,0,0
$GC,838,-0.54,-292.0,182.1,-15.0,142,847,0.10,1.02,0.00,0.000,6,0.129,0.041,2568,1622,3964,0,0,0,0,0,0
$GC,1169,-0.58,-292.0,220.6,-10.1,203,1177,0.00,1.02,0.00,0.000,4,0.000,0.046,2565,2291,3965,0,0,0,0,0,0
$GC,1249,-0.63,-292.0,228.6,-8.9,217,1258,0.00,1.02,0.00,0.000,6,0.000,0.041,2565,1612,3965,0,0,0,0,0,0
$GC,1581,-0.67,-292.0,260.4,-8.7,267,1585,0.10,1.08,0.00,0.000,4,0.096,0.047,2486,2300,3965,0,0,0,0,0,0
$GC,1640,-0.63,-292.0,268.7,-15.6,272,1648,0.15,1.05,0.00,0.000,6,0.125,0.041,2537,1601,3965,0,0,0,0,0,0
$GC,1966,-0.64,-292.0,308.0,-11.9,303,1969,0.00,1.08,0.00,0.000,4,0.000,0.047,2534,2298,3965,0,0,0,0,0,0
$GC,2049,-0.68,-292.0,316.0,-9.4,310,2052,0.00,1.05,0.00,0.000,6,0.000,0.041,2534,1603,3964,0,0,0,0,0,0
$GC,2380,-0.69,-292.0,355.1,-11.4,341,2384,0.00,1.08,0.00,0.000,4,0.000,0.048,2530,2297,3963,0,0,0,0,0,0
$GC,2547,-0.73,-292.0,372.4,-9.3,355,2553,0.00,1.05,0.00,0.000,6,0.000,0.042,2530,1605,3962,0,0,0,0,0,0
$GC,2873,-0.75,-292.0,406.5,-10.9,386,2877,0.00,1.05,0.00,0.000,4,0.000,0.049,2525,2291,3960,0,0,0,0,0,0
$GC,2971,-0.78,-292.0,416.4,-10.1,394,2977,0.00,1.02,0.00,0.000,6,0.000,0.042,2525,1609,3960,0,0,0,0,0,0
$GC,3299,-0.80,-292.0,453.8,-11.2,425,3303,0.12,1.08,0.00,0.000,4,0.083,0.051,2448,2295,3957,0,0,0,0,0,0
$GC,3426,-0.77,-292.0,474.7,-17.3,436,3430,0.12,1.02,0.00,0.000,6,0.132,0.044,2490,1618,3956,0,0,0,0,0,0
$GC,3756,-0.77,-292.0,522.8,-14.0,467,3759,0.00,1.08,0.00,0.000,4,0.000,0.047,2491,901,3954,0,0,0,0,0,0
$GC,3791,-0.77,-292.0,527.7,-14.2,470,3795,0.00,1.05,0.00,0.000,6,0.000,0.044,2488,1592,3954,0,0,0,0,0,0
$GC,4122,-0.77,-292.0,569.7,-12.8,501,4126,0.00,1.08,0.00,0.000,4,0.000,0.053,2483,2305,3951,0,0,0,0,0,0
$GC,4259,-0.77,-292.0,585.2,-11.3,513,4263,0.00,1.05,0.00,0.000,6,0.000,0.046,2485,1612,3950,0,0,0,0,0,0
$GC,4588,-0.77,-292.0,627.3,-12.5,534,4591,0.00,1.08,0.00,0.000,4,0.000,0.055,2483,2307,3947,0,0,0,0,0,0
$GC,4672,-0.77,-292.0,637.5,-11.0,537,4679,0.00,1.05,0.00,0.000,6,0.000,0.047,2484,1619,3946,0,0,0,0,0,0
$GC,4990,-0.77,-292.0,676.1,-12.1,553,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1618,3944,0,0,0,0,0,0
$GC,5297,-0.77,-292.0,715.1,-13.1,568,5301,0.00,1.08,0.00,0.000,4,0.000,0.057,2480,2308,3940,0,0,0,0,0,0
$GC,5324,-0.77,-292.0,718.8,-12.6,569,5328,0.00,1.08,0.00,0.000,6,0.000,0.048,2481,1606,3940,0,0,0,0,0,0
$GC,5654,-0.77,-292.0,763.7,-14.2,585,5658,0.00,1.10,0.00,0.000,4,0.000,0.058,2488,2309,3938,0,0,0,0,0,0
$GC,5677,-0.77,-292.0,767.2,-14.1,586,5681,0.00,1.08,0.00,0.000,6,0.000,0.049,2488,1612,3938,0,0,0,0,0,0
$GC,6010,-0.76,-292.0,813.7,-13.9,602,6014,0.00,1.08,0.00,0.000,4,0.000,0.060,2483,2297,3935,0,0,0,0,0,0
$GC,6036,-0.76,-292.0,817.0,-13.9,603,6040,0.00,1.05,0.00,0.000,6,0.000,0.050,2482,1612,3935,0,0,0,0,0,0
$GC,6369,-0.76,-292.0,864.1,-13.6,619,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1613,3932,0,0,0,0,0,0
$GC,6678,-0.76,-292.0,906.7,-13.8,634,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1613,3930,0,0,0,0,0,0
$GC,6989,-0.76,-292.0,951.1,-14.3,649,6993,0.00,1.10,0.00,0.000,4,0.000,0.061,2478,2309,3928,0,0,0,0,0,0
$GC,7040,-0.76,-292.0,958.8,-14.2,651,7043,0.00,1.08,0.00,0.000,6,0.000,0.052,2478,1612,3928,0,0,0,0,0,0
$STATE,7262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7262,begin apogee
$GC,7268,-0.11,0.0,991.1,14.7,662,7503,0.70,0.00,226.35,1.435,6,0.128,0.000,2702,1772,2885,0,0,0,0,0,0
$STATE,7508,end apogee,CONTROL_FINISHED_OK
$STATE,7508,begin climb
$GC,7510,0.73,292.0,1006.3,0.0,673,7792,0.75,1.23,268.62,1.381,4,0.054,0.062,2988,2487,1693,0,0,0,0,0,0
$GC,7865,0.69,292.0,963.2,16.5,689,7868,0.00,1.12,0.00,0.000,6,0.000,0.051,2991,1783,1689,0,0,0,0,0,0
$GC,8192,0.63,292.0,906.8,17.6,705,8197,0.15,1.12,0.00,0.000,4,0.174,0.059,2949,2490,1686,0,0,0,0,0,0
$GC,8232,0.63,292.0,900.5,14.8,706,8239,0.00,1.12,0.00,0.000,6,0.000,0.050,2951,1771,1686,0,0,0,0,0,0
$GC,8549,0.62,292.0,856.0,14.3,722,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1771,1684,0,0,0,0,0,0
$GC,8860,0.61,292.0,812.7,13.9,737,8863,0.00,1.12,0.00,0.000,4,0.000,0.059,2949,2494,1684,0,0,0,0,0,0
$GC,8898,0.61,299.5,806.8,13.5,738,8909,0.00,1.10,6.60,1.036,6,0.000,0.047,2952,1776,1663,0,0,0,0,0,0
$GC,9240,0.60,299.5,759.2,13.8,755,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1776,1662,0,0,0,0,0,0
$GC,9551,0.61,306.1,717.2,13.5,770,9564,0.00,1.17,8.27,1.080,4,0.000,0.055,2952,2498,1635,0,0,0,0,0,0
$GC,9610,0.61,306.1,708.3,13.9,772,9617,0.00,1.12,0.00,0.000,6,0.000,0.045,2956,1774,1635,0,0,0,0,0,0
$GC,9929,0.63,324.7,666.4,13.2,788,9951,0.00,1.12,18.88,1.188,4,0.000,0.051,2962,1068,1560,0,0,0,0,0,0
$GC,9979,0.69,373.1,659.5,12.2,790,10030,0.00,1.12,46.83,1.216,6,0.000,0.045,2961,1791,1363,0,0,0,0,0,0
$GC,10347,0.73,401.3,612.6,12.9,808,10377,0.00,1.05,26.48,1.160,4,0.000,0.050,2962,2478,1247,0,0,0,0,0,0
$GC,10413,0.78,435.0,604.1,12.7,811,10449,0.00,1.08,31.80,1.147,6,0.000,0.044,2966,1784,1110,0,0,0,0,0,0
$GC,10770,0.81,444.4,556.1,13.5,842,10784,0.12,1.12,9.25,0.989,4,0.090,0.050,3041,1069,1071,0,0,0,0,0,0
$GC,10800,0.78,444.4,550.4,17.5,844,10808,0.12,1.10,0.00,0.000,6,0.146,0.044,3001,1788,1070,0,0,0,0,0,0
$GC,11126,0.77,444.4,492.8,17.3,875,11130,0.00,1.02,0.00,0.000,4,0.000,0.054,2999,2475,1069,0,0,0,0,0,0
$GC,11153,0.75,444.4,487.7,17.4,877,11164,0.00,1.05,0.00,0.000,6,0.000,0.044,3003,1782,1069,0,0,0,0,0,0
$GC,11479,0.74,444.4,433.6,16.3,908,11482,0.00,1.05,0.00,0.000,4,0.000,0.050,3000,2475,1069,0,0,0,0,0,0
$GC,11528,0.74,444.4,425.5,15.3,912,11535,0.00,1.05,0.00,0.000,6,0.000,0.042,3003,1778,1068,0,0,0,0,0,0
$GC,11854,0.74,444.4,373.3,16.9,943,11858,0.00,1.05,0.00,0.000,4,0.000,0.047,3008,1073,1068,0,0,0,0,0,0
$GC,11911,0.74,444.4,363.6,16.9,948,11914,0.00,1.08,0.00,0.000,6,0.000,0.042,3005,1788,1067,0,0,0,0,0,0
$GC,12241,0.74,444.4,310.5,15.7,979,12245,0.00,1.05,0.00,0.000,4,0.000,0.052,3001,2476,1067,0,0,0,0,0,0
$GC,12300,0.75,444.4,302.3,14.0,984,12304,0.00,1.05,0.00,0.000,6,0.000,0.042,3004,1779,1067,0,0,0,0,0,0
$GC,12632,0.75,444.4,254.9,14.0,1015,12636,0.00,1.05,0.00,0.000,4,0.000,0.045,3010,1069,1067,0,0,0,0,0,0
$GC,12674,0.75,444.4,248.9,14.0,1019,12682,0.00,1.08,0.00,0.000,6,0.000,0.039,3009,1794,1067,0,0,0,0,0,0
$GC,13004,0.82,483.7,205.0,12.5,1080,13049,0.00,1.12,34.65,0.834,4,0.000,0.051,3014,1084,909,0,0,0,0,0,0
$GC,13060,0.91,533.9,198.1,12.2,1087,13114,0.00,1.05,45.33,0.819,6,0.000,0.037,3014,1785,705,0,0,0,0,0,0
$GC,13435,1.21,721.6,159.8,7.8,1154,13513,0.30,1.12,61.33,0.754,4,0.049,0.043,3167,1067,453,0,0,0,0,1,0
$GC,13554,1.12,721.6,131.0,28.3,1171,13562,0.17,1.08,0.00,0.000,6,0.155,0.038,3111,1782,449,0,0,0,0,0,0
$GC,13889,1.12,721.6,67.3,15.6,1232,13896,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1782,438,0,0,0,0,0,0
$GC,14213,1.26,819.2,12.3,10.7,1293,14223,0.12,1.08,0.00,0.000,4,0.088,0.043,3180,1071,434,0,0,0,0,0,0
$STATE,14261,end climb,SURFACE_DEPTH_REACHED
$STATE,14261,begin surface coast
$FINISH,1.2,1.009768
$STATE,14273,end surface coast,CONTROL_FINISHED_OK
$STATE,14273,begin surface
$SM_CCo,14354,0.00,0.000,0,0,432,601.48
$SM_GC,1.92,7.75,0.00,0.00,0.031,0.000,0.000,144,1621,432,-8.04,0.31,601.48,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12347.27,181011,131301
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.29
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.40
$XPDR_PINGS,115
$24V_AH,22.9,96.738
$10V_AH,9.7,66.956
$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,20.075,64.525,784.375,0.000,0.000,30.291,20.901,200.987,28.750,0.000,36.430,3220.129,7090.660,765.584,3249.628,448.180,0.000,2111.341,0.000,2972.527,0.000,0.541,0.000
$DEVICE_MAMPS,213.435,71.910,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.688,1333.438,1468.204,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330376
$DATA_FILE_SIZE,73656,1303
$CAP_FILE_SIZE,158686,0
$CFSIZE,260165632,111828992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.230, 61.1,1
$GPS,181011,220300,2335.475,12343.921,39,1.5,39,-3.3