version: 66.09
glider: 166
mission: 6
dive: 399
start: 10 18 111 22 16 42
data:
$ID,166
$MISSION,6
$DIVE,399
$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,-24905.414
$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,37
$R_STBD_OVSHOOT,57
$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
$GPS1,181011,220300,2335.475,12343.921,39,1.5,39,-3.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-60.0
$GPS2,181011,221614,2335.461,12343.987,35,1.9,35,-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,250.6,242688,-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,-292.0,0.0,0.0,0,134,0.00,0.00,-113.97,0.000,2,0.000,0.000,139,1627,3142,0,0,0,0,0,0
$GC,137,-0.73,-292.0,5.5,-7.4,15,168,9.15,1.05,-16.02,0.000,4,0.213,0.073,2497,2297,3964,0,0,0,0,0,0
$GC,410,-0.63,-292.0,95.1,-25.8,64,418,0.12,1.05,0.00,0.000,6,0.148,0.039,2535,1599,3964,0,0,0,0,0,0
$GC,738,-0.59,-292.0,161.9,-16.0,125,746,0.00,1.05,0.00,0.000,4,0.000,0.046,2531,2293,3965,0,0,0,0,0,0
$GC,779,-0.56,-292.0,167.9,-15.1,131,788,0.08,1.02,0.00,0.000,6,0.132,0.041,2559,1608,3965,0,0,0,0,0,0
$GC,1113,-0.57,-292.0,206.9,-11.6,192,1121,0.00,1.02,0.00,0.000,4,0.000,0.047,2556,2289,3965,0,0,0,0,0,0
$GC,1246,-0.61,-292.0,220.1,-9.9,216,1255,0.00,1.00,0.00,0.000,6,0.000,0.041,2556,1614,3965,0,0,0,0,0,0
$GC,1576,-0.65,-292.0,257.9,-11.5,271,1580,0.00,1.02,0.00,0.000,4,0.000,0.047,2553,2287,3965,0,0,0,0,0,0
$GC,1715,-0.69,-292.0,272.7,-10.4,283,1719,0.00,1.02,0.00,0.000,6,0.000,0.041,2553,1605,3965,0,0,0,0,0,0
$GC,2047,-0.72,-292.0,309.0,-11.3,314,2051,0.12,1.05,0.00,0.000,4,0.081,0.047,2468,2289,3964,0,0,0,0,0,0
$GC,2117,-0.68,-292.0,320.1,-17.8,320,2122,0.15,1.02,0.00,0.000,6,0.127,0.041,2520,1604,3963,0,0,0,0,0,0
$GC,2447,-0.68,-292.0,363.2,-12.4,351,2451,0.00,1.05,0.00,0.000,4,0.000,0.048,2517,2292,3962,0,0,0,0,0,0
$GC,2563,-0.70,-292.0,377.4,-12.5,361,2567,0.00,1.02,0.00,0.000,6,0.000,0.041,2517,1606,3961,0,0,0,0,0,0
$GC,2895,-0.71,-292.0,421.8,-12.0,392,2899,0.00,1.05,0.00,0.000,4,0.000,0.048,2514,2297,3959,0,0,0,0,0,0
$GC,2914,-0.72,-292.0,424.0,-11.7,393,2921,0.00,1.02,0.00,0.000,6,0.000,0.042,2514,1611,3959,0,0,0,0,0,0
$GC,3240,-0.72,-292.0,466.1,-13.8,424,3243,0.00,1.02,0.00,0.000,4,0.000,0.051,2509,2287,3957,0,0,0,0,0,0
$GC,3333,-0.75,-292.0,477.2,-11.8,432,3337,0.00,1.02,0.00,0.000,6,0.000,0.044,2509,1605,3956,0,0,0,0,0,0
$GC,3665,-0.76,-292.0,518.5,-11.7,463,3669,0.00,1.05,0.00,0.000,4,0.000,0.052,2504,2291,3954,0,0,0,0,0,0
$GC,3713,-0.77,-292.0,523.6,-10.8,467,3717,0.00,1.02,0.00,0.000,6,0.000,0.044,2505,1607,3954,0,0,0,0,0,0
$GC,4044,-0.77,-292.0,562.6,-11.6,498,4048,0.00,1.05,0.00,0.000,4,0.000,0.054,2500,2290,3950,0,0,0,0,0,0
$GC,4119,-0.79,-292.0,570.6,-10.4,504,4125,0.00,1.02,0.00,0.000,6,0.000,0.044,2501,1610,3950,0,0,0,0,0,0
$GC,4444,-0.79,-292.0,608.4,-11.8,532,4448,0.00,1.08,0.00,0.000,4,0.000,0.056,2497,2292,3947,0,0,0,0,0,0
$GC,4502,-0.81,-292.0,615.1,-11.3,534,4506,0.00,1.02,0.00,0.000,6,0.000,0.047,2497,1614,3946,0,0,0,0,0,0
$GC,4824,-0.81,-292.0,652.0,-11.5,550,4828,0.00,1.02,0.00,0.000,4,0.000,0.057,2492,2281,3944,0,0,0,0,0,0
$GC,4888,-0.83,-292.0,659.2,-10.8,552,4895,0.00,1.02,0.00,0.000,6,0.000,0.048,2494,1608,3943,0,0,0,0,0,0
$GC,5205,-0.83,-292.0,698.0,-12.2,568,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1608,3940,0,0,0,0,0,0
$GC,5514,-0.83,-292.0,734.1,-11.4,583,5517,0.00,1.05,0.00,0.000,4,0.000,0.058,2499,2281,3938,0,0,0,0,0,0
$GC,5623,-0.85,-292.0,745.2,-9.9,587,5633,0.00,1.02,0.00,0.000,6,0.000,0.050,2501,1612,3937,0,0,0,0,0,0
$GC,5939,-0.85,-292.0,778.9,-10.1,603,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1612,3935,0,0,0,0,0,0
$GC,6250,-0.85,-292.0,811.6,-10.9,618,6254,0.00,1.05,0.00,0.000,4,0.000,0.061,2498,2278,3932,0,0,0,0,0,0
$GC,6284,-0.86,-292.0,815.6,-10.8,619,6288,0.00,1.02,0.00,0.000,6,0.000,0.050,2498,1617,3932,0,0,0,0,0,0
$GC,6606,-0.86,-292.0,852.2,-11.5,635,6609,0.00,1.05,0.00,0.000,4,0.000,0.062,2493,2284,3929,0,0,0,0,0,0
$GC,6641,-0.86,-292.0,856.1,-11.0,636,6645,0.00,1.05,0.00,0.000,6,0.000,0.052,2494,1606,3929,0,0,0,0,0,0
$GC,6964,-0.86,-292.0,894.7,-12.1,652,6967,0.00,1.08,0.00,0.000,4,0.000,0.055,2494,905,3927,0,0,0,0,0,0
$GC,7014,-0.86,-292.0,900.9,-11.9,654,7017,0.00,1.05,0.00,0.000,6,0.000,0.050,2489,1582,3926,0,0,0,0,0,0
$GC,7343,-0.86,-292.0,939.5,-12.0,670,7347,0.00,1.12,0.00,0.000,4,0.000,0.058,2483,2312,3924,0,0,0,0,0,0
$GC,7377,-0.86,-292.0,943.8,-11.6,671,7380,0.00,1.08,0.00,0.000,6,0.000,0.049,2483,1611,3923,0,0,0,0,0,0
$GC,7701,-0.86,-292.0,980.6,-11.3,687,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1611,3922,0,0,0,0,0,0
$STATE,7800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7800,begin apogee
$GC,7806,-0.11,0.0,992.1,11.2,692,8040,0.70,0.00,225.95,1.440,6,0.128,0.000,2706,1788,2885,0,0,0,0,0,0
$STATE,8045,end apogee,CONTROL_FINISHED_OK
$STATE,8045,begin climb
$GC,8047,0.73,292.0,999.6,0.0,703,8322,0.77,0.00,269.45,1.381,6,0.054,0.000,2991,1788,1692,0,0,0,0,0,0
$GC,8622,0.68,292.0,908.6,17.5,731,8625,0.00,1.10,0.00,0.000,4,0.000,0.062,2991,2481,1687,0,0,0,0,0,0
$GC,8669,0.64,292.0,900.3,16.6,733,8673,0.12,1.08,0.00,0.000,6,0.151,0.050,2957,1786,1686,0,0,0,0,0,0
$GC,9007,0.62,292.0,854.7,13.8,749,9011,0.00,1.10,0.00,0.000,4,0.000,0.054,2961,1070,1684,0,0,0,0,0,0
$GC,9062,0.61,292.0,845.8,14.7,751,9066,0.00,1.10,0.00,0.000,6,0.000,0.050,2959,1776,1684,0,0,0,0,0,0
$GC,9386,0.59,292.0,801.3,13.8,767,9390,0.00,1.08,0.00,0.000,4,0.000,0.058,2959,2484,1683,0,0,0,0,0,0
$GC,9436,0.58,292.5,793.8,13.7,769,9441,0.00,1.08,0.00,0.000,6,0.000,0.047,2961,1787,1683,0,0,0,0,0,0
$GC,9767,0.57,294.0,748.5,13.7,785,9769,0.12,0.00,0.00,0.000,6,0.176,0.000,2930,1787,1681,0,0,0,0,0,0
$GC,10074,0.72,407.8,715.3,10.2,800,10191,0.15,1.15,107.68,1.262,4,0.082,0.056,3002,2481,1220,0,0,0,0,0,0
$GC,10236,0.70,407.8,688.4,16.5,807,10240,0.10,1.10,0.00,0.000,6,0.149,0.046,2975,1780,1218,0,0,0,0,0,0
$GC,10557,0.72,419.1,646.6,13.4,823,10572,0.00,1.10,10.60,1.067,4,0.000,0.047,2979,1066,1175,0,0,0,0,0,0
$GC,10596,0.72,419.1,641.2,14.0,824,10603,0.00,1.12,0.00,0.000,6,0.000,0.044,2978,1794,1174,0,0,0,0,0,0
$GC,10913,0.72,419.1,594.3,15.0,841,10914,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1794,1172,0,0,0,0,0,0
$GC,11234,0.72,419.1,543.8,15.4,871,11238,0.00,1.10,0.00,0.000,4,0.000,0.048,2981,1072,1173,0,0,0,0,0,0
$GC,11304,0.72,419.1,532.4,15.5,877,11308,0.00,1.08,0.00,0.000,6,0.000,0.044,2981,1780,1171,0,0,0,0,0,0
$GC,11637,0.72,419.1,480.0,15.6,908,11641,0.00,1.08,0.00,0.000,4,0.000,0.054,2981,2479,1171,0,0,0,0,0,0
$GC,11660,0.72,419.1,475.9,16.0,910,11664,0.00,1.08,0.00,0.000,6,0.000,0.044,2985,1771,1170,0,0,0,0,0,0
$GC,11991,0.72,419.1,424.3,14.2,941,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1771,1171,0,0,0,0,0,0
$GC,12314,0.74,441.5,381.6,13.0,971,12338,0.00,1.10,20.77,0.975,4,0.000,0.049,2990,1075,1084,0,0,0,0,0,0
$GC,12390,0.81,482.1,372.0,12.5,977,12435,0.00,1.08,37.08,0.979,6,0.000,0.041,2990,1783,916,0,0,0,0,0,0
$GC,12753,0.85,497.6,324.6,13.3,1011,12777,0.00,1.12,14.48,0.884,4,0.000,0.047,2995,1075,853,0,0,0,0,0,0
$GC,12819,0.91,525.3,316.2,12.9,1016,12850,0.10,1.08,26.10,0.907,6,0.049,0.038,3065,1792,741,0,0,0,0,0,0
$GC,13170,0.87,525.3,241.2,20.5,1053,13179,0.15,1.02,0.00,0.000,4,0.164,0.049,3021,2475,733,0,0,0,0,0,0
$GC,13229,0.89,525.3,230.5,14.9,1063,13237,0.00,1.05,0.00,0.000,6,0.000,0.040,3022,1777,733,0,0,0,0,0,0
$GC,13560,0.91,525.3,181.1,14.3,1124,13569,0.00,1.02,0.00,0.000,4,0.000,0.046,3024,1084,731,0,0,0,0,0,0
$GC,13627,0.94,530.6,171.7,13.6,1135,13636,0.00,1.02,5.12,0.581,6,0.000,0.038,3022,1779,719,0,0,0,0,0,0
$GC,13960,1.15,660.9,135.1,9.6,1196,14030,0.25,1.12,63.55,0.761,4,0.055,0.044,3159,1077,454,0,0,0,0,0,0
$GC,14104,1.07,660.9,100.4,24.7,1218,14113,0.20,1.05,0.00,0.000,6,0.142,0.037,3095,1784,447,0,0,0,0,0,0
$GC,14434,1.11,674.1,51.4,13.3,1279,14442,0.00,1.08,0.00,0.000,4,0.000,0.044,3097,1071,438,0,0,0,0,0,0
$GC,14491,1.16,693.5,43.7,13.1,1288,14500,0.00,1.05,0.00,0.000,6,0.000,0.036,3097,1786,437,0,0,0,0,0,0
$STATE,14784,end climb,SURFACE_DEPTH_REACHED
$STATE,14784,begin surface coast
$FINISH,1.3,1.022118
$STATE,14810,end surface coast,CONTROL_FINISHED_OK
$STATE,14810,begin surface
$SM_CCo,14888,0.00,0.000,0,0,432,601.48
$SM_GC,1.97,7.62,0.00,0.00,0.037,0.000,0.000,143,1580,432,-8.04,-0.74,601.48,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12342.06,181011,222219
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.73
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.60
$XPDR_PINGS,116
$24V_AH,22.9,97.042
$10V_AH,9.8,67.113
$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,19.925,64.075,780.775,0.000,0.000,92.918,91.672,281.864,29.000,0.000,36.638,3349.817,7512.071,797.539,3527.995,481.083,0.000,2123.300,0.000,3032.606,0.000,0.541,0.000
$DEVICE_MAMPS,212.670,73.440,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.056,1379.350,1521.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330416
$DATA_FILE_SIZE,76686,1347
$CAP_FILE_SIZE,166302,0
$CFSIZE,260165632,111726592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.282, 58.6,1
$GPS,191011,022636,2336.024,12343.167,61,1.9,67,-3.3