version: 66.09
glider: 166
mission: 6
dive: 400
start: 10 19 111 2 35 8
data:
$ID,166
$MISSION,6
$DIVE,400
$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,-24906.672
$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,55
$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
$GPS1,191011,022636,2336.024,12343.167,61,1.9,67,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-57.2
$GPS2,191011,023444,2336.094,12343.225,35,1.8,35,-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,246.8,241717,-16.7,-13.750
$D_GRID,3217
$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,-292.0,0.0,0.0,0,130,0.00,0.00,-110.55,0.000,2,0.000,0.000,135,1581,3055,0,0,0,0,0,0
$GC,133,-0.73,-292.0,5.5,-7.6,15,166,9.12,1.02,-17.50,0.000,4,0.212,0.070,2505,913,3964,0,0,0,0,0,0
$GC,406,-0.63,-292.0,89.0,-24.4,64,415,0.10,1.02,0.00,0.000,6,0.151,0.040,2533,1599,3965,0,0,0,0,0,0
$GC,736,-0.58,-292.0,156.0,-19.5,125,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1599,3965,0,0,0,0,0,0
$GC,1067,-0.56,-292.0,208.3,-13.6,186,1075,0.10,1.08,0.00,0.000,4,0.173,0.048,2557,2307,3966,0,0,0,0,0,0
$GC,1202,-0.60,-292.0,222.1,-9.9,210,1210,0.00,1.02,0.00,0.000,6,0.000,0.043,2557,1626,3966,0,0,0,0,0,0
$GC,1539,-0.63,-292.0,258.6,-11.1,265,1543,0.00,1.05,0.00,0.000,4,0.000,0.047,2554,2306,3966,0,0,0,0,0,0
$GC,1654,-0.67,-292.0,271.4,-10.7,275,1661,0.00,1.05,0.00,0.000,6,0.000,0.041,2554,1614,3966,0,0,0,0,0,0
$GC,1981,-0.71,-292.0,306.8,-10.6,306,1985,0.12,1.08,0.00,0.000,4,0.082,0.049,2469,2300,3965,0,0,0,0,0,0
$GC,2027,-0.67,-292.0,313.6,-16.2,310,2031,0.17,1.05,0.00,0.000,6,0.124,0.042,2529,1605,3965,0,0,0,0,0,0
$GC,2358,-0.68,-292.0,354.7,-12.0,341,2361,0.00,1.08,0.00,0.000,4,0.000,0.048,2526,2311,3963,0,0,0,0,0,0
$GC,2416,-0.70,-292.0,361.1,-11.0,346,2420,0.00,1.05,0.00,0.000,6,0.000,0.042,2526,1611,3963,0,0,0,0,0,0
$GC,2748,-0.72,-292.0,398.8,-10.8,377,2751,0.00,1.08,0.00,0.000,4,0.000,0.050,2523,2310,3962,0,0,0,0,0,0
$GC,2843,-0.75,-292.0,408.5,-9.9,385,2851,0.00,1.05,0.00,0.000,6,0.000,0.042,2522,1611,3961,0,0,0,0,0,0
$GC,3169,-0.76,-292.0,444.3,-11.5,416,3173,0.00,1.05,0.00,0.000,4,0.000,0.051,2518,2297,3959,0,0,0,0,0,0
$GC,3216,-0.78,-292.0,449.4,-10.9,420,3220,0.00,1.02,0.00,0.000,6,0.000,0.044,2518,1615,3958,0,0,0,0,0,0
$GC,3547,-0.80,-292.0,485.5,-10.8,451,3551,0.00,1.05,0.00,0.000,4,0.000,0.054,2513,2298,3956,0,0,0,0,0,0
$GC,3604,-0.83,-292.0,491.4,-10.2,456,3609,0.08,1.02,0.00,0.000,6,0.051,0.045,2450,1617,3956,0,0,0,0,0,0
$GC,3935,-0.77,-292.0,546.8,-17.1,487,3940,0.15,1.08,0.00,0.000,4,0.164,0.054,2488,2299,3953,0,0,0,0,0,0
$GC,4006,-0.77,-292.0,556.0,-12.2,493,4010,0.00,1.05,0.00,0.000,6,0.000,0.046,2489,1605,3952,0,0,0,0,0,0
$GC,4337,-0.77,-292.0,600.0,-13.4,524,4341,0.00,1.08,0.00,0.000,4,0.000,0.054,2484,2301,3950,0,0,0,0,0,0
$GC,4383,-0.77,-292.0,606.2,-13.4,527,4386,0.00,1.05,0.00,0.000,6,0.000,0.046,2485,1608,3949,0,0,0,0,0,0
$GC,4718,-0.77,-292.0,651.6,-13.0,543,4722,0.00,1.05,0.00,0.000,4,0.000,0.050,2486,914,3947,0,0,0,0,0,0
$GC,4773,-0.77,-292.0,659.4,-13.6,545,4777,0.00,1.05,0.00,0.000,6,0.000,0.047,2481,1602,3947,0,0,0,0,0,0
$GC,5098,-0.77,-292.0,699.0,-11.5,561,5101,0.00,1.08,0.00,0.000,4,0.000,0.054,2477,2308,3944,0,0,0,0,0,0
$GC,5170,-0.77,-292.0,707.4,-10.8,564,5174,0.00,1.08,0.00,0.000,6,0.000,0.047,2477,1603,3943,0,0,0,0,0,0
$GC,5497,-0.77,-292.0,746.4,-11.9,580,5501,0.00,1.10,0.00,0.000,4,0.000,0.057,2474,2309,3940,0,0,0,0,0,0
$GC,5534,-0.77,-292.0,750.4,-11.6,581,5538,0.00,1.08,0.00,0.000,6,0.000,0.047,2475,1605,3940,0,0,0,0,0,0
$GC,5856,-0.77,-292.0,789.4,-12.3,597,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1604,3938,0,0,0,0,0,0
$GC,6167,-0.77,-292.0,828.0,-12.3,612,6171,0.00,1.10,0.00,0.000,4,0.000,0.059,2483,2305,3935,0,0,0,0,0,0
$GC,6223,-0.77,-292.0,834.9,-11.2,614,6227,0.00,1.08,0.00,0.000,6,0.000,0.050,2483,1605,3935,0,0,0,0,0,0
$GC,6545,-0.77,-292.0,873.6,-12.2,630,6549,0.00,1.08,0.00,0.000,4,0.000,0.054,2483,903,3932,0,0,0,0,0,0
$GC,6575,-0.77,-292.0,877.4,-12.5,631,6579,0.00,1.10,0.00,0.000,6,0.000,0.049,2477,1608,3932,0,0,0,0,0,0
$GC,6903,-0.76,-292.0,920.9,-13.2,647,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1608,3930,0,0,0,0,0,0
$GC,7214,-0.76,-292.0,961.9,-13.1,662,7218,0.00,1.08,0.00,0.000,4,0.000,0.060,2472,2304,3928,0,0,0,0,0,0
$GC,7243,-0.76,-292.0,965.9,-13.0,663,7247,0.00,1.08,0.00,0.000,6,0.000,0.050,2472,1610,3928,0,0,0,0,0,0
$STATE,7424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7424,begin apogee
$GC,7430,-0.11,0.0,990.1,13.3,672,7665,0.73,0.00,226.38,1.431,6,0.128,0.000,2704,1784,2884,0,0,0,0,0,0
$STATE,7667,end apogee,CONTROL_FINISHED_OK
$STATE,7667,begin climb
$GC,7669,0.73,292.0,1001.2,0.0,683,7948,0.75,1.20,268.73,1.378,4,0.053,0.062,2987,2485,1693,0,0,0,0,0,0
$GC,8001,0.69,292.0,958.9,16.9,698,8005,0.00,1.12,0.00,0.000,6,0.000,0.051,2992,1787,1690,0,0,0,0,0,0
$GC,8328,0.64,292.0,901.1,17.7,714,8332,0.15,1.10,0.00,0.000,4,0.173,0.060,2948,2480,1687,0,0,0,0,0,0
$GC,8361,0.63,292.0,895.8,14.6,715,8365,0.00,1.10,0.00,0.000,6,0.000,0.049,2951,1769,1687,0,0,0,0,0,0
$GC,8685,0.61,292.0,851.1,14.1,731,8689,0.00,1.05,0.00,0.000,4,0.000,0.054,2956,1077,1684,0,0,0,0,0,0
$GC,8736,0.60,292.0,843.2,14.4,733,8740,0.00,1.10,0.00,0.000,6,0.000,0.048,2953,1786,1684,0,0,0,0,0,0
$GC,9066,0.60,307.3,798.8,13.3,749,9089,0.00,1.10,14.27,1.213,4,0.000,0.058,2949,2490,1631,0,0,0,0,0,0
$GC,9158,0.67,357.0,786.8,12.2,753,9210,0.00,1.10,48.53,1.285,6,0.000,0.048,2952,1778,1428,0,0,0,0,0,0
$GC,9527,0.74,419.9,741.8,11.8,771,9591,0.00,1.15,58.38,1.260,4,0.000,0.050,2957,1066,1172,0,0,0,0,0,0
$GC,9616,0.86,502.7,731.5,11.1,775,9698,0.17,1.12,76.80,1.232,6,0.048,0.046,3046,1780,834,0,0,0,0,0,0
$GC,10004,0.80,502.7,644.3,23.9,794,10009,0.15,1.08,0.00,0.000,4,0.168,0.056,3002,2482,824,0,0,0,0,0,0
$GC,10171,0.80,502.7,612.9,17.1,801,10175,0.00,1.08,0.00,0.000,6,0.000,0.044,3005,1781,824,0,0,0,0,0,0
$GC,10500,0.79,502.7,556.3,17.0,828,10504,0.00,1.10,0.00,0.000,4,0.000,0.054,3005,2495,821,0,0,0,0,0,0
$GC,10548,0.79,502.7,548.6,16.4,832,10552,0.00,1.10,0.00,0.000,6,0.000,0.044,3008,1780,822,0,0,0,0,0,0
$GC,10880,0.77,502.7,492.2,17.7,863,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1780,820,0,0,0,0,0,0
$GC,11202,0.76,502.7,436.7,16.8,893,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1780,820,0,0,0,0,0,0
$GC,11531,0.76,502.7,379.4,17.3,924,11535,0.00,1.08,0.00,0.000,4,0.000,0.051,3005,2492,819,0,0,0,0,0,0
$GC,11566,0.76,502.7,372.9,16.8,927,11570,0.00,1.10,0.00,0.000,6,0.000,0.044,3009,1763,819,0,0,0,0,0,0
$GC,11897,0.76,502.7,315.6,16.7,958,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1763,819,0,0,0,0,0,0
$GC,12221,0.77,502.7,263.6,14.7,988,12225,0.00,1.02,0.00,0.000,4,0.000,0.047,3014,1082,819,0,0,0,0,0,0
$GC,12267,0.78,502.7,256.0,14.8,992,12271,0.00,1.08,0.00,0.000,6,0.000,0.040,3011,1802,819,0,0,0,0,0,0
$GC,12596,0.81,502.7,208.6,13.9,1049,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1802,819,0,0,0,0,0,0
$GC,12922,1.03,637.6,172.7,9.5,1110,13019,0.17,1.10,88.50,0.796,4,0.070,0.042,3101,1080,454,0,0,0,0,0,0
$GC,13114,1.00,637.6,133.1,21.2,1140,13122,0.10,1.05,0.00,0.000,6,0.138,0.038,3067,1783,451,0,0,0,0,0,0
$GC,13448,1.12,709.9,83.1,11.5,1201,13456,0.12,0.00,0.00,0.000,6,0.084,0.000,3139,1784,445,0,0,0,0,0,0
$GC,13779,1.09,709.9,20.4,20.6,1262,13788,0.15,1.08,0.00,0.000,4,0.155,0.044,3099,1081,439,0,0,0,0,0,0
$GC,13866,1.11,709.9,6.3,15.5,1277,13875,0.00,1.02,0.00,0.000,6,0.000,0.037,3099,1778,438,0,0,0,0,0,0
$STATE,13893,end climb,SURFACE_DEPTH_REACHED
$STATE,13893,begin surface coast
$FINISH,1.2,1.009324
$STATE,13916,end surface coast,CONTROL_FINISHED_OK
$STATE,13916,begin surface
$SM_CCo,13993,0.00,0.000,0,0,436,600.49
$SM_GC,1.94,7.68,0.00,0.00,0.040,0.000,0.000,140,1592,436,-8.06,-0.51,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12342.06,181011,222237
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.40
$XPDR_PINGS,114
$24V_AH,22.9,97.346
$10V_AH,9.7,67.263
$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,20.025,58.500,781.575,0.000,0.000,31.278,29.028,240.532,28.500,0.000,36.467,3202.346,6788.793,747.645,3287.090,438.159,0.000,2057.993,0.000,2961.768,0.000,0.541,0.000
$DEVICE_MAMPS,211.905,69.615,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.616,1314.557,1478.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330364
$DATA_FILE_SIZE,73583,1285
$CAP_FILE_SIZE,155240,0
$CFSIZE,260165632,111665152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.282, 59.5,1
$GPS,191011,062937,2336.104,12342.500,39,1.5,39,-3.3