version: 66.09
glider: 166
mission: 6
dive: 404
start: 10 19 111 19 9 38
data:
$ID,166
$MISSION,6
$DIVE,404
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,240
$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,-24911.711
$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,45
$R_STBD_OVSHOOT,45
$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
$GPS1,191011,185954,2336.459,12340.766,42,1.3,59,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.5
$GPS2,191011,190916,2336.473,12340.936,14,99.0,33,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2331.073,12330.736
$TGT_RADIUS,1852.000
$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,243.3,20000,-16.7,-13.750
$D_GRID,3210
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.73,-292.0,0.0,0.0,0,134,0.00,0.00,-110.62,0.000,2,0.000,0.000,126,1606,3061,0,0,0,0,0,0
$GC,137,-0.73,-292.0,5.4,-7.9,16,174,9.32,1.10,-17.50,0.000,4,0.218,0.068,2502,893,3964,0,0,0,0,0,0
$GC,358,-0.65,-292.0,78.4,-25.1,56,367,0.10,1.08,0.00,0.000,6,0.149,0.038,2530,1610,3964,0,0,0,0,0,0
$GC,689,-0.60,-292.0,154.0,-20.4,117,697,0.00,1.02,0.00,0.000,4,0.000,0.044,2526,2304,3965,0,0,0,0,0,0
$GC,778,-0.57,-292.0,170.7,-17.2,132,787,0.10,1.05,0.00,0.000,6,0.132,0.040,2558,1603,3965,0,0,0,0,0,0
$GC,1103,-0.58,-292.0,212.9,-11.8,193,1111,0.00,1.08,0.00,0.000,4,0.000,0.047,2554,2307,3966,0,0,0,0,0,0
$GC,1177,-0.62,-292.0,221.6,-10.8,206,1185,0.00,1.05,0.00,0.000,6,0.000,0.041,2554,1608,3966,0,0,0,0,0,0
$GC,1505,-0.65,-292.0,257.4,-11.5,261,1509,0.00,1.08,0.00,0.000,4,0.000,0.047,2550,2311,3966,0,0,0,0,0,0
$GC,1596,-0.69,-292.0,267.7,-10.9,269,1600,0.00,1.05,0.00,0.000,6,0.000,0.041,2550,1611,3966,0,0,0,0,0,0
$GC,1928,-0.72,-292.0,304.0,-9.6,300,1932,0.12,1.08,0.00,0.000,4,0.080,0.048,2467,2302,3965,0,0,0,0,0,0
$GC,2060,-0.67,-292.0,323.6,-17.0,311,2067,0.17,1.05,0.00,0.000,6,0.131,0.042,2526,1606,3965,0,0,0,0,0,0
$GC,2385,-0.68,-292.0,364.4,-12.3,342,2389,0.00,1.08,0.00,0.000,4,0.000,0.049,2523,2306,3963,0,0,0,0,0,0
$GC,2472,-0.71,-292.0,374.5,-11.4,349,2479,0.00,1.05,0.00,0.000,6,0.000,0.043,2523,1611,3963,0,0,0,0,0,0
$GC,2798,-0.72,-292.0,415.9,-11.7,380,2801,0.00,1.08,0.00,0.000,4,0.000,0.051,2519,2301,3961,0,0,0,0,0,0
$GC,2869,-0.75,-292.0,423.4,-10.3,386,2873,0.00,1.05,0.00,0.000,6,0.000,0.044,2519,1612,3960,0,0,0,0,0,0
$GC,3201,-0.77,-292.0,461.3,-11.6,417,3204,0.00,1.08,0.00,0.000,4,0.000,0.052,2516,2301,3958,0,0,0,0,0,0
$GC,3253,-0.79,-292.0,467.0,-10.9,421,3260,0.00,1.05,0.00,0.000,6,0.000,0.044,2517,1611,3958,0,0,0,0,0,0
$GC,3579,-0.80,-292.0,503.9,-11.4,452,3583,0.00,1.08,0.00,0.000,4,0.000,0.054,2517,2298,3955,0,0,0,0,0,0
$GC,3688,-0.83,-292.0,515.3,-10.1,461,3695,0.08,1.05,0.00,0.000,6,0.053,0.046,2458,1615,3954,0,0,0,0,0,0
$GC,4015,-0.78,-292.0,570.4,-17.6,492,4020,0.12,1.10,0.00,0.000,4,0.174,0.050,2499,905,3951,0,0,0,0,0,0
$GC,4098,-0.78,-292.0,583.9,-15.1,499,4105,0.00,1.08,0.00,0.000,6,0.000,0.044,2495,1607,3950,0,0,0,0,0,0
$GC,4418,-0.78,-292.0,631.8,-14.9,520,4421,0.00,1.05,0.00,0.000,4,0.000,0.054,2489,2303,3948,0,0,0,0,0,0
$GC,4492,-0.78,-292.0,642.3,-13.9,523,4495,0.00,1.08,0.00,0.000,6,0.000,0.047,2491,1603,3947,0,0,0,0,0,0
$GC,4820,-0.77,-292.0,688.8,-13.2,539,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1603,3945,0,0,0,0,0,0
$GC,5131,-0.77,-292.0,724.3,-10.9,554,5135,0.00,1.10,0.00,0.000,4,0.000,0.057,2486,2303,3941,0,0,0,0,0,0
$GC,5214,-0.77,-292.0,733.4,-10.2,557,5221,0.00,1.08,0.00,0.000,6,0.000,0.048,2488,1606,3940,0,0,0,0,0,0
$GC,5531,-0.77,-292.0,771.2,-12.6,573,5535,0.00,1.10,0.00,0.000,4,0.000,0.058,2483,2302,3938,0,0,0,0,0,0
$GC,5579,-0.77,-292.0,777.0,-12.5,575,5583,0.00,1.08,0.00,0.000,6,0.000,0.050,2483,1607,3938,0,0,0,0,0,0
$GC,5911,-0.76,-292.0,824.1,-14.6,591,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1607,3935,0,0,0,0,0,0
$GC,6222,-0.76,-292.0,871.1,-15.3,606,6226,0.00,1.10,0.00,0.000,4,0.000,0.060,2478,2303,3932,0,0,0,0,0,0
$GC,6255,-0.76,-292.0,876.5,-14.9,607,6259,0.00,1.08,0.00,0.000,6,0.000,0.050,2478,1606,3932,0,0,0,0,0,0
$GC,6577,-0.75,-292.0,923.3,-14.1,623,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1606,3930,0,0,0,0,0,0
$GC,6889,-0.75,-292.0,964.4,-12.8,638,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1606,3928,0,0,0,0,0,0
$STATE,7111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7111,begin apogee
$GC,7117,-0.11,0.0,992.2,12.0,649,7350,0.70,0.00,226.25,1.431,6,0.128,0.000,2702,1782,2883,0,0,0,0,0,0
$STATE,7352,end apogee,CONTROL_FINISHED_OK
$STATE,7353,begin climb
$GC,7355,0.73,292.0,1001.6,0.0,660,7633,0.75,1.17,267.55,1.369,4,0.055,0.063,2984,2484,1693,0,0,0,0,0,0
$GC,7708,0.69,292.0,956.2,16.1,676,7712,0.00,1.12,0.00,0.000,6,0.000,0.053,2988,1781,1689,0,0,0,0,0,0
$GC,8030,0.65,292.0,900.0,17.8,692,8032,0.12,0.00,0.00,0.000,6,0.177,0.000,2957,1781,1686,0,0,0,0,0,0
$GC,8341,0.63,292.0,852.2,15.7,707,8345,0.00,1.10,0.00,0.000,4,0.000,0.059,2956,2486,1684,0,0,0,0,0,0
$GC,8391,0.63,292.0,843.7,15.5,709,8395,0.00,1.10,0.00,0.000,6,0.000,0.049,2959,1773,1684,0,0,0,0,0,0
$GC,8719,0.61,292.0,792.8,15.2,725,8722,0.00,1.08,0.00,0.000,4,0.000,0.054,2964,1068,1683,0,0,0,0,0,0
$GC,8745,0.59,292.0,789.2,14.8,726,8748,0.00,1.10,0.00,0.000,6,0.000,0.048,2962,1779,1683,0,0,0,0,0,0
$GC,9078,0.58,299.8,741.8,13.5,742,9088,0.00,1.12,6.57,1.012,4,0.000,0.057,2962,2490,1662,0,0,0,0,0,0
$GC,9157,0.61,325.3,730.9,12.9,745,9188,0.00,1.10,26.52,1.238,6,0.000,0.047,2965,1774,1556,0,0,0,0,0,0
$GC,9517,0.61,329.6,682.6,13.6,763,9523,0.00,0.00,4.80,0.851,6,0.000,0.000,2965,1774,1540,0,0,0,0,0,0
$GC,9828,0.61,329.6,640.1,14.0,778,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1774,1539,0,0,0,0,0,0
$GC,10135,0.61,329.6,594.2,14.9,794,10139,0.00,1.10,0.00,0.000,4,0.000,0.054,2962,2489,1538,0,0,0,0,0,0
$GC,10170,0.61,329.6,589.1,14.8,797,10174,0.00,1.10,0.00,0.000,6,0.000,0.046,2965,1767,1537,0,0,0,0,0,0
$GC,10501,0.63,349.6,544.4,13.1,828,10524,0.00,1.10,19.95,1.105,4,0.000,0.051,2970,1075,1458,0,0,0,0,0,0
$GC,10628,0.66,367.8,527.7,13.2,839,10652,0.00,1.10,18.10,1.071,6,0.000,0.044,2967,1791,1383,0,0,0,0,0,0
$GC,10970,0.72,421.3,484.9,12.1,871,11025,0.00,0.00,49.38,1.083,6,0.000,0.000,2967,1792,1164,0,0,0,0,0,0
$GC,11344,0.86,508.8,441.3,11.0,906,11433,0.15,1.17,77.60,1.042,4,0.079,0.048,3051,1080,807,0,0,0,0,0,0
$GC,11464,0.81,508.8,418.4,21.0,916,11471,0.12,1.10,0.00,0.000,6,0.137,0.042,3009,1791,804,0,0,0,0,0,0
$GC,11789,0.81,508.8,370.0,15.7,947,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1792,799,0,0,0,0,0,0
$GC,12112,0.82,508.8,322.2,14.7,977,12115,0.00,1.08,0.00,0.000,4,0.000,0.047,3013,1083,797,0,0,0,0,0,0
$GC,12158,0.83,508.8,314.8,14.6,981,12161,0.00,1.05,0.00,0.000,6,0.000,0.042,3010,1781,797,0,0,0,0,0,0
$GC,12489,0.90,544.7,269.0,12.6,1012,12526,0.00,1.10,31.55,0.880,4,0.000,0.050,3008,2478,662,0,0,0,0,0,0
$GC,12562,0.98,581.5,259.8,12.6,1018,12602,0.10,1.08,35.47,0.863,6,0.047,0.041,3080,1780,512,0,0,0,0,0,0
$GC,12924,0.96,581.5,180.1,20.8,1079,12932,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1780,501,0,0,0,0,0,0
$GC,13246,0.96,581.5,120.6,17.0,1140,13254,0.00,1.08,0.00,0.000,4,0.000,0.045,3085,1067,499,0,0,0,0,0,0
$GC,13294,0.96,581.5,112.8,16.7,1148,13303,0.08,1.08,0.00,0.000,6,0.127,0.037,3058,1789,498,0,0,0,0,0,0
$GC,13622,1.09,640.2,71.8,11.9,1209,13648,0.12,1.15,15.52,0.583,4,0.082,0.043,3134,1060,454,0,0,0,0,1,0
$GC,13736,1.07,640.2,50.0,19.1,1228,13745,0.12,1.08,0.00,0.000,6,0.130,0.035,3090,1791,447,0,0,0,0,0,0
$GC,14063,1.12,657.9,5.9,13.2,1289,14071,0.00,1.10,0.00,0.000,4,0.000,0.044,3091,1062,443,0,0,0,0,0,0
$STATE,14082,end climb,SURFACE_DEPTH_REACHED
$STATE,14082,begin surface coast
$FINISH,1.2,1.009992
$STATE,14109,end surface coast,CONTROL_FINISHED_OK
$STATE,14109,begin surface
$SM_CCo,14188,0.00,0.000,0,0,443,598.78
$SM_GC,1.94,7.55,0.00,0.00,0.034,0.000,0.000,142,1600,443,-8.04,-0.28,598.78,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12342.06,191011,141456
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.06
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.60
$XPDR_PINGS,111
$24V_AH,23.0,98.522
$10V_AH,9.8,67.863
$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,19.850,56.375,779.275,0.000,0.000,24.540,19.640,331.342,27.750,0.000,35.043,3025.089,7171.145,756.897,3288.833,487.180,0.000,2064.399,0.000,2931.437,0.000,0.542,0.000
$DEVICE_MAMPS,218.025,68.850,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.579,1327.024,1437.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330492
$DATA_FILE_SIZE,73416,1297
$CAP_FILE_SIZE,154629,0
$CFSIZE,260165632,111312896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191011,230724,2335.773,12340.067,24,1.6,41,-3.3