version: 66.09
glider: 166
mission: 6
dive: 412
start: 10 21 111 4 38 33
data:
$ID,166
$MISSION,6
$DIVE,412
$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,-24925.396
$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,51
$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
$GPS1,211011,043136,2330.950,12333.296,30,1.2,30,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-67.1
$GPS2,211011,043807,2330.967,12333.365,17,1.1,35,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2325.568,12323.173
$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,3296
$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,-292.0,0.0,0.0,0,131,0.00,0.00,-111.53,0.000,2,0.000,0.000,118,1590,3099,0,0,0,0,0,0
$GC,134,-0.73,-292.0,5.9,-9.9,16,165,9.27,1.10,-16.23,0.000,4,0.214,0.067,2496,2305,3962,0,0,0,0,0,0
$GC,295,-0.62,-292.0,61.2,-24.7,44,304,0.12,1.02,0.00,0.000,6,0.147,0.037,2535,1604,3964,0,0,0,0,0,0
$GC,619,-0.58,-292.0,128.1,-17.9,105,627,0.00,1.02,0.00,0.000,4,0.000,0.041,2532,2300,3965,0,0,0,0,0,0
$GC,706,-0.55,-292.0,143.3,-17.1,120,714,0.10,1.00,0.00,0.000,6,0.132,0.035,2564,1604,3965,0,0,0,0,0,0
$GC,1029,-0.55,-292.0,188.0,-14.1,181,1037,0.00,1.02,0.00,0.000,4,0.000,0.041,2561,2295,3966,0,0,0,0,0,0
$GC,1148,-0.57,-292.0,202.0,-11.4,202,1156,0.00,1.00,0.00,0.000,6,0.000,0.034,2561,1604,3966,0,0,0,0,0,0
$GC,1474,-0.59,-292.0,240.5,-11.1,263,1482,0.00,1.02,0.00,0.000,4,0.000,0.040,2556,2302,3965,0,0,0,0,0,0
$GC,1546,-0.63,-292.0,248.5,-9.8,276,1555,0.00,1.00,0.00,0.000,6,0.000,0.035,2556,1616,3965,0,0,0,0,0,0
$GC,1881,-0.66,-292.0,289.7,-11.7,308,1885,0.00,1.00,0.00,0.000,4,0.000,0.040,2551,2295,3965,0,0,0,0,0,0
$GC,2020,-0.69,-292.0,303.7,-9.5,320,2026,0.00,1.00,0.00,0.000,6,0.000,0.034,2551,1610,3965,0,0,0,0,0,0
$GC,2346,-0.73,-292.0,336.9,-10.7,351,2350,0.12,1.02,0.00,0.000,4,0.082,0.040,2466,2294,3964,0,0,0,0,0,0
$GC,2425,-0.69,-292.0,349.6,-17.3,358,2429,0.15,1.00,0.00,0.000,6,0.132,0.035,2517,1604,3964,0,0,0,0,0,0
$GC,2756,-0.69,-292.0,393.1,-12.5,389,2759,0.00,1.05,0.00,0.000,4,0.000,0.043,2514,2294,3963,0,0,0,0,0,0
$GC,2853,-0.70,-292.0,404.6,-11.9,397,2860,0.00,1.00,0.00,0.000,6,0.000,0.037,2514,1619,3962,0,0,0,0,0,0
$GC,3179,-0.70,-292.0,443.1,-11.6,428,3182,0.00,1.02,0.00,0.000,4,0.000,0.044,2510,2294,3960,0,0,0,0,0,0
$GC,3220,-0.71,-292.0,447.6,-11.5,431,3227,0.00,1.00,0.00,0.000,6,0.000,0.037,2510,1612,3960,0,0,0,0,0,0
$GC,3546,-0.73,-292.0,483.1,-10.6,462,3550,0.00,1.02,0.00,0.000,4,0.000,0.044,2507,2293,3958,0,0,0,0,0,0
$GC,3598,-0.75,-292.0,488.7,-10.4,466,3606,0.00,1.00,0.00,0.000,6,0.000,0.037,2508,1614,3958,0,0,0,0,0,0
$GC,3924,-0.75,-292.0,525.4,-11.4,497,3928,0.00,1.02,0.00,0.000,4,0.000,0.046,2503,2291,3956,0,0,0,0,0,0
$GC,3987,-0.77,-292.0,532.4,-10.4,502,3994,0.00,1.02,0.00,0.000,6,0.000,0.038,2506,1603,3955,0,0,0,0,0,0
$GC,4315,-0.77,-292.0,572.6,-13.4,533,4319,0.00,1.05,0.00,0.000,4,0.000,0.047,2500,2294,3953,0,0,0,0,0,0
$GC,4350,-0.78,-292.0,577.7,-13.3,536,4354,0.00,1.02,0.00,0.000,6,0.000,0.041,2502,1609,3952,0,0,0,0,0,0
$GC,4678,-0.78,-292.0,622.9,-13.8,559,4682,0.00,1.05,0.00,0.000,4,0.000,0.050,2505,2290,3949,0,0,0,0,0,0
$GC,4792,-0.80,-292.0,637.2,-11.7,564,4797,0.00,1.02,0.00,0.000,6,0.000,0.043,2508,1609,3949,0,0,0,0,0,0
$GC,5128,-0.80,-292.0,675.9,-11.0,580,5131,0.00,1.05,0.00,0.000,4,0.000,0.053,2504,2288,3946,0,0,0,0,0,0
$GC,5161,-0.81,-292.0,680.1,-11.2,581,5165,0.00,1.02,0.00,0.000,6,0.000,0.045,2504,1614,3946,0,0,0,0,0,0
$GC,5485,-0.81,-292.0,717.3,-11.8,597,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1614,3944,0,0,0,0,0,0
$GC,5792,-0.81,-292.0,752.8,-11.6,612,5796,0.00,1.05,0.00,0.000,4,0.000,0.057,2500,2281,3940,0,0,0,0,0,0
$GC,5886,-0.83,-292.0,762.8,-10.5,616,5890,0.00,1.02,0.00,0.000,6,0.000,0.048,2500,1614,3940,0,0,0,0,0,0
$GC,6219,-0.83,-292.0,800.9,-11.2,632,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1614,3938,0,0,0,0,0,0
$GC,6528,-0.83,-292.0,835.0,-10.7,647,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1614,3935,0,0,0,0,0,0
$GC,6840,-0.84,-292.0,867.7,-10.4,662,6844,0.00,1.05,0.00,0.000,4,0.000,0.061,2496,2278,3933,0,0,0,0,0,0
$GC,6913,-0.86,-292.0,875.7,-10.3,665,6917,0.00,1.02,0.00,0.000,6,0.000,0.050,2496,1616,3932,0,0,0,0,0,0
$GC,7243,-0.86,-292.0,912.6,-11.5,681,7247,0.00,1.10,0.00,0.000,4,0.000,0.056,2496,902,3930,0,0,0,0,0,0
$GC,7304,-0.86,-292.0,920.6,-12.2,683,7311,0.00,1.08,0.00,0.000,6,0.000,0.050,2491,1591,3930,0,0,0,0,0,0
$GC,7620,-0.86,-292.0,958.8,-11.9,699,7624,0.00,1.12,0.00,0.000,4,0.000,0.060,2486,2315,3927,0,0,0,0,0,0
$GC,7695,-0.87,-292.0,967.0,-10.7,702,7698,0.00,1.10,0.00,0.000,6,0.000,0.050,2486,1604,3927,0,0,0,0,0,0
$STATE,7896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7896,begin apogee
$GC,7902,-0.11,0.0,991.1,11.8,712,8135,0.68,0.00,226.45,1.433,6,0.126,0.000,2701,1785,2884,0,0,0,0,0,0
$STATE,8137,end apogee,CONTROL_FINISHED_OK
$STATE,8137,begin climb
$GC,8139,0.73,292.0,1002.3,0.0,723,8415,0.80,0.00,271.55,1.380,6,0.056,0.000,2992,1784,1693,0,0,0,0,0,0
$GC,8724,0.68,292.0,919.9,16.0,752,8727,0.00,1.08,0.00,0.000,4,0.000,0.061,2992,2480,1687,0,0,0,0,0,0
$GC,8779,0.63,292.0,910.8,15.7,754,8784,0.12,1.10,0.00,0.000,6,0.155,0.051,2958,1777,1686,0,0,0,0,0,0
$GC,9107,0.63,300.4,867.9,13.5,770,9120,0.00,1.12,8.00,1.104,4,0.000,0.054,2961,1069,1659,0,0,0,0,0,0
$GC,9143,0.61,300.4,861.9,13.9,771,9150,0.00,1.10,0.00,0.000,6,0.000,0.050,2961,1771,1659,0,0,0,0,0,0
$GC,9461,0.59,300.4,815.9,15.0,787,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1771,1657,0,0,0,0,0,0
$GC,9769,0.57,300.4,768.5,15.4,802,9773,0.12,1.10,0.00,0.000,4,0.169,0.056,2924,2485,1656,0,0,0,0,0,0
$GC,9801,0.59,307.5,763.9,13.5,803,9814,0.00,1.10,8.15,1.090,6,0.000,0.047,2926,1778,1630,0,0,0,0,0,0
$GC,10127,0.69,374.4,726.3,11.6,819,10194,0.12,0.00,64.43,1.266,6,0.088,0.000,2990,1778,1357,0,0,0,0,0,0
$GC,10499,0.66,374.4,660.2,17.9,837,10503,0.12,1.10,0.00,0.000,4,0.171,0.052,2962,1071,1352,0,0,0,0,0,0
$GC,10531,0.66,374.4,654.4,15.8,838,10535,0.00,1.10,0.00,0.000,6,0.000,0.044,2962,1785,1351,0,0,0,0,0,0
$GC,10853,0.71,410.5,611.9,12.6,854,10890,0.00,1.12,33.08,1.170,4,0.000,0.054,2962,2483,1210,0,0,0,0,0,0
$GC,10933,0.77,447.2,601.7,12.6,856,10973,0.00,1.10,34.42,1.150,6,0.000,0.044,2965,1777,1059,0,0,0,0,0,0
$GC,11293,0.84,491.8,555.3,12.3,889,11342,0.15,1.12,40.40,1.122,4,0.078,0.052,3051,1071,878,0,0,0,0,0,0
$GC,11371,0.79,491.8,539.2,22.5,896,11379,0.15,1.12,0.00,0.000,6,0.144,0.045,3003,1790,874,0,0,0,0,0,0
$GC,11697,0.78,491.8,483.3,16.8,927,11701,0.00,1.02,0.00,0.000,4,0.000,0.052,3000,2471,871,0,0,0,0,0,0
$GC,11754,0.78,491.8,473.9,15.7,932,11758,0.00,1.05,0.00,0.000,6,0.000,0.043,3004,1780,871,0,0,0,0,0,0
$GC,12084,0.78,491.8,419.9,16.6,963,12088,0.00,1.05,0.00,0.000,4,0.000,0.048,3009,1080,869,0,0,0,0,0,0
$GC,12118,0.78,491.8,414.2,16.7,966,12122,0.00,1.05,0.00,0.000,6,0.000,0.041,3006,1780,869,0,0,0,0,0,0
$GC,12448,0.78,491.8,360.7,16.7,997,12452,0.00,1.02,0.00,0.000,4,0.000,0.051,3006,2475,869,0,0,0,0,0,0
$GC,12482,0.78,491.8,355.2,15.8,1000,12486,0.00,1.05,0.00,0.000,6,0.000,0.042,3009,1783,869,0,0,0,0,0,0
$GC,12812,0.78,491.8,305.4,14.4,1031,12816,0.00,1.05,0.00,0.000,4,0.000,0.047,3014,1080,868,0,0,0,0,0,0
$GC,12847,0.78,491.8,300.2,14.8,1034,12850,0.00,1.05,0.00,0.000,6,0.000,0.039,3011,1782,869,0,0,0,0,0,0
$GC,13179,0.80,491.8,254.5,14.3,1065,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1782,868,0,0,0,0,0,0
$GC,13494,0.91,555.2,215.2,11.7,1122,13558,0.00,1.12,56.42,0.838,4,0.000,0.043,3009,1077,618,0,0,0,0,0,0
$GC,13629,1.08,648.9,199.4,10.8,1144,13687,0.20,1.08,44.75,0.776,6,0.037,0.036,3122,1794,454,0,0,0,0,1,0
$GC,14009,1.02,648.9,104.5,22.4,1212,14017,0.17,1.02,0.00,0.000,4,0.156,0.047,3069,2472,444,0,0,0,0,0,0
$GC,14064,1.04,648.9,94.7,14.0,1221,14072,0.00,1.05,0.00,0.000,6,0.000,0.041,3069,1778,443,0,0,0,0,0,0
$GC,14387,1.18,729.1,54.5,11.2,1282,14396,0.15,1.08,0.00,0.000,4,0.073,0.044,3160,1066,438,0,0,0,0,0,0
$GC,14507,1.14,729.1,31.2,21.2,1303,14516,0.15,1.05,0.00,0.000,6,0.142,0.036,3112,1788,436,0,0,0,0,0,0
$STATE,14670,end climb,SURFACE_DEPTH_REACHED
$STATE,14670,begin surface coast
$FINISH,1.3,1.022326
$STATE,14690,end surface coast,CONTROL_FINISHED_OK
$STATE,14690,begin surface
$SM_CCo,14768,0.00,0.000,0,0,432,601.48
$SM_GC,1.93,7.62,0.00,0.00,0.034,0.000,0.000,126,1604,432,-8.06,-0.17,601.48,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12332.28,211011,000026
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.00
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.20
$XPDR_PINGS,120
$24V_AH,22.8,100.888
$10V_AH,9.7,69.067
$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,20.350,63.725,787.650,0.000,0.000,23.677,19.578,162.616,30.000,0.000,35.855,3130.467,7533.841,833.005,3192.083,457.289,0.000,2123.762,0.000,2962.995,0.000,0.540,0.000
$DEVICE_MAMPS,214.200,67.320,1432.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.849,1367.588,1481.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330396
$DATA_FILE_SIZE,76939,1337
$CAP_FILE_SIZE,160204,0
$CFSIZE,260165632,110612480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211011,084621,2330.842,12331.846,39,99.0,58,-3.3