version: 66.09
glider: 166
mission: 6
dive: 413
start: 10 21 111 8 53 50
data:
$ID,166
$MISSION,6
$DIVE,413
$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,-24926.658
$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,41
$R_STBD_OVSHOOT,61
$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
$GPS1,211011,084621,2330.842,12331.846,39,99.0,58,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-69.9
$GPS2,211011,085325,2330.879,12331.920,16,1.9,33,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2325.479,12321.728
$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,3324
$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,-111.53,0.000,2,0.000,0.000,121,1603,3082,0,0,0,0,0,0
$GC,134,-0.73,-292.0,6.0,-10.2,16,164,9.32,1.08,-16.52,0.000,4,0.215,0.067,2500,2304,3963,0,0,0,0,0,0
$GC,315,-0.63,-292.0,62.4,-23.5,48,324,0.10,1.05,0.00,0.000,6,0.146,0.037,2532,1589,3965,0,0,0,0,0,0
$GC,641,-0.58,-292.0,133.6,-22.0,109,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1588,3966,0,0,0,0,0,0
$GC,968,-0.54,-292.0,193.8,-16.6,170,976,0.12,1.08,0.00,0.000,4,0.163,0.043,2564,2291,3966,0,0,0,0,0,0
$GC,1020,-0.56,-292.0,200.4,-11.7,178,1028,0.00,1.00,0.00,0.000,6,0.000,0.036,2564,1611,3967,0,0,0,0,0,0
$GC,1353,-0.58,-292.0,238.6,-11.7,239,1361,0.00,1.05,0.00,0.000,4,0.000,0.043,2559,2299,3967,0,0,0,0,0,0
$GC,1428,-0.62,-292.0,246.8,-10.5,252,1436,0.00,1.02,0.00,0.000,6,0.000,0.037,2559,1604,3967,0,0,0,0,0,0
$GC,1757,-0.64,-292.0,284.3,-12.1,285,1761,0.00,1.02,0.00,0.000,4,0.000,0.042,2554,2289,3967,0,0,0,0,0,0
$GC,1873,-0.68,-292.0,297.5,-10.9,295,1877,0.00,1.00,0.00,0.000,6,0.000,0.036,2554,1607,3966,0,0,0,0,0,0
$GC,2204,-0.72,-292.0,331.4,-9.0,326,2208,0.12,1.05,0.00,0.000,4,0.081,0.043,2468,2294,3966,0,0,0,0,0,0
$GC,2336,-0.68,-292.0,350.5,-15.5,337,2343,0.15,1.00,0.00,0.000,6,0.131,0.037,2520,1610,3965,0,0,0,0,0,0
$GC,2663,-0.68,-292.0,392.1,-13.2,368,2667,0.00,1.05,0.00,0.000,4,0.000,0.047,2517,2293,3965,0,0,0,0,0,0
$GC,2768,-0.70,-292.0,404.9,-12.0,377,2771,0.00,1.00,0.00,0.000,6,0.000,0.041,2518,1618,3964,0,0,0,0,0,0
$GC,3099,-0.71,-292.0,444.6,-11.5,408,3103,0.00,1.02,0.00,0.000,4,0.000,0.049,2513,2288,3963,0,0,0,0,0,0
$GC,3184,-0.73,-292.0,454.1,-10.8,415,3190,0.00,1.02,0.00,0.000,6,0.000,0.042,2515,1610,3961,0,0,0,0,0,0
$GC,3510,-0.75,-292.0,492.5,-11.3,446,3513,0.00,1.05,0.00,0.000,4,0.000,0.051,2512,2283,3960,0,0,0,0,0,0
$GC,3601,-0.77,-292.0,502.0,-10.1,454,3605,0.00,1.02,0.00,0.000,6,0.000,0.045,2513,1606,3959,0,0,0,0,0,0
$GC,3933,-0.79,-292.0,538.4,-10.9,485,3936,0.00,1.05,0.00,0.000,4,0.000,0.052,2506,2289,3957,0,0,0,0,0,0
$GC,3983,-0.81,-292.0,543.9,-10.8,489,3990,0.00,1.02,0.00,0.000,6,0.000,0.046,2508,1614,3956,0,0,0,0,0,0
$GC,4311,-0.82,-292.0,581.2,-11.2,520,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1614,3954,0,0,0,0,0,0
$GC,4623,-0.84,-292.0,618.8,-12.3,543,4627,0.00,1.05,0.00,0.000,4,0.000,0.056,2502,2287,3951,0,0,0,0,0,0
$GC,4732,-0.86,-292.0,631.5,-11.5,547,4739,0.08,1.02,0.00,0.000,6,0.057,0.047,2447,1618,3950,0,0,0,0,0,0
$GC,5048,-0.82,-292.0,684.0,-16.3,563,5052,0.12,1.10,0.00,0.000,4,0.170,0.053,2488,908,3947,0,0,0,0,0,0
$GC,5083,-0.80,-292.0,689.2,-15.2,564,5086,0.00,1.05,0.00,0.000,6,0.000,0.047,2485,1587,3947,0,0,0,0,0,0
$GC,5405,-0.78,-292.0,733.6,-14.1,580,5408,0.00,1.10,0.00,0.000,4,0.000,0.054,2482,2310,3945,0,0,0,0,0,0
$GC,5457,-0.78,-292.0,740.6,-13.2,582,5461,0.00,1.08,0.00,0.000,6,0.000,0.047,2484,1609,3944,0,0,0,0,0,0
$GC,5784,-0.77,-292.0,788.5,-14.6,598,5788,0.00,1.10,0.00,0.000,4,0.000,0.058,2480,2311,3940,0,0,0,0,0,0
$GC,5840,-0.77,-292.0,796.3,-13.1,600,5843,0.00,1.08,0.00,0.000,6,0.000,0.048,2480,1609,3940,0,0,0,0,0,0
$GC,6164,-0.76,-292.0,841.2,-13.4,616,6168,0.00,1.08,0.00,0.000,4,0.000,0.054,2480,907,3938,0,0,0,0,0,0
$GC,6220,-0.75,-292.0,849.5,-13.7,618,6224,0.00,1.10,0.00,0.000,6,0.000,0.048,2475,1613,3938,0,0,0,0,0,0
$GC,6545,-0.73,-292.0,891.0,-12.7,634,6549,0.12,1.08,0.00,0.000,4,0.170,0.058,2505,2300,3935,0,0,0,0,0,0
$GC,6617,-0.76,-292.0,898.7,-9.3,637,6621,0.00,1.08,0.00,0.000,6,0.000,0.049,2506,1604,3934,0,0,0,0,0,0
$GC,6947,-0.78,-292.0,929.6,-9.9,653,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1604,3932,0,0,0,0,0,0
$GC,7254,-0.79,-292.0,960.8,-10.2,668,7258,0.00,1.10,0.00,0.000,4,0.000,0.060,2501,2301,3930,0,0,0,0,0,0
$GC,7288,-0.82,-292.0,964.2,-10.3,669,7291,0.00,1.08,0.00,0.000,6,0.000,0.051,2501,1610,3930,0,0,0,0,0,0
$STATE,7545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7545,begin apogee
$GC,7553,-0.11,0.0,991.3,10.5,682,7787,0.62,0.00,226.90,1.437,6,0.119,0.000,2704,1785,2883,0,0,0,0,0,0
$STATE,7792,end apogee,CONTROL_FINISHED_OK
$STATE,7792,begin climb
$GC,7794,0.73,292.0,1001.5,0.0,693,8070,0.75,1.12,269.35,1.382,4,0.054,0.066,2989,2484,1692,0,0,0,0,0,0
$GC,8121,0.69,292.0,960.7,15.8,708,8125,0.00,1.12,0.00,0.000,6,0.000,0.052,2993,1785,1690,0,0,0,0,0,0
$GC,8449,0.63,292.0,904.8,17.5,724,8453,0.17,1.12,0.00,0.000,4,0.171,0.060,2942,2487,1687,0,0,0,0,0,0
$GC,8483,0.62,292.0,899.4,14.9,725,8487,0.00,1.10,0.00,0.000,6,0.000,0.050,2945,1782,1686,0,0,0,0,0,0
$GC,8805,0.62,298.0,855.7,13.6,741,8812,0.00,0.00,5.47,0.961,6,0.000,0.000,2945,1782,1669,0,0,0,0,0,0
$GC,9116,0.64,312.7,814.2,13.3,756,9139,0.00,1.08,15.88,1.236,4,0.000,0.050,2950,1065,1609,0,0,0,0,0,0
$GC,9163,0.68,343.2,807.8,12.8,758,9198,0.00,1.12,30.62,1.276,6,0.000,0.048,2948,1784,1483,0,0,0,0,0,0
$GC,9515,0.71,373.1,761.8,12.8,775,9549,0.00,1.12,28.38,1.253,4,0.000,0.056,2946,2486,1363,0,0,0,0,0,0
$GC,9579,0.80,431.5,753.8,11.9,778,9644,0.12,1.12,55.35,1.255,6,0.047,0.047,3022,1765,1123,0,0,0,0,0,0
$GC,9952,0.75,431.5,674.9,22.1,796,9956,0.12,1.12,0.00,0.000,4,0.174,0.055,2986,2480,1119,0,0,0,0,0,0
$GC,9985,0.73,431.5,667.9,20.2,797,9988,0.00,1.08,0.00,0.000,6,0.000,0.045,2989,1782,1119,0,0,0,0,0,0
$GC,10309,0.71,431.5,612.3,16.9,813,10312,0.00,1.08,0.00,0.000,4,0.000,0.053,2986,2486,1118,0,0,0,0,0,0
$GC,10347,0.70,431.5,604.9,16.9,814,10354,0.00,1.08,0.00,0.000,6,0.000,0.045,2989,1781,1118,0,0,0,0,0,0
$GC,10674,0.68,431.5,554.2,16.2,843,10678,0.00,1.05,0.00,0.000,4,0.000,0.050,2995,1080,1117,0,0,0,0,0,0
$GC,10698,0.67,431.5,549.8,17.0,845,10702,0.10,1.08,0.00,0.000,6,0.145,0.044,2958,1792,1117,0,0,0,0,0,0
$GC,11031,0.74,460.6,504.7,12.8,876,11063,0.00,1.12,25.75,1.089,4,0.000,0.046,2962,1065,1004,0,0,0,0,0,0
$GC,11087,0.83,505.0,497.2,12.3,881,11135,0.12,1.10,41.85,1.085,6,0.049,0.043,3037,1784,824,0,0,0,0,0,0
$GC,11461,0.79,505.0,417.4,20.6,916,11465,0.15,1.05,0.00,0.000,4,0.161,0.053,2993,2482,816,0,0,0,0,0,0
$GC,11568,0.87,539.5,401.6,12.7,925,11608,0.00,1.08,31.70,1.005,6,0.000,0.043,2996,1779,682,0,0,0,0,0,0
$GC,11926,0.90,540.6,350.9,13.7,959,11931,0.10,1.08,0.00,0.000,4,0.103,0.049,3062,1073,673,0,0,0,0,0,0
$GC,12001,0.86,540.6,336.4,21.0,965,12008,0.12,1.08,0.00,0.000,6,0.134,0.041,3022,1787,674,0,0,0,0,0,0
$GC,12326,0.86,540.6,288.9,13.9,996,12330,0.00,1.08,0.00,0.000,4,0.000,0.046,3025,1075,671,0,0,0,0,0,0
$GC,12363,0.86,540.6,283.9,14.6,999,12368,0.00,1.05,0.00,0.000,6,0.000,0.039,3023,1782,671,0,0,0,0,0,0
$GC,12689,0.92,561.8,237.8,13.1,1038,12714,0.00,1.10,20.10,0.826,4,0.000,0.047,3027,1075,591,0,0,0,0,0,0
$GC,12740,1.00,597.5,231.4,12.6,1045,12791,0.08,1.05,38.83,0.800,6,0.057,0.038,3082,1785,454,0,0,0,0,1,0
$GC,13108,0.97,597.5,154.8,19.9,1112,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1785,442,0,0,0,0,0,0
$GC,13432,0.97,597.5,99.3,16.3,1173,13440,0.00,1.08,0.00,0.000,4,0.000,0.044,3079,1069,438,0,0,0,0,0,0
$GC,13458,0.97,597.5,94.7,17.5,1177,13466,0.00,1.05,0.00,0.000,6,0.000,0.036,3080,1786,437,0,0,0,0,0,0
$GC,13787,1.02,606.7,45.6,13.5,1238,13795,0.00,1.08,0.00,0.000,4,0.000,0.044,3083,1068,434,0,0,0,0,0,0
$GC,13857,1.12,658.5,37.0,12.1,1250,13865,0.00,1.05,0.00,0.000,6,0.000,0.034,3086,1788,434,0,0,0,0,0,0
$STATE,14142,end climb,SURFACE_DEPTH_REACHED
$STATE,14142,begin surface coast
$FINISH,1.3,0.997335
$STATE,14173,end surface coast,CONTROL_FINISHED_OK
$STATE,14173,begin surface
$SM_CCo,14251,0.00,0.000,0,0,432,601.48
$SM_GC,2.12,7.53,0.00,0.00,0.033,0.000,0.000,129,1585,432,-8.05,-0.68,601.48,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12334.24,211011,040401
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.61
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.70
$XPDR_PINGS,118
$24V_AH,22.9,101.190
$10V_AH,9.7,69.217
$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,20.150,64.650,790.175,0.000,0.000,28.814,24.769,187.616,29.500,0.000,34.477,3089.826,7075.128,793.147,3252.924,449.330,0.000,2113.991,0.000,2985.204,0.000,0.540,0.000
$DEVICE_MAMPS,214.965,69.615,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.133,1340.980,1478.476,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330424
$DATA_FILE_SIZE,73638,1310
$CAP_FILE_SIZE,162187,0
$CFSIZE,260165632,110538752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211011,125256,2330.429,12330.959,36,99.0,55,-3.3