version: 66.09
glider: 166
mission: 6
dive: 414
start: 10 21 111 13 0 53
data:
$ID,166
$MISSION,6
$DIVE,414
$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,-24927.922
$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,57
$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
$GPS1,211011,125256,2330.429,12330.959,36,99.0,55,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.1
$GPS2,211011,130028,2330.436,12330.985,12,99.0,31,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2325.037,12320.794
$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,3389
$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,-111.43,0.000,2,0.000,0.000,124,1583,3101,0,0,0,0,0,0
$GC,134,-0.73,-292.0,6.0,-10.1,16,164,9.27,1.02,-16.08,0.000,4,0.214,0.071,2511,915,3964,0,0,0,0,0,0
$GC,402,-0.66,-292.0,88.3,-21.3,65,410,0.00,1.02,0.00,0.000,6,0.000,0.034,2504,1616,3965,0,0,0,0,0,0
$GC,727,-0.58,-292.0,167.3,-22.8,126,736,0.17,1.05,0.00,0.000,4,0.161,0.039,2555,919,3966,0,0,0,0,0,0
$GC,776,-0.58,-292.0,176.6,-17.0,134,784,0.00,1.02,0.00,0.000,6,0.000,0.033,2552,1626,3967,0,0,0,0,0,0
$GC,1103,-0.58,-292.0,222.5,-12.3,195,1111,0.00,0.98,0.00,0.000,4,0.000,0.039,2547,2308,3966,0,0,0,0,0,0
$GC,1183,-0.59,-292.0,231.0,-10.9,209,1191,0.00,1.00,0.00,0.000,6,0.000,0.035,2547,1614,3966,0,0,0,0,0,0
$GC,1506,-0.59,-292.0,273.1,-13.2,254,1510,0.00,1.00,0.00,0.000,4,0.000,0.039,2543,2297,3966,0,0,0,0,0,0
$GC,1590,-0.62,-292.0,283.9,-12.4,261,1597,0.00,1.00,0.00,0.000,6,0.000,0.034,2543,1604,3966,0,0,0,0,0,0
$GC,1918,-0.63,-292.0,321.6,-10.9,292,1922,0.00,1.02,0.00,0.000,4,0.000,0.039,2538,2301,3966,0,0,0,0,0,0
$GC,1967,-0.65,-292.0,327.1,-11.4,296,1971,0.00,1.00,0.00,0.000,6,0.000,0.034,2539,1608,3966,0,0,0,0,0,0
$GC,2301,-0.67,-292.0,367.3,-12.1,327,2305,0.00,1.02,0.00,0.000,4,0.000,0.040,2534,2303,3965,0,0,0,0,0,0
$GC,2340,-0.70,-292.0,372.1,-11.0,330,2347,0.00,1.00,0.00,0.000,6,0.000,0.036,2534,1614,3965,0,0,0,0,0,0
$GC,2668,-0.73,-292.0,406.5,-10.4,361,2672,0.00,1.00,0.00,0.000,4,0.000,0.041,2530,2294,3963,0,0,0,0,0,0
$GC,2775,-0.76,-292.0,417.5,-9.8,370,2782,0.00,1.00,0.00,0.000,6,0.000,0.035,2530,1606,3963,0,0,0,0,0,0
$GC,3101,-0.79,-292.0,452.6,-10.8,401,3105,0.12,1.05,0.00,0.000,4,0.083,0.042,2453,2302,3960,0,0,0,0,0,0
$GC,3195,-0.75,-292.0,467.0,-15.6,409,3203,0.12,1.00,0.00,0.000,6,0.135,0.037,2500,1617,3960,0,0,0,0,0,0
$GC,3520,-0.75,-292.0,512.6,-14.3,440,3524,0.00,1.02,0.00,0.000,4,0.000,0.045,2495,2297,3958,0,0,0,0,0,0
$GC,3570,-0.75,-292.0,520.1,-14.8,444,3577,0.00,1.00,0.00,0.000,6,0.000,0.037,2497,1614,3957,0,0,0,0,0,0
$GC,3895,-0.75,-292.0,567.3,-13.8,475,3898,0.00,1.02,0.00,0.000,4,0.000,0.045,2491,2296,3955,0,0,0,0,0,0
$GC,3933,-0.75,-292.0,572.6,-13.1,478,3940,0.00,1.00,0.00,0.000,6,0.000,0.038,2493,1617,3955,0,0,0,0,0,0
$GC,4270,-0.75,-292.0,613.4,-12.3,505,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1617,3952,0,0,0,0,0,0
$GC,4576,-0.75,-292.0,651.7,-12.5,520,4579,0.00,1.02,0.00,0.000,4,0.000,0.049,2493,2288,3949,0,0,0,0,0,0
$GC,4654,-0.75,-292.0,660.9,-11.0,523,4658,0.00,1.00,0.00,0.000,6,0.000,0.042,2498,1618,3949,0,0,0,0,0,0
$GC,4978,-0.75,-292.0,700.5,-12.4,539,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1618,3946,0,0,0,0,0,0
$GC,5285,-0.75,-292.0,738.9,-12.2,554,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1618,3944,0,0,0,0,0,0
$GC,5594,-0.75,-292.0,777.2,-12.7,569,5598,0.00,1.05,0.00,0.000,4,0.000,0.054,2495,2289,3940,0,0,0,0,0,0
$GC,5666,-0.76,-292.0,785.9,-12.5,572,5669,0.00,1.02,0.00,0.000,6,0.000,0.047,2496,1619,3940,0,0,0,0,0,0
$GC,5999,-0.76,-292.0,829.4,-12.6,588,6002,0.00,1.05,0.00,0.000,4,0.000,0.056,2491,2288,3937,0,0,0,0,0,0
$GC,6040,-0.76,-292.0,834.4,-12.4,589,6049,0.00,1.05,0.00,0.000,6,0.000,0.048,2491,1607,3937,0,0,0,0,0,0
$GC,6356,-0.76,-292.0,870.9,-11.1,605,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1607,3935,0,0,0,0,0,0
$GC,6665,-0.76,-292.0,904.8,-10.9,620,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1607,3932,0,0,0,0,0,0
$GC,6977,-0.76,-292.0,941.9,-12.7,635,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1607,3930,0,0,0,0,0,0
$GC,7284,-0.76,-292.0,978.9,-11.8,650,7288,0.00,1.08,0.00,0.000,4,0.000,0.060,2486,2284,3928,0,0,0,0,0,0
$GC,7322,-0.76,-292.0,983.4,-11.4,651,7329,0.00,1.05,0.00,0.000,6,0.000,0.052,2486,1609,3928,0,0,0,0,0,0
$STATE,7389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7389,begin apogee
$GC,7397,-0.11,0.0,991.0,11.4,655,7629,0.68,0.00,225.90,1.434,6,0.124,0.000,2704,1753,2883,0,0,0,0,0,0
$STATE,7633,end apogee,CONTROL_FINISHED_OK
$STATE,7634,begin climb
$GC,7636,0.73,292.0,1000.2,0.0,666,7913,0.77,1.25,268.67,1.372,4,0.053,0.061,2991,2481,1693,0,0,0,0,0,0
$GC,7966,0.68,292.0,952.3,19.2,682,7971,0.10,1.12,0.00,0.000,6,0.157,0.050,2966,1785,1690,0,0,0,0,0,0
$GC,8295,0.65,292.0,896.4,16.4,698,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1785,1686,0,0,0,0,0,0
$GC,8605,0.62,292.0,849.1,15.0,713,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1785,1685,0,0,0,0,0,0
$GC,8912,0.59,292.0,804.4,13.9,728,8913,0.12,0.00,0.00,0.000,6,0.176,0.000,2933,1785,1683,0,0,0,0,0,0
$GC,9221,0.68,365.3,769.3,11.4,743,9292,0.00,0.00,68.88,1.291,6,0.000,0.000,2933,1785,1394,0,0,0,0,0,0
$GC,9592,0.78,426.9,725.2,11.8,761,9652,0.17,0.00,57.12,1.258,6,0.073,0.000,3019,1784,1143,0,0,0,0,0,0
$GC,9963,0.73,426.9,647.6,20.8,779,9967,0.15,1.12,0.00,0.000,4,0.166,0.055,2975,2485,1139,0,0,0,0,0,0
$GC,10031,0.74,426.9,635.5,14.4,782,10035,0.00,1.10,0.00,0.000,6,0.000,0.045,2978,1776,1138,0,0,0,0,0,0
$GC,10355,0.74,426.9,587.4,14.5,801,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1776,1137,0,0,0,0,0,0
$GC,10679,0.74,426.9,540.4,15.4,831,10682,0.00,1.05,0.00,0.000,4,0.000,0.049,2984,1078,1136,0,0,0,0,0,0
$GC,10695,0.74,426.9,536.8,15.5,832,10702,0.00,1.08,0.00,0.000,6,0.000,0.041,2981,1787,1136,0,0,0,0,0,0
$GC,11020,0.74,426.9,489.6,15.1,863,11024,0.00,1.10,0.00,0.000,4,0.000,0.047,2984,1066,1136,0,0,0,0,0,0
$GC,11055,0.74,426.9,484.3,15.0,866,11058,0.00,1.10,0.00,0.000,6,0.000,0.042,2981,1791,1135,0,0,0,0,0,0
$GC,11386,0.77,448.5,438.3,13.1,897,11409,0.00,1.08,19.38,1.017,4,0.000,0.050,2976,2475,1054,0,0,0,0,0,0
$GC,11426,0.83,485.8,432.9,12.6,900,11466,0.00,1.08,34.42,1.026,6,0.000,0.041,2979,1774,901,0,0,0,0,0,0
$GC,11784,0.87,485.8,385.0,13.9,934,11788,0.12,1.08,0.00,0.000,4,0.087,0.049,3055,1074,896,0,0,0,0,0,0
$GC,11834,0.82,485.8,375.0,22.1,938,11841,0.12,1.08,0.00,0.000,6,0.140,0.041,3013,1785,896,0,0,0,0,0,0
$GC,12159,0.82,485.8,323.8,15.2,969,12160,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1786,895,0,0,0,0,0,0
$GC,12483,0.84,485.8,275.0,14.5,999,12487,0.00,1.08,0.00,0.000,4,0.000,0.045,3017,1075,895,0,0,0,0,0,0
$GC,12510,0.85,485.8,270.1,14.0,1001,12517,0.00,1.05,0.00,0.000,6,0.000,0.037,3013,1785,894,0,0,0,0,0,0
$GC,12840,0.92,524.6,229.3,12.5,1047,12878,0.00,1.15,34.08,0.838,4,0.000,0.044,3010,1065,743,0,0,0,0,0,0
$GC,12930,1.03,580.9,218.3,12.0,1061,12989,0.15,1.08,52.22,0.823,6,0.043,0.037,3100,1785,514,0,0,0,0,0,0
$GC,13310,0.98,580.9,125.1,23.8,1129,13318,0.15,1.02,0.00,0.000,4,0.164,0.045,3057,2475,504,0,0,0,0,0,0
$GC,13383,1.01,580.9,112.2,14.0,1142,13391,0.00,1.05,0.00,0.000,6,0.000,0.038,3056,1775,503,0,0,0,0,0,0
$GC,13709,1.05,580.9,67.5,14.1,1203,13717,0.00,1.02,0.00,0.000,4,0.000,0.044,3061,1079,501,0,0,0,0,0,0
$GC,13801,1.18,648.3,55.6,11.6,1219,13825,0.15,1.02,15.25,0.642,6,0.041,0.035,3158,1784,453,0,0,0,0,0,0
$STATE,14062,end climb,SURFACE_DEPTH_REACHED
$STATE,14062,begin surface coast
$FINISH,1.4,1.021169
$STATE,14075,end surface coast,CONTROL_FINISHED_OK
$STATE,14075,begin surface
$SM_CCo,14155,0.00,0.000,0,0,440,599.51
$SM_GC,2.10,7.78,0.00,0.00,0.034,0.000,0.000,129,1604,440,-8.05,-0.17,599.51,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12327.06,211011,080849
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.92
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.10
$XPDR_PINGS,104
$24V_AH,23.0,101.484
$10V_AH,9.7,69.357
$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,20.175,50.750,775.925,0.000,0.000,28.176,40.743,188.788,26.000,0.000,33.433,2936.146,7412.758,817.591,2993.778,429.748,0.000,1997.881,0.000,2707.743,0.000,0.541,0.000
$DEVICE_MAMPS,214.200,72.675,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,864.936,1301.034,1333.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70243,1269
$CAP_FILE_SIZE,144640,0
$CFSIZE,260165632,110469120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211011,165806,2329.215,12329.853,36,1.9,41,-3.3