version: 66.09
glider: 166
mission: 6
dive: 415
start: 10 21 111 17 6 26
data:
$ID,166
$MISSION,6
$DIVE,415
$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,-24929.18
$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,49
$R_STBD_OVSHOOT,59
$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
$GPS1,211011,165806,2329.215,12329.853,36,1.9,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.1
$GPS2,211011,170604,2329.301,12329.859,13,2.8,32,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2323.901,12319.669
$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,3435
$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,-110.43,0.000,2,0.000,0.000,121,1601,3080,0,0,0,0,0,0
$GC,137,-0.73,-292.0,6.0,-10.7,16,167,9.35,1.08,-16.48,0.000,4,0.218,0.069,2497,2302,3964,0,0,0,0,0,0
$GC,353,-0.63,-292.0,77.0,-26.3,55,362,0.12,1.02,0.00,0.000,6,0.148,0.036,2533,1596,3965,0,0,0,0,0,0
$GC,678,-0.57,-292.0,143.9,-17.3,116,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1596,3966,0,0,0,0,0,0
$GC,1007,-0.54,-292.0,199.4,-16.9,177,1018,0.12,0.00,0.00,0.000,6,0.164,0.000,2568,1596,3966,0,0,0,0,0,0
$GC,1331,-0.56,-292.0,241.6,-12.8,238,1339,0.00,1.02,0.00,0.000,4,0.000,0.041,2564,2291,3967,0,0,0,0,0,0
$GC,1494,-0.60,-292.0,259.8,-11.0,259,1501,0.00,1.00,0.00,0.000,6,0.000,0.036,2564,1608,3967,0,0,0,0,0,0
$GC,1820,-0.64,-292.0,295.4,-10.4,290,1824,0.00,1.02,0.00,0.000,4,0.000,0.042,2559,2291,3966,0,0,0,0,0,0
$GC,1901,-0.68,-292.0,303.1,-9.6,297,1906,0.08,1.00,0.00,0.000,6,0.050,0.037,2487,1612,3966,0,0,0,0,0,0
$GC,2232,-0.64,-292.0,361.5,-17.6,328,2236,0.17,1.05,0.00,0.000,4,0.148,0.045,2540,919,3966,0,0,0,0,0,0
$GC,2284,-0.66,-292.0,367.9,-11.5,332,2291,0.00,1.02,0.00,0.000,6,0.000,0.038,2536,1603,3966,0,0,0,0,0,0
$GC,2610,-0.69,-292.0,401.7,-10.4,363,2614,0.00,1.05,0.00,0.000,4,0.000,0.047,2530,2306,3965,0,0,0,0,0,0
$GC,2719,-0.73,-292.0,412.4,-9.7,372,2726,0.00,1.05,0.00,0.000,6,0.000,0.041,2531,1612,3964,0,0,0,0,0,0
$GC,3047,-0.75,-292.0,447.3,-11.0,403,3051,0.00,1.08,0.00,0.000,4,0.000,0.050,2528,2306,3962,0,0,0,0,0,0
$GC,3094,-0.79,-292.0,452.7,-11.1,407,3098,0.08,1.05,0.00,0.000,6,0.049,0.044,2460,1615,3962,0,0,0,0,0,0
$GC,3427,-0.74,-292.0,509.5,-16.6,438,3431,0.15,1.08,0.00,0.000,4,0.160,0.051,2501,2295,3960,0,0,0,0,0,0
$GC,3450,-0.71,-292.0,513.3,-15.8,440,3453,0.00,1.05,0.00,0.000,6,0.000,0.043,2501,1605,3959,0,0,0,0,0,0
$GC,3783,-0.71,-292.0,553.2,-11.6,471,3787,0.00,1.08,0.00,0.000,4,0.000,0.051,2495,2304,3957,0,0,0,0,0,0
$GC,3875,-0.73,-292.0,563.8,-11.2,479,3879,0.00,1.05,0.00,0.000,6,0.000,0.045,2498,1615,3956,0,0,0,0,0,0
$GC,4207,-0.73,-292.0,606.3,-13.5,508,4210,0.00,1.08,0.00,0.000,4,0.000,0.049,2502,902,3953,0,0,0,0,0,0
$GC,4253,-0.73,-292.0,613.0,-13.5,510,4256,0.00,1.08,0.00,0.000,6,0.000,0.044,2496,1604,3953,0,0,0,0,0,0
$GC,4586,-0.73,-292.0,655.7,-12.2,526,4589,0.00,1.08,0.00,0.000,4,0.000,0.054,2490,2313,3950,0,0,0,0,0,0
$GC,4666,-0.74,-292.0,665.0,-10.9,529,4670,0.00,1.08,0.00,0.000,6,0.000,0.045,2495,1609,3950,0,0,0,0,0,0
$GC,4988,-0.74,-292.0,702.9,-11.7,545,4992,0.00,1.08,0.00,0.000,4,0.000,0.055,2496,2301,3947,0,0,0,0,0,0
$GC,5041,-0.75,-292.0,708.9,-11.4,547,5045,0.00,1.05,0.00,0.000,6,0.000,0.047,2497,1617,3946,0,0,0,0,0,0
$GC,5368,-0.75,-292.0,752.0,-13.1,563,5372,0.00,1.08,0.00,0.000,4,0.000,0.057,2492,2305,3944,0,0,0,0,0,0
$GC,5403,-0.75,-292.0,756.5,-12.9,564,5406,0.00,1.08,0.00,0.000,6,0.000,0.048,2492,1607,3943,0,0,0,0,0,0
$GC,5727,-0.75,-292.0,799.9,-13.0,580,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1608,3940,0,0,0,0,0,0
$GC,6034,-0.75,-292.0,837.8,-12.0,595,6037,0.00,1.10,0.00,0.000,4,0.000,0.059,2487,2301,3938,0,0,0,0,0,0
$GC,6089,-0.75,-292.0,844.5,-11.7,597,6093,0.00,1.08,0.00,0.000,6,0.000,0.050,2487,1609,3938,0,0,0,0,0,0
$GC,6414,-0.75,-292.0,885.3,-13.2,613,6417,0.00,1.08,0.00,0.000,4,0.000,0.054,2487,908,3936,0,0,0,0,0,0
$GC,6437,-0.75,-292.0,888.9,-13.6,614,6441,0.00,1.10,0.00,0.000,6,0.000,0.050,2482,1609,3935,0,0,0,0,0,0
$GC,6772,-0.75,-292.0,934.8,-13.1,630,6776,0.00,1.10,0.00,0.000,4,0.000,0.059,2477,2309,3932,0,0,0,0,0,0
$GC,6804,-0.75,-292.0,939.2,-11.8,631,6808,0.00,1.08,0.00,0.000,6,0.000,0.049,2476,1610,3932,0,0,0,0,0,0
$GC,7127,-0.74,-292.0,979.3,-12.4,647,7129,0.10,0.00,0.00,0.000,6,0.181,0.000,2502,1610,3930,0,0,0,0,0,0
$STATE,7247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7247,begin apogee
$GC,7253,-0.11,0.0,992.0,10.1,653,7485,0.60,0.00,226.02,1.431,6,0.119,0.000,2700,1781,2884,0,0,0,0,0,0
$STATE,7490,end apogee,CONTROL_FINISHED_OK
$STATE,7490,begin climb
$GC,7492,0.73,292.0,1000.4,0.0,664,7772,0.80,1.17,267.83,1.375,4,0.054,0.059,2994,2487,1692,0,0,0,0,0,0
$GC,7824,0.68,292.0,952.8,18.4,680,7829,0.10,1.12,0.00,0.000,6,0.156,0.052,2969,1783,1690,0,0,0,0,0,0
$GC,8161,0.65,292.0,899.9,15.0,696,8165,0.00,1.10,0.00,0.000,4,0.000,0.059,2965,2487,1686,0,0,0,0,0,0
$GC,8211,0.62,292.0,892.0,14.1,698,8214,0.00,1.10,0.00,0.000,6,0.000,0.050,2968,1783,1686,0,0,0,0,0,0
$GC,8540,0.59,292.0,845.4,14.2,714,8542,0.12,0.00,0.00,0.000,6,0.179,0.000,2937,1783,1684,0,0,0,0,0,0
$GC,8847,0.66,344.2,808.4,12.1,729,8900,0.00,1.17,48.78,1.306,4,0.000,0.057,2935,2486,1480,0,0,0,0,0,0
$GC,8936,0.73,389.9,797.7,12.3,733,8987,0.10,1.12,44.40,1.269,6,0.048,0.047,3002,1777,1293,0,0,0,0,0,0
$GC,9309,0.69,389.9,724.7,19.2,751,9311,0.12,0.00,0.00,0.000,6,0.172,0.000,2971,1777,1287,0,0,0,0,0,0
$GC,9620,0.69,389.9,676.5,14.8,766,9624,0.00,1.10,0.00,0.000,4,0.000,0.055,2966,2484,1285,0,0,0,0,0,0
$GC,9666,0.69,389.9,669.3,14.7,768,9670,0.00,1.10,0.00,0.000,6,0.000,0.046,2969,1771,1285,0,0,0,0,0,0
$GC,9999,0.69,389.9,621.0,14.1,784,10002,0.00,1.05,0.00,0.000,4,0.000,0.051,2975,1075,1285,0,0,0,0,0,0
$GC,10056,0.69,389.9,612.8,13.8,786,10060,0.00,1.10,0.00,0.000,6,0.000,0.044,2971,1795,1284,0,0,0,0,0,0
$GC,10384,0.69,389.9,565.3,14.7,813,10388,0.00,1.12,0.00,0.000,4,0.000,0.049,2975,1068,1283,0,0,0,0,0,0
$GC,10444,0.69,389.9,557.1,14.1,818,10447,0.00,1.08,0.00,0.000,6,0.000,0.044,2972,1774,1283,0,0,0,0,0,0
$GC,10775,0.75,439.9,515.2,12.2,849,10827,0.00,1.10,44.45,1.110,4,0.000,0.053,2967,2480,1089,0,0,0,0,0,0
$GC,10846,0.82,482.5,506.4,12.4,855,10890,0.08,1.10,39.88,1.077,6,0.057,0.043,3027,1776,916,0,0,0,0,0,0
$GC,11212,0.79,482.5,434.0,20.7,889,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1776,908,0,0,0,0,0,0
$GC,11539,0.76,482.5,369.3,18.7,920,11543,0.12,1.08,0.00,0.000,4,0.166,0.049,2989,2480,908,0,0,0,0,0,0
$GC,11602,0.86,538.6,360.5,12.0,925,11657,0.00,1.08,50.22,0.979,6,0.000,0.042,2993,1771,687,0,0,0,0,0,0
$GC,11976,1.00,612.1,319.3,11.4,960,12047,0.20,1.10,60.53,0.900,4,0.063,0.047,3095,1074,454,0,0,0,0,1,0
$GC,12131,0.95,612.1,282.4,24.9,973,12136,0.12,1.08,0.00,0.000,6,0.145,0.041,3052,1784,453,0,0,0,0,0,0
$GC,12456,0.95,612.1,218.1,17.5,1019,12464,0.00,1.02,0.00,0.000,4,0.000,0.048,3044,2473,447,0,0,0,0,0,0
$GC,12493,0.95,612.1,211.5,18.1,1025,12501,0.00,1.05,0.00,0.000,6,0.000,0.040,3046,1777,447,0,0,0,0,0,0
$GC,12814,0.95,612.1,153.5,17.7,1086,12822,0.00,1.05,0.00,0.000,4,0.000,0.045,3052,1070,443,0,0,0,0,0,0
$GC,12873,0.95,612.1,144.3,16.7,1096,12881,0.00,1.05,0.00,0.000,6,0.000,0.037,3051,1780,442,0,0,0,0,0,0
$GC,13200,0.98,612.1,95.1,13.8,1157,13208,0.00,1.08,0.00,0.000,4,0.000,0.044,3053,1069,440,0,0,0,0,0,0
$GC,13265,1.09,669.9,86.8,11.9,1168,13274,0.10,1.05,0.00,0.000,6,0.050,0.036,3124,1788,439,0,0,0,0,0,0
$GC,13595,1.09,669.9,25.6,15.5,1229,13603,0.00,1.00,0.00,0.000,4,0.000,0.044,3124,2471,435,0,0,0,0,0,0
$GC,13623,1.09,669.9,21.0,15.6,1233,13631,0.00,1.05,0.00,0.000,6,0.000,0.039,3124,1769,435,0,0,0,0,0,0
$STATE,13733,end climb,SURFACE_DEPTH_REACHED
$STATE,13733,begin surface coast
$FINISH,1.4,1.021864
$STATE,13753,end surface coast,CONTROL_FINISHED_OK
$STATE,13753,begin surface
$SM_CCo,13831,0.00,0.000,0,0,431,601.72
$SM_GC,2.03,7.65,0.00,0.00,0.034,0.000,0.000,139,1575,431,-8.05,-0.99,601.72,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12323.80,211011,121242
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.55
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.00
$XPDR_PINGS,116
$24V_AH,23.0,101.786
$10V_AH,9.7,69.502
$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,20.300,60.525,782.100,0.000,0.000,28.039,23.985,248.120,29.000,0.000,33.982,2956.315,6942.716,764.604,3147.961,482.092,0.000,2049.710,0.000,2871.953,0.000,0.542,0.000
$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,857.458,1287.535,1402.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330520
$DATA_FILE_SIZE,70293,1257
$CAP_FILE_SIZE,154982,0
$CFSIZE,260165632,110370816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211011,205824,2328.661,12328.026,33,1.7,50,-3.3