version: 66.09
glider: 166
mission: 6
dive: 416
start: 10 21 111 21 12 6
data:
$ID,166
$MISSION,6
$DIVE,416
$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,-24930.438
$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,64
$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
$GPS1,211011,205824,2328.661,12328.026,33,1.7,50,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-63.8
$GPS2,211011,211144,2328.689,12328.039,13,2.0,13,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2323.289,12317.850
$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,3471
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.73,-292.0,0.0,0.0,0,139,0.00,0.00,-117.55,0.000,2,0.000,0.000,135,1575,3264,0,0,0,0,0,0
$GC,144,-0.73,-292.0,6.4,-10.2,17,175,9.25,1.12,-12.18,0.000,4,0.217,0.067,2492,2303,3965,0,0,0,0,0,0
$GC,303,-0.62,-292.0,64.6,-26.6,45,312,0.12,1.02,0.00,0.000,6,0.145,0.039,2535,1619,3966,0,0,0,0,0,0
$GC,623,-0.59,-292.0,126.8,-16.8,106,631,0.00,1.02,0.00,0.000,4,0.000,0.043,2532,2296,3966,0,0,0,0,0,0
$GC,654,-0.55,-292.0,131.3,-15.7,110,663,0.08,1.02,0.00,0.000,6,0.136,0.038,2558,1608,3967,0,0,0,0,0,0
$GC,978,-0.55,-292.0,176.3,-12.5,171,986,0.00,1.05,0.00,0.000,4,0.000,0.046,2556,2293,3967,0,0,0,0,0,0
$GC,1063,-0.58,-292.0,186.3,-11.1,186,1071,0.00,1.02,0.00,0.000,6,0.000,0.039,2555,1611,3967,0,0,0,0,0,0
$GC,1388,-0.59,-292.0,226.3,-12.1,247,1396,0.00,1.05,0.00,0.000,4,0.000,0.047,2551,2294,3966,0,0,0,0,0,0
$GC,1505,-0.62,-292.0,238.9,-10.2,268,1514,0.00,1.02,0.00,0.000,6,0.000,0.040,2551,1612,3966,0,0,0,0,0,0
$GC,1835,-0.63,-292.0,280.5,-13.2,307,1838,0.00,1.05,0.00,0.000,4,0.000,0.047,2547,2297,3966,0,0,0,0,0,0
$GC,1906,-0.66,-292.0,288.7,-11.3,313,1910,0.00,1.05,0.00,0.000,6,0.000,0.041,2546,1603,3966,0,0,0,0,0,0
$GC,2239,-0.69,-292.0,327.4,-11.6,344,2243,0.00,1.05,0.00,0.000,4,0.000,0.047,2541,2291,3965,0,0,0,0,0,0
$GC,2348,-0.72,-292.0,339.5,-10.8,353,2355,0.00,1.02,0.00,0.000,6,0.000,0.041,2542,1610,3964,0,0,0,0,0,0
$GC,2676,-0.75,-292.0,374.2,-11.0,384,2681,0.10,1.05,0.00,0.000,4,0.097,0.049,2469,2293,3962,0,0,0,0,0,0
$GC,2825,-0.71,-292.0,397.3,-15.5,397,2829,0.12,1.02,0.00,0.000,6,0.132,0.041,2511,1607,3961,0,0,0,0,0,0
$GC,3155,-0.71,-292.0,439.5,-11.8,428,3159,0.00,1.05,0.00,0.000,4,0.000,0.049,2509,2291,3959,0,0,0,0,0,0
$GC,3213,-0.72,-292.0,445.8,-10.4,433,3216,0.00,1.02,0.00,0.000,6,0.000,0.041,2509,1610,3959,0,0,0,0,0,0
$GC,3544,-0.72,-292.0,484.5,-11.4,464,3548,0.00,1.05,0.00,0.000,4,0.000,0.050,2507,2294,3957,0,0,0,0,0,0
$GC,3583,-0.74,-292.0,489.0,-11.1,467,3590,0.00,1.02,0.00,0.000,6,0.000,0.043,2507,1617,3957,0,0,0,0,0,0
$GC,3908,-0.74,-292.0,526.2,-11.9,498,3912,0.00,1.05,0.00,0.000,4,0.000,0.052,2502,2295,3955,0,0,0,0,0,0
$GC,4000,-0.76,-292.0,537.1,-11.9,506,4004,0.00,1.05,0.00,0.000,6,0.000,0.044,2503,1602,3954,0,0,0,0,0,0
$GC,4331,-0.77,-292.0,578.1,-12.1,537,4335,0.00,1.05,0.00,0.000,4,0.000,0.054,2498,2285,3951,0,0,0,0,0,0
$GC,4422,-0.79,-292.0,588.7,-11.7,545,4425,0.00,1.02,0.00,0.000,6,0.000,0.047,2501,1611,3951,0,0,0,0,0,0
$GC,4748,-0.79,-292.0,629.8,-12.8,565,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1611,3948,0,0,0,0,0,0
$GC,5056,-0.80,-292.0,664.4,-11.0,580,5059,0.00,1.08,0.00,0.000,4,0.000,0.056,2502,2291,3945,0,0,0,0,0,0
$GC,5105,-0.82,-292.0,669.6,-11.3,582,5108,0.00,1.05,0.00,0.000,6,0.000,0.047,2504,1611,3945,0,0,0,0,0,0
$GC,5438,-0.82,-292.0,709.2,-11.8,598,5441,0.00,1.05,0.00,0.000,4,0.000,0.057,2500,2280,3941,0,0,0,0,0,0
$GC,5499,-0.84,-292.0,716.2,-10.8,600,5506,0.00,1.02,0.00,0.000,6,0.000,0.050,2501,1616,3941,0,0,0,0,0,0
$GC,5818,-0.84,-292.0,751.3,-10.6,616,5821,0.00,1.05,0.00,0.000,4,0.000,0.060,2495,2286,3939,0,0,0,0,0,0
$GC,5902,-0.85,-292.0,760.2,-9.9,619,5908,0.00,1.05,0.00,0.000,6,0.000,0.050,2496,1607,3938,0,0,0,0,0,0
$GC,6220,-0.85,-292.0,794.0,-10.9,635,6224,0.00,1.08,0.00,0.000,4,0.000,0.059,2492,2291,3935,0,0,0,0,0,0
$GC,6259,-0.87,-292.0,798.5,-10.8,636,6266,0.00,1.05,0.00,0.000,6,0.000,0.049,2494,1610,3935,0,0,0,0,0,0
$GC,6575,-0.87,-292.0,834.1,-11.5,652,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1610,3933,0,0,0,0,0,0
$GC,6887,-0.87,-292.0,872.0,-12.4,667,6891,0.00,1.05,0.00,0.000,4,0.000,0.060,2490,2280,3931,0,0,0,0,0,0
$GC,6920,-0.87,-292.0,876.6,-12.3,668,6924,0.00,1.02,0.00,0.000,6,0.000,0.051,2491,1617,3930,0,0,0,0,0,0
$GC,7244,-0.87,-292.0,917.1,-12.6,684,7248,0.00,1.05,0.00,0.000,4,0.000,0.062,2486,2282,3928,0,0,0,0,0,0
$GC,7277,-0.87,-292.0,921.6,-12.1,685,7281,0.00,1.05,0.00,0.000,6,0.000,0.052,2486,1608,3928,0,0,0,0,0,0
$GC,7599,-0.87,-292.0,960.5,-12.1,701,7603,0.00,1.08,0.00,0.000,4,0.000,0.063,2481,2283,3925,0,0,0,0,0,0
$GC,7651,-0.87,-292.0,966.6,-12.0,703,7655,0.00,1.05,0.00,0.000,6,0.000,0.054,2481,1612,3925,0,0,0,0,0,0
$STATE,7852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7852,begin apogee
$GC,7858,-0.11,0.0,992.3,12.8,713,8091,0.70,0.00,225.50,1.438,6,0.127,0.000,2705,1752,2883,0,0,0,0,0,0
$STATE,8093,end apogee,CONTROL_FINISHED_OK
$STATE,8094,begin climb
$GC,8096,0.73,292.0,1004.7,0.0,724,8373,0.77,1.15,267.38,1.388,4,0.053,0.057,2997,1077,1693,0,0,0,0,0,0
$GC,8415,0.68,292.0,966.6,16.2,739,8419,0.10,1.15,0.00,0.000,6,0.149,0.051,2967,1787,1691,0,0,0,0,0,0
$GC,8744,0.65,292.0,920.2,14.2,755,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1787,1688,0,0,0,0,0,0
$GC,9051,0.62,292.0,874.6,14.7,770,9055,0.00,1.10,0.00,0.000,4,0.000,0.054,2970,1082,1687,0,0,0,0,0,0
$GC,9092,0.59,292.0,868.7,14.6,771,9099,0.08,1.10,0.00,0.000,6,0.155,0.050,2942,1784,1685,0,0,0,0,0,0
$GC,9408,0.65,337.2,829.8,12.3,787,9455,0.00,1.17,42.70,1.320,4,0.000,0.053,2946,1075,1509,0,0,0,0,0,0
$GC,9503,0.69,374.0,818.0,12.6,791,9544,0.00,1.10,35.95,1.283,6,0.000,0.047,2944,1771,1358,0,0,0,0,0,0
$GC,9867,0.75,408.3,771.2,12.7,809,9904,0.12,1.15,32.33,1.263,4,0.088,0.053,3010,1072,1218,0,0,0,0,0,0
$GC,9941,0.72,408.3,758.4,19.5,811,9946,0.08,1.12,0.00,0.000,6,0.148,0.048,2984,1788,1217,0,0,0,0,0,0
$GC,10263,0.70,408.3,704.0,16.8,827,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1788,1214,0,0,0,0,0,0
$GC,10575,0.69,408.3,653.2,16.5,842,10578,0.00,1.10,0.00,0.000,4,0.000,0.050,2987,1072,1214,0,0,0,0,0,0
$GC,10647,0.67,408.3,640.5,16.6,845,10651,0.00,1.08,0.00,0.000,6,0.000,0.044,2987,1777,1213,0,0,0,0,0,0
$GC,10968,0.66,408.3,589.8,15.8,863,10972,0.00,1.08,0.00,0.000,4,0.000,0.050,2990,1074,1212,0,0,0,0,0,0
$GC,11048,0.66,408.3,577.1,15.6,870,11052,0.08,1.08,0.00,0.000,6,0.142,0.044,2964,1785,1212,0,0,0,0,0,0
$GC,11379,0.70,427.4,533.5,13.1,901,11402,0.00,1.15,17.45,1.091,4,0.000,0.050,2967,1069,1140,0,0,0,0,0,0
$GC,11437,0.78,468.1,526.0,12.5,906,11482,0.00,1.08,37.88,1.115,6,0.000,0.043,2964,1773,974,0,0,0,0,0,0
$GC,11800,0.89,532.7,483.8,11.7,940,11867,0.20,1.15,59.42,1.079,4,0.067,0.049,3065,1072,711,0,0,0,0,0,0
$GC,11930,0.84,532.7,454.6,24.0,951,11938,0.12,1.08,0.00,0.000,6,0.145,0.041,3022,1775,706,0,0,0,0,0,0
$GC,12256,0.84,532.7,393.1,17.8,982,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1777,701,0,0,0,0,0,0
$GC,12578,0.84,532.7,339.8,15.5,1012,12582,0.00,1.08,0.00,0.000,4,0.000,0.047,3026,1064,699,0,0,0,0,0,0
$GC,12624,0.84,532.7,332.0,15.7,1016,12628,0.00,1.08,0.00,0.000,6,0.000,0.042,3023,1779,699,0,0,0,0,0,0
$GC,12959,0.84,532.7,280.6,15.7,1047,12962,0.00,1.08,0.00,0.000,4,0.000,0.047,3027,1075,697,0,0,0,0,0,0
$GC,12993,0.84,532.7,274.5,16.1,1050,12997,0.00,1.08,0.00,0.000,6,0.000,0.041,3026,1787,697,0,0,0,0,0,0
$GC,13319,0.92,578.4,229.6,12.3,1095,13369,0.00,1.12,40.33,0.848,4,0.000,0.046,3029,1077,523,0,0,0,0,0,0
$GC,13418,1.05,658.8,218.4,11.2,1110,13455,0.12,1.08,23.42,0.744,6,0.048,0.037,3106,1791,454,0,0,0,0,1,0
$GC,13775,1.01,658.8,138.6,22.1,1175,13784,0.12,1.10,0.00,0.000,4,0.164,0.044,3076,1075,442,0,0,0,0,0,0
$GC,13827,1.01,658.8,128.7,17.8,1184,13835,0.00,1.05,0.00,0.000,6,0.000,0.037,3072,1784,441,0,0,0,0,0,0
$GC,14152,1.03,658.8,80.4,14.4,1245,14160,0.00,1.08,0.00,0.000,4,0.000,0.044,3067,1069,437,0,0,0,0,0,0
$GC,14204,1.06,658.8,72.0,15.8,1254,14212,0.00,1.05,0.00,0.000,6,0.000,0.036,3067,1783,436,0,0,0,0,0,0
$GC,14526,1.37,843.1,42.4,7.9,1315,14535,0.28,1.08,0.00,0.000,4,0.050,0.041,3217,1075,434,0,0,0,0,0,0
$GC,14609,1.28,843.1,23.8,27.1,1330,14618,0.17,1.02,0.00,0.000,6,0.152,0.037,3159,1782,434,0,0,0,0,0,0
$STATE,14698,end climb,SURFACE_DEPTH_REACHED
$STATE,14698,begin surface coast
$FINISH,1.8,1.021864
$STATE,14718,end surface coast,CONTROL_FINISHED_OK
$STATE,14718,begin surface
$SM_CCo,14798,0.00,0.000,0,0,432,601.48
$SM_GC,2.04,7.80,0.00,0.00,0.037,0.000,0.000,135,1592,432,-8.05,-0.51,601.48,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12325.76,211011,212152
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.79
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.40
$XPDR_PINGS,121
$24V_AH,23.0,102.104
$10V_AH,9.8,69.659
$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,20.425,68.850,782.350,0.000,0.000,66.271,89.183,400.846,30.250,0.000,13.974,3170.892,7499.387,779.407,3601.683,527.762,0.000,2154.698,0.000,3078.471,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,74.205,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,919.937,1379.859,1526.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76844,1349
$CAP_FILE_SIZE,169434,0
$CFSIZE,260165632,110264320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221011,012001,2328.235,12326.100,38,1.4,38,-3.3