version: 66.09
glider: 166
mission: 6
dive: 419
start: 10 22 111 9 46 23
data:
$ID,166
$MISSION,6
$DIVE,419
$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,-24934.217
$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,53
$R_STBD_OVSHOOT,52
$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
$GPS1,221011,093830,2327.868,12322.163,36,1.7,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-61.1
$GPS2,221011,094558,2327.933,12322.161,12,2.2,31,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2322.533,12311.973
$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,3397
$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,-111.43,0.000,2,0.000,0.000,141,1580,3097,0,0,0,0,0,0
$GC,134,-0.73,-292.0,5.7,-8.0,16,164,9.23,1.12,-16.55,0.000,4,0.216,0.069,2501,2306,3963,0,0,0,0,0,0
$GC,345,-0.65,-292.0,75.4,-23.4,54,354,0.10,1.02,0.00,0.000,6,0.142,0.038,2531,1611,3964,0,0,0,0,0,0
$GC,670,-0.61,-292.0,137.5,-18.5,115,678,0.00,1.02,0.00,0.000,4,0.000,0.045,2535,919,3965,0,0,0,0,0,0
$GC,699,-0.58,-292.0,143.2,-18.2,119,707,0.00,1.02,0.00,0.000,6,0.000,0.040,2531,1603,3966,0,0,0,0,0,0
$GC,1029,-0.55,-292.0,196.2,-16.2,180,1037,0.12,1.08,0.00,0.000,4,0.161,0.047,2561,2312,3966,0,0,0,0,0,0
$GC,1149,-0.59,-292.0,210.3,-11.4,201,1158,0.00,1.05,0.00,0.000,6,0.000,0.041,2561,1616,3966,0,0,0,0,0,0
$GC,1475,-0.62,-292.0,248.6,-11.3,262,1483,0.00,1.05,0.00,0.000,4,0.000,0.046,2557,2306,3966,0,0,0,0,0,0
$GC,1561,-0.66,-292.0,258.7,-10.7,270,1569,0.00,1.05,0.00,0.000,6,0.000,0.041,2557,1609,3966,0,0,0,0,0,0
$GC,1888,-0.69,-292.0,295.8,-11.2,301,1892,0.00,1.05,0.00,0.000,4,0.000,0.047,2553,2304,3965,0,0,0,0,0,0
$GC,1982,-0.73,-292.0,306.1,-10.1,309,1989,0.10,1.05,0.00,0.000,6,0.044,0.041,2470,1605,3965,0,0,0,0,0,0
$GC,2308,-0.66,-292.0,367.8,-18.9,340,2310,0.20,0.00,0.00,0.000,6,0.150,0.000,2529,1605,3963,0,0,0,0,0,0
$GC,2629,-0.68,-292.0,406.6,-10.9,370,2632,0.00,1.05,0.00,0.000,4,0.000,0.048,2526,2297,3962,0,0,0,0,0,0
$GC,2747,-0.71,-292.0,418.4,-9.6,380,2753,0.00,1.02,0.00,0.000,6,0.000,0.042,2527,1615,3962,0,0,0,0,0,0
$GC,3072,-0.74,-292.0,456.0,-12.0,411,3076,0.00,1.05,0.00,0.000,4,0.000,0.049,2521,2302,3960,0,0,0,0,0,0
$GC,3131,-0.77,-292.0,462.7,-11.5,416,3134,0.00,1.05,0.00,0.000,6,0.000,0.044,2522,1607,3960,0,0,0,0,0,0
$GC,3462,-0.79,-292.0,498.2,-10.3,447,3466,0.00,1.08,0.00,0.000,4,0.000,0.050,2521,2302,3957,0,0,0,0,0,0
$GC,3612,-0.82,-292.0,512.9,-9.9,460,3616,0.10,1.05,0.00,0.000,6,0.045,0.044,2447,1611,3956,0,0,0,0,0,0
$GC,3942,-0.77,-292.0,569.0,-16.7,491,3944,0.17,0.00,0.00,0.000,6,0.158,0.000,2497,1610,3954,0,0,0,0,0,0
$GC,4263,-0.77,-292.0,605.7,-11.2,519,4267,0.00,1.10,0.00,0.000,4,0.000,0.056,2499,2303,3951,0,0,0,0,0,0
$GC,4381,-0.79,-292.0,618.6,-10.3,524,4385,0.00,1.05,0.00,0.000,6,0.000,0.048,2501,1619,3951,0,0,0,0,0,0
$GC,4711,-0.79,-292.0,661.2,-13.5,540,4714,0.00,1.08,0.00,0.000,4,0.000,0.056,2494,2303,3948,0,0,0,0,0,0
$GC,4780,-0.80,-292.0,670.3,-12.4,543,4783,0.00,1.08,0.00,0.000,6,0.000,0.048,2496,1605,3946,0,0,0,0,0,0
$GC,5113,-0.80,-292.0,711.5,-12.0,559,5117,0.00,1.08,0.00,0.000,4,0.000,0.057,2493,2295,3945,0,0,0,0,0,0
$GC,5165,-0.81,-292.0,717.5,-11.3,561,5169,0.00,1.05,0.00,0.000,6,0.000,0.047,2495,1608,3944,0,0,0,0,0,0
$GC,5493,-0.81,-292.0,757.7,-12.3,577,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1608,3941,0,0,0,0,0,0
$GC,5809,-0.81,-292.0,795.5,-12.0,592,5812,0.00,1.10,0.00,0.000,4,0.000,0.058,2494,2302,3939,0,0,0,0,0,0
$GC,5859,-0.83,-292.0,802.1,-11.1,594,5863,0.00,1.08,0.00,0.000,6,0.000,0.050,2494,1608,3937,0,0,0,0,0,0
$GC,6186,-0.83,-292.0,842.3,-12.8,610,6190,0.00,1.10,0.00,0.000,4,0.000,0.060,2489,2298,3935,0,0,0,0,0,0
$GC,6239,-0.83,-292.0,848.8,-12.3,612,6243,0.00,1.08,0.00,0.000,6,0.000,0.050,2489,1606,3935,0,0,0,0,0,0
$GC,6566,-0.83,-292.0,890.4,-12.5,628,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1606,3932,0,0,0,0,0,0
$GC,6878,-0.83,-292.0,928.4,-11.9,643,6882,0.00,1.10,0.00,0.000,4,0.000,0.060,2484,2302,3930,0,0,0,0,0,0
$GC,6939,-0.84,-292.0,935.8,-11.1,645,6945,0.00,1.08,0.00,0.000,6,0.000,0.051,2484,1611,3929,0,0,0,0,0,0
$GC,7255,-0.84,-292.0,973.5,-12.1,661,7259,0.00,1.08,0.00,0.000,4,0.000,0.058,2485,917,3928,0,0,0,0,0,0
$GC,7335,-0.84,-292.0,983.1,-11.7,664,7339,0.00,1.08,0.00,0.000,6,0.000,0.050,2479,1604,3927,0,0,0,0,0,0
$STATE,7407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7407,begin apogee
$GC,7413,-0.11,0.0,992.3,12.3,668,7646,0.70,0.00,225.98,1.430,6,0.125,0.000,2704,1780,2883,0,0,0,0,0,0
$STATE,7648,end apogee,CONTROL_FINISHED_OK
$STATE,7648,begin climb
$GC,7650,0.73,292.0,1003.2,0.0,679,7928,0.75,1.12,268.05,1.373,4,0.054,0.054,2991,1080,1692,0,0,0,0,0,0
$GC,7975,0.68,292.0,962.4,17.7,694,7979,0.00,1.12,0.00,0.000,6,0.000,0.051,2991,1774,1690,0,0,0,0,0,0
$GC,8302,0.62,292.0,903.2,18.0,710,8306,0.17,1.10,0.00,0.000,4,0.170,0.059,2940,2494,1685,0,0,0,0,0,0
$GC,8398,0.64,310.0,889.6,13.2,714,8419,0.00,1.10,17.27,1.245,6,0.000,0.048,2943,1785,1620,0,0,0,0,0,0
$GC,8743,0.66,326.1,843.6,13.2,731,8762,0.00,0.00,16.38,1.235,6,0.000,0.000,2943,1785,1554,0,0,0,0,0,0
$GC,9073,0.72,373.7,801.5,12.2,747,9124,0.10,1.15,45.72,1.290,4,0.103,0.058,2997,2487,1359,0,0,0,0,0,0
$GC,9164,0.69,373.7,786.8,17.6,751,9168,0.10,1.12,0.00,0.000,6,0.151,0.047,2972,1771,1358,0,0,0,0,0,0
$GC,9500,0.67,373.7,735.7,15.5,767,9503,0.00,1.05,0.00,0.000,4,0.000,0.051,2975,1080,1355,0,0,0,0,0,0
$GC,9546,0.67,373.7,728.0,14.8,769,9549,0.00,1.10,0.00,0.000,6,0.000,0.045,2972,1793,1354,0,0,0,0,0,0
$GC,9878,0.67,373.7,674.5,15.5,785,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1793,1353,0,0,0,0,0,0
$GC,10190,0.67,373.7,629.3,13.8,800,10193,0.00,1.02,0.00,0.000,4,0.000,0.054,2968,2476,1353,0,0,0,0,0,0
$GC,10245,0.69,389.4,621.3,13.3,802,10265,0.00,1.08,14.98,1.124,6,0.000,0.044,2971,1771,1295,0,0,0,0,0,0
$GC,10582,0.69,389.4,574.1,14.1,827,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1771,1294,0,0,0,0,0,0
$GC,10903,0.69,389.4,529.5,14.2,857,10906,0.00,1.10,0.00,0.000,4,0.000,0.050,2969,2490,1293,0,0,0,0,0,0
$GC,10968,0.74,417.1,521.0,12.9,862,10999,0.00,1.10,25.90,1.095,6,0.000,0.044,2972,1773,1183,0,0,0,0,0,0
$GC,11326,0.81,461.7,476.7,12.3,896,11371,0.10,1.12,40.55,1.068,4,0.102,0.049,3037,1069,1000,0,0,0,0,0,0
$GC,11416,0.77,461.7,460.7,20.2,903,11423,0.12,1.10,0.00,0.000,6,0.138,0.042,2997,1786,998,0,0,0,0,0,0
$GC,11741,0.77,461.7,409.5,14.2,934,11744,0.00,1.02,0.00,0.000,4,0.000,0.050,2996,2476,996,0,0,0,0,0,0
$GC,11757,0.77,461.7,407.0,13.9,935,11764,0.00,1.05,0.00,0.000,6,0.000,0.041,2999,1781,996,0,0,0,0,0,0
$GC,12085,0.78,464.3,362.5,13.7,966,12089,0.00,1.05,0.00,0.000,4,0.000,0.048,3004,1080,995,0,0,0,0,0,0
$GC,12113,0.81,473.2,358.2,13.5,968,12131,0.00,1.05,10.73,0.869,6,0.000,0.039,3003,1785,954,0,0,0,0,0,0
$GC,12452,0.83,478.7,312.2,13.6,1000,12464,0.00,1.08,6.47,0.731,4,0.000,0.044,3007,1078,931,0,0,0,0,0,0
$GC,12513,0.86,488.6,303.9,13.4,1005,12528,0.00,1.05,10.43,0.811,6,0.000,0.037,3007,1785,890,0,0,0,0,0,0
$GC,12856,0.93,520.1,258.5,12.8,1037,12894,0.10,1.12,28.73,0.852,4,0.098,0.046,3073,1077,761,0,0,0,0,0,0
$GC,12926,0.88,520.1,245.7,20.5,1044,12934,0.12,1.05,0.00,0.000,6,0.136,0.037,3032,1781,759,0,0,0,0,0,0
$GC,13255,0.90,520.1,193.6,16.0,1105,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1782,756,0,0,0,0,0,0
$GC,13582,1.01,586.3,149.1,11.7,1166,13647,0.12,1.12,59.97,0.769,4,0.087,0.044,3098,1077,492,0,0,0,0,0,0
$GC,13699,0.97,586.3,125.1,23.6,1184,13708,0.12,1.05,0.00,0.000,6,0.134,0.037,3058,1783,485,0,0,0,0,0,0
$GC,14025,1.04,619.8,77.5,12.7,1245,14042,0.00,1.12,10.12,0.622,4,0.000,0.044,3060,1065,454,0,0,0,0,0,0
$GC,14095,1.12,646.4,68.3,12.9,1256,14104,0.10,1.05,0.00,0.000,6,0.047,0.035,3136,1785,447,0,0,0,0,0,0
$GC,14423,1.16,691.2,15.0,12.3,1317,14431,0.00,1.08,0.00,0.000,4,0.000,0.044,3139,1069,441,0,0,0,0,0,0
$GC,14451,1.13,691.2,9.6,15.5,1321,14460,0.08,1.02,0.00,0.000,6,0.136,0.034,3114,1786,442,0,0,0,0,0,0
$STATE,14491,end climb,SURFACE_DEPTH_REACHED
$STATE,14491,begin surface coast
$FINISH,1.4,1.009661
$STATE,14512,end surface coast,CONTROL_FINISHED_OK
$STATE,14512,begin surface
$SM_CCo,14592,0.00,0.000,0,0,441,599.27
$SM_GC,1.87,7.62,0.00,0.00,0.034,0.000,0.000,146,1596,441,-8.04,-0.40,599.27,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12325.76,221011,050549
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.28
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.40
$XPDR_PINGS,119
$24V_AH,23.0,102.994
$10V_AH,9.7,70.114
$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,20.350,62.775,781.275,0.000,0.000,29.645,43.966,192.917,29.750,0.000,33.427,3141.948,7303.295,757.007,3350.091,470.696,0.000,2125.499,0.000,3060.667,0.000,0.541,0.000
$DEVICE_MAMPS,216.495,70.380,1429.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.510,1363.051,1501.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76956,1331
$CAP_FILE_SIZE,164727,0
$CFSIZE,260165632,110018560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221011,135106,2327.794,12320.737,40,1.1,52,-3.3