version: 66.09
glider: 166
mission: 6
dive: 420
start: 10 22 111 13 58 27
data:
$ID,166
$MISSION,6
$DIVE,420
$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,-24935.473
$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,46
$R_STBD_OVSHOOT,66
$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
$GPS1,221011,135106,2327.794,12320.737,40,1.1,52,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.9
$GPS2,221011,135801,2327.816,12320.737,10,1.5,15,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2322.416,12310.549
$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,3401
$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,-111.45,0.000,2,0.000,0.000,142,1591,3081,0,0,0,0,0,0
$GC,134,-0.73,-292.0,5.1,-4.9,16,164,9.27,1.08,-16.95,0.000,4,0.218,0.068,2497,2294,3964,0,0,0,0,0,0
$GC,335,-0.62,-292.0,74.2,-29.4,52,344,0.12,1.02,0.00,0.000,6,0.139,0.038,2537,1601,3965,0,0,0,0,0,0
$GC,660,-0.59,-292.0,133.4,-16.1,113,668,0.00,1.02,0.00,0.000,4,0.000,0.044,2534,2288,3965,0,0,0,0,0,0
$GC,697,-0.56,-292.0,139.9,-16.4,118,705,0.08,1.00,0.00,0.000,6,0.136,0.041,2560,1617,3965,0,0,0,0,0,0
$GC,1024,-0.57,-292.0,184.0,-12.4,179,1032,0.00,1.00,0.00,0.000,4,0.000,0.046,2557,2287,3966,0,0,0,0,0,0
$GC,1104,-0.60,-292.0,193.8,-11.6,193,1112,0.00,1.02,0.00,0.000,6,0.000,0.041,2556,1605,3966,0,0,0,0,0,0
$GC,1426,-0.62,-292.0,231.1,-11.3,254,1434,0.00,1.02,0.00,0.000,4,0.000,0.046,2553,2286,3966,0,0,0,0,0,0
$GC,1493,-0.65,-292.0,239.0,-11.1,266,1501,0.00,1.02,0.00,0.000,6,0.000,0.041,2553,1608,3966,0,0,0,0,0,0
$GC,1824,-0.66,-292.0,277.7,-11.8,306,1828,0.00,1.02,0.00,0.000,4,0.000,0.047,2549,2282,3965,0,0,0,0,0,0
$GC,1913,-0.70,-292.0,287.9,-10.7,314,1917,0.00,1.00,0.00,0.000,6,0.000,0.042,2549,1617,3965,0,0,0,0,0,0
$GC,2245,-0.72,-292.0,328.6,-12.1,345,2249,0.10,1.02,0.00,0.000,4,0.097,0.047,2473,2280,3964,0,0,0,0,0,0
$GC,2306,-0.68,-292.0,338.2,-16.5,350,2313,0.15,1.02,0.00,0.000,6,0.130,0.043,2524,1600,3963,0,0,0,0,0,0
$GC,2631,-0.68,-292.0,379.4,-12.8,381,2635,0.00,1.02,0.00,0.000,4,0.000,0.047,2521,2278,3963,0,0,0,0,0,0
$GC,2715,-0.69,-292.0,389.1,-10.8,388,2722,0.00,1.00,0.00,0.000,6,0.000,0.043,2523,1616,3962,0,0,0,0,0,0
$GC,3043,-0.69,-292.0,432.0,-13.0,419,3047,0.00,1.00,0.00,0.000,4,0.000,0.050,2518,2275,3960,0,0,0,0,0,0
$GC,3095,-0.71,-292.0,438.4,-11.3,423,3102,0.00,1.00,0.00,0.000,6,0.000,0.044,2518,1611,3960,0,0,0,0,0,0
$GC,3423,-0.73,-292.0,477.6,-11.6,454,3426,0.00,1.02,0.00,0.000,4,0.000,0.051,2514,2275,3959,0,0,0,0,0,0
$GC,3507,-0.75,-292.0,487.3,-10.5,461,3514,0.00,1.00,0.00,0.000,6,0.000,0.044,2514,1616,3958,0,0,0,0,0,0
$GC,3833,-0.77,-292.0,524.8,-12.1,492,3836,0.00,1.02,0.00,0.000,4,0.000,0.052,2509,2279,3957,0,0,0,0,0,0
$GC,3857,-0.78,-292.0,527.7,-12.0,494,3860,0.00,1.02,0.00,0.000,6,0.000,0.046,2511,1607,3956,0,0,0,0,0,0
$GC,4188,-0.80,-292.0,562.6,-9.7,525,4192,0.00,1.05,0.00,0.000,4,0.000,0.054,2510,2283,3954,0,0,0,0,0,0
$GC,4309,-0.82,-292.0,573.5,-8.9,535,4316,0.00,1.02,0.00,0.000,6,0.000,0.047,2511,1614,3952,0,0,0,0,0,0
$GC,4644,-0.84,-292.0,611.0,-12.2,563,4649,0.10,1.05,0.00,0.000,4,0.101,0.055,2449,2281,3950,0,0,0,0,0,0
$GC,4697,-0.80,-292.0,619.1,-16.1,565,4701,0.08,1.02,0.00,0.000,6,0.146,0.047,2478,1609,3950,0,0,0,0,0,0
$GC,5023,-0.78,-292.0,669.2,-15.0,581,5027,0.00,1.05,0.00,0.000,4,0.000,0.055,2478,2277,3947,0,0,0,0,0,0
$GC,5143,-0.78,-292.0,685.3,-13.2,586,5147,0.00,1.02,0.00,0.000,6,0.000,0.049,2479,1614,3946,0,0,0,0,0,0
$GC,5470,-0.76,-292.0,732.7,-14.6,602,5474,0.00,1.02,0.00,0.000,4,0.000,0.058,2474,2274,3943,0,0,0,0,0,0
$GC,5520,-0.76,-292.0,740.1,-14.0,604,5524,0.00,1.02,0.00,0.000,6,0.000,0.049,2475,1604,3943,0,0,0,0,0,0
$GC,5850,-0.74,-292.0,786.7,-14.3,620,5854,0.10,1.08,0.00,0.000,4,0.177,0.058,2498,2278,3939,0,0,0,0,0,0
$GC,5882,-0.74,-292.0,791.5,-13.2,621,5886,0.00,1.02,0.00,0.000,6,0.000,0.049,2498,1609,3940,0,0,0,0,0,0
$GC,6206,-0.74,-292.0,829.8,-11.9,637,6210,0.00,1.05,0.00,0.000,4,0.000,0.060,2494,2277,3937,0,0,0,0,0,0
$GC,6275,-0.76,-292.0,837.8,-11.3,640,6279,0.00,1.02,0.00,0.000,6,0.000,0.050,2494,1614,3936,0,0,0,0,0,0
$GC,6609,-0.76,-292.0,879.2,-12.7,656,6612,0.00,1.05,0.00,0.000,4,0.000,0.061,2491,2276,3935,0,0,0,0,0,0
$GC,6651,-0.77,-292.0,884.1,-12.4,657,6657,0.00,1.05,0.00,0.000,6,0.000,0.051,2492,1602,3934,0,0,0,0,0,0
$GC,6967,-0.77,-292.0,923.9,-12.3,673,6970,0.00,1.08,0.00,0.000,4,0.000,0.061,2486,2276,3932,0,0,0,0,0,0
$GC,7064,-0.78,-292.0,935.3,-11.8,677,7068,0.00,1.05,0.00,0.000,6,0.000,0.052,2486,1606,3931,0,0,0,0,0,0
$GC,7392,-0.78,-292.0,978.4,-13.4,693,7395,0.00,1.10,0.00,0.000,4,0.000,0.057,2486,899,3928,0,0,0,0,0,0
$GC,7426,-0.78,-292.0,983.2,-14.0,694,7430,0.00,1.08,0.00,0.000,6,0.000,0.050,2481,1583,3928,0,0,0,0,0,0
$STATE,7477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7477,begin apogee
$GC,7486,-0.11,0.0,990.6,13.9,697,7717,0.68,0.00,225.82,1.433,6,0.122,0.000,2700,1790,2884,0,0,0,0,0,0
$STATE,7721,end apogee,CONTROL_FINISHED_OK
$STATE,7721,begin climb
$GC,7724,0.73,292.0,1005.2,0.0,708,8003,0.75,1.10,266.92,1.378,4,0.055,0.057,2983,2483,1692,0,0,0,0,0,0
$GC,8084,0.70,292.0,962.5,16.1,724,8090,0.00,1.12,0.00,0.000,6,0.000,0.050,2986,1777,1688,0,0,0,0,0,0
$GC,8402,0.65,292.0,911.3,16.2,740,8407,0.12,1.10,0.00,0.000,4,0.180,0.058,2951,2483,1685,0,0,0,0,0,0
$GC,8463,0.68,316.8,902.2,13.0,742,8491,0.00,1.10,23.65,1.285,6,0.000,0.049,2954,1776,1591,0,0,0,0,0,0
$GC,8806,0.67,319.6,856.5,13.7,759,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1776,1588,0,0,0,0,0,0
$GC,9109,0.67,319.6,812.8,14.3,774,9112,0.00,1.10,0.00,0.000,4,0.000,0.057,2952,2485,1586,0,0,0,0,0,0
$GC,9154,0.67,319.6,806.3,13.9,776,9158,0.00,1.10,0.00,0.000,6,0.000,0.047,2955,1776,1586,0,0,0,0,0,0
$GC,9489,0.67,319.6,758.4,14.5,792,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1776,1585,0,0,0,0,0,0
$GC,9796,0.67,319.6,714.4,14.2,807,9800,0.00,1.10,0.00,0.000,4,0.000,0.055,2952,2492,1583,0,0,0,0,0,0
$GC,9842,0.70,344.8,708.3,13.0,809,9873,0.00,1.10,26.27,1.234,6,0.000,0.046,2955,1772,1478,0,0,0,0,0,0
$GC,10195,0.74,370.0,662.3,13.0,826,10222,0.00,0.00,24.50,1.190,6,0.000,0.000,2955,1773,1375,0,0,0,0,0,0
$GC,10529,0.78,404.4,620.3,12.7,842,10567,0.12,0.00,32.78,1.172,6,0.093,0.000,3026,1773,1235,0,0,0,0,0,0
$GC,10883,0.72,404.4,549.7,21.4,870,10888,0.17,1.12,0.00,0.000,4,0.164,0.055,2975,2484,1233,0,0,0,0,0,0
$GC,11013,0.72,404.4,529.5,14.9,881,11017,0.00,1.08,0.00,0.000,6,0.000,0.044,2977,1782,1232,0,0,0,0,0,0
$GC,11344,0.75,429.0,482.0,13.0,912,11371,0.00,1.08,22.95,1.055,4,0.000,0.045,2983,1070,1133,0,0,0,0,0,0
$GC,11462,0.76,432.1,466.4,13.7,922,11474,0.00,1.10,3.80,0.626,6,0.000,0.041,2979,1792,1122,0,0,0,0,0,0
$GC,11795,0.80,449.5,423.4,13.2,953,11818,0.00,1.15,17.08,0.981,4,0.000,0.047,2983,1071,1050,0,0,0,0,0,0
$GC,11847,0.87,490.8,416.3,12.4,957,11889,0.10,1.08,37.47,1.004,6,0.054,0.041,3050,1783,883,0,0,0,0,0,0
$GC,12215,0.83,490.8,341.0,21.8,992,12220,0.15,1.05,0.00,0.000,4,0.159,0.051,3005,2472,877,0,0,0,0,0,0
$GC,12261,0.85,490.8,332.7,16.3,996,12265,0.00,1.05,0.00,0.000,6,0.000,0.042,3007,1780,877,0,0,0,0,0,0
$GC,12595,0.90,515.9,285.4,13.0,1027,12622,0.00,1.10,22.73,0.876,4,0.000,0.047,3012,1069,779,0,0,0,0,0,0
$GC,12656,0.98,551.8,277.3,12.6,1032,12698,0.12,1.08,33.67,0.874,6,0.049,0.039,3084,1784,632,0,0,0,0,0,0
$GC,13018,0.93,551.8,194.8,22.2,1088,13027,0.15,1.02,0.00,0.000,4,0.164,0.047,3039,2475,624,0,0,0,0,0,0
$GC,13090,0.95,551.8,182.6,14.4,1100,13098,0.00,1.05,0.00,0.000,6,0.000,0.041,3038,1777,623,0,0,0,0,0,0
$GC,13418,0.97,551.8,133.7,13.8,1161,13426,0.00,1.05,0.00,0.000,4,0.000,0.044,3043,1066,622,0,0,0,0,0,0
$GC,13482,0.99,551.8,124.7,13.9,1172,13490,0.00,1.05,0.00,0.000,6,0.000,0.037,3041,1780,621,0,0,0,0,0,0
$GC,13807,1.17,669.9,86.3,10.0,1233,13858,0.22,1.10,41.90,0.714,4,0.058,0.040,3162,1070,454,0,0,0,0,0,0
$GC,13909,1.12,669.9,64.7,24.0,1249,13918,0.17,1.05,0.00,0.000,6,0.135,0.037,3106,1783,447,0,0,0,0,0,0
$GC,14240,1.24,757.7,17.1,11.0,1310,14249,0.12,1.10,0.00,0.000,4,0.087,0.046,3175,1068,439,0,0,0,0,0,0
$GC,14305,1.20,757.7,4.0,21.4,1321,14314,0.12,1.05,0.00,0.000,6,0.142,0.037,3131,1786,438,0,0,0,0,0,0
$STATE,14320,end climb,SURFACE_DEPTH_REACHED
$STATE,14320,begin surface coast
$FINISH,1.2,1.008574
$STATE,14339,end surface coast,CONTROL_FINISHED_OK
$STATE,14339,begin surface
$SM_CCo,14416,0.00,0.000,0,0,437,600.25
$SM_GC,2.03,7.72,0.00,0.00,0.037,0.000,0.000,127,1596,437,-8.05,-0.40,600.25,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12322.51,221011,090902
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.77
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.40
$XPDR_PINGS,124
$24V_AH,23.0,103.286
$10V_AH,9.7,70.267
$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,20.750,67.975,779.550,0.000,0.000,31.294,18.596,200.820,31.000,0.000,16.579,3136.908,7100.826,779.876,3327.441,471.595,0.000,2147.321,0.000,3071.554,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,68.085,1432.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.882,1359.956,1521.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73614,1326
$CAP_FILE_SIZE,167258,0
$CFSIZE,260165632,109932544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221011,180006,2327.290,12319.268,44,1.9,44,-3.3