version: 66.09
glider: 166
mission: 6
dive: 421
start: 10 22 111 18 13 1
data:
$ID,166
$MISSION,6
$DIVE,421
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-24936.73
$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,44
$R_STBD_OVSHOOT,58
$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
$GPS1,221011,180006,2327.290,12319.268,44,1.9,44,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-64.5
$GPS2,221011,181239,2327.410,12319.262,14,2.1,33,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,260.4,198239,-16.7,-13.750
$D_GRID,3427
$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,16,begin dive
$GC,18,-0.73,-292.0,0.0,0.0,0,132,0.00,0.00,-111.40,0.000,2,0.000,0.000,121,1595,3124,0,0,0,0,0,0
$GC,138,-0.73,-292.0,6.1,-10.1,15,169,9.20,1.02,-14.98,0.000,4,0.212,0.064,2498,2311,3963,0,0,0,0,0,0
$GC,278,-0.61,-292.0,58.7,-30.0,39,286,0.15,1.05,0.00,0.000,6,0.151,0.037,2542,1598,3964,0,0,0,0,0,0
$GC,606,-0.58,-292.0,123.5,-16.7,100,614,0.00,1.05,0.00,0.000,4,0.000,0.041,2539,2304,3964,0,0,0,0,0,0
$GC,642,-0.55,-292.0,129.3,-17.1,105,651,0.00,1.02,0.00,0.000,6,0.000,0.038,2538,1609,3964,0,0,0,0,0,0
$GC,974,-0.53,-292.0,182.6,-15.1,166,983,0.12,1.05,0.00,0.000,4,0.159,0.044,2570,2297,3965,0,0,0,0,0,0
$GC,1024,-0.56,-292.0,189.7,-13.2,174,1031,0.00,1.02,0.00,0.000,6,0.000,0.038,2569,1602,3965,0,0,0,0,0,0
$GC,1352,-0.60,-292.0,226.4,-9.0,235,1360,0.00,1.05,0.00,0.000,4,0.000,0.045,2564,2298,3965,0,0,0,0,0,0
$GC,1454,-0.65,-292.0,235.4,-8.4,253,1463,0.00,1.02,0.00,0.000,6,0.000,0.039,2565,1607,3965,0,0,0,0,0,0
$GC,1782,-0.68,-292.0,269.6,-10.4,297,1786,0.12,1.08,0.00,0.000,4,0.080,0.047,2475,2297,3964,0,0,0,0,0,0
$GC,1845,-0.64,-292.0,279.8,-17.9,302,1854,0.17,1.02,0.00,0.000,6,0.129,0.041,2533,1615,3964,0,0,0,0,0,0
$GC,2171,-0.64,-292.0,324.3,-12.4,333,2174,0.00,1.02,0.00,0.000,4,0.000,0.049,2531,2288,3962,0,0,0,0,0,0
$GC,2253,-0.66,-292.0,333.6,-11.4,340,2257,0.00,1.02,0.00,0.000,6,0.000,0.042,2531,1605,3962,0,0,0,0,0,0
$GC,2584,-0.66,-292.0,377.1,-12.9,371,2588,0.00,1.05,0.00,0.000,4,0.000,0.049,2527,2288,3960,0,0,0,0,0,0
$GC,2689,-0.69,-292.0,388.7,-10.5,380,2693,0.00,1.02,0.00,0.000,6,0.000,0.043,2527,1609,3960,0,0,0,0,0,0
$GC,3023,-0.70,-292.0,427.3,-11.5,411,3027,0.00,1.05,0.00,0.000,4,0.000,0.050,2522,2293,3958,0,0,0,0,0,0
$GC,3062,-0.73,-292.0,432.1,-11.4,414,3069,0.00,1.02,0.00,0.000,6,0.000,0.044,2523,1614,3958,0,0,0,0,0,0
$GC,3390,-0.75,-292.0,466.5,-10.4,445,3394,0.00,1.02,0.00,0.000,4,0.000,0.050,2518,2290,3956,0,0,0,0,0,0
$GC,3493,-0.78,-292.0,476.9,-9.8,454,3497,0.00,1.02,0.00,0.000,6,0.000,0.044,2518,1611,3955,0,0,0,0,0,0
$GC,3824,-0.80,-292.0,512.7,-11.2,485,3828,0.00,1.05,0.00,0.000,4,0.000,0.053,2517,2291,3952,0,0,0,0,0,0
$GC,3848,-0.83,-292.0,515.3,-11.3,487,3852,0.08,1.02,0.00,0.000,6,0.051,0.045,2454,1611,3952,0,0,0,0,0,0
$GC,4181,-0.78,-292.0,570.1,-16.7,518,4188,0.12,0.00,0.00,0.000,6,0.164,0.000,2488,1611,3950,0,0,0,0,0,0
$GC,4518,-0.78,-292.0,614.7,-13.2,545,4521,0.00,1.05,0.00,0.000,4,0.000,0.055,2488,2288,3946,0,0,0,0,0,0
$GC,4615,-0.78,-292.0,627.1,-12.1,549,4618,0.00,1.02,0.00,0.000,6,0.000,0.047,2490,1620,3946,0,0,0,0,0,0
$GC,4942,-0.78,-292.0,668.8,-12.3,565,4946,0.00,1.02,0.00,0.000,4,0.000,0.056,2484,2285,3944,0,0,0,0,0,0
$GC,4999,-0.78,-292.0,675.6,-11.5,567,5003,0.00,1.05,0.00,0.000,6,0.000,0.050,2486,1603,3943,0,0,0,0,0,0
$GC,5323,-0.78,-292.0,714.2,-12.1,583,5327,0.00,1.05,0.00,0.000,4,0.000,0.058,2481,2278,3940,0,0,0,0,0,0
$GC,5350,-0.78,-292.0,718.1,-12.1,584,5354,0.00,1.02,0.00,0.000,6,0.000,0.049,2482,1610,3939,0,0,0,0,0,0
$GC,5680,-0.78,-292.0,760.9,-13.3,600,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1610,3936,0,0,0,0,0,0
$GC,5987,-0.78,-292.0,801.2,-12.4,615,5991,0.00,1.08,0.00,0.000,4,0.000,0.062,2486,2279,3934,0,0,0,0,0,0
$GC,6070,-0.78,-292.0,811.3,-11.6,618,6077,0.00,1.02,0.00,0.000,6,0.000,0.051,2486,1614,3934,0,0,0,0,0,0
$GC,6389,-0.78,-292.0,849.9,-12.4,634,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1614,3931,0,0,0,0,0,0
$GC,6696,-0.78,-292.0,889.0,-13.0,649,6699,0.00,1.05,0.00,0.000,4,0.000,0.062,2481,2280,3929,0,0,0,0,0,0
$GC,6729,-0.78,-292.0,893.5,-12.7,650,6733,0.00,1.05,0.00,0.000,6,0.000,0.053,2481,1606,3929,0,0,0,0,0,0
$GC,7054,-0.78,-292.0,934.6,-12.8,666,7057,0.00,1.08,0.00,0.000,4,0.000,0.063,2476,2285,3926,0,0,0,0,0,0
$GC,7087,-0.78,-292.0,939.4,-12.9,667,7090,0.00,1.05,0.00,0.000,6,0.000,0.054,2476,1607,3925,0,0,0,0,0,0
$GC,7411,-0.78,-292.0,982.0,-13.3,683,7414,0.00,1.08,0.00,0.000,4,0.000,0.056,2476,910,3923,0,0,0,0,0,0
$GC,7461,-0.78,-292.0,989.3,-13.6,685,7465,0.00,1.05,0.00,0.000,6,0.000,0.051,2471,1582,3923,0,0,0,0,0,0
$STATE,7468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7468,begin apogee
$GC,7474,-0.11,0.0,990.5,13.2,685,7704,0.73,0.00,224.57,1.433,6,0.126,0.000,2702,1786,2884,0,0,0,0,0,0
$STATE,7707,end apogee,CONTROL_FINISHED_OK
$STATE,7707,begin climb
$GC,7709,0.73,292.0,1001.6,0.0,696,7987,0.75,1.17,267.20,1.376,4,0.057,0.060,2982,2485,1693,0,0,0,0,0,0
$GC,8023,0.69,292.0,963.6,17.0,711,8026,0.00,1.12,0.00,0.000,6,0.000,0.050,2986,1785,1691,0,0,0,0,0,0
$GC,8350,0.65,292.0,908.5,16.7,727,8354,0.12,1.12,0.00,0.000,4,0.179,0.055,2959,1063,1687,0,0,0,0,0,0
$GC,8401,0.63,292.0,900.7,14.1,729,8405,0.00,1.12,0.00,0.000,6,0.000,0.050,2956,1779,1686,0,0,0,0,0,0
$GC,8732,0.62,295.5,857.0,13.6,745,8735,0.00,1.08,0.00,0.000,4,0.000,0.059,2955,2486,1684,0,0,0,0,0,0
$GC,8759,0.61,295.5,852.5,13.9,746,8763,0.00,1.10,0.00,0.000,6,0.000,0.049,2958,1776,1685,0,0,0,0,0,0
$GC,9089,0.59,295.5,807.3,14.2,762,9093,0.00,1.08,0.00,0.000,4,0.000,0.051,2963,1066,1683,0,0,0,0,0,0
$GC,9123,0.57,295.5,801.8,13.9,763,9127,0.08,1.12,0.00,0.000,6,0.149,0.049,2935,1793,1683,0,0,0,0,0,0
$GC,9444,0.66,372.2,764.2,11.3,779,9524,0.00,0.00,75.38,1.291,6,0.000,0.000,2935,1793,1365,0,0,0,0,0,0
$GC,9836,0.79,451.8,720.1,11.2,798,9914,0.20,1.12,72.82,1.248,4,0.068,0.048,3036,1073,1041,0,0,0,0,0,0
$GC,9987,0.75,451.8,688.4,21.5,804,9992,0.15,1.12,0.00,0.000,6,0.140,0.047,2989,1787,1038,0,0,0,0,0,0
$GC,10322,0.74,451.8,630.1,16.9,820,10326,0.00,1.05,0.00,0.000,4,0.000,0.056,2987,2483,1035,0,0,0,0,0,0
$GC,10362,0.74,451.8,623.1,16.3,821,10370,0.00,1.08,0.00,0.000,6,0.000,0.045,2991,1780,1035,0,0,0,0,0,0
$GC,10684,0.73,451.8,569.1,16.8,845,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1780,1034,0,0,0,0,0,0
$GC,11004,0.73,451.8,519.2,16.3,875,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1780,1034,0,0,0,0,0,0
$GC,11331,0.73,451.8,467.5,14.7,906,11335,0.00,1.08,0.00,0.000,4,0.000,0.049,2996,1074,1033,0,0,0,0,0,0
$GC,11380,0.73,451.8,460.5,14.6,910,11384,0.00,1.08,0.00,0.000,6,0.000,0.043,2993,1787,1033,0,0,0,0,0,0
$GC,11711,0.73,451.8,413.9,14.3,941,11714,0.00,1.10,0.00,0.000,4,0.000,0.048,2996,1072,1033,0,0,0,0,0,0
$GC,11749,0.73,451.8,408.0,14.5,944,11757,0.00,1.08,0.00,0.000,6,0.000,0.042,2995,1785,1033,0,0,0,0,0,0
$GC,12075,0.75,457.2,361.3,13.6,975,12088,0.00,1.12,4.45,0.656,4,0.000,0.047,2999,1071,1020,0,0,0,0,0,0
$GC,12138,0.78,467.5,353.2,13.4,980,12153,0.00,1.08,11.05,0.877,6,0.000,0.041,2999,1787,977,0,0,0,0,0,0
$GC,12480,0.83,494.9,308.9,12.9,1012,12514,0.00,1.15,25.10,0.907,4,0.000,0.046,3004,1068,864,0,0,0,0,0,0
$GC,12541,0.90,531.2,301.2,12.6,1017,12580,0.00,1.08,34.30,0.898,6,0.000,0.038,3004,1784,716,0,0,0,0,0,0
$GC,12910,1.06,624.7,258.9,10.8,1051,12989,0.22,1.15,66.15,0.844,4,0.057,0.046,3123,1069,454,0,0,0,0,1,0
$GC,13057,0.98,624.7,221.0,28.0,1071,13065,0.17,1.08,0.00,0.000,6,0.146,0.040,3068,1779,451,0,0,0,0,0,0
$GC,13386,0.98,624.7,151.5,18.7,1132,13394,0.00,1.02,0.00,0.000,4,0.000,0.047,3063,2475,443,0,0,0,0,0,0
$GC,13426,0.98,624.7,144.8,18.1,1138,13434,0.00,1.05,0.00,0.000,6,0.000,0.041,3065,1776,442,0,0,0,0,0,0
$GC,13757,1.05,655.3,93.5,12.8,1199,13765,0.00,1.05,0.00,0.000,4,0.000,0.044,3069,1072,438,0,0,0,0,0,0
$GC,13842,1.07,655.3,81.8,14.4,1214,13850,0.00,1.05,0.00,0.000,6,0.000,0.036,3066,1783,436,0,0,0,0,0,0
$GC,14172,1.37,834.5,48.9,8.1,1275,14180,0.28,1.08,0.00,0.000,4,0.051,0.041,3212,1078,432,0,0,0,0,0,0
$GC,14276,1.27,834.5,24.1,30.0,1293,14286,0.17,1.02,0.00,0.000,6,0.158,0.037,3159,1783,432,0,0,0,0,0,0
$STATE,14359,end climb,SURFACE_DEPTH_REACHED
$STATE,14359,begin surface coast
$FINISH,1.4,1.021920
$STATE,14373,end surface coast,CONTROL_FINISHED_OK
$STATE,14373,begin surface
$SM_CCo,14451,0.00,0.000,0,0,428,602.21
$SM_GC,2.08,7.82,0.00,0.00,0.040,0.000,0.000,149,1601,428,-8.04,-0.25,602.21,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12321.22,221011,181836
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.20
$XPDR_PINGS,124
$24V_AH,23.0,103.596
$10V_AH,9.7,70.420
$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,20.675,66.500,781.025,0.000,0.000,50.299,90.546,353.839,31.000,0.000,34.957,3257.567,7178.095,799.351,3456.661,493.519,0.000,2123.673,0.000,2960.640,0.000,0.541,0.000
$DEVICE_MAMPS,211.905,67.320,1432.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.779,1340.442,1452.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330436
$DATA_FILE_SIZE,73539,1310
$CAP_FILE_SIZE,163858,0
$CFSIZE,260165632,109846528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165, 42.3,1
$GPS,221011,221507,2328.171,12317.183,34,1.8,34,-3.3