version: 66.09
glider: 166
mission: 6
dive: 422
start: 10 22 111 22 23 19
data:
$ID,166
$MISSION,6
$DIVE,422
$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,-24937.988
$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,48
$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
$GPS1,221011,221507,2328.171,12317.183,34,1.8,34,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-66.3
$GPS2,221011,222255,2328.231,12317.192,42,1.4,42,-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,246.2,195152,-16.7,-13.750
$D_GRID,3492
$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,18,begin dive
$GC,21,-0.73,-292.0,0.0,0.0,0,138,0.00,0.00,-114.82,0.000,2,0.000,0.000,148,1600,3194,0,0,0,0,0,0
$GC,141,-0.73,-292.0,6.3,-9.9,16,172,9.23,1.08,-13.88,0.000,4,0.216,0.066,2495,2303,3963,0,0,0,0,0,0
$GC,329,-0.65,-292.0,76.1,-24.9,49,337,0.10,1.05,0.00,0.000,6,0.139,0.040,2527,1602,3964,0,0,0,0,0,0
$GC,655,-0.62,-292.0,140.9,-17.9,110,664,0.00,1.05,0.00,0.000,4,0.000,0.044,2524,2297,3965,0,0,0,0,0,0
$GC,724,-0.59,-292.0,151.7,-15.4,121,731,0.00,1.02,0.00,0.000,6,0.000,0.038,2523,1610,3965,0,0,0,0,0,0
$GC,1052,-0.56,-292.0,207.4,-17.0,182,1061,0.15,1.05,0.00,0.000,4,0.151,0.048,2562,2290,3966,0,0,0,0,0,0
$GC,1114,-0.59,-292.0,215.4,-12.2,192,1122,0.00,1.02,0.00,0.000,6,0.000,0.041,2562,1608,3966,0,0,0,0,0,0
$GC,1448,-0.62,-292.0,255.2,-11.8,250,1452,0.00,1.05,0.00,0.000,4,0.000,0.047,2557,2292,3966,0,0,0,0,0,0
$GC,1565,-0.66,-292.0,268.0,-10.3,260,1573,0.00,1.02,0.00,0.000,6,0.000,0.041,2558,1613,3966,0,0,0,0,0,0
$GC,1891,-0.69,-292.0,303.0,-10.2,291,1896,0.10,1.05,0.00,0.000,4,0.097,0.048,2481,2284,3965,0,0,0,0,0,0
$GC,1950,-0.65,-292.0,311.4,-15.5,296,1954,0.12,1.02,0.00,0.000,6,0.131,0.042,2525,1606,3965,0,0,0,0,0,0
$GC,2281,-0.65,-292.0,354.9,-13.7,327,2285,0.00,1.05,0.00,0.000,4,0.000,0.049,2522,2289,3963,0,0,0,0,0,0
$GC,2387,-0.67,-292.0,368.5,-12.3,336,2393,0.00,1.02,0.00,0.000,6,0.000,0.042,2523,1614,3963,0,0,0,0,0,0
$GC,2713,-0.67,-292.0,412.7,-12.8,367,2716,0.00,1.02,0.00,0.000,4,0.000,0.049,2523,2291,3961,0,0,0,0,0,0
$GC,2781,-0.69,-292.0,421.5,-12.2,373,2785,0.00,1.02,0.00,0.000,6,0.000,0.043,2520,1609,3961,0,0,0,0,0,0
$GC,3113,-0.70,-292.0,463.4,-12.1,404,3116,0.00,1.05,0.00,0.000,4,0.000,0.050,2517,2289,3959,0,0,0,0,0,0
$GC,3219,-0.72,-292.0,475.5,-10.7,413,3223,0.00,1.02,0.00,0.000,6,0.000,0.044,2517,1612,3958,0,0,0,0,0,0
$GC,3551,-0.73,-292.0,512.7,-10.9,444,3554,0.00,1.05,0.00,0.000,4,0.000,0.052,2516,2292,3957,0,0,0,0,0,0
$GC,3644,-0.76,-292.0,522.0,-9.5,452,3648,0.00,1.02,0.00,0.000,6,0.000,0.045,2517,1615,3956,0,0,0,0,0,0
$GC,3976,-0.78,-292.0,558.8,-10.9,483,3980,0.00,1.02,0.00,0.000,4,0.000,0.054,2513,2280,3953,0,0,0,0,0,0
$GC,4063,-0.80,-292.0,568.0,-10.4,490,4070,0.00,1.02,0.00,0.000,6,0.000,0.047,2514,1609,3953,0,0,0,0,0,0
$GC,4398,-0.81,-292.0,608.2,-11.9,519,4401,0.00,1.05,0.00,0.000,4,0.000,0.054,2513,2286,3950,0,0,0,0,0,0
$GC,4447,-0.84,-292.0,613.7,-11.7,521,4451,0.08,1.02,0.00,0.000,6,0.057,0.047,2456,1612,3950,0,0,0,0,0,0
$GC,4781,-0.79,-292.0,667.1,-15.9,537,4785,0.12,1.10,0.00,0.000,4,0.169,0.053,2492,903,3947,0,0,0,0,0,0
$GC,4821,-0.79,-292.0,673.2,-14.2,538,4828,0.00,1.05,0.00,0.000,6,0.000,0.047,2488,1584,3947,0,0,0,0,0,0
$GC,5137,-0.79,-292.0,713.7,-12.9,554,5141,0.00,1.10,0.00,0.000,4,0.000,0.055,2484,2309,3944,0,0,0,0,0,0
$GC,5209,-0.79,-292.0,723.1,-12.4,557,5213,0.00,1.05,0.00,0.000,6,0.000,0.047,2484,1616,3944,0,0,0,0,0,0
$GC,5539,-0.78,-292.0,767.1,-13.6,573,5543,0.00,1.10,0.00,0.000,4,0.000,0.057,2480,2317,3941,0,0,0,0,0,0
$GC,5572,-0.78,-292.0,772.3,-14.0,574,5576,0.00,1.08,0.00,0.000,6,0.000,0.048,2480,1615,3940,0,0,0,0,0,0
$GC,5896,-0.77,-292.0,817.9,-14.1,590,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1615,3939,0,0,0,0,0,0
$GC,6204,-0.76,-292.0,859.9,-13.1,605,6207,0.00,1.10,0.00,0.000,4,0.000,0.060,2476,2312,3935,0,0,0,0,0,0
$GC,6250,-0.76,-292.0,865.9,-12.9,607,6254,0.00,1.08,0.00,0.000,6,0.000,0.050,2476,1614,3935,0,0,0,0,0,0
$GC,6587,-0.75,-292.0,909.4,-12.7,623,6590,0.00,1.08,0.00,0.000,4,0.000,0.055,2476,912,3933,0,0,0,0,0,0
$GC,6637,-0.74,-292.0,916.7,-13.0,625,6641,0.10,1.10,0.00,0.000,6,0.142,0.051,2504,1612,3932,0,0,0,0,0,0
$GC,6968,-0.75,-292.0,950.3,-10.2,641,6972,0.00,1.08,0.00,0.000,4,0.000,0.059,2500,2309,3930,0,0,0,0,0,0
$GC,7042,-0.79,-292.0,957.9,-9.2,644,7046,0.00,1.08,0.00,0.000,6,0.000,0.050,2500,1616,3930,0,0,0,0,0,0
$STATE,7367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7367,begin apogee
$GC,7376,-0.11,0.0,991.8,10.6,660,7609,0.62,0.00,226.27,1.429,6,0.116,0.000,2705,1792,2883,0,0,0,0,0,0
$STATE,7613,end apogee,CONTROL_FINISHED_OK
$STATE,7613,begin climb
$GC,7616,0.73,292.0,1002.1,0.0,671,7891,0.75,1.17,268.60,1.371,4,0.051,0.063,2990,2482,1693,0,0,0,0,0,0
$GC,7917,0.68,292.0,962.3,17.5,685,7921,0.00,1.12,0.00,0.000,6,0.000,0.051,2995,1786,1692,0,0,0,0,0,0
$GC,8239,0.63,292.0,903.1,18.5,701,8244,0.17,1.12,0.00,0.000,4,0.166,0.062,2944,2488,1687,0,0,0,0,0,0
$GC,8268,0.61,292.0,898.4,16.7,702,8272,0.00,1.10,0.00,0.000,6,0.000,0.050,2947,1783,1686,0,0,0,0,0,0
$GC,8596,0.61,292.0,852.7,14.1,718,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1782,1684,0,0,0,0,0,0
$GC,8905,0.61,292.0,809.4,14.0,733,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1782,1684,0,0,0,0,0,0
$GC,9216,0.61,292.0,766.4,14.0,748,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1782,1683,0,0,0,0,0,0
$GC,9524,0.65,328.5,726.4,12.6,763,9567,0.00,1.17,33.78,1.252,4,0.000,0.055,2944,2495,1543,0,0,0,0,0,0
$GC,9664,0.72,373.5,708.9,12.3,769,9711,0.00,1.12,43.28,1.232,6,0.000,0.044,2947,1771,1361,0,0,0,0,0,0
$GC,10029,0.78,405.3,662.3,12.7,787,10064,0.15,1.10,29.98,1.189,4,0.079,0.053,3032,1076,1230,0,0,0,0,0,0
$GC,10107,0.73,405.3,647.6,20.7,790,10112,0.15,1.10,0.00,0.000,6,0.142,0.047,2986,1783,1228,0,0,0,0,0,0
$GC,10429,0.73,405.3,595.7,15.7,807,10433,0.00,1.05,0.00,0.000,4,0.000,0.056,2982,2481,1226,0,0,0,0,0,0
$GC,10459,0.73,405.3,591.3,14.8,809,10465,0.00,1.08,0.00,0.000,6,0.000,0.044,2985,1776,1226,0,0,0,0,0,0
$GC,10784,0.73,405.3,542.9,14.9,840,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1776,1225,0,0,0,0,0,0
$GC,11106,0.73,405.3,495.6,14.2,870,11110,0.00,1.08,0.00,0.000,4,0.000,0.053,2982,2478,1225,0,0,0,0,0,0
$GC,11164,0.76,416.7,487.2,13.4,875,11179,0.00,1.05,10.80,0.981,6,0.000,0.043,2986,1781,1184,0,0,0,0,0,0
$GC,11506,0.76,416.7,437.2,15.2,907,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1781,1182,0,0,0,0,0,0
$GC,11828,0.79,429.4,392.7,13.3,937,11845,0.00,1.10,12.55,0.923,4,0.000,0.048,2991,1075,1132,0,0,0,0,0,0
$GC,11880,0.85,463.2,385.3,12.7,941,11916,0.00,1.08,30.98,0.975,6,0.000,0.041,2990,1789,995,0,0,0,0,0,0
$GC,12234,0.90,484.6,338.8,13.1,974,12259,0.12,1.15,19.85,0.909,4,0.086,0.047,3063,1066,907,0,0,0,0,0,0
$GC,12295,0.86,484.6,327.3,21.3,979,12299,0.12,1.08,0.00,0.000,6,0.140,0.041,3024,1777,905,0,0,0,0,0,0
$GC,12625,0.86,484.6,272.6,16.0,1010,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1778,903,0,0,0,0,0,0
$GC,12948,0.86,484.6,222.2,14.9,1056,12956,0.00,1.08,0.00,0.000,4,0.000,0.047,3027,1080,903,0,0,0,0,0,0
$GC,12970,0.86,484.6,218.7,14.7,1059,12978,0.00,1.05,0.00,0.000,6,0.000,0.038,3024,1788,902,0,0,0,0,0,0
$GC,13301,0.89,504.1,172.5,13.1,1120,13325,0.00,1.12,17.95,0.763,4,0.000,0.044,3025,1074,826,0,0,0,0,0,0
$GC,13388,0.94,527.8,161.1,13.0,1134,13419,0.00,1.05,21.75,0.758,6,0.000,0.037,3026,1784,729,0,0,0,0,0,0
$GC,13739,1.08,608.4,117.1,11.2,1198,13815,0.17,1.12,64.70,0.745,4,0.067,0.043,3123,1068,454,0,0,0,0,0,0
$GC,13864,1.03,608.4,89.0,24.9,1216,13873,0.12,1.05,0.00,0.000,6,0.139,0.037,3081,1776,449,0,0,0,0,0,0
$GC,14194,1.28,759.1,45.0,9.0,1277,14203,0.20,1.10,0.00,0.000,4,0.061,0.044,3187,1067,438,0,0,0,0,0,0
$GC,14245,1.22,759.1,36.6,20.8,1285,14254,0.15,1.05,0.00,0.000,6,0.146,0.037,3140,1783,438,0,0,0,0,0,0
$STATE,14418,end climb,SURFACE_DEPTH_REACHED
$STATE,14418,begin surface coast
$FINISH,1.3,1.021220
$STATE,14435,end surface coast,CONTROL_FINISHED_OK
$STATE,14436,begin surface
$SM_CCo,14516,0.00,0.000,0,0,434,600.98
$SM_GC,2.08,7.75,0.00,0.00,0.037,0.000,0.000,147,1586,434,-8.05,-0.68,600.98,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12316.00,221011,181832
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.59
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.10
$XPDR_PINGS,115
$24V_AH,23.0,103.887
$10V_AH,9.7,70.571
$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,20.500,62.650,780.475,0.000,0.000,24.970,40.789,210.738,28.750,0.000,43.344,3274.688,7175.326,775.236,3266.527,473.223,0.000,2094.424,0.000,2978.885,0.000,0.542,0.000
$DEVICE_MAMPS,215.730,68.850,1429.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.720,1349.993,1470.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,73513,1320
$CAP_FILE_SIZE,161294,0
$CFSIZE,260165632,109768704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210, 49.1,1
$GPS,231011,022715,2328.225,12315.586,61,2.4,80,-3.3