version: 66.09
glider: 166
mission: 6
dive: 402
start: 10 19 111 10 44 13
data:
$ID,166
$MISSION,6
$DIVE,402
$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,-24909.189
$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,41
$R_STBD_OVSHOOT,54
$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
$GPS1,191011,103615,2336.195,12341.854,40,2.2,59,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.7
$GPS2,191011,104349,2336.266,12341.942,32,1.9,45,-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,252.0,239682,-16.7,-13.750
$D_GRID,3217
$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,-292.0,0.0,0.0,0,135,0.00,0.00,-115.38,0.000,2,0.000,0.000,129,1622,3232,0,0,0,0,0,0
$GC,138,-0.73,-292.0,6.6,-10.5,16,170,9.30,1.02,-13.35,0.000,4,0.217,0.067,2499,2307,3962,0,0,0,0,0,0
$GC,318,-0.64,-292.0,72.0,-27.6,47,326,0.10,1.05,0.00,0.000,6,0.149,0.041,2530,1600,3964,0,0,0,0,0,0
$GC,645,-0.57,-292.0,147.2,-22.4,108,654,0.10,1.05,0.00,0.000,4,0.182,0.044,2552,2293,3964,0,0,0,0,0,0
$GC,802,-0.56,-292.0,173.6,-15.0,135,810,0.00,1.00,0.00,0.000,6,0.000,0.041,2553,1618,3965,0,0,0,0,0,0
$GC,1131,-0.56,-292.0,218.5,-12.2,196,1139,0.00,1.02,0.00,0.000,4,0.000,0.047,2550,2290,3966,0,0,0,0,0,0
$GC,1242,-0.58,-292.0,232.0,-12.1,216,1250,0.00,1.02,0.00,0.000,6,0.000,0.042,2549,1608,3966,0,0,0,0,0,0
$GC,1575,-0.60,-292.0,274.3,-12.6,260,1579,0.00,1.05,0.00,0.000,4,0.000,0.048,2545,2292,3965,0,0,0,0,0,0
$GC,1703,-0.64,-292.0,289.6,-11.5,271,1710,0.00,1.02,0.00,0.000,6,0.000,0.041,2546,1614,3965,0,0,0,0,0,0
$GC,2029,-0.67,-292.0,327.7,-11.4,302,2033,0.00,1.02,0.00,0.000,4,0.000,0.047,2541,2294,3964,0,0,0,0,0,0
$GC,2115,-0.71,-292.0,337.4,-11.0,309,2122,0.00,1.02,0.00,0.000,6,0.000,0.042,2541,1609,3964,0,0,0,0,0,0
$GC,2441,-0.74,-292.0,372.5,-9.8,340,2445,0.10,1.05,0.00,0.000,4,0.096,0.049,2469,2291,3963,0,0,0,0,0,0
$GC,2523,-0.71,-292.0,383.7,-15.3,347,2527,0.12,1.02,0.00,0.000,6,0.129,0.043,2513,1609,3962,0,0,0,0,0,0
$GC,2854,-0.71,-292.0,425.4,-13.1,378,2858,0.00,1.05,0.00,0.000,4,0.000,0.052,2511,2287,3960,0,0,0,0,0,0
$GC,2936,-0.72,-292.0,435.1,-11.7,385,2940,0.00,1.02,0.00,0.000,6,0.000,0.044,2511,1608,3959,0,0,0,0,0,0
$GC,3267,-0.72,-292.0,477.6,-12.7,416,3271,0.00,1.05,0.00,0.000,4,0.000,0.051,2508,2293,3957,0,0,0,0,0,0
$GC,3342,-0.74,-292.0,486.3,-11.5,422,3350,0.00,1.02,0.00,0.000,6,0.000,0.044,2509,1611,3956,0,0,0,0,0,0
$GC,3668,-0.74,-292.0,526.2,-12.6,453,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1611,3954,0,0,0,0,0,0
$GC,3990,-0.74,-292.0,566.3,-12.3,483,3994,0.00,1.05,0.00,0.000,4,0.000,0.054,2513,2294,3950,0,0,0,0,0,0
$GC,4134,-0.76,-292.0,583.2,-11.6,495,4141,0.00,1.02,0.00,0.000,6,0.000,0.045,2513,1621,3949,0,0,0,0,0,0
$GC,4466,-0.77,-292.0,622.2,-11.2,518,4470,0.00,1.02,0.00,0.000,4,0.000,0.054,2508,2286,3947,0,0,0,0,0,0
$GC,4583,-0.79,-292.0,634.4,-10.4,523,4587,0.00,1.02,0.00,0.000,6,0.000,0.047,2511,1611,3946,0,0,0,0,0,0
$GC,4916,-0.79,-292.0,672.6,-11.7,539,4920,0.00,1.05,0.00,0.000,4,0.000,0.057,2505,2287,3944,0,0,0,0,0,0
$GC,4972,-0.81,-292.0,679.2,-11.4,541,4976,0.00,1.02,0.00,0.000,6,0.000,0.048,2505,1620,3942,0,0,0,0,0,0
$GC,5296,-0.81,-292.0,720.3,-13.4,557,5299,0.00,1.05,0.00,0.000,4,0.000,0.057,2499,2294,3940,0,0,0,0,0,0
$GC,5387,-0.83,-292.0,732.7,-13.4,561,5390,0.00,1.05,0.00,0.000,6,0.000,0.049,2501,1610,3940,0,0,0,0,0,0
$GC,5722,-0.83,-292.0,778.5,-13.3,577,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1610,3937,0,0,0,0,0,0
$GC,6029,-0.84,-292.0,817.1,-12.1,592,6033,0.00,1.10,0.00,0.000,4,0.000,0.061,2499,2291,3935,0,0,0,0,0,0
$GC,6076,-0.86,-292.0,822.5,-11.5,594,6080,0.00,1.05,0.00,0.000,6,0.000,0.050,2499,1609,3935,0,0,0,0,0,0
$GC,6411,-0.86,-292.0,860.2,-10.7,610,6415,0.00,1.10,0.00,0.000,4,0.000,0.063,2495,2290,3932,0,0,0,0,0,0
$GC,6457,-0.87,-292.0,865.0,-10.2,612,6461,0.00,1.05,0.00,0.000,6,0.000,0.051,2495,1611,3931,0,0,0,0,0,0
$GC,6792,-0.87,-292.0,901.3,-10.9,628,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1611,3929,0,0,0,0,0,0
$GC,7100,-0.87,-292.0,936.4,-11.4,643,7104,0.00,1.08,0.00,0.000,4,0.000,0.062,2490,2286,3928,0,0,0,0,0,0
$GC,7171,-0.88,-292.0,944.1,-10.9,646,7175,0.00,1.05,0.00,0.000,6,0.000,0.053,2490,1613,3927,0,0,0,0,0,0
$GC,7504,-0.88,-292.0,984.2,-12.2,662,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1613,3925,0,0,0,0,0,0
$STATE,7563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7564,begin apogee
$GC,7570,-0.11,0.0,991.8,12.2,665,7806,0.68,0.00,226.07,1.440,6,0.126,0.000,2706,1757,2883,0,0,0,0,0,0
$STATE,7808,end apogee,CONTROL_FINISHED_OK
$STATE,7808,begin climb
$GC,7810,0.73,292.0,1004.5,0.0,676,8090,0.75,1.25,268.45,1.381,4,0.051,0.062,2992,2489,1692,0,0,0,0,0,0
$GC,8183,0.68,292.0,957.7,17.1,693,8188,0.08,1.12,0.00,0.000,6,0.161,0.051,2973,1782,1690,0,0,0,0,0,0
$GC,8517,0.65,292.0,905.9,15.5,709,8521,0.00,1.10,0.00,0.000,4,0.000,0.059,2970,2482,1687,0,0,0,0,0,0
$GC,8569,0.62,292.0,897.5,15.7,711,8573,0.00,1.10,0.00,0.000,6,0.000,0.050,2973,1776,1686,0,0,0,0,0,0
$GC,8897,0.59,292.0,842.3,17.4,727,8899,0.15,0.00,0.00,0.000,6,0.173,0.000,2934,1776,1685,0,0,0,0,0,0
$GC,9208,0.62,312.7,800.0,13.1,742,9233,0.00,1.15,19.73,1.255,4,0.000,0.056,2930,2486,1609,0,0,0,0,0,0
$GC,9255,0.68,357.9,793.9,12.3,744,9303,0.00,1.10,43.85,1.284,6,0.000,0.047,2933,1785,1424,0,0,0,0,0,0
$GC,9625,0.75,388.7,746.9,12.8,762,9659,0.15,1.10,29.45,1.242,4,0.080,0.050,3015,1071,1298,0,0,0,0,0,0
$GC,9734,0.70,388.7,725.4,21.2,767,9738,0.12,1.12,0.00,0.000,6,0.146,0.047,2976,1791,1296,0,0,0,0,0,0
$GC,10068,0.70,388.7,671.7,15.5,783,10072,0.00,1.02,0.00,0.000,4,0.000,0.054,2971,2473,1294,0,0,0,0,0,0
$GC,10096,0.70,388.7,666.9,15.5,784,10100,0.00,1.08,0.00,0.000,6,0.000,0.046,2975,1775,1294,0,0,0,0,0,0
$GC,10426,0.70,388.7,618.0,15.0,800,10427,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1776,1293,0,0,0,0,0,0
$GC,10739,0.70,388.7,570.1,14.9,824,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1776,1292,0,0,0,0,0,0
$GC,11061,0.70,388.7,522.9,14.6,854,11065,0.00,1.05,0.00,0.000,4,0.000,0.049,2980,1074,1292,0,0,0,0,0,0
$GC,11133,0.70,388.7,511.8,14.1,860,11140,0.00,1.08,0.00,0.000,6,0.000,0.042,2977,1790,1291,0,0,0,0,0,0
$GC,11461,0.73,414.1,469.3,12.9,891,11488,0.00,1.08,23.35,1.053,4,0.000,0.046,2981,1074,1194,0,0,0,0,0,0
$GC,11524,0.80,458.5,461.0,12.3,896,11570,0.00,1.08,40.80,1.053,6,0.000,0.041,2977,1783,1013,0,0,0,0,0,0
$GC,11887,0.82,458.5,413.4,13.8,930,11890,0.00,1.08,0.00,0.000,4,0.000,0.048,2981,1080,1009,0,0,0,0,0,0
$GC,11934,0.85,465.2,407.0,13.5,934,11947,0.08,1.05,6.68,0.809,6,0.057,0.041,3039,1782,986,0,0,0,0,0,0
$GC,12265,0.81,465.2,341.8,19.1,965,12269,0.12,1.05,0.00,0.000,4,0.161,0.050,3002,2475,985,0,0,0,0,0,0
$GC,12288,0.79,465.2,337.7,18.2,967,12291,0.00,1.05,0.00,0.000,6,0.000,0.042,3005,1780,985,0,0,0,0,0,0
$GC,12618,0.79,465.2,288.2,14.9,998,12619,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1781,984,0,0,0,0,0,0
$GC,12942,0.81,465.2,242.9,13.9,1032,12950,0.00,1.10,0.00,0.000,4,0.000,0.047,3009,1068,984,0,0,0,0,0,0
$GC,13007,0.82,465.2,233.1,14.7,1043,13016,0.00,1.08,0.00,0.000,6,0.000,0.039,3006,1782,984,0,0,0,0,0,0
$GC,13338,0.98,560.0,191.6,10.8,1104,13427,0.15,1.15,83.72,0.824,4,0.076,0.046,3090,1075,600,0,0,0,0,0,0
$GC,13470,0.94,560.0,166.8,21.0,1123,13480,0.12,1.08,0.00,0.000,6,0.138,0.037,3050,1790,595,0,0,0,0,0,0
$GC,13803,1.03,603.6,118.8,12.4,1184,13842,0.00,1.15,34.40,0.737,4,0.000,0.044,3054,1066,454,0,0,0,0,0,0
$GC,13899,1.16,676.2,107.5,11.5,1199,13908,0.15,1.05,0.00,0.000,6,0.044,0.034,3148,1784,448,0,0,0,0,0,0
$GC,14229,1.13,676.2,36.1,19.6,1260,14238,0.15,1.10,0.00,0.000,4,0.156,0.044,3111,1065,440,0,0,0,0,0,0
$GC,14301,1.13,676.2,24.1,15.6,1272,14309,0.00,1.05,0.00,0.000,6,0.000,0.035,3106,1782,439,0,0,0,0,0,0
$STATE,14452,end climb,SURFACE_DEPTH_REACHED
$STATE,14453,begin surface coast
$FINISH,1.3,1.010991
$STATE,14480,end surface coast,CONTROL_FINISHED_OK
$STATE,14480,begin surface
$SM_CCo,14560,0.00,0.000,0,0,438,600.00
$SM_GC,1.93,7.57,0.00,0.00,0.034,0.000,0.000,142,1583,438,-8.04,-0.76,600.00,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12353.13,191011,060608
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.73
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.30
$XPDR_PINGS,116
$24V_AH,22.9,97.933
$10V_AH,9.7,67.563
$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,20.000,60.125,776.500,0.000,0.000,30.061,50.171,178.062,29.000,0.000,45.930,3239.558,7293.729,745.888,3262.080,453.833,0.000,2089.164,0.000,2972.930,0.000,0.542,0.000
$DEVICE_MAMPS,217.260,75.735,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.502,1336.040,1417.477,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,73456,1305
$CAP_FILE_SIZE,160719,0
$CFSIZE,260165632,111480832
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.305, 74.6,1
$GPS,191011,144827,2336.227,12341.457,35,99.0,54,-3.3