version: 66.09
glider: 166
mission: 6
dive: 410
start: 10 20 111 20 6 51
data:
$ID,166
$MISSION,6
$DIVE,410
$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,-24922.877
$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,52
$R_STBD_OVSHOOT,60
$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
$GPS1,201011,195857,2332.364,12335.538,38,99.0,57,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-71.1
$GPS2,201011,200626,2332.375,12335.663,37,3.5,56,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2326.976,12325.469
$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,3184
$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,-111.40,0.000,2,0.000,0.000,143,1584,3085,0,0,0,0,0,0
$GC,134,-0.73,-292.0,5.6,-8.1,16,164,9.07,1.05,-16.77,0.000,4,0.212,0.070,2503,902,3964,0,0,0,0,0,0
$GC,361,-0.65,-292.0,78.7,-25.5,57,370,0.10,1.05,0.00,0.000,6,0.140,0.040,2533,1599,3965,0,0,0,0,0,0
$GC,688,-0.61,-292.0,144.5,-17.1,118,696,0.00,1.05,0.00,0.000,4,0.000,0.044,2529,2312,3966,0,0,0,0,0,0
$GC,790,-0.59,-292.0,161.5,-15.4,136,798,0.00,1.02,0.00,0.000,6,0.000,0.039,2529,1620,3966,0,0,0,0,0,0
$GC,1117,-0.55,-292.0,217.5,-18.7,197,1126,0.15,1.05,0.00,0.000,4,0.157,0.047,2567,2302,3966,0,0,0,0,0,0
$GC,1167,-0.57,-292.0,224.6,-13.8,205,1175,0.00,1.02,0.00,0.000,6,0.000,0.041,2566,1615,3966,0,0,0,0,0,0
$GC,1496,-0.60,-292.0,264.6,-11.0,254,1499,0.00,1.05,0.00,0.000,4,0.000,0.047,2562,2308,3966,0,0,0,0,0,0
$GC,1600,-0.64,-292.0,275.9,-9.9,263,1606,0.00,1.05,0.00,0.000,6,0.000,0.041,2562,1612,3966,0,0,0,0,0,0
$GC,1925,-0.68,-292.0,305.5,-8.7,294,1930,0.10,1.08,0.00,0.000,4,0.096,0.048,2484,2301,3966,0,0,0,0,0,0
$GC,2010,-0.65,-292.0,317.1,-14.8,301,2017,0.12,1.05,0.00,0.000,6,0.125,0.042,2527,1605,3966,0,0,0,0,0,0
$GC,2335,-0.65,-292.0,356.0,-12.8,332,2339,0.00,1.08,0.00,0.000,4,0.000,0.048,2525,2312,3965,0,0,0,0,0,0
$GC,2431,-0.67,-292.0,367.6,-11.7,340,2437,0.00,1.05,0.00,0.000,6,0.000,0.041,2525,1616,3965,0,0,0,0,0,0
$GC,2756,-0.69,-292.0,408.3,-11.0,371,2760,0.00,1.05,0.00,0.000,4,0.000,0.050,2520,2302,3963,0,0,0,0,0,0
$GC,2803,-0.71,-292.0,413.2,-10.4,375,2807,0.00,1.05,0.00,0.000,6,0.000,0.043,2520,1606,3963,0,0,0,0,0,0
$GC,3135,-0.73,-292.0,449.0,-11.0,406,3138,0.00,1.08,0.00,0.000,4,0.000,0.050,2517,2306,3961,0,0,0,0,0,0
$GC,3215,-0.76,-292.0,457.7,-10.5,413,3218,0.00,1.05,0.00,0.000,6,0.000,0.044,2517,1614,3961,0,0,0,0,0,0
$GC,3546,-0.77,-292.0,493.3,-10.4,444,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1615,3959,0,0,0,0,0,0
$GC,3871,-0.79,-292.0,527.9,-11.9,474,3874,0.00,1.08,0.00,0.000,4,0.000,0.054,2514,2300,3956,0,0,0,0,0,0
$GC,3955,-0.83,-292.0,538.8,-12.0,481,3962,0.08,1.05,0.00,0.000,6,0.053,0.046,2455,1617,3956,0,0,0,0,0,0
$GC,4280,-0.78,-292.0,595.6,-16.4,512,4285,0.12,1.10,0.00,0.000,4,0.166,0.050,2497,909,3953,0,0,0,0,0,0
$GC,4330,-0.78,-292.0,602.9,-13.3,516,4334,0.00,1.08,0.00,0.000,6,0.000,0.046,2495,1606,3952,0,0,0,0,0,0
$GC,4660,-0.78,-292.0,644.6,-12.6,532,4664,0.00,1.05,0.00,0.000,4,0.000,0.053,2490,2301,3949,0,0,0,0,0,0
$GC,4738,-0.78,-292.0,654.6,-11.5,535,4742,0.00,1.05,0.00,0.000,6,0.000,0.047,2493,1613,3949,0,0,0,0,0,0
$GC,5060,-0.78,-292.0,694.5,-12.5,551,5064,0.00,1.08,0.00,0.000,4,0.000,0.057,2491,2303,3946,0,0,0,0,0,0
$GC,5088,-0.78,-292.0,697.4,-12.6,552,5091,0.00,1.08,0.00,0.000,6,0.000,0.048,2491,1604,3946,0,0,0,0,0,0
$GC,5421,-0.78,-292.0,738.9,-11.7,568,5424,0.00,1.10,0.00,0.000,4,0.000,0.057,2486,2305,3944,0,0,0,0,0,0
$GC,5505,-0.78,-292.0,748.2,-10.4,571,5511,0.00,1.08,0.00,0.000,6,0.000,0.049,2486,1607,3943,0,0,0,0,0,0
$GC,5823,-0.78,-292.0,785.8,-12.5,587,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1607,3940,0,0,0,0,0,0
$GC,6130,-0.78,-292.0,826.2,-13.2,602,6134,0.00,1.10,0.00,0.000,4,0.000,0.060,2481,2303,3938,0,0,0,0,0,0
$GC,6194,-0.78,-292.0,833.9,-11.9,604,6200,0.00,1.08,0.00,0.000,6,0.000,0.051,2482,1613,3937,0,0,0,0,0,0
$GC,6510,-0.78,-292.0,876.1,-13.4,620,6514,0.00,1.10,0.00,0.000,4,0.000,0.061,2477,2307,3935,0,0,0,0,0,0
$GC,6543,-0.78,-292.0,880.5,-12.7,621,6547,0.00,1.08,0.00,0.000,6,0.000,0.051,2476,1615,3935,0,0,0,0,0,0
$GC,6867,-0.83,-292.0,910.3,-8.9,637,6871,0.00,1.10,0.00,0.000,4,0.000,0.058,2477,903,3932,0,0,0,0,0,0
$GC,6907,-0.86,-292.0,914.4,-9.2,638,6913,0.00,1.10,0.00,0.000,6,0.000,0.047,2471,1613,3931,0,0,0,0,0,0
$GC,7225,-0.84,-292.0,954.2,-13.2,654,7229,0.00,1.08,0.00,0.000,4,0.000,0.060,2466,2308,3929,0,0,0,0,0,0
$GC,7343,-0.84,-292.0,969.5,-12.3,659,7347,0.00,1.10,0.00,0.000,6,0.000,0.051,2466,1603,3929,0,0,0,0,0,0
$STATE,7503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7503,begin apogee
$GC,7511,-0.11,0.0,991.8,14.0,667,7745,0.75,0.00,227.32,1.440,6,0.129,0.000,2704,1775,2883,0,0,0,0,0,0
$STATE,7749,end apogee,CONTROL_FINISHED_OK
$STATE,7749,begin climb
$GC,7752,0.73,292.0,1004.6,0.0,678,8031,0.75,1.20,268.90,1.385,4,0.054,0.063,2987,2480,1693,0,0,0,0,0,0
$GC,8120,0.69,292.0,956.2,17.0,695,8124,0.00,1.10,0.00,0.000,6,0.000,0.052,2990,1789,1689,0,0,0,0,0,0
$GC,8444,0.64,292.0,901.6,16.8,711,8446,0.15,0.00,0.00,0.000,6,0.172,0.000,2952,1789,1685,0,0,0,0,0,0
$GC,8752,0.64,301.1,859.4,13.5,726,8766,0.00,1.15,8.57,1.125,4,0.000,0.060,2948,2489,1656,0,0,0,0,0,0
$GC,8801,0.66,312.8,852.3,13.4,728,8819,0.00,1.12,13.43,1.209,6,0.000,0.050,2951,1770,1607,0,0,0,0,0,0
$GC,9130,0.69,340.3,809.1,12.9,744,9161,0.00,1.12,26.83,1.278,4,0.000,0.056,2950,2488,1495,0,0,0,0,0,0
$GC,9200,0.75,388.1,799.8,12.2,747,9254,0.00,1.12,46.17,1.281,6,0.000,0.047,2953,1769,1301,0,0,0,0,0,0
$GC,9562,0.75,388.1,751.2,13.9,765,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1769,1296,0,0,0,0,0,0
$GC,9872,0.77,402.5,708.8,13.3,780,9895,0.12,1.15,13.85,1.164,4,0.090,0.057,3021,2490,1243,0,0,0,0,0,0
$GC,9944,0.72,402.5,695.7,20.4,783,9949,0.15,1.10,0.00,0.000,6,0.148,0.047,2980,1782,1242,0,0,0,0,0,0
$GC,10278,0.71,402.5,643.8,14.8,799,10282,0.00,1.08,0.00,0.000,4,0.000,0.051,2983,1072,1240,0,0,0,0,0,0
$GC,10304,0.70,402.5,640.1,14.9,800,10308,0.00,1.10,0.00,0.000,6,0.000,0.045,2981,1789,1240,0,0,0,0,0,0
$GC,10628,0.69,402.5,594.2,13.9,817,10631,0.00,1.05,0.00,0.000,4,0.000,0.056,2981,2489,1240,0,0,0,0,0,0
$GC,10656,0.69,402.5,589.9,14.4,819,10662,0.00,1.08,0.00,0.000,6,0.000,0.045,2985,1780,1239,0,0,0,0,0,0
$GC,10983,0.67,402.5,541.5,15.8,850,10986,0.00,1.08,0.00,0.000,4,0.000,0.050,2990,1078,1239,0,0,0,0,0,0
$GC,11006,0.66,402.5,537.6,15.7,852,11010,0.00,1.08,0.00,0.000,6,0.000,0.043,2987,1789,1239,0,0,0,0,0,0
$GC,11337,0.66,402.5,486.1,16.4,883,11341,0.00,1.02,0.00,0.000,4,0.000,0.053,2982,2478,1239,0,0,0,0,0,0
$GC,11375,0.66,402.5,479.7,16.1,886,11383,0.00,1.05,0.00,0.000,6,0.000,0.041,2985,1776,1239,0,0,0,0,0,0
$GC,11701,0.66,402.5,427.2,15.5,917,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1776,1239,0,0,0,0,0,0
$GC,12021,0.66,402.5,379.2,14.4,947,12025,0.00,1.08,0.00,0.000,4,0.000,0.051,2983,2479,1238,0,0,0,0,0,0
$GC,12059,0.70,421.6,374.5,13.1,950,12082,0.00,1.05,17.80,0.960,6,0.000,0.043,2985,1782,1165,0,0,0,0,0,0
$GC,12402,0.72,430.3,330.3,13.5,982,12415,0.00,1.10,9.27,0.840,4,0.000,0.048,2990,1079,1129,0,0,0,0,0,0
$GC,12440,0.75,440.9,324.9,13.4,985,12455,0.00,1.05,10.70,0.847,6,0.000,0.039,2991,1782,1086,0,0,0,0,0,0
$GC,12785,0.82,483.2,282.2,12.4,1017,12832,0.00,1.08,37.75,0.897,4,0.000,0.049,2990,2476,913,0,0,0,0,0,0
$GC,12857,0.96,552.6,272.9,11.6,1023,12928,0.12,1.05,63.38,0.882,6,0.041,0.040,3070,1790,630,0,0,0,0,0,0
$GC,13236,0.92,552.6,193.4,19.3,1084,13244,0.00,1.05,0.00,0.000,4,0.000,0.047,3067,2480,619,0,0,0,0,0,0
$GC,13280,0.90,552.6,185.7,18.4,1091,13289,0.10,1.08,0.00,0.000,6,0.143,0.040,3041,1770,618,0,0,0,0,0,0
$GC,13605,0.94,567.6,139.6,13.3,1152,13621,0.00,1.08,12.80,0.705,4,0.000,0.045,3044,1080,567,0,0,0,0,0,0
$GC,13683,1.01,593.7,128.7,12.9,1165,13719,0.00,1.05,26.85,0.733,6,0.000,0.037,3041,1786,461,0,0,0,0,0,0
$GC,14040,1.27,745.7,91.3,8.9,1230,14049,0.28,1.08,0.00,0.000,4,0.051,0.041,3184,1084,449,0,0,0,0,0,0
$GC,14098,1.17,745.7,78.8,27.2,1240,14106,0.17,1.02,0.00,0.000,6,0.157,0.038,3129,1778,449,0,0,0,0,0,0
$GC,14423,1.14,745.7,12.4,20.0,1301,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1778,447,0,0,0,0,0,0
$STATE,14468,end climb,SURFACE_DEPTH_REACHED
$STATE,14468,begin surface coast
$FINISH,1.4,1.022007
$STATE,14485,end surface coast,CONTROL_FINISHED_OK
$STATE,14485,begin surface
$SM_CCo,14565,0.00,0.000,0,0,446,598.04
$SM_GC,2.03,7.62,0.00,0.00,0.032,0.000,0.000,140,1593,446,-8.05,-0.45,598.04,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12335.54,201011,151544
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.40
$XPDR_PINGS,105
$24V_AH,22.9,100.295
$10V_AH,9.7,68.762
$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,19.975,67.150,783.625,0.000,0.000,28.672,27.055,184.001,26.250,0.000,58.138,3095.884,7406.840,769.242,3273.641,451.557,0.000,2121.472,0.000,2981.616,0.000,0.541,0.000
$DEVICE_MAMPS,211.905,69.615,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.982,1345.096,1419.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73625,1312
$CAP_FILE_SIZE,164794,0
$CFSIZE,260165632,110788608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211011,001106,2331.713,12334.329,40,1.8,51,-3.3