version: 66.09
glider: 166
mission: 6
dive: 417
start: 10 22 111 1 29 10
data:
$ID,166
$MISSION,6
$DIVE,417
$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,-24931.697
$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,45
$R_STBD_OVSHOOT,56
$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
$GPS1,221011,012001,2328.235,12326.100,38,1.4,38,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-60.6
$GPS2,221011,012848,2328.218,12326.090,32,1.8,37,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2322.819,12315.901
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.73,-292.0,0.0,0.0,0,134,0.00,0.00,-110.57,0.000,2,0.000,0.000,129,1589,3070,0,0,0,0,0,0
$GC,137,-0.73,-292.0,5.8,-8.8,16,167,9.30,1.12,-16.83,0.000,4,0.216,0.067,2498,2311,3964,0,0,0,0,0,0
$GC,328,-0.63,-292.0,69.4,-24.1,50,337,0.12,1.05,0.00,0.000,6,0.141,0.038,2537,1606,3965,0,0,0,0,0,0
$GC,653,-0.60,-292.0,129.6,-17.6,111,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1606,3966,0,0,0,0,0,0
$GC,980,-0.58,-292.0,186.9,-15.8,172,987,0.00,1.05,0.00,0.000,4,0.000,0.044,2534,2299,3966,0,0,0,0,0,0
$GC,1034,-0.58,-292.0,195.5,-15.1,181,1042,0.00,1.02,0.00,0.000,6,0.000,0.041,2534,1621,3966,0,0,0,0,0,0
$GC,1358,-0.56,-292.0,241.8,-14.7,242,1366,0.00,1.02,0.00,0.000,4,0.000,0.046,2529,2298,3966,0,0,0,0,0,0
$GC,1482,-0.56,-292.0,257.5,-12.2,259,1487,0.08,1.05,0.00,0.000,6,0.129,0.041,2556,1605,3966,0,0,0,0,0,0
$GC,1813,-0.59,-292.0,294.2,-10.5,290,1817,0.00,1.05,0.00,0.000,4,0.000,0.046,2553,2294,3966,0,0,0,0,0,0
$GC,1894,-0.63,-292.0,302.6,-10.6,297,1898,0.00,1.02,0.00,0.000,6,0.000,0.041,2553,1610,3965,0,0,0,0,0,0
$GC,2226,-0.67,-292.0,340.6,-10.8,328,2230,0.00,1.05,0.00,0.000,4,0.000,0.048,2549,2295,3964,0,0,0,0,0,0
$GC,2366,-0.71,-292.0,353.4,-8.9,340,2371,0.08,1.02,0.00,0.000,6,0.050,0.041,2479,1612,3964,0,0,0,0,0,0
$GC,2699,-0.68,-292.0,407.4,-15.8,371,2706,0.15,0.00,0.00,0.000,6,0.154,0.000,2521,1612,3963,0,0,0,0,0,0
$GC,3025,-0.70,-292.0,449.5,-12.1,402,3029,0.00,1.05,0.00,0.000,4,0.000,0.049,2520,2291,3960,0,0,0,0,0,0
$GC,3130,-0.73,-292.0,460.5,-10.4,411,3134,0.00,1.02,0.00,0.000,6,0.000,0.041,2520,1615,3960,0,0,0,0,0,0
$GC,3462,-0.75,-292.0,495.4,-10.7,442,3465,0.00,1.02,0.00,0.000,4,0.000,0.050,2517,2289,3957,0,0,0,0,0,0
$GC,3548,-0.78,-292.0,504.5,-10.2,449,3554,0.00,1.02,0.00,0.000,6,0.000,0.044,2518,1612,3957,0,0,0,0,0,0
$GC,3874,-0.80,-292.0,540.9,-11.2,480,3877,0.00,1.05,0.00,0.000,4,0.000,0.052,2516,2296,3954,0,0,0,0,0,0
$GC,3956,-0.83,-292.0,549.2,-10.1,487,3961,0.08,1.02,0.00,0.000,6,0.051,0.044,2456,1619,3953,0,0,0,0,0,0
$GC,4300,-0.79,-292.0,603.9,-16.2,518,4302,0.12,0.00,0.00,0.000,6,0.168,0.000,2488,1619,3951,0,0,0,0,0,0
$GC,4611,-0.79,-292.0,644.5,-12.5,533,4615,0.00,1.02,0.00,0.000,4,0.000,0.054,2486,2285,3948,0,0,0,0,0,0
$GC,4657,-0.79,-292.0,650.5,-11.8,535,4661,0.00,1.02,0.00,0.000,6,0.000,0.047,2490,1612,3948,0,0,0,0,0,0
$GC,4992,-0.79,-292.0,692.3,-12.8,551,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1612,3945,0,0,0,0,0,0
$GC,5299,-0.79,-292.0,731.3,-12.5,566,5303,0.00,1.05,0.00,0.000,4,0.000,0.058,2495,2282,3942,0,0,0,0,0,0
$GC,5393,-0.80,-292.0,742.3,-11.8,570,5397,0.00,1.02,0.00,0.000,6,0.000,0.050,2495,1617,3941,0,0,0,0,0,0
$GC,5726,-0.80,-292.0,785.0,-12.8,586,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1617,3939,0,0,0,0,0,0
$GC,6036,-0.80,-292.0,823.9,-12.7,601,6039,0.00,1.05,0.00,0.000,4,0.000,0.060,2490,2284,3936,0,0,0,0,0,0
$GC,6099,-0.80,-292.0,831.6,-12.1,603,6106,0.00,1.05,0.00,0.000,6,0.000,0.050,2490,1608,3935,0,0,0,0,0,0
$GC,6416,-0.80,-292.0,871.2,-12.7,619,6419,0.00,1.08,0.00,0.000,4,0.000,0.061,2486,2285,3933,0,0,0,0,0,0
$GC,6449,-0.80,-292.0,875.9,-13.4,620,6452,0.00,1.05,0.00,0.000,6,0.000,0.051,2486,1609,3933,0,0,0,0,0,0
$GC,6773,-0.80,-292.0,916.8,-12.8,636,6777,0.00,1.08,0.00,0.000,4,0.000,0.062,2481,2284,3930,0,0,0,0,0,0
$GC,6806,-0.80,-292.0,921.4,-12.5,637,6809,0.00,1.05,0.00,0.000,6,0.000,0.051,2481,1606,3930,0,0,0,0,0,0
$GC,7130,-0.80,-292.0,961.9,-12.8,653,7134,0.00,1.08,0.00,0.000,4,0.000,0.063,2476,2284,3928,0,0,0,0,0,0
$GC,7180,-0.80,-292.0,968.5,-12.1,655,7184,0.00,1.05,0.00,0.000,6,0.000,0.053,2476,1610,3928,0,0,0,0,0,0
$STATE,7360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7361,begin apogee
$GC,7367,-0.11,0.0,991.7,12.9,664,7600,0.70,0.00,225.25,1.434,6,0.125,0.000,2701,1755,2884,0,0,0,0,0,0
$STATE,7602,end apogee,CONTROL_FINISHED_OK
$STATE,7602,begin climb
$GC,7607,0.73,292.0,1002.7,0.0,675,7885,0.75,1.15,267.02,1.381,4,0.054,0.064,2984,2483,1692,0,0,0,0,0,0
$GC,7999,0.69,292.0,950.3,17.0,693,8003,0.00,1.10,0.00,0.000,6,0.000,0.051,2988,1786,1689,0,0,0,0,0,0
$GC,8329,0.64,292.0,891.1,18.4,709,8333,0.15,1.12,0.00,0.000,4,0.173,0.060,2945,2488,1686,0,0,0,0,0,0
$GC,8366,0.64,292.0,884.1,15.3,710,8373,0.00,1.10,0.00,0.000,6,0.000,0.049,2948,1781,1684,0,0,0,0,0,0
$GC,8683,0.63,294.4,840.1,13.7,726,8687,0.00,1.10,0.00,0.000,4,0.000,0.054,2953,1062,1684,0,0,0,0,0,0
$GC,8714,0.63,302.2,836.1,13.5,727,8731,0.00,1.12,9.85,1.151,6,0.000,0.049,2951,1785,1650,0,0,0,0,0,0
$GC,9041,0.65,325.6,793.8,13.0,743,9068,0.00,1.12,23.33,1.262,4,0.000,0.058,2949,2485,1556,0,0,0,0,0,0
$GC,9089,0.70,364.2,787.3,12.5,745,9131,0.00,1.12,37.65,1.269,6,0.000,0.047,2952,1765,1399,0,0,0,0,0,0
$GC,9453,0.70,364.2,737.7,14.1,763,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1765,1393,0,0,0,0,0,0
$GC,9765,0.71,367.2,695.2,13.7,778,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1765,1393,0,0,0,0,0,0
$GC,10072,0.76,410.5,655.8,12.4,793,10118,0.10,0.00,43.05,1.215,6,0.103,0.000,3008,1765,1210,0,0,0,0,0,0
$GC,10424,0.72,410.5,590.3,19.3,812,10428,0.12,1.12,0.00,0.000,4,0.168,0.054,2972,2481,1207,0,0,0,0,0,0
$GC,10475,0.72,410.5,581.1,16.0,816,10482,0.00,1.08,0.00,0.000,6,0.000,0.045,2975,1784,1206,0,0,0,0,0,0
$GC,10800,0.72,410.5,532.6,14.2,847,10804,0.00,1.08,0.00,0.000,4,0.000,0.049,2981,1069,1205,0,0,0,0,0,0
$GC,10863,0.72,410.5,523.7,13.8,852,10870,0.00,1.10,0.00,0.000,6,0.000,0.044,2977,1791,1205,0,0,0,0,0,0
$GC,11189,0.72,413.9,480.3,13.6,883,11201,0.00,1.15,3.72,0.640,4,0.000,0.049,2981,1069,1196,0,0,0,0,0,0
$GC,11220,0.72,413.9,475.9,14.3,885,11226,0.00,1.08,0.00,0.000,6,0.000,0.043,2977,1779,1195,0,0,0,0,0,0
$GC,11545,0.79,453.7,431.9,12.5,916,11590,0.00,1.12,36.40,1.037,4,0.000,0.050,2981,1080,1032,0,0,0,0,0,0
$GC,11609,0.86,494.0,423.8,12.5,921,11652,0.10,1.08,37.35,1.010,6,0.055,0.041,3045,1782,869,0,0,0,0,0,0
$GC,11981,0.82,494.0,348.3,20.1,956,11985,0.12,1.05,0.00,0.000,4,0.163,0.050,3008,2474,862,0,0,0,0,0,0
$GC,12020,0.82,494.0,341.2,15.1,959,12027,0.00,1.08,0.00,0.000,6,0.000,0.043,3011,1771,861,0,0,0,0,0,0
$GC,12345,0.83,494.0,294.2,14.7,990,12349,0.00,1.05,0.00,0.000,4,0.000,0.047,3017,1074,860,0,0,0,0,0,0
$GC,12413,0.87,516.6,285.2,13.0,996,12437,0.00,1.05,20.10,0.869,6,0.000,0.040,3013,1778,777,0,0,0,0,0,0
$GC,12754,0.89,516.6,238.3,13.9,1035,12762,0.00,1.08,0.00,0.000,4,0.000,0.047,3017,1073,771,0,0,0,0,0,0
$GC,12804,0.93,526.0,232.0,13.5,1043,12820,0.00,1.05,9.23,0.741,6,0.000,0.037,3014,1783,737,0,0,0,0,0,0
$GC,13137,1.08,615.6,195.5,10.9,1105,13224,0.22,1.15,70.50,0.789,4,0.060,0.044,3134,1065,454,0,0,0,0,1,0
$GC,13272,1.01,615.6,161.3,29.6,1125,13281,0.17,1.08,0.00,0.000,6,0.142,0.039,3076,1779,451,0,0,0,0,0,0
$GC,13597,1.01,615.6,101.3,15.6,1186,13605,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1780,443,0,0,0,0,0,0
$GC,13922,1.19,709.6,59.8,10.8,1247,13931,0.15,1.10,0.00,0.000,4,0.073,0.044,3161,1066,437,0,0,0,0,0,0
$GC,14019,1.15,709.6,43.0,20.5,1264,14028,0.12,1.05,0.00,0.000,6,0.137,0.037,3120,1783,435,0,0,0,0,0,0
$STATE,14282,end climb,SURFACE_DEPTH_REACHED
$STATE,14282,begin surface coast
$FINISH,1.3,0.998386
$STATE,14307,end surface coast,CONTROL_FINISHED_OK
$STATE,14308,begin surface
$SM_CCo,14385,0.00,0.000,0,0,430,601.72
$SM_GC,1.95,7.57,0.00,0.00,0.030,0.000,0.000,122,1591,430,-8.05,-0.51,601.72,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12325.76,211011,212124
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.96
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.60
$XPDR_PINGS,107
$24V_AH,23.0,102.403
$10V_AH,9.7,69.810
$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,20.225,58.250,783.450,0.000,0.000,29.499,21.109,288.580,26.750,0.000,37.967,3074.384,7241.188,770.390,3307.583,499.686,0.000,2099.975,0.000,2988.229,0.000,0.543,0.000
$DEVICE_MAMPS,216.495,73.440,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,898.309,1350.596,1493.612,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330492
$DATA_FILE_SIZE,73571,1318
$CAP_FILE_SIZE,157485,0
$CFSIZE,260165632,110198784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221011,053039,2327.794,12324.024,59,1.9,67,-3.3