version: 66.09
glider: 166
mission: 6
dive: 418
start: 10 22 111 5 40 20
data:
$ID,166
$MISSION,6
$DIVE,418
$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,-24932.957
$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,47
$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
$GPS1,221011,053039,2327.794,12324.024,59,1.9,67,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-61.5
$GPS2,221011,053958,2327.799,12323.932,49,2.2,68,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2322.399,12313.743
$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,3383
$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,-292.0,0.0,0.0,0,126,0.00,0.00,-106.82,0.000,2,0.000,0.000,117,1588,2928,0,0,0,0,0,0
$GC,129,-0.73,-292.0,5.0,-4.8,15,167,9.35,1.00,-20.75,0.000,4,0.216,0.067,2506,905,3963,0,0,0,0,0,0
$GC,406,-0.66,-292.0,84.0,-21.2,65,414,0.00,1.02,0.00,0.000,6,0.000,0.037,2502,1593,3963,0,0,0,0,0,0
$GC,731,-0.59,-292.0,157.9,-21.7,126,740,0.17,1.05,0.00,0.000,4,0.163,0.041,2555,908,3965,0,0,0,0,0,0
$GC,773,-0.59,-292.0,165.3,-18.7,132,781,0.00,1.05,0.00,0.000,6,0.000,0.038,2551,1608,3965,0,0,0,0,0,0
$GC,1098,-0.59,-292.0,210.2,-12.9,193,1106,0.00,1.02,0.00,0.000,4,0.000,0.044,2546,2306,3965,0,0,0,0,0,0
$GC,1208,-0.60,-292.0,223.6,-11.7,213,1216,0.00,1.05,0.00,0.000,6,0.000,0.041,2545,1607,3965,0,0,0,0,0,0
$GC,1542,-0.60,-292.0,268.7,-13.4,262,1546,0.00,1.08,0.00,0.000,4,0.000,0.046,2541,2307,3965,0,0,0,0,0,0
$GC,1578,-0.61,-292.0,273.3,-13.4,265,1582,0.00,1.05,0.00,0.000,6,0.000,0.041,2542,1614,3965,0,0,0,0,0,0
$GC,1910,-0.62,-292.0,317.4,-12.1,296,1913,0.00,1.05,0.00,0.000,4,0.000,0.047,2537,2299,3964,0,0,0,0,0,0
$GC,2013,-0.65,-292.0,328.8,-10.7,305,2016,0.00,1.02,0.00,0.000,6,0.000,0.042,2537,1619,3964,0,0,0,0,0,0
$GC,2344,-0.66,-292.0,368.8,-11.9,336,2348,0.00,1.05,0.00,0.000,4,0.000,0.048,2532,2309,3962,0,0,0,0,0,0
$GC,2383,-0.69,-292.0,373.4,-10.9,339,2390,0.00,1.08,0.00,0.000,6,0.000,0.043,2533,1601,3962,0,0,0,0,0,0
$GC,2709,-0.71,-292.0,409.3,-11.4,370,2713,0.00,1.08,0.00,0.000,4,0.000,0.049,2528,2303,3960,0,0,0,0,0,0
$GC,2816,-0.74,-292.0,421.1,-10.7,379,2823,0.00,1.05,0.00,0.000,6,0.000,0.044,2528,1608,3960,0,0,0,0,0,0
$GC,3143,-0.77,-292.0,456.0,-9.9,410,3147,0.00,1.08,0.00,0.000,4,0.000,0.051,2527,2303,3958,0,0,0,0,0,0
$GC,3194,-0.81,-292.0,461.2,-9.7,414,3202,0.08,1.05,0.00,0.000,6,0.050,0.044,2460,1612,3958,0,0,0,0,0,0
$GC,3520,-0.76,-292.0,514.5,-16.1,445,3524,0.12,1.08,0.00,0.000,4,0.166,0.054,2497,2297,3955,0,0,0,0,0,0
$GC,3594,-0.76,-292.0,523.9,-11.3,451,3601,0.00,1.05,0.00,0.000,6,0.000,0.045,2495,1610,3955,0,0,0,0,0,0
$GC,3919,-0.76,-292.0,564.3,-12.3,482,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1609,3952,0,0,0,0,0,0
$GC,4251,-0.76,-292.0,606.1,-13.1,511,4255,0.00,1.08,0.00,0.000,4,0.000,0.056,2494,2298,3949,0,0,0,0,0,0
$GC,4345,-0.76,-292.0,618.6,-12.3,515,4349,0.00,1.05,0.00,0.000,6,0.000,0.047,2495,1609,3949,0,0,0,0,0,0
$GC,4675,-0.76,-292.0,660.5,-12.5,531,4679,0.00,1.10,0.00,0.000,4,0.000,0.056,2492,2300,3946,0,0,0,0,0,0
$GC,4737,-0.76,-292.0,668.3,-11.8,533,4743,0.00,1.05,0.00,0.000,6,0.000,0.047,2493,1618,3945,0,0,0,0,0,0
$GC,5053,-0.76,-292.0,708.6,-12.8,549,5057,0.00,1.08,0.00,0.000,4,0.000,0.057,2488,2302,3942,0,0,0,0,0,0
$GC,5101,-0.76,-292.0,714.7,-12.7,551,5105,0.00,1.08,0.00,0.000,6,0.000,0.049,2490,1604,3942,0,0,0,0,0,0
$GC,5435,-0.76,-292.0,758.9,-13.1,567,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1604,3939,0,0,0,0,0,0
$GC,5744,-0.76,-292.0,798.5,-12.5,582,5747,0.00,1.10,0.00,0.000,4,0.000,0.059,2488,2300,3936,0,0,0,0,0,0
$GC,5802,-0.76,-292.0,805.3,-11.9,584,5805,0.00,1.08,0.00,0.000,6,0.000,0.049,2488,1605,3936,0,0,0,0,0,0
$GC,6123,-0.76,-292.0,847.6,-13.4,600,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1605,3933,0,0,0,0,0,0
$GC,6435,-0.76,-292.0,887.2,-12.4,615,6439,0.00,1.10,0.00,0.000,4,0.000,0.061,2484,2299,3931,0,0,0,0,0,0
$GC,6485,-0.76,-292.0,893.3,-11.3,617,6488,0.00,1.08,0.00,0.000,6,0.000,0.050,2484,1606,3930,0,0,0,0,0,0
$GC,6812,-0.76,-292.0,933.0,-12.2,633,6816,0.00,1.08,0.00,0.000,4,0.000,0.054,2484,905,3928,0,0,0,0,0,0
$GC,6864,-0.76,-292.0,939.4,-12.3,635,6868,0.00,1.08,0.00,0.000,6,0.000,0.050,2479,1592,3927,0,0,0,0,0,0
$GC,7192,-0.76,-292.0,979.9,-12.5,651,7196,0.00,1.10,0.00,0.000,4,0.000,0.060,2474,2300,3925,0,0,0,0,0,0
$GC,7231,-0.76,-292.0,985.1,-12.8,652,7238,0.00,1.08,0.00,0.000,6,0.000,0.050,2474,1606,3924,0,0,0,0,0,0
$STATE,7277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7277,begin apogee
$GC,7285,-0.11,0.0,991.2,13.1,655,7516,0.70,0.00,225.18,1.433,6,0.125,0.000,2699,1782,2884,0,0,0,0,0,0
$STATE,7521,end apogee,CONTROL_FINISHED_OK
$STATE,7521,begin climb
$GC,7523,0.73,292.0,1004.9,0.0,666,7802,0.77,1.12,267.33,1.376,4,0.056,0.059,2993,1086,1692,0,0,0,0,0,0
$GC,7824,0.67,292.0,970.2,16.3,680,7829,0.08,1.12,0.00,0.000,6,0.149,0.051,2969,1778,1690,0,0,0,0,0,0
$GC,8155,0.64,292.0,920.4,15.3,696,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1778,1687,0,0,0,0,0,0
$GC,8461,0.60,292.0,871.8,15.7,711,8465,0.00,1.08,0.00,0.000,4,0.000,0.059,2964,2480,1685,0,0,0,0,0,0
$GC,8541,0.58,292.0,859.6,14.8,714,8545,0.10,1.08,0.00,0.000,6,0.157,0.047,2937,1783,1684,0,0,0,0,0,0
$GC,8864,0.62,324.1,818.9,12.7,730,8899,0.00,1.12,30.10,1.292,4,0.000,0.052,2940,1072,1562,0,0,0,0,0,0
$GC,8946,0.65,343.2,808.2,13.1,733,8974,0.00,1.12,19.42,1.232,6,0.000,0.046,2940,1790,1484,0,0,0,0,0,0
$GC,9287,0.69,370.4,764.0,12.9,750,9317,0.00,1.08,26.42,1.245,4,0.000,0.052,2940,2491,1372,0,0,0,0,0,0
$GC,9342,0.78,421.7,756.7,12.1,752,9397,0.10,1.12,48.60,1.251,6,0.050,0.045,3005,1769,1164,0,0,0,0,0,0
$GC,9705,0.73,421.7,687.1,20.0,770,9709,0.00,1.05,0.00,0.000,4,0.000,0.051,3011,1075,1160,0,0,0,0,0,0
$GC,9734,0.69,421.7,681.5,19.6,771,9738,0.12,1.10,0.00,0.000,6,0.144,0.045,2972,1793,1159,0,0,0,0,0,0
$GC,10061,0.69,421.7,630.2,15.7,787,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1794,1159,0,0,0,0,0,0
$GC,10373,0.69,421.7,583.0,14.8,807,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1796,1158,0,0,0,0,0,0
$GC,10698,0.74,456.9,540.2,12.6,837,10734,0.00,1.15,31.70,1.119,4,0.000,0.050,2975,1078,1020,0,0,0,0,0,0
$GC,10806,0.83,510.1,526.3,12.1,846,10860,0.08,1.08,49.40,1.103,6,0.061,0.042,3028,1783,803,0,0,0,0,0,0
$GC,11182,0.79,510.1,450.0,21.0,881,11185,0.00,1.05,0.00,0.000,4,0.000,0.054,3028,2484,795,0,0,0,0,0,0
$GC,11239,0.77,510.1,438.1,18.8,886,11244,0.10,1.08,0.00,0.000,6,0.141,0.044,3000,1779,794,0,0,0,0,0,0
$GC,11573,0.79,510.1,390.0,14.9,917,11576,0.00,1.05,0.00,0.000,4,0.000,0.048,3003,1075,792,0,0,0,0,0,0
$GC,11653,0.81,510.1,377.5,15.2,924,11656,0.00,1.05,0.00,0.000,6,0.000,0.041,2998,1779,792,0,0,0,0,0,0
$GC,11984,0.92,574.7,334.9,11.7,955,12051,0.12,1.10,59.10,0.943,4,0.088,0.044,3073,1065,539,0,0,0,0,0,0
$GC,12090,0.87,574.7,313.3,23.1,964,12097,0.12,1.08,0.00,0.000,6,0.141,0.040,3032,1776,534,0,0,0,0,0,0
$GC,12417,0.88,574.7,260.9,15.7,995,12420,0.00,1.08,0.00,0.000,4,0.000,0.047,3033,1069,528,0,0,0,0,0,0
$GC,12451,0.88,574.7,255.0,16.5,998,12455,0.00,1.05,0.00,0.000,6,0.000,0.038,3031,1778,528,0,0,0,0,0,0
$GC,12776,0.91,574.7,206.0,14.1,1056,12784,0.00,1.08,0.00,0.000,4,0.000,0.045,3032,1072,527,0,0,0,0,0,0
$GC,12841,0.93,574.7,196.9,14.9,1067,12849,0.00,1.05,0.00,0.000,6,0.000,0.037,3030,1782,526,0,0,0,0,0,0
$GC,13166,0.98,586.1,150.2,13.4,1128,13182,0.00,1.12,9.80,0.682,4,0.000,0.045,3031,1066,491,0,0,0,0,0,0
$GC,13236,1.01,586.1,139.9,13.9,1140,13245,0.08,1.05,0.00,0.000,6,0.059,0.037,3089,1784,487,0,0,0,0,0,0
$GC,13564,1.00,586.1,75.4,18.7,1201,13572,0.00,1.08,0.00,0.000,4,0.000,0.043,3092,1066,485,0,0,0,0,0,0
$GC,13635,1.00,586.1,64.1,15.3,1213,13644,0.00,1.05,0.00,0.000,6,0.000,0.037,3094,1779,485,0,0,0,0,0,0
$GC,13959,1.07,619.1,20.6,12.7,1274,13975,0.00,1.12,11.70,0.593,4,0.000,0.044,3097,1063,454,0,0,0,0,0,0
$GC,14009,1.13,645.5,13.4,12.9,1282,14017,0.00,1.05,0.00,0.000,6,0.000,0.034,3098,1784,447,0,0,0,0,0,0
$STATE,14100,end climb,SURFACE_DEPTH_REACHED
$STATE,14100,begin surface coast
$FINISH,1.3,0.998081
$STATE,14132,end surface coast,CONTROL_FINISHED_OK
$STATE,14132,begin surface
$SM_CCo,14210,0.00,0.000,0,0,443,598.78
$SM_GC,2.03,7.57,0.00,0.00,0.034,0.000,0.000,147,1581,443,-8.04,-0.82,598.78,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12324.47,221011,010130
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.50
$XPDR_PINGS,116
$24V_AH,23.0,102.702
$10V_AH,9.7,69.962
$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,19.675,64.900,778.750,0.000,0.000,63.042,49.629,162.150,29.000,0.000,70.480,3068.940,7142.909,757.406,3326.332,453.407,0.000,2087.440,0.000,2988.486,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,67.320,1432.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.567,1335.410,1483.589,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73554,1304
$CAP_FILE_SIZE,161568,0
$CFSIZE,260165632,110108672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221011,093830,2327.868,12322.163,36,1.7,41,-3.3