version: 66.09
glider: 166
mission: 6
dive: 423
start: 10 23 111 2 34 58
data:
$ID,166
$MISSION,6
$DIVE,423
$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,-24939.25
$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,58
$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
$GPS1,231011,022715,2328.225,12315.586,61,2.4,80,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-66.3
$GPS2,231011,023434,2328.274,12315.629,12,3.3,31,-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,245.5,192582,-16.7,-13.750
$D_GRID,3511
$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,17,begin dive
$GC,20,-0.73,-292.0,0.0,0.0,0,138,0.00,0.00,-115.68,0.000,2,0.000,0.000,144,1582,3239,0,0,0,0,0,0
$GC,142,-0.73,-292.0,6.4,-10.0,16,173,9.15,1.10,-13.05,0.000,4,0.213,0.065,2499,2300,3964,0,0,0,0,0,0
$GC,327,-0.64,-292.0,72.5,-24.3,48,336,0.12,1.02,0.00,0.000,6,0.145,0.038,2534,1611,3965,0,0,0,0,0,0
$GC,656,-0.60,-292.0,133.3,-17.5,109,664,0.00,1.02,0.00,0.000,4,0.000,0.047,2532,2291,3966,0,0,0,0,0,0
$GC,709,-0.57,-292.0,142.5,-16.3,117,717,0.00,1.02,0.00,0.000,6,0.000,0.041,2530,1611,3966,0,0,0,0,0,0
$GC,1039,-0.54,-292.0,197.9,-16.4,178,1048,0.12,1.05,0.00,0.000,4,0.160,0.047,2564,2291,3967,0,0,0,0,0,0
$GC,1144,-0.58,-292.0,210.3,-10.8,196,1152,0.00,1.02,0.00,0.000,6,0.000,0.041,2563,1609,3967,0,0,0,0,0,0
$GC,1475,-0.61,-292.0,249.2,-11.5,257,1483,0.00,1.05,0.00,0.000,4,0.000,0.047,2559,2293,3966,0,0,0,0,0,0
$GC,1605,-0.65,-292.0,262.9,-10.2,269,1608,0.00,1.02,0.00,0.000,6,0.000,0.041,2559,1610,3966,0,0,0,0,0,0
$GC,1936,-0.68,-292.0,298.2,-10.2,300,1940,0.00,1.05,0.00,0.000,4,0.000,0.048,2554,2290,3966,0,0,0,0,0,0
$GC,2049,-0.72,-292.0,308.6,-9.1,310,2054,0.10,1.02,0.00,0.000,6,0.044,0.041,2474,1606,3965,0,0,0,0,0,0
$GC,2380,-0.66,-292.0,369.1,-18.7,341,2385,0.17,1.05,0.00,0.000,4,0.156,0.048,2523,2288,3964,0,0,0,0,0,0
$GC,2451,-0.66,-292.0,378.8,-12.5,347,2455,0.00,1.02,0.00,0.000,6,0.000,0.043,2522,1610,3964,0,0,0,0,0,0
$GC,2782,-0.66,-292.0,422.3,-12.2,378,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1610,3963,0,0,0,0,0,0
$GC,3107,-0.68,-292.0,460.2,-11.4,408,3110,0.00,1.08,0.00,0.000,4,0.000,0.050,2520,2296,3961,0,0,0,0,0,0
$GC,3225,-0.70,-292.0,474.0,-10.7,418,3233,0.00,1.02,0.00,0.000,6,0.000,0.044,2520,1616,3960,0,0,0,0,0,0
$GC,3551,-0.71,-292.0,512.8,-11.6,449,3554,0.00,1.02,0.00,0.000,4,0.000,0.051,2517,2282,3958,0,0,0,0,0,0
$GC,3642,-0.73,-292.0,522.5,-10.7,457,3646,0.00,1.02,0.00,0.000,6,0.000,0.044,2520,1606,3957,0,0,0,0,0,0
$GC,3974,-0.75,-292.0,558.8,-10.3,488,3977,0.00,1.05,0.00,0.000,4,0.000,0.053,2520,2283,3955,0,0,0,0,0,0
$GC,4047,-0.78,-292.0,566.5,-9.9,494,4054,0.00,1.02,0.00,0.000,6,0.000,0.046,2519,1614,3954,0,0,0,0,0,0
$GC,4372,-0.80,-292.0,600.3,-10.5,525,4376,0.00,1.05,0.00,0.000,4,0.000,0.055,2516,2289,3952,0,0,0,0,0,0
$GC,4468,-0.83,-292.0,610.5,-10.4,529,4472,0.08,1.05,0.00,0.000,6,0.055,0.047,2456,1604,3952,0,0,0,0,0,0
$GC,4797,-0.78,-292.0,664.2,-16.5,545,4801,0.12,1.08,0.00,0.000,4,0.168,0.050,2495,910,3949,0,0,0,0,0,0
$GC,4829,-0.77,-292.0,669.8,-15.2,546,4833,0.00,1.05,0.00,0.000,6,0.000,0.047,2492,1591,3948,0,0,0,0,0,0
$GC,5154,-0.76,-292.0,711.1,-12.5,562,5158,0.00,1.10,0.00,0.000,4,0.000,0.054,2487,2313,3946,0,0,0,0,0,0
$GC,5245,-0.76,-292.0,721.9,-11.5,566,5249,0.00,1.08,0.00,0.000,6,0.000,0.047,2487,1613,3945,0,0,0,0,0,0
$GC,5580,-0.75,-292.0,767.4,-14.2,582,5584,0.00,1.10,0.00,0.000,4,0.000,0.058,2481,2307,3942,0,0,0,0,0,0
$GC,5641,-0.75,-292.0,776.8,-14.2,584,5648,0.00,1.08,0.00,0.000,6,0.000,0.048,2481,1612,3941,0,0,0,0,0,0
$GC,5958,-0.73,-292.0,825.0,-15.1,600,5961,0.00,1.10,0.00,0.000,4,0.000,0.060,2476,2306,3939,0,0,0,0,0,0
$GC,5987,-0.73,-292.0,829.1,-14.0,601,5991,0.08,1.08,0.00,0.000,6,0.137,0.050,2502,1611,3939,0,0,0,0,0,0
$GC,6316,-0.75,-292.0,867.8,-11.5,617,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1611,3936,0,0,0,0,0,0
$GC,6626,-0.76,-292.0,901.0,-10.5,632,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1611,3934,0,0,0,0,0,0
$GC,6933,-0.78,-292.0,933.9,-10.3,647,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1611,3932,0,0,0,0,0,0
$GC,7242,-0.80,-292.0,966.1,-10.5,662,7246,0.00,1.10,0.00,0.000,4,0.000,0.063,2500,2299,3929,0,0,0,0,0,0
$GC,7283,-0.82,-292.0,970.2,-10.0,663,7290,0.00,1.08,0.00,0.000,6,0.000,0.052,2500,1612,3929,0,0,0,0,0,0
$STATE,7473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7473,begin apogee
$GC,7479,-0.11,0.0,990.9,10.8,673,7714,0.62,0.00,226.02,1.433,6,0.116,0.000,2704,1786,2883,0,0,0,0,0,0
$STATE,7716,end apogee,CONTROL_FINISHED_OK
$STATE,7716,begin climb
$GC,7718,0.73,292.0,1001.3,0.0,684,7996,0.77,1.23,268.73,1.374,4,0.054,0.057,2995,1074,1692,0,0,0,0,0,0
$GC,8015,0.68,292.0,964.5,16.7,698,8019,0.08,1.15,0.00,0.000,6,0.147,0.053,2972,1770,1690,0,0,0,0,0,0
$GC,8336,0.65,292.0,913.2,15.6,714,8340,0.00,1.10,0.00,0.000,4,0.000,0.061,2971,2484,1686,0,0,0,0,0,0
$GC,8431,0.63,292.0,898.7,15.1,718,8435,0.00,1.10,0.00,0.000,6,0.000,0.050,2974,1781,1686,0,0,0,0,0,0
$GC,8761,0.59,292.0,850.0,14.8,734,8763,0.15,0.00,0.00,0.000,6,0.171,0.000,2935,1780,1684,0,0,0,0,0,0
$GC,9068,0.68,366.4,814.2,11.4,749,9142,0.00,1.17,69.45,1.314,4,0.000,0.054,2938,1066,1389,0,0,0,0,0,0
$GC,9184,0.79,432.8,800.6,11.7,754,9252,0.12,1.15,62.75,1.277,6,0.054,0.047,3007,1788,1118,0,0,0,0,0,0
$GC,9571,0.75,432.8,724.5,20.2,773,9574,0.00,1.08,0.00,0.000,4,0.000,0.057,3007,2492,1114,0,0,0,0,0,0
$GC,9642,0.72,432.8,710.3,19.5,776,9646,0.10,1.10,0.00,0.000,6,0.145,0.047,2981,1778,1113,0,0,0,0,0,0
$GC,9977,0.72,432.8,655.1,16.3,792,9981,0.00,1.05,0.00,0.000,4,0.000,0.050,2984,1080,1112,0,0,0,0,0,0
$GC,10037,0.72,432.8,644.8,15.3,794,10045,0.00,1.10,0.00,0.000,6,0.000,0.045,2981,1799,1111,0,0,0,0,0,0
$GC,10354,0.72,432.8,599.2,14.6,810,10357,0.00,1.12,0.00,0.000,4,0.000,0.050,2985,1075,1110,0,0,0,0,0,0
$GC,10406,0.72,432.8,591.6,14.9,814,10412,0.00,1.08,0.00,0.000,6,0.000,0.044,2982,1781,1109,0,0,0,0,0,0
$GC,10731,0.72,432.8,543.1,14.6,845,10734,0.00,1.10,0.00,0.000,4,0.000,0.050,2985,1073,1109,0,0,0,0,0,0
$GC,10768,0.72,432.8,537.8,15.0,848,10772,0.00,1.08,0.00,0.000,6,0.000,0.044,2982,1779,1109,0,0,0,0,0,0
$GC,11099,0.75,454.1,492.4,13.1,879,11120,0.00,0.00,18.95,1.055,6,0.000,0.000,2982,1779,1032,0,0,0,0,0,0
$GC,11438,0.79,473.9,447.1,13.1,911,11459,0.00,0.00,18.73,1.009,6,0.000,0.000,2982,1782,951,0,0,0,0,0,0
$GC,11779,0.90,537.1,405.1,11.8,943,11847,0.15,1.17,58.35,1.006,4,0.079,0.047,3065,1069,692,0,0,0,0,0,0
$GC,11916,0.87,537.1,376.6,21.7,955,11921,0.10,1.10,0.00,0.000,6,0.138,0.042,3032,1785,688,0,0,0,0,0,0
$GC,12246,0.87,537.1,314.6,18.5,986,12247,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1785,683,0,0,0,0,0,0
$GC,12567,0.87,537.1,261.2,15.8,1016,12571,0.00,1.10,0.00,0.000,4,0.000,0.047,3035,1066,681,0,0,0,0,0,0
$GC,12629,0.87,537.1,251.2,15.6,1021,12636,0.00,1.08,0.00,0.000,6,0.000,0.038,3035,1784,681,0,0,0,0,0,0
$GC,12957,0.88,537.1,200.6,14.5,1081,12965,0.00,1.08,0.00,0.000,4,0.000,0.045,3038,1074,680,0,0,0,0,0,0
$GC,13000,0.89,537.1,193.8,14.5,1088,13008,0.00,1.05,0.00,0.000,6,0.000,0.038,3038,1780,680,0,0,0,0,0,0
$GC,13329,0.94,551.3,146.7,13.3,1149,13345,0.00,1.12,12.38,0.712,4,0.000,0.046,3042,1068,634,0,0,0,0,0,0
$GC,13416,0.96,551.3,134.8,13.9,1163,13425,0.00,1.08,0.00,0.000,6,0.000,0.037,3040,1790,631,0,0,0,0,0,0
$GC,13748,1.07,607.2,91.9,12.0,1224,13801,0.15,1.12,43.92,0.717,4,0.073,0.041,3130,1069,455,0,0,0,0,0,0
$GC,13838,1.03,607.2,73.7,21.9,1237,13847,0.15,1.05,0.00,0.000,6,0.132,0.036,3081,1784,449,0,0,0,0,0,0
$GC,14167,1.25,731.8,37.3,9.8,1298,14176,0.17,1.10,0.00,0.000,4,0.065,0.044,3176,1068,439,0,0,0,0,0,0
$GC,14214,1.20,731.8,29.9,19.5,1305,14222,0.12,1.02,0.00,0.000,6,0.144,0.036,3133,1773,439,0,0,0,0,0,0
$STATE,14356,end climb,SURFACE_DEPTH_REACHED
$STATE,14356,begin surface coast
$FINISH,1.2,1.021553
$STATE,14374,end surface coast,CONTROL_FINISHED_OK
$STATE,14374,begin surface
$SM_CCo,14454,0.00,0.000,0,0,437,600.25
$SM_GC,1.94,7.70,0.00,0.00,0.037,0.000,0.000,146,1601,437,-8.04,-0.23,600.25,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12316.00,221011,222233
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.20
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.50
$XPDR_PINGS,122
$24V_AH,23.0,104.185
$10V_AH,9.7,70.726
$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,20.350,60.825,779.275,0.000,0.000,24.478,26.028,201.274,30.500,0.000,33.101,3307.355,6997.820,780.569,3310.140,477.987,0.000,2112.046,0.000,3051.894,0.000,0.541,0.000
$DEVICE_MAMPS,213.435,70.380,1432.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.087,1364.531,1539.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330436
$DATA_FILE_SIZE,73616,1334
$CAP_FILE_SIZE,160723,0
$CFSIZE,260165632,109682688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192, 45.8,1
$GPS,231011,063724,2328.360,12313.858,36,1.5,53,-3.3