version: 66.09
glider: 166
mission: 6
dive: 424
start: 10 23 111 6 45 32
data:
$ID,166
$MISSION,6
$DIVE,424
$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,-24940.506
$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,44
$R_STBD_OVSHOOT,62
$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
$GPS1,231011,063724,2328.360,12313.858,36,1.5,53,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.4
$GPS2,231011,064508,2328.421,12313.894,12,1.7,12,-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,245.2,189777,-16.7,-13.750
$D_GRID,3552
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.73,-292.0,0.0,0.0,0,130,0.00,0.00,-107.80,0.000,2,0.000,0.000,145,1599,2975,0,0,0,0,0,0
$GC,133,-0.73,-292.0,5.0,-3.9,14,172,9.15,1.05,-19.77,0.000,4,0.213,0.070,2505,907,3965,0,0,0,0,0,0
$GC,339,-0.62,-292.0,71.4,-27.5,50,347,0.10,1.02,0.00,0.000,6,0.145,0.040,2537,1585,3965,0,0,0,0,0,0
$GC,666,-0.58,-292.0,134.2,-19.2,111,674,0.00,1.08,0.00,0.000,4,0.000,0.044,2531,2313,3966,0,0,0,0,0,0
$GC,785,-0.57,-292.0,154.5,-14.7,132,795,0.08,1.05,0.00,0.000,6,0.129,0.040,2556,1614,3966,0,0,0,0,0,0
$GC,1117,-0.57,-292.0,200.4,-12.7,193,1125,0.00,1.05,0.00,0.000,4,0.000,0.046,2553,2306,3967,0,0,0,0,0,0
$GC,1209,-0.59,-292.0,209.9,-9.9,209,1217,0.00,1.05,0.00,0.000,6,0.000,0.041,2552,1606,3966,0,0,0,0,0,0
$GC,1539,-0.61,-292.0,248.1,-12.7,270,1547,0.00,1.05,0.00,0.000,4,0.000,0.047,2547,2306,3967,0,0,0,0,0,0
$GC,1656,-0.63,-292.0,262.4,-11.3,281,1660,0.00,1.05,0.00,0.000,6,0.000,0.042,2547,1606,3966,0,0,0,0,0,0
$GC,1987,-0.65,-292.0,303.8,-12.2,312,1991,0.00,1.05,0.00,0.000,4,0.000,0.047,2543,2304,3965,0,0,0,0,0,0
$GC,2059,-0.67,-292.0,312.3,-11.2,318,2066,0.00,1.05,0.00,0.000,6,0.000,0.042,2544,1604,3965,0,0,0,0,0,0
$GC,2386,-0.69,-292.0,349.3,-11.6,349,2389,0.00,1.08,0.00,0.000,4,0.000,0.047,2540,2309,3964,0,0,0,0,0,0
$GC,2506,-0.72,-292.0,362.4,-11.0,359,2513,0.00,1.05,0.00,0.000,6,0.000,0.043,2541,1612,3964,0,0,0,0,0,0
$GC,2832,-0.74,-292.0,399.3,-11.2,390,2835,0.00,1.05,0.00,0.000,4,0.000,0.050,2538,2299,3962,0,0,0,0,0,0
$GC,2880,-0.77,-292.0,404.1,-10.8,394,2885,0.10,1.02,0.00,0.000,6,0.044,0.043,2460,1616,3962,0,0,0,0,0,0
$GC,3213,-0.71,-292.0,464.9,-18.0,425,3217,0.17,1.08,0.00,0.000,4,0.155,0.051,2513,2304,3960,0,0,0,0,0,0
$GC,3272,-0.71,-292.0,472.8,-11.9,430,3275,0.00,1.05,0.00,0.000,6,0.000,0.044,2509,1611,3960,0,0,0,0,0,0
$GC,3603,-0.71,-292.0,512.0,-12.0,461,3607,0.00,1.05,0.00,0.000,4,0.000,0.052,2507,2298,3958,0,0,0,0,0,0
$GC,3674,-0.71,-292.0,519.4,-10.5,467,3678,0.00,1.05,0.00,0.000,6,0.000,0.045,2506,1604,3957,0,0,0,0,0,0
$GC,4005,-0.71,-292.0,559.0,-12.3,498,4009,0.00,1.08,0.00,0.000,4,0.000,0.053,2505,2300,3954,0,0,0,0,0,0
$GC,4080,-0.73,-292.0,567.9,-11.4,504,4088,0.00,1.05,0.00,0.000,6,0.000,0.046,2505,1610,3954,0,0,0,0,0,0
$GC,4416,-0.73,-292.0,608.5,-11.8,533,4420,0.00,1.08,0.00,0.000,4,0.000,0.054,2503,2306,3952,0,0,0,0,0,0
$GC,4448,-0.73,-292.0,612.1,-11.5,534,4451,0.00,1.05,0.00,0.000,6,0.000,0.047,2501,1619,3951,0,0,0,0,0,0
$GC,4775,-0.73,-292.0,652.6,-12.5,550,4779,0.00,1.05,0.00,0.000,4,0.000,0.056,2497,2297,3949,0,0,0,0,0,0
$GC,4825,-0.74,-292.0,659.1,-12.1,552,4829,0.00,1.05,0.00,0.000,6,0.000,0.047,2498,1609,3948,0,0,0,0,0,0
$GC,5155,-0.74,-292.0,701.3,-12.7,568,5159,0.00,1.10,0.00,0.000,4,0.000,0.058,2495,2306,3946,0,0,0,0,0,0
$GC,5233,-0.75,-292.0,710.9,-11.2,571,5237,0.00,1.08,0.00,0.000,6,0.000,0.049,2495,1611,3945,0,0,0,0,0,0
$GC,5557,-0.75,-292.0,748.5,-11.3,587,5561,0.00,1.08,0.00,0.000,4,0.000,0.060,2490,2295,3942,0,0,0,0,0,0
$GC,5641,-0.75,-292.0,758.3,-11.0,590,5647,0.00,1.05,0.00,0.000,6,0.000,0.050,2490,1612,3941,0,0,0,0,0,0
$GC,5957,-0.75,-292.0,797.4,-13.0,606,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1611,3939,0,0,0,0,0,0
$GC,6269,-0.75,-292.0,838.2,-13.4,621,6273,0.00,1.08,0.00,0.000,4,0.000,0.061,2485,2292,3936,0,0,0,0,0,0
$GC,6315,-0.75,-292.0,844.6,-13.0,623,6319,0.00,1.05,0.00,0.000,6,0.000,0.050,2485,1612,3936,0,0,0,0,0,0
$GC,6650,-0.75,-292.0,890.5,-14.2,639,6654,0.00,1.08,0.00,0.000,4,0.000,0.056,2485,911,3933,0,0,0,0,0,0
$GC,6699,-0.75,-292.0,898.4,-14.7,641,6704,0.00,1.08,0.00,0.000,6,0.000,0.050,2480,1601,3933,0,0,0,0,0,0
$GC,7028,-0.75,-292.0,944.9,-13.7,657,7031,0.00,1.10,0.00,0.000,4,0.000,0.060,2475,2312,3930,0,0,0,0,0,0
$GC,7086,-0.75,-292.0,952.4,-12.6,659,7089,0.00,1.08,0.00,0.000,6,0.000,0.050,2475,1617,3930,0,0,0,0,0,0
$STATE,7384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7384,begin apogee
$GC,7390,-0.11,0.0,992.0,12.8,674,7625,0.70,0.00,225.52,1.438,6,0.125,0.000,2700,1779,2883,0,0,0,0,0,0
$STATE,7627,end apogee,CONTROL_FINISHED_OK
$STATE,7627,begin climb
$GC,7629,0.73,292.0,1002.5,0.0,685,7909,0.77,1.20,267.20,1.379,4,0.056,0.063,2988,2482,1693,0,0,0,0,0,0
$GC,7996,0.69,292.0,953.5,16.8,701,8004,0.00,1.10,0.00,0.000,6,0.000,0.052,2993,1790,1690,0,0,0,0,0,0
$GC,8312,0.64,292.0,897.8,17.7,717,8316,0.15,1.12,0.00,0.000,4,0.171,0.061,2950,2489,1686,0,0,0,0,0,0
$GC,8369,0.64,292.0,889.4,13.9,719,8373,0.00,1.12,0.00,0.000,6,0.000,0.050,2953,1768,1686,0,0,0,0,0,0
$GC,8691,0.63,292.0,843.4,14.4,735,8695,0.00,1.05,0.00,0.000,4,0.000,0.054,2958,1078,1684,0,0,0,0,0,0
$GC,8741,0.62,292.0,835.9,14.1,737,8745,0.00,1.10,0.00,0.000,6,0.000,0.050,2957,1787,1684,0,0,0,0,0,0
$GC,9072,0.62,305.9,791.9,13.3,753,9094,0.00,1.12,12.88,1.198,4,0.000,0.059,2957,2490,1637,0,0,0,0,0,0
$GC,9140,0.65,326.2,782.3,13.1,756,9165,0.00,1.10,20.98,1.247,6,0.000,0.047,2959,1784,1554,0,0,0,0,0,0
$GC,9497,0.65,326.2,731.4,14.7,773,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1784,1550,0,0,0,0,0,0
$GC,9803,0.68,352.0,689.4,12.9,788,9830,0.00,0.00,25.17,1.218,6,0.000,0.000,2959,1784,1447,0,0,0,0,0,0
$GC,10134,0.68,352.0,644.4,14.2,804,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1784,1444,0,0,0,0,0,0
$GC,10445,0.68,352.0,599.9,14.1,819,10449,0.00,1.08,0.00,0.000,4,0.000,0.050,2964,1069,1443,0,0,0,0,0,0
$GC,10514,0.71,377.8,590.4,12.9,825,10542,0.00,1.10,24.33,1.151,6,0.000,0.044,2965,1788,1343,0,0,0,0,0,0
$GC,10861,0.74,397.8,544.4,13.1,857,10886,0.00,1.17,19.42,1.096,4,0.000,0.048,2969,1058,1262,0,0,0,0,0,0
$GC,10959,0.77,410.5,531.9,13.3,865,10976,0.00,1.12,13.10,1.033,6,0.000,0.044,2969,1787,1210,0,0,0,0,0,0
$GC,11296,0.83,454.0,488.2,12.4,896,11339,0.12,0.00,39.72,1.081,6,0.087,0.000,3038,1787,1033,0,0,0,0,0,0
$GC,11655,0.79,454.0,417.3,20.7,930,11657,0.12,0.00,0.00,0.000,6,0.166,0.000,3005,1791,1029,0,0,0,0,0,0
$GC,11972,0.79,454.0,367.6,14.7,960,11976,0.00,1.10,0.00,0.000,4,0.000,0.047,3008,1065,1028,0,0,0,0,0,0
$GC,12041,0.79,454.0,357.8,14.2,966,12044,0.00,1.08,0.00,0.000,6,0.000,0.042,3007,1778,1027,0,0,0,0,0,0
$GC,12371,0.79,454.0,310.2,15.1,997,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1778,1027,0,0,0,0,0,0
$GC,12693,0.81,461.6,264.4,13.5,1027,12706,0.00,1.12,7.10,0.731,4,0.000,0.047,3010,1066,1001,0,0,0,0,0,0
$GC,12769,0.85,474.8,253.9,13.3,1033,12789,0.00,1.08,13.45,0.814,6,0.000,0.039,3007,1785,947,0,0,0,0,0,0
$GC,13107,0.94,528.8,213.1,12.0,1093,13162,0.12,1.15,47.92,0.832,4,0.086,0.045,3082,1066,726,0,0,0,0,0,0
$GC,13201,0.90,528.8,195.2,21.7,1106,13209,0.12,1.08,0.00,0.000,6,0.140,0.038,3038,1783,722,0,0,0,0,0,0
$GC,13535,0.94,540.5,144.7,13.4,1167,13552,0.00,1.12,10.50,0.687,4,0.000,0.045,3041,1065,679,0,0,0,0,0,0
$GC,13613,0.96,540.5,133.5,14.0,1180,13621,0.00,1.05,0.00,0.000,6,0.000,0.037,3041,1774,677,0,0,0,0,0,0
$GC,13943,1.17,672.1,94.8,9.6,1241,14003,0.22,1.12,53.62,0.721,4,0.059,0.042,3154,1063,454,0,0,0,0,0,0
$GC,14031,1.09,672.1,76.7,25.2,1253,14041,0.15,1.08,0.00,0.000,6,0.142,0.037,3103,1783,449,0,0,0,0,0,0
$GC,14362,1.18,717.6,30.1,12.3,1314,14370,0.00,1.08,0.00,0.000,4,0.000,0.042,3104,1065,437,0,0,0,0,0,0
$GC,14436,1.19,717.6,19.6,14.2,1327,14444,0.00,1.05,0.00,0.000,6,0.000,0.035,3105,1782,437,0,0,0,0,0,0
$STATE,14561,end climb,SURFACE_DEPTH_REACHED
$STATE,14561,begin surface coast
$FINISH,1.3,1.022034
$STATE,14588,end surface coast,CONTROL_FINISHED_OK
$STATE,14588,begin surface
$SM_CCo,14666,0.00,0.000,0,0,435,600.74
$SM_GC,2.09,7.55,0.00,0.00,0.031,0.000,0.000,142,1589,435,-8.04,-0.57,600.74,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12317.29,231011,020248
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.80
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.50
$XPDR_PINGS,96
$24V_AH,23.0,104.476
$10V_AH,9.7,70.883
$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,19.650,63.050,780.925,0.000,0.000,23.886,41.432,236.771,24.000,0.000,13.487,3344.909,7125.584,771.939,3385.145,483.150,0.000,2128.081,0.000,3105.244,0.000,0.541,0.000
$DEVICE_MAMPS,213.435,70.380,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.618,1386.429,1587.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,76788,1354
$CAP_FILE_SIZE,161832,0
$CFSIZE,260165632,109592576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.228, 36.7,1
$GPS,231011,105126,2328.772,12312.309,29,4.0,48,-3.3