version: 66.09
glider: 166
mission: 6
dive: 426
start: 10 23 111 15 15 23
data:
$ID,166
$MISSION,6
$DIVE,426
$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,270
$T_MISSION,300
$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,200
$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,-24943.021
$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,66
$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
$GPS1,231011,150757,2328.641,12311.265,37,99.0,56,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-67.2
$GPS2,231011,151456,2328.718,12311.304,29,1.6,48,-3.3
$SPEED_LIMITS,0.212,0.316
$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,245.8,185635,-18.6,-12.222
$D_GRID,3653
$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,-0.65,-194.6,0.0,0.0,0,130,0.00,0.00,-110.88,0.000,2,0.000,0.000,124,1580,3067,0,0,0,0,0,0
$GC,133,-0.65,-194.6,5.9,-9.7,15,159,9.45,1.02,-11.90,0.000,4,0.217,0.069,2525,913,3680,0,0,0,0,0,0
$GC,396,-0.59,-194.6,81.0,-20.8,62,404,0.00,1.00,0.00,0.000,6,0.000,0.037,2522,1590,3682,0,0,0,0,0,0
$GC,726,-0.54,-194.6,143.0,-18.6,123,734,0.17,1.08,0.00,0.000,4,0.161,0.043,2567,2307,3683,0,0,0,0,0,0
$GC,848,-0.57,-194.6,158.6,-11.6,144,856,0.00,1.02,0.00,0.000,6,0.000,0.038,2564,1622,3683,0,0,0,0,0,0
$GC,1176,-0.58,-194.6,198.8,-12.4,205,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1622,3683,0,0,0,0,0,0
$GC,1502,-0.60,-194.6,237.8,-12.3,266,1510,0.00,1.02,0.00,0.000,4,0.000,0.045,2558,2300,3683,0,0,0,0,0,0
$GC,1557,-0.63,-194.6,244.3,-12.0,275,1566,0.00,1.05,0.00,0.000,6,0.000,0.041,2558,1607,3683,0,0,0,0,0,0
$GC,1894,-0.65,-194.6,283.1,-10.6,310,1898,0.00,1.05,0.00,0.000,4,0.000,0.047,2554,2298,3683,0,0,0,0,0,0
$GC,1985,-0.68,-194.6,292.5,-9.7,318,1989,0.00,1.05,0.00,0.000,6,0.000,0.041,2553,1607,3683,0,0,0,0,0,0
$GC,2319,-0.71,-194.6,329.0,-11.3,349,2324,0.12,1.08,0.00,0.000,4,0.081,0.048,2471,2294,3682,0,0,0,0,0,0
$GC,2354,-0.67,-194.6,334.1,-14.5,352,2358,0.15,1.02,0.00,0.000,6,0.137,0.042,2521,1616,3682,0,0,0,0,0,0
$GC,2686,-0.67,-194.6,378.9,-12.5,383,2690,0.00,1.08,0.00,0.000,4,0.000,0.047,2522,905,3681,0,0,0,0,0,0
$GC,2701,-0.67,-194.6,381.5,-12.7,384,2708,0.00,1.05,0.00,0.000,6,0.000,0.040,2519,1604,3681,0,0,0,0,0,0
$GC,3027,-0.67,-194.6,422.7,-12.7,415,3030,0.00,1.05,0.00,0.000,4,0.000,0.047,2512,2309,3679,0,0,0,0,0,0
$GC,3066,-0.67,-194.6,427.7,-12.4,418,3073,0.00,1.05,0.00,0.000,6,0.000,0.043,2514,1611,3679,0,0,0,0,0,0
$GC,3392,-0.67,-194.6,468.0,-13.0,449,3395,0.00,1.08,0.00,0.000,4,0.000,0.050,2511,2304,3677,0,0,0,0,0,0
$GC,3417,-0.67,-194.6,470.8,-12.5,451,3421,0.00,1.05,0.00,0.000,6,0.000,0.044,2511,1618,3677,0,0,0,0,0,0
$GC,3748,-0.67,-194.6,510.7,-12.1,482,3752,0.00,1.05,0.00,0.000,4,0.000,0.051,2506,2299,3676,0,0,0,0,0,0
$GC,3795,-0.67,-194.6,516.2,-11.9,486,3798,0.00,1.05,0.00,0.000,6,0.000,0.045,2504,1611,3675,0,0,0,0,0,0
$GC,4126,-0.67,-194.6,555.9,-11.5,517,4130,0.00,1.10,0.00,0.000,4,0.000,0.050,2511,904,3672,0,0,0,0,0,0
$GC,4206,-0.67,-194.6,565.3,-11.4,524,4210,0.00,1.08,0.00,0.000,6,0.000,0.042,2505,1609,3672,0,0,0,0,0,0
$GC,4547,-0.67,-194.6,602.9,-10.8,555,4550,0.00,1.05,0.00,0.000,4,0.000,0.051,2496,2306,3670,0,0,0,0,0,0
$GC,4586,-0.68,-194.6,607.2,-10.5,556,4593,0.00,1.08,0.00,0.000,6,0.000,0.046,2500,1604,3669,0,0,0,0,0,0
$GC,4904,-0.68,-194.6,643.0,-11.8,572,4908,0.00,1.10,0.00,0.000,4,0.000,0.055,2496,2307,3667,0,0,0,0,0,0
$GC,4966,-0.70,-194.6,650.6,-11.4,574,4973,0.00,1.08,0.00,0.000,6,0.000,0.047,2499,1607,3666,0,0,0,0,0,0
$GC,5285,-0.70,-194.6,691.1,-13.0,590,5289,0.00,1.08,0.00,0.000,4,0.000,0.055,2496,2297,3665,0,0,0,0,0,0
$GC,5368,-0.71,-194.6,702.6,-12.7,593,5379,0.00,1.05,0.00,0.000,6,0.000,0.047,2496,1612,3664,0,0,0,0,0,0
$GC,5684,-0.71,-194.6,743.3,-12.6,609,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1612,3661,0,0,0,0,0,0
$GC,5996,-0.71,-194.6,781.0,-11.9,624,6000,0.00,1.08,0.00,0.000,4,0.000,0.054,2496,910,3659,0,0,0,0,0,0
$GC,6073,-0.71,-194.6,791.6,-13.1,627,6077,0.00,1.08,0.00,0.000,6,0.000,0.048,2491,1604,3658,0,0,0,0,0,0
$GC,6397,-0.71,-194.6,832.4,-12.6,643,6401,0.00,1.08,0.00,0.000,4,0.000,0.052,2491,912,3655,0,0,0,0,0,0
$GC,6430,-0.71,-194.6,837.2,-13.4,644,6434,0.00,1.08,0.00,0.000,6,0.000,0.049,2486,1605,3656,0,0,0,0,0,0
$GC,6752,-0.71,-194.6,877.6,-12.2,660,6756,0.10,1.10,0.00,0.000,4,0.184,0.057,2508,2310,3653,0,0,0,0,0,0
$GC,6822,-0.74,-194.6,884.5,-9.5,663,6826,0.00,1.08,0.00,0.000,6,0.000,0.050,2508,1611,3653,0,0,0,0,0,0
$GC,7156,-0.76,-194.6,918.1,-9.8,679,7160,0.00,1.10,0.00,0.000,4,0.000,0.060,2503,2307,3650,0,0,0,0,0,0
$GC,7219,-0.79,-194.6,924.0,-9.2,681,7227,0.00,1.08,0.00,0.000,6,0.000,0.051,2503,1617,3650,0,0,0,0,0,0
$GC,7536,-0.81,-194.6,955.7,-10.0,697,7539,0.00,1.10,0.00,0.000,4,0.000,0.056,2503,905,3648,0,0,0,0,0,0
$GC,7622,-0.82,-194.6,964.7,-10.6,700,7629,0.00,1.10,0.00,0.000,6,0.000,0.050,2498,1608,3647,0,0,0,0,0,0
$STATE,7874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7874,begin apogee
$GC,7880,-0.11,0.0,990.4,9.8,713,8053,0.62,0.00,166.00,1.434,6,0.121,0.000,2700,1783,2883,0,0,0,0,0,0
$STATE,8054,end apogee,CONTROL_FINISHED_OK
$STATE,8054,begin climb
$GC,8057,0.65,194.6,995.2,0.0,721,8246,0.73,0.00,180.60,1.379,6,0.070,0.000,2961,1783,2089,0,0,0,0,0,0
$GC,8555,0.63,194.6,934.4,14.0,745,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1783,2083,0,0,0,0,0,0
$GC,8862,0.60,194.6,890.0,14.5,760,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1783,2080,0,0,0,0,0,0
$GC,9174,0.58,194.6,846.3,13.9,775,9177,0.00,1.08,0.00,0.000,4,0.000,0.059,2961,2478,2079,0,0,0,0,0,0
$GC,9212,0.56,194.6,840.2,14.2,776,9220,0.12,1.08,0.00,0.000,6,0.152,0.048,2928,1785,2079,0,0,0,0,0,0
$GC,9528,0.61,235.2,806.0,10.5,792,9572,0.00,1.10,36.15,1.300,4,0.000,0.050,2931,1066,1924,0,0,0,0,0,0
$GC,9616,0.67,269.5,797.1,10.8,795,9653,0.00,1.12,33.38,1.270,6,0.000,0.048,2931,1772,1785,0,0,0,0,0,0
$GC,9972,0.73,295.7,757.7,11.1,813,10004,0.15,1.15,25.05,1.237,4,0.080,0.053,3008,1073,1678,0,0,0,0,0,0
$GC,10041,0.69,295.7,746.8,17.3,816,10045,0.12,1.12,0.00,0.000,6,0.151,0.049,2970,1787,1676,0,0,0,0,0,0
$GC,10375,0.69,295.7,698.4,14.0,832,10379,0.00,1.10,0.00,0.000,4,0.000,0.051,2974,1076,1673,0,0,0,0,0,0
$GC,10413,0.69,295.7,692.6,13.5,833,10421,0.00,1.08,0.00,0.000,6,0.000,0.044,2971,1780,1673,0,0,0,0,0,0
$GC,10730,0.69,295.7,649.6,13.7,849,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1780,1672,0,0,0,0,0,0
$GC,11041,0.69,295.7,607.3,13.6,864,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1780,1671,0,0,0,0,0,0
$GC,11356,0.69,295.7,564.0,13.7,891,11360,0.00,1.10,0.00,0.000,4,0.000,0.050,2975,1071,1670,0,0,0,0,0,0
$GC,11394,0.69,295.7,558.5,14.0,894,11401,0.00,1.10,0.00,0.000,6,0.000,0.043,2971,1787,1670,0,0,0,0,0,0
$GC,11719,0.69,295.7,514.0,13.4,925,11723,0.00,1.10,0.00,0.000,4,0.000,0.048,2975,1070,1670,0,0,0,0,0,0
$GC,11787,0.69,295.7,504.7,13.8,931,11792,0.00,1.08,0.00,0.000,6,0.000,0.043,2971,1776,1669,0,0,0,0,0,0
$GC,12119,0.72,309.0,463.4,11.7,962,12135,0.00,1.12,12.30,0.979,4,0.000,0.051,2968,2486,1624,0,0,0,0,0,0
$GC,12164,0.75,320.1,457.9,11.8,965,12183,0.00,1.10,11.68,0.959,6,0.000,0.044,2972,1775,1578,0,0,0,0,0,0
$GC,12502,0.81,352.5,419.0,10.9,997,12538,0.10,1.12,30.12,1.005,4,0.103,0.049,3038,1071,1447,0,0,0,0,0,0
$GC,12640,0.78,352.5,396.1,17.2,1009,12644,0.12,1.10,0.00,0.000,6,0.142,0.042,2999,1796,1445,0,0,0,0,0,0
$GC,12972,0.78,352.5,352.0,12.9,1040,12976,0.00,1.10,0.00,0.000,4,0.000,0.046,3003,1073,1444,0,0,0,0,0,0
$GC,13034,0.78,352.5,343.5,13.3,1045,13041,0.00,1.08,0.00,0.000,6,0.000,0.041,3003,1780,1444,0,0,0,0,0,0
$GC,13361,0.78,352.5,301.6,13.0,1076,13365,0.00,1.10,0.00,0.000,4,0.000,0.047,3008,1074,1444,0,0,0,0,0,0
$GC,13406,0.78,352.5,295.4,13.0,1080,13409,0.00,1.08,0.00,0.000,6,0.000,0.039,3007,1791,1444,0,0,0,0,0,0
$GC,13738,0.79,352.5,252.1,13.2,1111,13742,0.00,1.10,0.00,0.000,4,0.000,0.045,3012,1069,1444,0,0,0,0,0,0
$GC,13791,0.79,352.5,245.0,14.2,1118,13799,0.00,1.08,0.00,0.000,6,0.000,0.039,3012,1788,1444,0,0,0,0,0,0
$GC,14120,0.80,352.5,199.6,13.5,1179,14128,0.00,1.08,0.00,0.000,4,0.000,0.045,3016,1075,1444,0,0,0,0,0,0
$GC,14173,0.81,352.5,192.2,13.1,1188,14181,0.00,1.05,0.00,0.000,6,0.000,0.038,3016,1783,1444,0,0,0,0,0,0
$GC,14504,0.88,391.1,153.0,10.6,1249,14544,0.00,1.15,34.65,0.769,4,0.000,0.044,3020,1060,1289,0,0,0,0,0,0
$GC,14608,0.95,420.7,142.2,11.0,1265,14639,0.00,1.08,26.65,0.741,6,0.000,0.037,3020,1782,1167,0,0,0,0,0,0
$GC,14959,1.04,452.2,100.7,10.9,1329,14990,0.15,0.00,27.65,0.708,6,0.073,0.000,3105,1782,1039,0,0,0,0,0,0
$GC,15314,1.04,452.2,44.1,14.6,1393,15322,0.00,1.08,0.00,0.000,4,0.000,0.044,3108,1071,1036,0,0,0,0,0,0
$GC,15438,1.04,452.2,25.1,16.0,1415,15447,0.08,1.05,0.00,0.000,6,0.129,0.037,3080,1787,1035,0,0,0,0,0,0
$STATE,15618,end climb,SURFACE_DEPTH_REACHED
$STATE,15619,begin surface coast
$FINISH,1.3,0.998853
$STATE,15642,end surface coast,CONTROL_FINISHED_OK
$STATE,15642,begin surface
$SM_CCo,15719,0.00,0.000,0,0,1035,453.56
$SM_GC,2.04,7.47,0.00,0.00,0.031,0.000,0.000,139,1595,1035,-8.04,-0.42,453.56,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12314.04,231011,111106
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.10
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,24.50
$XPDR_PINGS,124
$24V_AH,23.0,105.000
$10V_AH,9.7,71.200
$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,19.675,69.475,584.225,0.000,0.000,28.486,19.943,171.208,31.000,0.000,49.434,3604.659,7880.623,659.986,3492.124,487.131,0.000,2024.569,0.000,3239.433,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,69.615,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,992.444,1487.197,1678.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330388
$DATA_FILE_SIZE,80215,1452
$CAP_FILE_SIZE,168409,0
$CFSIZE,260165632,109404160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171, 50.2,1
$GPS,231011,193907,2328.549,12309.892,64,1.3,64,-3.3