version: 66.09
glider: 166
mission: 6
dive: 427
start: 10 23 111 19 46 22
data:
$ID,166
$MISSION,6
$DIVE,427
$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,-24944.279
$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,57
$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
$GPS1,231011,193907,2328.549,12309.892,64,1.3,64,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.9
$GPS2,231011,194555,2328.623,12309.916,15,1.3,32,-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,245.4,183302,-18.6,-12.222
$D_GRID,3699
$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,-194.6,0.0,0.0,0,105,0.00,0.00,-85.82,0.000,2,0.000,0.000,136,1594,3092,0,0,0,0,0,0
$GC,109,-0.65,-194.6,5.7,-8.4,12,134,9.48,1.08,-11.55,0.000,4,0.220,0.070,2535,898,3681,0,0,0,0,0,0
$GC,378,-0.58,-194.6,80.7,-21.7,60,386,0.00,1.05,0.00,0.000,6,0.000,0.033,2527,1620,3682,0,0,0,0,0,0
$GC,706,-0.53,-194.6,145.3,-17.9,121,715,0.17,1.00,0.00,0.000,4,0.158,0.039,2572,2301,3683,0,0,0,0,0,0
$GC,828,-0.57,-194.6,160.4,-11.0,142,837,0.00,1.02,0.00,0.000,6,0.000,0.036,2574,1603,3683,0,0,0,0,0,0
$GC,1157,-0.59,-194.6,195.7,-10.8,203,1165,0.00,1.02,0.00,0.000,4,0.000,0.039,2569,2300,3684,0,0,0,0,0,0
$GC,1216,-0.63,-194.6,202.3,-10.7,213,1224,0.00,1.00,0.00,0.000,6,0.000,0.035,2570,1611,3684,0,0,0,0,0,0
$GC,1545,-0.67,-194.6,237.1,-9.9,274,1555,0.12,1.02,0.00,0.000,4,0.081,0.040,2474,2294,3684,0,0,0,0,0,0
$GC,1611,-0.62,-194.6,247.7,-17.3,285,1619,0.20,1.00,0.00,0.000,6,0.133,0.036,2541,1608,3684,0,0,0,0,0,0
$GC,1946,-0.62,-194.6,292.5,-13.0,317,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1608,3684,0,0,0,0,0,0
$GC,2268,-0.63,-194.6,330.9,-11.3,347,2272,0.00,1.02,0.00,0.000,4,0.000,0.040,2538,2298,3683,0,0,0,0,0,0
$GC,2338,-0.66,-194.6,338.7,-10.3,353,2341,0.00,1.00,0.00,0.000,6,0.000,0.035,2539,1611,3683,0,0,0,0,0,0
$GC,2671,-0.68,-194.6,375.9,-11.4,384,2675,0.00,1.02,0.00,0.000,4,0.000,0.040,2541,912,3682,0,0,0,0,0,0
$GC,2707,-0.70,-194.6,380.4,-11.8,387,2711,0.00,1.00,0.00,0.000,6,0.000,0.035,2541,1598,3682,0,0,0,0,0,0
$GC,3041,-0.72,-194.6,417.7,-10.1,418,3045,0.00,1.02,0.00,0.000,4,0.000,0.041,2543,2305,3681,0,0,0,0,0,0
$GC,3132,-0.75,-194.6,426.7,-9.2,426,3137,0.08,1.02,0.00,0.000,6,0.048,0.037,2467,1608,3681,0,0,0,0,0,0
$GC,3463,-0.70,-194.6,477.9,-15.6,457,3465,0.17,0.00,0.00,0.000,6,0.158,0.000,2519,1607,3680,0,0,0,0,0,0
$GC,3781,-0.70,-194.6,516.1,-12.1,487,3785,0.00,1.05,0.00,0.000,4,0.000,0.044,2517,2296,3677,0,0,0,0,0,0
$GC,3831,-0.72,-194.6,521.6,-11.6,491,3835,0.00,1.02,0.00,0.000,6,0.000,0.038,2514,1612,3677,0,0,0,0,0,0
$GC,4161,-0.72,-194.6,559.4,-11.3,522,4165,0.00,1.05,0.00,0.000,4,0.000,0.043,2517,911,3675,0,0,0,0,0,0
$GC,4202,-0.73,-194.6,563.9,-11.7,525,4209,0.00,1.05,0.00,0.000,6,0.000,0.038,2512,1612,3674,0,0,0,0,0,0
$GC,4528,-0.73,-194.6,600.7,-11.2,556,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1612,3672,0,0,0,0,0,0
$GC,4840,-0.73,-194.6,635.3,-11.6,571,4844,0.00,1.02,0.00,0.000,4,0.000,0.045,2500,2303,3670,0,0,0,0,0,0
$GC,4918,-0.75,-194.6,644.3,-11.5,574,4921,0.00,1.05,0.00,0.000,6,0.000,0.041,2506,1609,3670,0,0,0,0,0,0
$GC,5240,-0.75,-194.6,681.8,-11.7,590,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1609,3668,0,0,0,0,0,0
$GC,5552,-0.76,-194.6,716.7,-11.0,605,5555,0.00,1.05,0.00,0.000,4,0.000,0.049,2498,2298,3665,0,0,0,0,0,0
$GC,5591,-0.78,-194.6,721.3,-10.5,606,5599,0.00,1.05,0.00,0.000,6,0.000,0.042,2501,1606,3664,0,0,0,0,0,0
$GC,5909,-0.78,-194.6,754.4,-10.4,622,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1606,3662,0,0,0,0,0,0
$GC,6217,-0.79,-194.6,785.8,-10.3,637,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1606,3660,0,0,0,0,0,0
$GC,6526,-0.80,-194.6,819.8,-11.5,652,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1606,3658,0,0,0,0,0,0
$GC,6838,-0.82,-194.6,854.2,-11.0,667,6842,0.00,1.08,0.00,0.000,4,0.000,0.053,2504,915,3656,0,0,0,0,0,0
$GC,6889,-0.83,-194.6,860.3,-11.3,669,6892,0.00,1.08,0.00,0.000,6,0.000,0.049,2499,1602,3655,0,0,0,0,0,0
$GC,7219,-0.84,-194.6,895.5,-10.6,685,7222,0.00,1.08,0.00,0.000,4,0.000,0.057,2493,2299,3653,0,0,0,0,0,0
$GC,7287,-0.86,-194.6,902.8,-10.0,688,7291,0.00,1.08,0.00,0.000,6,0.000,0.050,2494,1611,3653,0,0,0,0,0,0
$GC,7623,-0.86,-194.6,938.7,-10.9,704,7626,0.00,1.10,0.00,0.000,4,0.000,0.056,2494,904,3651,0,0,0,0,0,0
$GC,7701,-0.86,-194.6,948.4,-11.8,707,7704,0.00,1.10,0.00,0.000,6,0.000,0.050,2489,1604,3650,0,0,0,0,0,0
$GC,8023,-0.86,-194.6,985.4,-11.2,723,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1604,3648,0,0,0,0,0,0
$STATE,8082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8082,begin apogee
$GC,8090,-0.11,0.0,992.2,11.1,726,8262,0.68,0.00,166.52,1.444,6,0.122,0.000,2706,1793,2884,0,0,0,0,0,0
$STATE,8262,end apogee,CONTROL_FINISHED_OK
$STATE,8262,begin climb
$GC,8267,0.65,194.6,998.1,0.0,734,8460,0.70,1.15,180.20,1.388,4,0.066,0.061,2960,2479,2090,0,0,0,0,0,0
$GC,8510,0.63,194.6,972.6,14.5,745,8514,0.00,1.12,0.00,0.000,6,0.000,0.050,2964,1781,2086,0,0,0,0,0,0
$GC,8838,0.61,194.6,923.3,15.2,761,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1781,2083,0,0,0,0,0,0
$GC,9149,0.58,194.6,878.4,13.9,776,9151,0.12,0.00,0.00,0.000,6,0.179,0.000,2934,1781,2080,0,0,0,0,0,0
$GC,9457,0.63,239.0,844.5,10.4,791,9502,0.00,1.17,40.17,1.329,4,0.000,0.057,2930,2488,1909,0,0,0,0,0,0
$GC,9528,0.70,284.6,836.7,10.3,794,9579,0.08,1.12,44.78,1.302,6,0.056,0.047,2985,1776,1722,0,0,0,0,0,0
$GC,9896,0.68,284.6,780.2,15.9,812,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1776,1715,0,0,0,0,0,0
$GC,10208,0.66,284.6,731.5,15.8,827,10211,0.00,1.10,0.00,0.000,4,0.000,0.056,2983,2479,1714,0,0,0,0,0,0
$GC,10255,0.65,284.6,723.5,16.3,829,10259,0.08,1.08,0.00,0.000,6,0.162,0.047,2963,1780,1713,0,0,0,0,0,0
$GC,10587,0.65,284.6,678.4,13.3,845,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1780,1713,0,0,0,0,0,0
$GC,10899,0.65,284.6,638.1,13.1,860,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1780,1711,0,0,0,0,0,0
$GC,11206,0.65,284.6,597.4,12.9,875,11210,0.00,1.08,0.00,0.000,4,0.000,0.054,2958,2477,1711,0,0,0,0,0,0
$GC,11245,0.66,284.6,592.0,13.0,878,11253,0.00,1.08,0.00,0.000,6,0.000,0.044,2961,1771,1711,0,0,0,0,0,0
$GC,11570,0.66,284.6,548.7,13.5,909,11574,0.00,1.10,0.00,0.000,4,0.000,0.054,2959,2482,1710,0,0,0,0,0,0
$GC,11605,0.67,284.6,543.9,14.0,912,11608,0.00,1.08,0.00,0.000,6,0.000,0.044,2962,1780,1710,0,0,0,0,0,0
$GC,11936,0.70,312.6,503.5,11.0,943,11970,0.00,1.12,24.85,1.084,4,0.000,0.048,2967,1069,1609,0,0,0,0,0,0
$GC,12043,0.76,343.2,492.2,10.9,952,12078,0.00,1.10,29.12,1.069,6,0.000,0.043,2965,1787,1484,0,0,0,0,0,0
$GC,12395,0.79,343.2,450.4,12.8,985,12399,0.10,1.05,0.00,0.000,4,0.103,0.051,3021,2477,1480,0,0,0,0,0,0
$GC,12442,0.77,343.2,443.1,17.6,989,12447,0.08,1.05,0.00,0.000,6,0.154,0.043,3002,1783,1480,0,0,0,0,0,0
$GC,12772,0.77,343.2,390.7,15.0,1020,12776,0.00,1.05,0.00,0.000,4,0.000,0.047,3006,1078,1479,0,0,0,0,0,0
$GC,12824,0.77,343.2,383.4,14.2,1024,12831,0.00,1.08,0.00,0.000,6,0.000,0.042,3002,1789,1479,0,0,0,0,0,0
$GC,13150,0.77,343.2,335.9,14.6,1055,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1789,1479,0,0,0,0,0,0
$GC,13473,0.77,343.2,292.4,13.0,1085,13477,0.00,1.02,0.00,0.000,4,0.000,0.050,2998,2476,1479,0,0,0,0,0,0
$GC,13520,0.79,343.2,285.9,12.3,1089,13523,0.00,1.05,0.00,0.000,6,0.000,0.041,3001,1779,1479,0,0,0,0,0,0
$GC,13849,0.80,343.2,243.4,12.8,1124,13857,0.00,1.05,0.00,0.000,4,0.000,0.044,3005,1069,1479,0,0,0,0,0,0
$GC,13897,0.82,343.2,237.6,12.3,1132,13905,0.00,1.08,0.00,0.000,6,0.000,0.040,3002,1789,1479,0,0,0,0,0,0
$GC,14226,0.83,343.2,196.3,13.5,1193,14235,0.00,1.02,0.00,0.000,4,0.000,0.047,2997,2480,1479,0,0,0,0,0,0
$GC,14256,0.85,343.2,192.5,13.2,1197,14264,0.00,1.05,0.00,0.000,6,0.000,0.040,3000,1779,1479,0,0,0,0,0,0
$GC,14586,0.88,348.9,149.8,12.0,1258,14596,0.00,1.08,6.15,0.610,4,0.000,0.044,3004,1080,1461,0,0,0,0,0,0
$GC,14636,0.95,373.4,143.6,11.2,1266,14667,0.10,1.05,23.33,0.749,6,0.057,0.037,3065,1791,1361,0,0,0,0,0,0
$GC,14986,0.93,373.4,88.3,14.6,1330,14995,0.00,1.08,0.00,0.000,4,0.000,0.042,3071,1075,1359,0,0,0,0,0,0
$GC,15027,0.91,373.4,82.7,14.7,1336,15035,0.08,1.05,0.00,0.000,6,0.142,0.037,3046,1791,1359,0,0,0,0,0,0
$GC,15357,0.99,405.8,45.0,10.9,1397,15391,0.00,1.12,28.83,0.673,4,0.000,0.042,3052,1078,1228,0,0,0,0,0,0
$GC,15494,1.15,484.4,32.3,8.9,1420,15568,0.15,1.02,65.95,0.672,6,0.044,0.034,3141,1781,906,0,0,0,0,0,0
$STATE,15666,end climb,SURFACE_DEPTH_REACHED
$STATE,15666,begin surface coast
$FINISH,1.3,1.005479
$STATE,15684,end surface coast,CONTROL_FINISHED_OK
$STATE,15684,begin surface
$SM_CCo,15762,0.00,0.000,0,0,901,486.43
$SM_GC,2.06,7.97,0.00,0.00,0.041,0.000,0.000,159,1611,901,-8.04,0.03,486.43,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12310.79,231011,151526
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.45
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.40
$XPDR_PINGS,118
$24V_AH,22.9,105.224
$10V_AH,9.7,71.363
$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,20.350,59.875,609.900,0.000,0.000,30.196,16.762,171.657,29.500,0.000,33.541,3596.521,8028.167,622.342,3418.337,486.135,0.000,1969.857,0.000,3186.661,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,69.615,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,992.217,1487.960,1673.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330372
$DATA_FILE_SIZE,80292,1451
$CAP_FILE_SIZE,167349,0
$CFSIZE,260165632,109322240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198, 46.2,1
$GPS,241011,001036,2328.622,12308.652,41,1.0,53,-3.3