version: 66.09
glider: 166
mission: 6
dive: 430
start: 10 24 111 9 28 17
data:
$ID,166
$MISSION,6
$DIVE,430
$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,-24948.057
$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,46
$R_STBD_OVSHOOT,50
$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
$GPS1,241011,092054,2328.422,12306.116,41,1.6,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-71.7
$GPS2,241011,092750,2328.476,12306.167,35,1.6,35,-3.2
$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,240.7,177058,-18.6,-12.222
$D_GRID,3543
$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,-194.6,0.0,0.0,0,113,0.00,0.00,-92.97,0.000,2,0.000,0.000,125,1600,3114,0,0,0,0,0,0
$GC,116,-0.65,-194.6,6.1,-10.3,13,141,9.40,1.08,-10.85,0.000,4,0.215,0.067,2529,899,3681,0,0,0,0,0,0
$GC,373,-0.60,-194.6,82.6,-21.2,59,382,0.00,1.05,0.00,0.000,6,0.000,0.034,2525,1611,3683,0,0,0,0,0,0
$GC,702,-0.55,-194.6,141.4,-17.7,120,711,0.15,1.02,0.00,0.000,4,0.168,0.040,2560,2309,3684,0,0,0,0,0,0
$GC,737,-0.54,-194.6,147.0,-16.0,125,745,0.00,1.05,0.00,0.000,6,0.000,0.036,2555,1595,3684,0,0,0,0,0,0
$GC,1066,-0.54,-194.6,190.8,-13.6,186,1074,0.00,1.05,0.00,0.000,4,0.000,0.038,2550,2310,3684,0,0,0,0,0,0
$GC,1116,-0.56,-194.6,197.1,-12.8,194,1124,0.00,1.02,0.00,0.000,6,0.000,0.035,2551,1609,3685,0,0,0,0,0,0
$GC,1442,-0.56,-194.6,237.7,-12.7,255,1451,0.00,1.02,0.00,0.000,4,0.000,0.038,2546,2310,3684,0,0,0,0,0,0
$GC,1554,-0.58,-194.6,251.6,-12.1,274,1558,0.00,1.02,0.00,0.000,6,0.000,0.035,2547,1609,3685,0,0,0,0,0,0
$GC,1890,-0.59,-194.6,291.5,-11.3,305,1893,0.00,1.02,0.00,0.000,4,0.000,0.039,2541,2308,3684,0,0,0,0,0,0
$GC,1979,-0.62,-194.6,301.6,-10.7,313,1983,0.00,1.02,0.00,0.000,6,0.000,0.035,2542,1609,3684,0,0,0,0,0,0
$GC,2311,-0.63,-194.6,343.1,-13.2,344,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1609,3683,0,0,0,0,0,0
$GC,2631,-0.66,-194.6,382.6,-11.6,374,2635,0.00,1.05,0.00,0.000,4,0.000,0.040,2543,2314,3682,0,0,0,0,0,0
$GC,2672,-0.69,-194.6,387.2,-10.9,377,2679,0.00,1.05,0.00,0.000,6,0.000,0.036,2544,1607,3682,0,0,0,0,0,0
$GC,2999,-0.72,-194.6,422.3,-10.9,408,3003,0.12,1.05,0.00,0.000,4,0.083,0.041,2473,909,3680,0,0,0,0,0,0
$GC,3035,-0.68,-194.6,427.4,-15.5,411,3040,0.17,1.02,0.00,0.000,6,0.138,0.036,2520,1607,3680,0,0,0,0,0,0
$GC,3366,-0.68,-194.6,469.4,-12.0,442,3370,0.00,1.02,0.00,0.000,4,0.000,0.042,2526,2306,3679,0,0,0,0,0,0
$GC,3441,-0.70,-194.6,478.0,-11.3,448,3448,0.00,1.02,0.00,0.000,6,0.000,0.038,2526,1613,3679,0,0,0,0,0,0
$GC,3767,-0.71,-194.6,515.1,-11.5,479,3771,0.00,1.05,0.00,0.000,4,0.000,0.042,2526,907,3677,0,0,0,0,0,0
$GC,3805,-0.72,-194.6,519.3,-11.8,482,3809,0.00,1.05,0.00,0.000,6,0.000,0.037,2521,1612,3677,0,0,0,0,0,0
$GC,4136,-0.72,-194.6,557.5,-11.8,513,4140,0.00,1.02,0.00,0.000,4,0.000,0.045,2516,2306,3675,0,0,0,0,0,0
$GC,4256,-0.74,-194.6,570.8,-11.1,523,4263,0.00,1.05,0.00,0.000,6,0.000,0.040,2516,1602,3673,0,0,0,0,0,0
$GC,4591,-0.76,-194.6,610.2,-11.5,551,4595,0.00,1.05,0.00,0.000,4,0.000,0.045,2511,2300,3670,0,0,0,0,0,0
$GC,4654,-0.77,-194.6,617.1,-10.5,553,4661,0.00,1.02,0.00,0.000,6,0.000,0.041,2511,1611,3670,0,0,0,0,0,0
$GC,4971,-0.77,-194.6,650.9,-10.1,569,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1610,3668,0,0,0,0,0,0
$GC,5283,-0.79,-194.6,680.4,-9.6,584,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1610,3665,0,0,0,0,0,0
$GC,5590,-0.80,-194.6,710.8,-10.0,599,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1610,3663,0,0,0,0,0,0
$GC,5899,-0.82,-194.6,743.8,-10.9,614,5902,0.00,1.08,0.00,0.000,4,0.000,0.053,2506,2292,3661,0,0,0,0,0,0
$GC,5941,-0.84,-194.6,748.4,-11.5,615,5948,0.00,1.02,0.00,0.000,6,0.000,0.044,2506,1615,3661,0,0,0,0,0,0
$GC,6257,-0.85,-194.6,785.4,-11.9,631,6261,0.10,1.10,0.00,0.000,4,0.103,0.050,2450,907,3658,0,0,0,0,0,0
$GC,6328,-0.81,-194.6,795.7,-16.1,634,6332,0.10,1.08,0.00,0.000,6,0.152,0.046,2476,1602,3658,0,0,0,0,0,0
$GC,6662,-0.80,-194.6,841.0,-12.9,650,6665,0.00,1.08,0.00,0.000,4,0.000,0.050,2476,913,3655,0,0,0,0,0,0
$GC,6695,-0.78,-194.6,845.8,-13.7,651,6698,0.00,1.08,0.00,0.000,6,0.000,0.048,2473,1606,3655,0,0,0,0,0,0
$GC,7019,-0.77,-194.6,888.3,-13.3,667,7022,0.00,1.08,0.00,0.000,4,0.000,0.057,2468,2305,3653,0,0,0,0,0,0
$GC,7051,-0.77,-194.6,893.1,-13.1,668,7056,0.00,1.08,0.00,0.000,6,0.000,0.047,2469,1607,3653,0,0,0,0,0,0
$GC,7376,-0.75,-194.6,936.4,-13.5,684,7381,0.12,1.12,0.00,0.000,4,0.171,0.058,2499,2307,3651,0,0,0,0,0,0
$GC,7409,-0.77,-194.6,940.9,-12.0,685,7413,0.00,1.08,0.00,0.000,6,0.000,0.049,2499,1613,3650,0,0,0,0,0,0
$GC,7732,-0.78,-194.6,976.0,-10.7,701,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1612,3649,0,0,0,0,0,0
$STATE,7873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7873,begin apogee
$GC,7882,-0.11,0.0,990.7,10.1,708,8053,0.62,0.00,166.45,1.442,6,0.120,0.000,2702,1772,2884,0,0,0,0,0,0
$STATE,8053,end apogee,CONTROL_FINISHED_OK
$STATE,8054,begin climb
$GC,8058,0.65,194.6,995.5,0.0,716,8250,0.70,1.23,179.40,1.383,4,0.069,0.062,2956,2483,2089,0,0,0,0,0,0
$GC,8282,0.63,194.6,973.7,13.0,726,8286,0.00,1.12,0.00,0.000,6,0.000,0.052,2959,1787,2086,0,0,0,0,0,0
$GC,8609,0.61,194.6,928.5,13.8,742,8613,0.00,1.10,0.00,0.000,4,0.000,0.062,2959,2483,2081,0,0,0,0,0,0
$GC,8681,0.58,194.6,918.9,13.8,745,8685,0.00,1.10,0.00,0.000,6,0.000,0.051,2963,1780,2081,0,0,0,0,0,0
$GC,9015,0.56,194.6,872.8,13.5,761,9019,0.15,1.12,0.00,0.000,4,0.175,0.060,2921,2483,2079,0,0,0,0,0,0
$GC,9124,0.62,235.7,861.1,10.5,765,9165,0.00,1.10,36.88,1.326,6,0.000,0.049,2923,1776,1922,0,0,0,0,0,0
$GC,9482,0.68,272.4,822.4,10.7,783,9527,0.12,1.12,35.08,1.300,4,0.089,0.054,2992,1074,1772,0,0,0,0,0,0
$GC,9559,0.65,272.4,811.0,16.0,786,9563,0.10,1.12,0.00,0.000,6,0.152,0.049,2961,1784,1770,0,0,0,0,0,0
$GC,9885,0.65,272.4,763.5,14.3,802,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1784,1767,0,0,0,0,0,0
$GC,10197,0.65,272.4,719.4,14.0,817,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1784,1764,0,0,0,0,0,0
$GC,10504,0.65,272.4,675.3,14.1,832,10508,0.00,1.05,0.00,0.000,4,0.000,0.057,2956,2475,1764,0,0,0,0,0,0
$GC,10595,0.65,272.4,662.7,13.9,836,10598,0.00,1.08,0.00,0.000,6,0.000,0.047,2959,1772,1764,0,0,0,0,0,0
$GC,10930,0.65,272.4,618.2,13.1,852,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1772,1764,0,0,0,0,0,0
$GC,11242,0.65,272.4,575.0,13.6,875,11245,0.00,1.10,0.00,0.000,4,0.000,0.054,2956,2483,1763,0,0,0,0,0,0
$GC,11283,0.66,272.4,569.6,13.4,878,11289,0.00,1.08,0.00,0.000,6,0.000,0.045,2959,1780,1763,0,0,0,0,0,0
$GC,11608,0.67,279.3,528.9,11.9,909,11618,0.00,0.00,5.75,0.868,6,0.000,0.000,2959,1780,1745,0,0,0,0,0,0
$GC,11937,0.68,279.3,488.8,12.3,940,11940,0.00,1.08,0.00,0.000,4,0.000,0.050,2964,1080,1744,0,0,0,0,0,0
$GC,11972,0.69,280.2,484.6,12.2,943,11976,0.00,1.08,0.00,0.000,6,0.000,0.044,2961,1786,1744,0,0,0,0,0,0
$GC,12303,0.75,309.5,447.7,11.0,974,12335,0.00,0.00,29.65,1.045,6,0.000,0.000,2961,1786,1622,0,0,0,0,0,0
$GC,12654,0.77,309.5,405.7,12.7,1007,12658,0.00,1.10,0.00,0.000,4,0.000,0.049,2965,1069,1619,0,0,0,0,0,0
$GC,12700,0.80,309.5,399.6,12.7,1011,12704,0.08,1.08,0.00,0.000,6,0.063,0.043,3014,1777,1618,0,0,0,0,0,0
$GC,13032,0.78,309.5,346.2,15.2,1042,13036,0.00,1.05,0.00,0.000,4,0.000,0.050,3014,2483,1619,0,0,0,0,0,0
$GC,13079,0.77,309.5,338.9,14.8,1046,13083,0.00,1.08,0.00,0.000,6,0.000,0.043,3018,1774,1619,0,0,0,0,0,0
$GC,13414,0.74,309.5,288.8,14.6,1077,13418,0.12,1.08,0.00,0.000,4,0.178,0.047,2990,1070,1619,0,0,0,0,0,0
$GC,13439,0.74,309.5,284.7,14.6,1079,13443,0.00,1.08,0.00,0.000,6,0.000,0.041,2987,1782,1618,0,0,0,0,0,0
$GC,13769,0.80,338.3,248.3,11.0,1110,13801,0.00,1.12,26.62,0.852,4,0.000,0.047,2991,1075,1504,0,0,0,0,0,0
$GC,13842,0.86,366.4,240.0,11.0,1121,13873,0.08,1.08,26.33,0.834,6,0.061,0.038,3045,1790,1389,0,0,0,0,0,0
$GC,14194,0.84,366.4,180.0,16.4,1185,14202,0.00,1.02,0.00,0.000,4,0.000,0.048,3045,2482,1387,0,0,0,0,0,0
$GC,14281,0.83,366.4,167.8,13.5,1200,14291,0.10,1.08,0.00,0.000,6,0.142,0.041,3017,1772,1387,0,0,0,0,0,0
$GC,14618,0.86,371.8,127.9,12.0,1261,14627,0.00,0.00,5.95,0.583,6,0.000,0.000,3017,1772,1368,0,0,0,0,0,0
$GC,14947,0.97,422.6,91.1,10.1,1322,15000,0.12,1.02,44.78,0.718,4,0.086,0.041,3093,1068,1160,0,0,0,0,0,0
$GC,15044,0.94,422.6,76.3,16.7,1336,15054,0.12,1.08,0.00,0.000,6,0.140,0.037,3052,1788,1158,0,0,0,0,0,0
$GC,15378,1.17,548.2,44.1,6.9,1397,15490,0.20,1.08,104.03,0.672,4,0.062,0.040,3163,1071,647,0,0,0,0,0,0
$GC,15524,1.13,548.2,18.5,19.9,1417,15532,0.15,1.05,0.00,0.000,6,0.138,0.035,3113,1781,643,0,0,0,0,0,0
$STATE,15616,end climb,SURFACE_DEPTH_REACHED
$STATE,15616,begin surface coast
$FINISH,1.3,1.021775
$STATE,15637,end surface coast,CONTROL_FINISHED_OK
$STATE,15637,begin surface
$SM_CCo,15715,0.00,0.000,0,0,638,550.94
$SM_GC,2.11,7.75,0.00,0.00,0.037,0.000,0.000,140,1595,638,-8.05,-0.42,550.94,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12308.82,241011,040416
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.50
$XPDR_PINGS,113
$24V_AH,23.0,105.914
$10V_AH,9.7,71.859
$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,20.600,64.600,660.900,0.000,0.000,29.338,21.557,174.455,28.250,0.000,36.712,3560.265,7989.747,657.522,3424.298,481.801,0.000,2028.154,0.000,3175.524,0.000,0.543,0.000
$DEVICE_MAMPS,214.965,69.615,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,981.364,1469.829,1625.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,80212,1437
$CAP_FILE_SIZE,169949,0
$CFSIZE,260165632,109056000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205, 46.6,1
$GPS,241011,135224,2328.199,12305.143,75,1.4,93,-3.2