version: 66.09
glider: 166
mission: 6
dive: 432
start: 10 24 111 18 34 0
data:
$ID,166
$MISSION,6
$DIVE,432
$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,-24950.57
$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,45
$R_STBD_OVSHOOT,53
$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
$GPS1,241011,182254,2327.894,12304.073,39,2.0,39,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-72.2
$GPS2,241011,183336,2327.907,12304.150,17,1.4,33,-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,243.5,173466,-18.6,-12.222
$D_GRID,3706
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.65,-194.6,0.0,0.0,0,111,0.00,0.00,-88.15,0.000,2,0.000,0.000,131,1597,3124,0,0,0,0,0,0
$GC,114,-0.65,-194.6,6.0,-10.1,12,139,9.57,1.08,-10.65,0.000,4,0.222,0.067,2533,896,3680,0,0,0,0,0,0
$GC,381,-0.60,-194.6,84.3,-17.8,60,389,0.00,1.05,0.00,0.000,6,0.000,0.033,2528,1615,3682,0,0,0,0,0,0
$GC,711,-0.56,-194.6,143.7,-16.5,121,720,0.12,1.02,0.00,0.000,4,0.171,0.039,2557,2312,3683,0,0,0,0,0,0
$GC,829,-0.57,-194.6,159.0,-12.2,141,837,0.00,1.05,0.00,0.000,6,0.000,0.035,2553,1597,3683,0,0,0,0,0,0
$GC,1158,-0.57,-194.6,203.7,-13.4,202,1167,0.00,1.05,0.00,0.000,4,0.000,0.038,2548,2308,3683,0,0,0,0,0,0
$GC,1194,-0.58,-194.6,208.4,-13.2,207,1201,0.00,1.02,0.00,0.000,6,0.000,0.035,2549,1604,3683,0,0,0,0,0,0
$GC,1521,-0.58,-194.6,252.7,-13.0,266,1524,0.00,1.02,0.00,0.000,4,0.000,0.038,2544,2301,3683,0,0,0,0,0,0
$GC,1559,-0.60,-194.6,257.7,-11.8,269,1565,0.00,1.02,0.00,0.000,6,0.000,0.035,2544,1603,3683,0,0,0,0,0,0
$GC,1885,-0.61,-194.6,295.1,-12.1,300,1888,0.00,1.02,0.00,0.000,4,0.000,0.040,2539,2295,3683,0,0,0,0,0,0
$GC,1957,-0.64,-194.6,303.7,-11.8,306,1965,0.00,1.00,0.00,0.000,6,0.000,0.035,2540,1609,3683,0,0,0,0,0,0
$GC,2283,-0.66,-194.6,344.4,-12.3,337,2287,0.00,1.02,0.00,0.000,4,0.000,0.041,2538,2296,3682,0,0,0,0,0,0
$GC,2322,-0.68,-194.6,349.1,-11.6,340,2329,0.00,1.00,0.00,0.000,6,0.000,0.037,2537,1614,3682,0,0,0,0,0,0
$GC,2648,-0.69,-194.6,385.5,-11.0,371,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1614,3680,0,0,0,0,0,0
$GC,2968,-0.72,-194.6,420.3,-10.1,401,2972,0.00,1.02,0.00,0.000,4,0.000,0.043,2541,2292,3679,0,0,0,0,0,0
$GC,3040,-0.75,-194.6,427.2,-9.7,407,3044,0.08,1.02,0.00,0.000,6,0.051,0.038,2473,1605,3678,0,0,0,0,0,0
$GC,3373,-0.70,-194.6,476.8,-15.4,438,3377,0.15,1.05,0.00,0.000,4,0.161,0.043,2509,915,3677,0,0,0,0,0,0
$GC,3430,-0.70,-194.6,484.2,-12.1,443,3433,0.00,1.02,0.00,0.000,6,0.000,0.037,2509,1607,3677,0,0,0,0,0,0
$GC,3763,-0.70,-194.6,523.0,-11.0,474,3767,0.00,1.02,0.00,0.000,4,0.000,0.044,2508,2305,3675,0,0,0,0,0,0
$GC,3848,-0.71,-194.6,532.3,-10.2,481,3854,0.00,1.02,0.00,0.000,6,0.000,0.039,2513,1616,3674,0,0,0,0,0,0
$GC,4173,-0.71,-194.6,569.5,-11.9,512,4177,0.00,1.05,0.00,0.000,4,0.000,0.044,2513,916,3672,0,0,0,0,0,0
$GC,4263,-0.71,-194.6,580.8,-12.5,520,4267,0.00,1.05,0.00,0.000,6,0.000,0.041,2508,1610,3671,0,0,0,0,0,0
$GC,4602,-0.71,-194.6,623.9,-12.5,543,4605,0.00,1.05,0.00,0.000,4,0.000,0.050,2504,2297,3669,0,0,0,0,0,0
$GC,4625,-0.71,-194.6,627.1,-12.3,544,4629,0.00,1.02,0.00,0.000,6,0.000,0.043,2503,1618,3668,0,0,0,0,0,0
$GC,4958,-0.71,-194.6,664.7,-10.5,560,4962,0.00,1.08,0.00,0.000,4,0.000,0.048,2504,905,3666,0,0,0,0,0,0
$GC,5074,-0.71,-194.6,677.1,-11.0,565,5078,0.00,1.08,0.00,0.000,6,0.000,0.044,2498,1606,3666,0,0,0,0,0,0
$GC,5407,-0.71,-194.6,713.7,-11.1,581,5411,0.00,1.05,0.00,0.000,4,0.000,0.052,2493,2300,3662,0,0,0,0,0,0
$GC,5470,-0.71,-194.6,720.7,-11.3,583,5476,0.00,1.05,0.00,0.000,6,0.000,0.046,2493,1614,3662,0,0,0,0,0,0
$GC,5786,-0.71,-194.6,758.7,-12.0,599,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1614,3660,0,0,0,0,0,0
$GC,6095,-0.71,-194.6,796.3,-11.9,614,6099,0.00,1.08,0.00,0.000,4,0.000,0.053,2493,914,3657,0,0,0,0,0,0
$GC,6147,-0.71,-194.6,802.8,-12.9,616,6151,0.00,1.08,0.00,0.000,6,0.000,0.047,2488,1607,3656,0,0,0,0,0,0
$GC,6474,-0.71,-194.6,843.4,-12.3,632,6478,0.00,1.08,0.00,0.000,4,0.000,0.051,2488,917,3654,0,0,0,0,0,0
$GC,6524,-0.71,-194.6,850.0,-12.9,634,6529,0.08,1.08,0.00,0.000,6,0.148,0.048,2508,1607,3653,0,0,0,0,0,0
$GC,6855,-0.74,-194.6,884.3,-10.4,650,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1607,3652,0,0,0,0,0,0
$GC,7161,-0.76,-194.6,915.3,-9.9,665,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1607,3650,0,0,0,0,0,0
$GC,7473,-0.78,-194.6,944.5,-9.5,680,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1607,3648,0,0,0,0,0,0
$GC,7780,-0.80,-194.6,973.7,-9.5,695,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1607,3646,0,0,0,0,0,0
$STATE,7962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7962,begin apogee
$GC,7968,-0.11,0.0,990.9,9.3,704,8141,0.60,0.00,165.65,1.438,6,0.119,0.000,2704,1789,2883,0,0,0,0,0,0
$STATE,8142,end apogee,CONTROL_FINISHED_OK
$STATE,8142,begin climb
$GC,8144,0.65,194.6,995.4,0.0,712,8330,0.70,1.12,179.20,1.386,4,0.068,0.057,2956,2482,2089,0,0,0,0,0,0
$GC,8365,0.63,194.6,973.8,14.0,721,8369,0.00,1.12,0.00,0.000,6,0.000,0.051,2961,1787,2086,0,0,0,0,0,0
$GC,8690,0.61,194.6,928.5,14.2,737,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1787,2080,0,0,0,0,0,0
$GC,8996,0.59,194.6,885.2,13.6,752,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1787,2078,0,0,0,0,0,0
$GC,9308,0.56,194.6,843.7,13.3,767,9312,0.12,1.10,0.00,0.000,4,0.178,0.057,2925,2478,2077,0,0,0,0,0,0
$GC,9381,0.61,230.7,834.7,10.7,770,9420,0.00,1.10,32.08,1.308,6,0.000,0.047,2928,1770,1943,0,0,0,0,0,0
$GC,9729,0.65,255.6,795.9,11.2,787,9754,0.00,0.00,23.60,1.264,6,0.000,0.000,2928,1770,1842,0,0,0,0,0,0
$GC,10058,0.71,285.0,759.4,11.0,803,10090,0.12,0.00,29.20,1.257,6,0.089,0.000,2989,1770,1720,0,0,0,0,0,0
$GC,10390,0.68,285.0,707.2,16.1,819,10394,0.00,1.12,0.00,0.000,4,0.000,0.057,2990,2490,1716,0,0,0,0,0,0
$GC,10474,0.67,285.0,693.3,14.7,822,10481,0.10,1.10,0.00,0.000,6,0.157,0.047,2963,1784,1716,0,0,0,0,0,0
$GC,10790,0.67,285.0,650.9,13.6,838,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1784,1714,0,0,0,0,0,0
$GC,11102,0.67,285.0,607.8,13.7,853,11105,0.00,1.08,0.00,0.000,4,0.000,0.050,2967,1072,1714,0,0,0,0,0,0
$GC,11140,0.67,285.0,601.9,13.5,854,11147,0.00,1.10,0.00,0.000,6,0.000,0.045,2966,1787,1713,0,0,0,0,0,0
$GC,11465,0.67,285.0,560.3,12.7,884,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1787,1713,0,0,0,0,0,0
$GC,11785,0.67,285.0,521.4,12.8,914,11789,0.00,1.10,0.00,0.000,4,0.000,0.048,2970,1074,1712,0,0,0,0,0,0
$GC,11872,0.68,285.0,510.1,13.1,921,11878,0.00,1.08,0.00,0.000,6,0.000,0.044,2969,1778,1711,0,0,0,0,0,0
$GC,12197,0.69,285.0,467.7,12.3,952,12201,0.00,1.08,0.00,0.000,4,0.000,0.054,2969,2480,1712,0,0,0,0,0,0
$GC,12238,0.71,285.0,462.7,12.3,955,12245,0.00,1.08,0.00,0.000,6,0.000,0.043,2972,1779,1712,0,0,0,0,0,0
$GC,12563,0.73,300.6,424.3,11.6,986,12583,0.00,0.00,14.18,0.974,6,0.000,0.000,2972,1778,1659,0,0,0,0,0,0
$GC,12902,0.78,326.4,385.1,11.1,1018,12937,0.00,1.12,24.67,0.977,4,0.000,0.047,2977,1071,1552,0,0,0,0,0,0
$GC,12965,0.84,358.4,378.0,10.9,1023,13000,0.08,1.10,30.38,0.967,6,0.059,0.041,3034,1788,1423,0,0,0,0,0,0
$GC,13319,0.82,358.4,319.3,16.9,1056,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1788,1419,0,0,0,0,0,0
$GC,13643,0.80,358.4,265.1,17.0,1086,13647,0.12,1.10,0.00,0.000,4,0.164,0.045,3005,1078,1418,0,0,0,0,0,0
$GC,13692,0.82,358.4,256.7,14.0,1090,13700,0.00,1.08,0.00,0.000,6,0.000,0.040,3005,1790,1417,0,0,0,0,0,0
$GC,14018,0.84,358.4,214.9,12.8,1146,14026,0.00,1.10,0.00,0.000,4,0.000,0.044,3008,1067,1417,0,0,0,0,0,0
$GC,14078,0.86,358.4,207.4,13.0,1156,14087,0.00,1.08,0.00,0.000,6,0.000,0.039,3008,1786,1417,0,0,0,0,0,0
$GC,14408,0.92,384.0,167.8,11.1,1217,14439,0.00,1.00,23.38,0.777,4,0.000,0.043,3008,2477,1317,0,0,0,0,0,0
$GC,14461,0.96,389.2,161.4,12.0,1224,14472,0.08,1.05,6.03,0.597,6,0.053,0.040,3069,1774,1297,0,0,0,0,0,0
$GC,14793,0.95,389.2,109.1,14.3,1285,14800,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1774,1296,0,0,0,0,0,0
$GC,15120,1.03,433.7,65.5,10.3,1346,15164,0.00,1.08,38.95,0.699,4,0.000,0.045,3075,1083,1114,0,0,0,0,0,0
$GC,15281,1.13,478.4,48.8,10.3,1373,15326,0.05,1.05,38.12,0.678,6,0.066,0.037,3130,1788,932,0,0,0,0,0,0
$STATE,15589,end climb,SURFACE_DEPTH_REACHED
$STATE,15589,begin surface coast
$FINISH,1.4,1.008893
$STATE,15609,end surface coast,CONTROL_FINISHED_OK
$STATE,15609,begin surface
$SM_CCo,15686,0.00,0.000,0,0,927,480.05
$SM_GC,2.14,7.80,0.00,0.00,0.038,0.000,0.000,148,1605,927,-8.06,-0.14,480.05,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12303.60,241011,131355
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.50
$XPDR_PINGS,113
$24V_AH,23.0,106.364
$10V_AH,9.7,72.184
$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,19.775,55.750,605.425,0.000,0.000,62.902,42.017,286.550,28.250,0.000,34.493,3547.932,8106.801,633.322,3498.816,520.342,0.000,1953.432,0.000,3139.326,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,67.320,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.256,1464.861,1607.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330468
$DATA_FILE_SIZE,80178,1431
$CAP_FILE_SIZE,163143,0
$CFSIZE,260165632,108888064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147, 29.7,1
$GPS,241011,225706,2327.659,12302.403,61,2.0,61,-3.2