version: 66.09
glider: 166
mission: 6
dive: 433
start: 10 24 111 23 7 4
data:
$ID,166
$MISSION,6
$DIVE,433
$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,-24951.826
$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,41
$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
$GPS1,241011,225706,2327.659,12302.403,61,2.0,61,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-63.6
$GPS2,241011,230640,2327.703,12302.372,37,2.1,56,-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,238.7,170442,-18.6,-12.222
$D_GRID,3638
$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,-194.6,0.0,0.0,0,113,0.00,0.00,-90.80,0.000,2,0.000,0.000,117,1603,3126,0,0,0,0,0,0
$GC,116,-0.65,-194.6,5.8,-8.1,12,141,9.55,1.10,-10.68,0.000,4,0.220,0.066,2529,890,3679,0,0,0,0,0,0
$GC,382,-0.60,-194.6,81.7,-19.3,60,390,0.00,1.08,0.00,0.000,6,0.000,0.037,2524,1608,3681,0,0,0,0,0,0
$GC,711,-0.55,-194.6,146.7,-18.6,121,720,0.15,1.08,0.00,0.000,4,0.164,0.042,2560,911,3682,0,0,0,0,0,0
$GC,853,-0.55,-194.6,165.7,-12.4,146,862,0.00,1.05,0.00,0.000,6,0.000,0.039,2556,1611,3684,0,0,0,0,0,0
$GC,1184,-0.55,-194.6,208.3,-13.4,207,1192,0.00,1.02,0.00,0.000,4,0.000,0.044,2552,2309,3683,0,0,0,0,0,0
$GC,1278,-0.57,-194.6,220.4,-12.2,224,1286,0.00,1.05,0.00,0.000,6,0.000,0.040,2551,1608,3684,0,0,0,0,0,0
$GC,1612,-0.59,-194.6,263.6,-12.4,276,1616,0.00,1.05,0.00,0.000,4,0.000,0.046,2546,2301,3683,0,0,0,0,0,0
$GC,1662,-0.62,-194.6,269.8,-11.7,280,1670,0.00,1.05,0.00,0.000,6,0.000,0.041,2546,1602,3683,0,0,0,0,0,0
$GC,1989,-0.63,-194.6,309.5,-12.2,311,1992,0.00,1.05,0.00,0.000,4,0.000,0.045,2541,2300,3683,0,0,0,0,0,0
$GC,2024,-0.65,-194.6,313.3,-10.6,314,2028,0.00,1.05,0.00,0.000,6,0.000,0.042,2542,1601,3683,0,0,0,0,0,0
$GC,2356,-0.68,-194.6,350.9,-11.2,345,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1601,3682,0,0,0,0,0,0
$GC,2676,-0.70,-194.6,384.1,-10.4,375,2680,0.00,1.08,0.00,0.000,4,0.000,0.047,2537,2308,3680,0,0,0,0,0,0
$GC,2747,-0.74,-194.6,391.2,-9.5,381,2751,0.00,1.05,0.00,0.000,6,0.000,0.043,2539,1614,3680,0,0,0,0,0,0
$GC,3081,-0.76,-194.6,426.8,-10.6,412,3088,0.12,0.00,0.00,0.000,6,0.082,0.000,2464,1614,3678,0,0,0,0,0,0
$GC,3407,-0.72,-194.6,477.4,-14.7,443,3411,0.15,1.08,0.00,0.000,4,0.161,0.050,2502,2305,3677,0,0,0,0,0,0
$GC,3454,-0.72,-194.6,483.6,-12.6,447,3457,0.00,1.05,0.00,0.000,6,0.000,0.044,2503,1613,3677,0,0,0,0,0,0
$GC,3784,-0.72,-194.6,526.2,-13.2,478,3788,0.00,1.08,0.00,0.000,4,0.000,0.051,2504,2303,3674,0,0,0,0,0,0
$GC,3821,-0.72,-194.6,531.1,-12.5,481,3828,0.00,1.05,0.00,0.000,6,0.000,0.044,2508,1612,3675,0,0,0,0,0,0
$GC,4147,-0.72,-194.6,571.8,-12.5,512,4151,0.00,1.08,0.00,0.000,4,0.000,0.049,2510,907,3672,0,0,0,0,0,0
$GC,4196,-0.72,-194.6,578.1,-12.7,516,4203,0.00,1.08,0.00,0.000,6,0.000,0.044,2504,1609,3672,0,0,0,0,0,0
$GC,4532,-0.72,-194.6,617.8,-12.1,541,4536,0.00,1.08,0.00,0.000,4,0.000,0.048,2505,914,3669,0,0,0,0,0,0
$GC,4570,-0.72,-194.6,623.4,-12.7,542,4578,0.00,1.08,0.00,0.000,6,0.000,0.045,2500,1610,3669,0,0,0,0,0,0
$GC,4887,-0.72,-194.6,663.3,-12.5,558,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1610,3667,0,0,0,0,0,0
$GC,5199,-0.72,-194.6,700.8,-11.8,573,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1610,3664,0,0,0,0,0,0
$GC,5506,-0.72,-194.6,736.5,-11.5,588,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1610,3662,0,0,0,0,0,0
$GC,5818,-0.72,-194.6,772.5,-11.7,603,5822,0.00,1.12,0.00,0.000,4,0.000,0.052,2500,907,3659,0,0,0,0,0,0
$GC,5856,-0.72,-194.6,777.7,-12.3,604,5863,0.00,1.10,0.00,0.000,6,0.000,0.047,2494,1614,3659,0,0,0,0,0,0
$GC,6173,-0.72,-194.6,814.8,-11.8,620,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1614,3656,0,0,0,0,0,0
$GC,6485,-0.72,-194.6,847.9,-10.1,635,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1615,3654,0,0,0,0,0,0
$GC,6791,-0.72,-194.6,879.0,-10.1,650,6795,0.00,1.12,0.00,0.000,4,0.000,0.052,2495,910,3652,0,0,0,0,0,0
$GC,6933,-0.72,-194.6,894.2,-10.8,656,6937,0.00,1.10,0.00,0.000,6,0.000,0.050,2490,1606,3651,0,0,0,0,0,0
$GC,7262,-0.72,-194.6,929.4,-10.8,672,7266,0.00,1.10,0.00,0.000,4,0.000,0.054,2489,907,3649,0,0,0,0,0,0
$GC,7331,-0.72,-194.6,937.4,-11.5,675,7335,0.00,1.10,0.00,0.000,6,0.000,0.051,2485,1606,3648,0,0,0,0,0,0
$GC,7667,-0.72,-194.6,976.0,-11.3,691,7671,0.00,1.10,0.00,0.000,4,0.000,0.057,2484,908,3646,0,0,0,0,0,0
$GC,7713,-0.72,-194.6,981.7,-11.7,693,7718,0.08,1.10,0.00,0.000,6,0.150,0.051,2504,1605,3646,0,0,0,0,0,0
$STATE,7796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7796,begin apogee
$GC,7805,-0.11,0.0,990.3,9.7,697,7975,0.60,0.00,165.82,1.451,6,0.119,0.000,2702,1793,2884,0,0,0,0,0,0
$STATE,7976,end apogee,CONTROL_FINISHED_OK
$STATE,7976,begin climb
$GC,7979,0.65,194.6,996.7,0.0,705,8165,0.70,1.15,180.05,1.396,4,0.067,0.052,2960,1086,2089,0,0,0,0,0,0
$GC,8217,0.62,194.6,975.1,13.4,715,8221,0.00,1.12,0.00,0.000,6,0.000,0.054,2960,1774,2085,0,0,0,0,0,0
$GC,8550,0.60,194.6,928.9,13.8,731,8554,0.00,1.10,0.00,0.000,4,0.000,0.061,2960,2488,2080,0,0,0,0,0,0
$GC,8606,0.57,194.6,920.8,13.7,733,8610,0.10,1.10,0.00,0.000,6,0.161,0.050,2934,1784,2079,0,0,0,0,0,0
$GC,8929,0.58,199.6,882.1,12.0,749,8933,0.00,1.08,0.00,0.000,4,0.000,0.053,2937,1076,2078,0,0,0,0,0,0
$GC,8979,0.58,199.6,875.3,12.4,751,8983,0.00,1.12,0.00,0.000,6,0.000,0.050,2936,1791,2078,0,0,0,0,0,0
$GC,9310,0.59,207.8,837.1,11.9,767,9325,0.00,1.12,11.32,1.210,4,0.000,0.049,2940,1066,2035,0,0,0,0,0,0
$GC,9364,0.60,214.1,830.1,12.0,768,9375,0.00,1.12,7.38,1.082,6,0.000,0.049,2939,1785,2011,0,0,0,0,0,0
$GC,9680,0.63,235.6,793.5,11.3,784,9703,0.00,0.00,20.98,1.271,6,0.000,0.000,2940,1785,1923,0,0,0,0,0,0
$GC,10012,0.67,270.3,757.6,10.8,800,10049,0.00,1.15,33.25,1.275,4,0.000,0.057,2940,2490,1782,0,0,0,0,0,0
$GC,10102,0.72,295.1,747.4,11.2,803,10133,0.00,1.12,25.33,1.234,6,0.000,0.046,2943,1773,1679,0,0,0,0,0,0
$GC,10450,0.76,317.5,708.0,11.3,820,10477,0.12,1.08,21.67,1.209,4,0.090,0.049,3016,1074,1588,0,0,0,0,0,0
$GC,10517,0.72,317.5,698.0,17.8,823,10521,0.10,1.10,0.00,0.000,6,0.153,0.047,2982,1778,1585,0,0,0,0,0,0
$GC,10851,0.71,317.5,647.0,14.9,839,10855,0.00,1.08,0.00,0.000,4,0.000,0.057,2980,2486,1583,0,0,0,0,0,0
$GC,10912,0.71,317.5,637.6,14.1,841,10919,0.00,1.08,0.00,0.000,6,0.000,0.045,2984,1784,1583,0,0,0,0,0,0
$GC,11233,0.70,317.5,589.1,15.8,860,11237,0.00,1.08,0.00,0.000,4,0.000,0.049,2989,1071,1582,0,0,0,0,0,0
$GC,11268,0.69,317.5,582.9,16.5,863,11272,0.00,1.10,0.00,0.000,6,0.000,0.045,2985,1786,1582,0,0,0,0,0,0
$GC,11599,0.69,317.5,530.1,14.9,894,11603,0.00,1.05,0.00,0.000,4,0.000,0.054,2981,2479,1581,0,0,0,0,0,0
$GC,11645,0.69,317.5,523.4,14.2,898,11649,0.00,1.08,0.00,0.000,6,0.000,0.044,2984,1774,1581,0,0,0,0,0,0
$GC,11975,0.69,317.5,476.0,14.3,929,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1774,1580,0,0,0,0,0,0
$GC,12296,0.69,317.5,432.0,13.3,959,12300,0.00,1.10,0.00,0.000,4,0.000,0.053,2981,2488,1580,0,0,0,0,0,0
$GC,12345,0.70,317.5,425.8,12.9,963,12349,0.00,1.08,0.00,0.000,6,0.000,0.044,2984,1786,1580,0,0,0,0,0,0
$GC,12676,0.72,328.7,383.9,11.8,994,12690,0.00,1.12,10.05,0.898,4,0.000,0.049,2989,1071,1544,0,0,0,0,0,0
$GC,12743,0.74,338.6,376.1,11.8,999,12761,0.00,1.10,10.90,0.897,6,0.000,0.043,2986,1791,1502,0,0,0,0,0,0
$GC,13080,0.79,359.1,336.8,11.4,1031,13104,0.00,1.08,19.42,0.923,4,0.000,0.051,2982,2476,1420,0,0,0,0,0,0
$GC,13134,0.84,376.8,330.6,11.5,1035,13155,0.00,1.08,17.75,0.898,6,0.000,0.041,2984,1773,1346,0,0,0,0,0,0
$GC,13480,0.87,376.8,290.1,12.3,1067,13485,0.12,1.08,0.00,0.000,4,0.086,0.047,3058,1068,1344,0,0,0,0,0,0
$GC,13527,0.84,376.8,282.1,17.7,1071,13531,0.12,1.08,0.00,0.000,6,0.144,0.041,3018,1787,1344,0,0,0,0,0,0
$GC,13857,0.84,376.8,232.0,14.9,1112,13865,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1787,1344,0,0,0,0,0,0
$GC,14185,0.85,380.1,188.8,12.1,1173,14195,0.00,1.08,3.88,0.499,4,0.000,0.047,3013,2482,1334,0,0,0,0,0,0
$GC,14225,0.88,384.5,183.8,12.0,1179,14241,0.00,1.05,6.22,0.633,6,0.000,0.040,3016,1780,1315,0,0,0,0,0,0
$GC,14563,0.90,384.5,143.8,12.7,1241,14571,0.00,1.05,0.00,0.000,4,0.000,0.045,3022,1083,1315,0,0,0,0,0,0
$GC,14609,0.93,389.7,138.4,12.0,1248,14625,0.00,1.02,6.28,0.601,6,0.000,0.038,3018,1778,1295,0,0,0,0,0,0
$GC,14946,1.02,418.5,103.6,11.0,1310,14978,0.15,1.12,26.38,0.718,4,0.078,0.044,3105,1077,1177,0,0,0,0,0,0
$GC,15060,0.99,418.5,82.4,19.7,1329,15069,0.12,1.05,0.00,0.000,6,0.134,0.037,3063,1783,1176,0,0,0,0,0,0
$GC,15397,1.11,480.6,48.8,9.6,1390,15460,0.12,1.15,52.67,0.679,4,0.086,0.044,3140,1074,922,0,0,0,0,0,0
$GC,15492,1.09,480.6,34.0,18.0,1403,15501,0.12,1.08,0.00,0.000,6,0.135,0.035,3096,1791,921,0,0,0,0,0,0
$STATE,15769,end climb,SURFACE_DEPTH_REACHED
$STATE,15769,begin surface coast
$FINISH,1.3,1.009309
$STATE,15796,end surface coast,CONTROL_FINISHED_OK
$STATE,15796,begin surface
$SM_CCo,15874,0.00,0.000,0,0,917,482.51
$SM_GC,1.98,7.65,0.00,0.00,0.037,0.000,0.000,147,1596,917,-8.05,-0.40,482.51,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12303.60,241011,181826
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.31
$INTERNAL_PRESSURE,9.42877
$TCM_TEMP,25.20
$XPDR_PINGS,127
$24V_AH,22.9,106.601
$10V_AH,9.7,72.352
$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,20.100,67.775,619.350,0.000,0.000,25.476,25.975,312.906,31.750,0.000,58.455,3649.568,7975.615,632.453,3624.675,545.080,0.000,2018.050,0.000,3266.990,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,68.085,1451.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,997.737,1493.201,1699.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,83552,1459
$CAP_FILE_SIZE,171723,0
$CFSIZE,260165632,108789760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199, 53.3,1
$GPS,251011,033254,2327.189,12301.543,37,1.8,37,-3.2