version: 66.09
glider: 166
mission: 6
dive: 434
start: 10 25 111 3 50 45
data:
$ID,166
$MISSION,6
$DIVE,434
$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,-24953.086
$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,48
$R_STBD_OVSHOOT,58
$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
$GPS1,251011,033254,2327.189,12301.543,37,1.8,37,-3.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-66.0
$GPS2,251011,035022,2327.335,12301.668,15,2.6,34,-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,244.8,169106,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.65,-194.6,0.0,0.0,0,118,0.00,0.00,-94.57,0.000,2,0.000,0.000,135,1597,3258,0,0,0,0,0,0
$GC,121,-0.65,-194.6,6.2,-9.1,13,146,9.43,1.02,-7.95,0.000,4,0.218,0.061,2520,2306,3679,0,0,0,0,0,0
$GC,370,-0.58,-194.6,82.9,-21.6,58,378,0.00,1.05,0.00,0.000,6,0.000,0.040,2522,1612,3681,0,0,0,0,0,0
$GC,699,-0.54,-194.6,143.1,-16.4,119,709,0.15,1.08,0.00,0.000,4,0.159,0.046,2574,914,3682,0,0,0,0,0,0
$GC,787,-0.55,-194.6,156.2,-13.7,134,795,0.00,1.02,0.00,0.000,6,0.000,0.041,2569,1593,3682,0,0,0,0,0,0
$GC,1117,-0.57,-194.6,195.1,-11.1,195,1125,0.00,1.08,0.00,0.000,4,0.000,0.046,2563,2315,3682,0,0,0,0,0,0
$GC,1162,-0.60,-194.6,199.7,-10.7,202,1170,0.00,1.08,0.00,0.000,6,0.000,0.041,2562,1604,3682,0,0,0,0,0,0
$GC,1491,-0.62,-194.6,237.7,-12.1,263,1500,0.00,1.08,0.00,0.000,4,0.000,0.046,2556,2310,3682,0,0,0,0,0,0
$GC,1605,-0.65,-194.6,251.3,-11.1,283,1613,0.00,1.05,0.00,0.000,6,0.000,0.041,2557,1617,3682,0,0,0,0,0,0
$GC,1931,-0.67,-194.6,290.1,-11.4,314,1935,0.00,1.05,0.00,0.000,4,0.000,0.047,2550,2306,3681,0,0,0,0,0,0
$GC,1999,-0.70,-194.6,297.0,-10.0,320,2003,0.00,1.05,0.00,0.000,6,0.000,0.041,2550,1608,3680,0,0,0,0,0,0
$GC,2331,-0.73,-194.6,332.7,-11.4,351,2335,0.12,1.10,0.00,0.000,4,0.081,0.047,2464,2316,3679,0,0,0,0,0,0
$GC,2354,-0.71,-194.6,335.8,-12.6,353,2358,0.15,1.05,0.00,0.000,6,0.137,0.041,2512,1616,3679,0,0,0,0,0,0
$GC,2685,-0.71,-194.6,379.7,-12.0,384,2688,0.00,1.05,0.00,0.000,4,0.000,0.047,2510,2308,3677,0,0,0,0,0,0
$GC,2731,-0.71,-194.6,385.2,-11.4,388,2735,0.00,1.05,0.00,0.000,6,0.000,0.042,2514,1608,3677,0,0,0,0,0,0
$GC,3062,-0.71,-194.6,428.1,-13.8,419,3066,0.00,1.08,0.00,0.000,4,0.000,0.047,2516,2312,3676,0,0,0,0,0,0
$GC,3142,-0.72,-194.6,438.4,-12.7,426,3146,0.00,1.08,0.00,0.000,6,0.000,0.042,2518,1606,3676,0,0,0,0,0,0
$GC,3473,-0.72,-194.6,481.4,-12.1,457,3477,0.00,1.05,0.00,0.000,4,0.000,0.048,2514,916,3673,0,0,0,0,0,0
$GC,3497,-0.72,-194.6,484.4,-12.0,459,3500,0.00,1.08,0.00,0.000,6,0.000,0.043,2508,1619,3673,0,0,0,0,0,0
$GC,3827,-0.72,-194.6,527.1,-12.4,490,3831,0.00,1.02,0.00,0.000,4,0.000,0.050,2506,2300,3670,0,0,0,0,0,0
$GC,3877,-0.72,-194.6,533.3,-12.4,494,3883,0.00,1.05,0.00,0.000,6,0.000,0.044,2507,1614,3670,0,0,0,0,0,0
$GC,4203,-0.72,-194.6,573.8,-12.8,525,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1614,3667,0,0,0,0,0,0
$GC,4528,-0.72,-194.6,612.8,-11.7,551,4532,0.00,1.08,0.00,0.000,4,0.000,0.052,2507,2306,3665,0,0,0,0,0,0
$GC,4577,-0.72,-194.6,618.2,-11.7,553,4580,0.00,1.08,0.00,0.000,6,0.000,0.047,2507,1608,3664,0,0,0,0,0,0
$GC,4910,-0.72,-194.6,659.2,-12.2,569,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1608,3661,0,0,0,0,0,0
$GC,5220,-0.72,-194.6,695.3,-11.7,584,5223,0.00,1.08,0.00,0.000,4,0.000,0.050,2507,905,3659,0,0,0,0,0,0
$GC,5268,-0.72,-194.6,701.1,-12.5,586,5272,0.00,1.08,0.00,0.000,6,0.000,0.046,2503,1603,3658,0,0,0,0,0,0
$GC,5601,-0.72,-194.6,742.0,-12.0,602,5604,0.00,1.08,0.00,0.000,4,0.000,0.054,2498,2308,3656,0,0,0,0,0,0
$GC,5634,-0.72,-194.6,746.1,-11.7,603,5637,0.00,1.08,0.00,0.000,6,0.000,0.047,2498,1610,3655,0,0,0,0,0,0
$GC,5958,-0.72,-194.6,785.1,-12.0,619,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1610,3653,0,0,0,0,0,0
$GC,6264,-0.72,-194.6,823.1,-12.5,634,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1610,3651,0,0,0,0,0,0
$GC,6576,-0.72,-194.6,862.4,-12.7,649,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1610,3648,0,0,0,0,0,0
$GC,6883,-0.72,-194.6,901.7,-12.4,664,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1610,3646,0,0,0,0,0,0
$GC,7193,-0.74,-194.6,938.9,-11.6,679,7197,0.00,1.12,0.00,0.000,4,0.000,0.055,2498,911,3644,0,0,0,0,0,0
$GC,7333,-0.75,-194.6,954.7,-11.5,685,7337,0.00,1.10,0.00,0.000,6,0.000,0.050,2492,1608,3644,0,0,0,0,0,0
$STATE,7663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7664,begin apogee
$GC,7670,-0.11,0.0,991.9,11.1,701,7841,0.65,0.00,164.38,1.438,6,0.125,0.000,2701,1785,2884,0,0,0,0,0,0
$STATE,7842,end apogee,CONTROL_FINISHED_OK
$STATE,7842,begin climb
$GC,7845,0.65,194.6,998.2,0.0,709,8036,0.70,1.20,179.25,1.384,4,0.068,0.055,2961,1084,2089,0,0,0,0,0,0
$GC,8053,0.63,194.6,979.7,12.6,718,8060,0.00,1.12,0.00,0.000,6,0.000,0.050,2961,1771,2086,0,0,0,0,0,0
$GC,8370,0.60,194.6,938.8,12.5,734,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1771,2081,0,0,0,0,0,0
$GC,8681,0.58,201.8,901.5,11.9,749,8691,0.00,1.10,6.20,1.030,4,0.000,0.050,2965,1072,2061,0,0,0,0,0,0
$GC,8766,0.56,201.8,890.3,13.1,753,8770,0.12,1.12,0.00,0.000,6,0.148,0.050,2926,1788,2059,0,0,0,0,0,0
$GC,9100,0.59,229.2,853.5,11.1,769,9129,0.00,0.00,26.70,1.306,6,0.000,0.000,2927,1788,1949,0,0,0,0,0,0
$GC,9428,0.62,241.9,815.2,11.7,785,9448,0.00,0.00,12.65,1.201,6,0.000,0.000,2927,1788,1896,0,0,0,0,0,0
$GC,9759,0.68,268.5,777.9,11.1,801,9791,0.12,1.15,25.75,1.265,4,0.089,0.051,2994,1077,1789,0,0,0,0,0,0
$GC,9832,0.65,268.5,766.7,16.1,804,9837,0.10,1.10,0.00,0.000,6,0.152,0.047,2962,1776,1787,0,0,0,0,0,0
$GC,10161,0.65,268.5,723.5,12.8,820,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1777,1785,0,0,0,0,0,0
$GC,10468,0.65,271.6,685.5,12.1,835,10472,0.00,1.08,0.00,0.000,4,0.000,0.050,2965,1081,1784,0,0,0,0,0,0
$GC,10524,0.65,271.6,678.2,12.7,837,10528,0.00,1.08,0.00,0.000,6,0.000,0.044,2962,1780,1783,0,0,0,0,0,0
$GC,10848,0.65,271.6,637.1,13.1,853,10851,0.00,1.05,0.00,0.000,4,0.000,0.054,2958,2473,1783,0,0,0,0,0,0
$GC,10894,0.66,271.6,630.8,13.2,855,10898,0.00,1.05,0.00,0.000,6,0.000,0.044,2961,1785,1782,0,0,0,0,0,0
$GC,11223,0.67,274.2,589.6,12.1,874,11231,0.00,0.00,5.57,0.882,6,0.000,0.000,2962,1785,1766,0,0,0,0,0,0
$GC,11548,0.68,285.7,549.9,11.7,905,11565,0.00,1.08,12.88,1.057,4,0.000,0.047,2967,1071,1718,0,0,0,0,0,0
$GC,11603,0.71,300.0,543.6,11.6,909,11626,0.00,1.10,14.85,1.055,6,0.000,0.044,2967,1784,1660,0,0,0,0,0,0
$GC,11947,0.74,313.0,501.9,11.7,941,11966,0.00,1.15,13.55,1.016,4,0.000,0.047,2970,1069,1607,0,0,0,0,0,0
$GC,11990,0.77,328.5,496.7,11.6,945,12014,0.00,1.10,15.75,1.016,6,0.000,0.042,2967,1783,1543,0,0,0,0,0,0
$GC,12335,0.80,332.5,456.1,12.1,977,12349,0.10,1.12,4.57,0.712,4,0.103,0.048,3030,1069,1528,0,0,0,0,0,0
$GC,12400,0.77,332.5,445.3,17.5,982,12407,0.10,1.10,0.00,0.000,6,0.145,0.043,2998,1791,1527,0,0,0,0,0,0
$GC,12725,0.77,332.5,399.0,14.2,1013,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1791,1527,0,0,0,0,0,0
$GC,13045,0.77,332.5,355.1,13.3,1043,13049,0.00,1.10,0.00,0.000,4,0.000,0.045,3002,1068,1527,0,0,0,0,0,0
$GC,13085,0.77,332.5,349.5,13.7,1046,13092,0.00,1.08,0.00,0.000,6,0.000,0.041,2998,1778,1527,0,0,0,0,0,0
$GC,13410,0.77,332.5,305.7,13.2,1077,13414,0.00,1.08,0.00,0.000,4,0.000,0.047,3002,1075,1527,0,0,0,0,0,0
$GC,13436,0.77,332.5,302.7,13.0,1079,13440,0.00,1.08,0.00,0.000,6,0.000,0.040,2998,1788,1527,0,0,0,0,0,0
$GC,13768,0.78,332.5,260.6,12.9,1110,13771,0.00,1.10,0.00,0.000,4,0.000,0.044,3002,1064,1527,0,0,0,0,0,0
$GC,13808,0.79,332.5,255.1,13.4,1113,13815,0.00,1.08,0.00,0.000,6,0.000,0.039,2999,1779,1527,0,0,0,0,0,0
$GC,14135,0.86,367.1,216.2,10.8,1171,14173,0.00,1.10,32.15,0.831,4,0.000,0.042,3002,1059,1386,0,0,0,0,0,0
$GC,14208,0.92,396.3,207.9,11.0,1182,14240,0.08,1.10,27.05,0.803,6,0.060,0.038,3059,1785,1268,0,0,0,0,0,0
$GC,14562,0.91,396.3,147.3,16.8,1246,14570,0.00,1.02,0.00,0.000,4,0.000,0.046,3059,2475,1265,0,0,0,0,0,0
$GC,14601,0.91,396.3,140.9,16.9,1252,14609,0.00,1.08,0.00,0.000,6,0.000,0.039,3064,1761,1265,0,0,0,0,0,0
$GC,14928,0.91,396.3,93.9,13.7,1313,14937,0.00,1.00,0.00,0.000,4,0.000,0.044,3069,1083,1264,0,0,0,0,0,0
$GC,15003,0.92,396.3,83.2,13.7,1326,15011,0.00,1.02,0.00,0.000,6,0.000,0.037,3069,1778,1264,0,0,0,0,0,0
$GC,15334,1.02,444.7,49.3,10.2,1387,15380,0.00,1.12,41.33,0.676,4,0.000,0.044,3072,1071,1070,0,0,0,0,0,0
$GC,15417,1.06,444.7,39.0,12.8,1399,15425,0.00,1.05,0.00,0.000,6,0.000,0.034,3069,1783,1069,0,0,0,0,0,0
$GC,15748,1.11,444.7,5.3,13.1,1460,15757,0.10,1.08,0.00,0.000,4,0.098,0.044,3139,1082,1069,0,0,0,0,0,0
$STATE,15780,end climb,SURFACE_DEPTH_REACHED
$STATE,15781,begin surface coast
$FINISH,1.4,1.021906
$STATE,15814,end surface coast,CONTROL_FINISHED_OK
$STATE,15814,begin surface
$SM_CCo,15834,11.23,0.063,0,0,1049,450.13
$SM_GC,1.75,0.00,0.00,11.23,0.000,0.000,0.063,149,1629,1049,-8.11,0.54,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12302.32,251011,030336
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.98
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,25.40
$XPDR_PINGS,124
$24V_AH,23.1,106.835
$10V_AH,9.7,72.522
$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,19.575,64.625,582.625,11.225,0.000,158.482,80.459,343.223,31.000,0.000,35.844,3646.558,8221.159,670.063,3786.276,549.620,0.000,1992.724,0.000,3212.454,0.000,0.542,0.000
$DEVICE_MAMPS,218.025,70.380,1438.200,62.730,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.292,1508.775,1714.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330504
$DATA_FILE_SIZE,83347,1471
$CAP_FILE_SIZE,171362,0
$CFSIZE,260165632,108699648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169, 36.1,1
$GPS,251011,081656,2327.463,12300.009,63,99.0,82,-3.2