version: 66.09
glider: 166
mission: 6
dive: 436
start: 10 25 111 13 18 55
data:
$ID,166
$MISSION,6
$DIVE,436
$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,-24955.607
$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,52
$R_STBD_OVSHOOT,60
$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
$GPS1,251011,130657,2327.393,12258.483,32,99.0,51,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-55.5
$GPS2,251011,131831,2327.442,12258.439,37,1.8,41,-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,238.1,163853,-18.6,-12.222
$D_GRID,3408
$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,19,-0.65,-194.6,0.0,0.0,0,125,0.00,0.00,-103.22,0.000,2,0.000,0.000,135,1592,3168,0,0,0,0,0,0
$GC,128,-0.65,-194.6,5.2,-4.6,14,152,9.55,1.10,-9.85,0.000,4,0.222,0.068,2521,2302,3681,0,0,0,0,0,0
$GC,242,-0.55,-194.6,47.3,-29.3,33,251,0.08,1.05,0.00,0.000,6,0.164,0.041,2552,1614,3682,0,0,0,0,0,0
$GC,571,-0.52,-194.6,115.9,-17.2,94,580,0.00,1.08,0.00,0.000,4,0.000,0.047,2553,905,3683,0,0,0,0,0,0
$GC,654,-0.51,-194.6,129.9,-15.4,108,662,0.00,1.02,0.00,0.000,6,0.000,0.041,2552,1585,3683,0,0,0,0,0,0
$GC,983,-0.50,-194.6,178.6,-14.2,169,993,0.12,1.10,0.00,0.000,4,0.166,0.044,2579,2316,3684,0,0,0,0,0,0
$GC,1064,-0.54,-194.6,187.4,-10.9,182,1072,0.00,1.08,0.00,0.000,6,0.000,0.041,2580,1605,3684,0,0,0,0,0,0
$GC,1393,-0.57,-194.6,222.8,-10.6,243,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1605,3684,0,0,0,0,0,0
$GC,1723,-0.61,-194.6,255.3,-9.5,300,1726,0.00,1.08,0.00,0.000,4,0.000,0.045,2574,2317,3684,0,0,0,0,0,0
$GC,1785,-0.67,-194.6,261.5,-9.0,305,1794,0.10,1.08,0.00,0.000,6,0.044,0.041,2484,1606,3683,0,0,0,0,0,0
$GC,2111,-0.62,-194.6,313.4,-16.6,336,2115,0.20,1.05,0.00,0.000,4,0.152,0.043,2548,917,3683,0,0,0,0,0,0
$GC,2160,-0.65,-194.6,320.6,-12.8,340,2166,0.00,1.05,0.00,0.000,6,0.000,0.040,2543,1616,3682,0,0,0,0,0,0
$GC,2486,-0.67,-194.6,360.2,-11.8,371,2489,0.00,1.02,0.00,0.000,4,0.000,0.047,2539,2302,3681,0,0,0,0,0,0
$GC,2624,-0.70,-194.6,374.8,-10.2,383,2627,0.00,1.05,0.00,0.000,6,0.000,0.043,2539,1618,3680,0,0,0,0,0,0
$GC,2956,-0.73,-194.6,412.5,-10.9,414,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1618,3679,0,0,0,0,0,0
$GC,3279,-0.76,-194.6,443.1,-9.0,444,3286,0.15,0.00,0.00,0.000,6,0.072,0.000,2474,1618,3676,0,0,0,0,0,0
$GC,3605,-0.72,-194.6,492.2,-15.2,475,3609,0.15,1.12,0.00,0.000,4,0.166,0.050,2518,903,3675,0,0,0,0,0,0
$GC,3745,-0.72,-194.6,508.8,-11.5,487,3748,0.00,1.08,0.00,0.000,6,0.000,0.042,2514,1609,3675,0,0,0,0,0,0
$GC,4076,-0.72,-194.6,549.2,-11.8,518,4080,0.00,1.05,0.00,0.000,4,0.000,0.048,2506,2307,3672,0,0,0,0,0,0
$GC,4174,-0.73,-194.6,560.0,-10.3,526,4181,0.00,1.08,0.00,0.000,6,0.000,0.044,2508,1606,3671,0,0,0,0,0,0
$GC,4499,-0.73,-194.6,597.8,-11.4,557,4503,0.00,1.10,0.00,0.000,4,0.000,0.051,2505,2312,3668,0,0,0,0,0,0
$GC,4593,-0.75,-194.6,607.9,-10.8,562,4597,0.00,1.08,0.00,0.000,6,0.000,0.044,2505,1609,3667,0,0,0,0,0,0
$GC,4927,-0.75,-194.6,646.8,-11.4,578,4931,0.00,1.05,0.00,0.000,4,0.000,0.051,2506,917,3665,0,0,0,0,0,0
$GC,4985,-0.75,-194.6,653.4,-11.8,580,4988,0.00,1.08,0.00,0.000,6,0.000,0.044,2500,1617,3665,0,0,0,0,0,0
$GC,5307,-0.75,-194.6,689.4,-11.1,596,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1618,3661,0,0,0,0,0,0
$GC,5616,-0.75,-194.6,724.5,-11.2,611,5620,0.00,1.10,0.00,0.000,4,0.000,0.051,2500,911,3659,0,0,0,0,0,0
$GC,5691,-0.75,-194.6,733.3,-12.1,614,5695,0.00,1.08,0.00,0.000,6,0.000,0.047,2495,1603,3659,0,0,0,0,0,0
$GC,6019,-0.75,-194.6,770.5,-11.2,630,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1603,3656,0,0,0,0,0,0
$GC,6330,-0.75,-194.6,805.2,-11.0,645,6333,0.00,1.08,0.00,0.000,4,0.000,0.053,2495,914,3654,0,0,0,0,0,0
$GC,6408,-0.75,-194.6,814.8,-11.5,648,6411,0.00,1.08,0.00,0.000,6,0.000,0.048,2490,1608,3653,0,0,0,0,0,0
$GC,6730,-0.75,-194.6,850.5,-11.2,664,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1608,3651,0,0,0,0,0,0
$GC,7041,-0.75,-194.6,885.9,-11.3,679,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1608,3649,0,0,0,0,0,0
$GC,7349,-0.75,-194.6,920.7,-11.2,694,7353,0.00,1.08,0.00,0.000,4,0.000,0.053,2490,919,3646,0,0,0,0,0,0
$GC,7429,-0.75,-194.6,930.3,-12.1,697,7433,0.00,1.08,0.00,0.000,6,0.000,0.049,2485,1611,3646,0,0,0,0,0,0
$GC,7751,-0.75,-194.6,966.3,-10.8,713,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1611,3644,0,0,0,0,0,0
$STATE,7995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7996,begin apogee
$GC,8002,-0.11,0.0,992.0,10.7,725,8175,0.68,0.00,165.40,1.442,6,0.124,0.000,2701,1780,2883,0,0,0,0,0,0
$STATE,8176,end apogee,CONTROL_FINISHED_OK
$STATE,8176,begin climb
$GC,8178,0.65,194.6,997.4,0.0,733,8365,0.70,1.15,179.20,1.385,4,0.068,0.058,2956,2490,2089,0,0,0,0,0,0
$GC,8449,0.63,194.6,968.9,14.9,744,8455,0.00,1.10,0.00,0.000,6,0.000,0.051,2960,1795,2084,0,0,0,0,0,0
$GC,8767,0.61,194.6,923.5,14.3,760,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1795,2080,0,0,0,0,0,0
$GC,9075,0.58,194.6,878.5,14.5,775,9078,0.00,1.08,0.00,0.000,4,0.000,0.059,2959,2480,2078,0,0,0,0,0,0
$GC,9161,0.56,194.6,866.3,14.1,778,9169,0.10,1.10,0.00,0.000,6,0.158,0.049,2932,1772,2078,0,0,0,0,0,0
$GC,9477,0.60,226.1,830.3,10.9,794,9509,0.00,1.10,27.95,1.307,4,0.000,0.056,2930,2481,1961,0,0,0,0,0,0
$GC,9560,0.65,250.2,821.3,11.2,797,9589,0.00,1.10,23.67,1.269,6,0.000,0.047,2933,1781,1863,0,0,0,0,0,0
$GC,9900,0.69,271.1,783.0,11.3,814,9923,0.10,0.00,20.25,1.245,6,0.101,0.000,2987,1782,1778,0,0,0,0,0,0
$GC,10229,0.67,271.1,732.7,15.6,830,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1782,1773,0,0,0,0,0,0
$GC,10535,0.64,271.1,683.3,15.9,845,10537,0.12,0.00,0.00,0.000,6,0.174,0.000,2956,1782,1772,0,0,0,0,0,0
$GC,10846,0.64,271.1,642.7,12.7,860,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1782,1771,0,0,0,0,0,0
$GC,11154,0.64,271.1,603.6,12.7,875,11158,0.00,1.08,0.00,0.000,4,0.000,0.054,2954,2480,1770,0,0,0,0,0,0
$GC,11200,0.66,271.1,597.6,12.9,877,11204,0.00,1.08,0.00,0.000,6,0.000,0.045,2956,1784,1770,0,0,0,0,0,0
$GC,11531,0.66,272.5,556.1,12.2,908,11535,0.00,1.10,0.00,0.000,4,0.000,0.054,2954,2489,1769,0,0,0,0,0,0
$GC,11570,0.68,279.9,551.2,11.9,911,11582,0.00,1.10,8.00,0.978,6,0.000,0.044,2957,1777,1743,0,0,0,0,0,0
$GC,11902,0.71,288.8,511.8,11.8,942,11916,0.00,1.15,10.30,1.000,4,0.000,0.052,2954,2495,1706,0,0,0,0,0,0
$GC,12034,0.76,309.4,496.7,11.4,953,12059,0.00,1.10,20.67,1.062,6,0.000,0.044,2957,1780,1622,0,0,0,0,0,0
$GC,12376,0.80,323.5,458.4,11.6,985,12400,0.12,1.12,13.85,0.992,4,0.090,0.050,3036,1068,1564,0,0,0,0,0,0
$GC,12477,0.76,323.5,441.1,19.2,993,12484,0.12,1.10,0.00,0.000,6,0.145,0.044,2996,1787,1562,0,0,0,0,0,0
$GC,12804,0.76,323.5,393.7,13.9,1024,12808,0.00,1.02,0.00,0.000,4,0.000,0.052,2992,2470,1562,0,0,0,0,0,0
$GC,12853,0.76,323.5,386.9,12.4,1028,12860,0.00,1.05,0.00,0.000,6,0.000,0.043,2994,1780,1562,0,0,0,0,0,0
$GC,13179,0.78,338.8,346.5,11.6,1059,13202,0.00,1.08,15.12,0.908,4,0.000,0.050,2992,2470,1501,0,0,0,0,0,0
$GC,13240,0.83,364.2,339.8,11.2,1064,13274,0.00,1.05,23.90,0.929,6,0.000,0.042,2995,1781,1398,0,0,0,0,0,0
$GC,13595,0.84,364.2,297.8,12.4,1097,13599,0.00,1.05,0.00,0.000,4,0.000,0.046,3000,1076,1396,0,0,0,0,0,0
$GC,13686,0.86,364.2,285.6,12.9,1105,13690,0.00,1.05,0.00,0.000,6,0.000,0.040,2997,1778,1396,0,0,0,0,0,0
$GC,14013,0.89,365.3,244.5,12.2,1139,14022,0.10,1.05,0.00,0.000,4,0.103,0.048,3058,2476,1396,0,0,0,0,0,0
$GC,14047,0.87,365.3,239.6,13.9,1144,14056,0.10,1.05,0.00,0.000,6,0.155,0.040,3033,1779,1396,0,0,0,0,0,0
$GC,14378,0.87,365.3,192.5,13.5,1205,14386,0.00,1.08,0.00,0.000,4,0.000,0.046,3036,1073,1395,0,0,0,0,0,0
$GC,14478,0.87,365.3,178.4,14.2,1222,14487,0.00,1.05,0.00,0.000,6,0.000,0.039,3034,1780,1396,0,0,0,0,0,0
$GC,14807,0.88,370.3,135.6,12.0,1283,14823,0.00,1.05,7.00,0.622,4,0.000,0.047,3031,2474,1374,0,0,0,0,0,0
$GC,14868,0.90,370.3,126.7,13.7,1293,14876,0.00,1.05,0.00,0.000,6,0.000,0.040,3034,1773,1374,0,0,0,0,0,0
$GC,15198,0.97,400.0,84.9,11.0,1354,15229,0.00,1.10,27.20,0.702,4,0.000,0.044,3033,2476,1253,0,0,0,0,0,0
$GC,15272,1.08,452.0,77.3,10.0,1365,15326,0.12,1.05,45.08,0.700,6,0.043,0.039,3119,1775,1040,0,0,0,0,0,0
$GC,15648,1.06,452.0,23.8,19.2,1432,15657,0.12,1.05,0.00,0.000,4,0.161,0.045,3085,1079,1037,0,0,0,0,0,0
$GC,15734,1.20,530.7,13.3,8.9,1447,15804,0.10,1.02,65.25,0.647,6,0.053,0.038,3147,1770,718,0,0,0,0,0,0
$STATE,15810,end climb,SURFACE_DEPTH_REACHED
$STATE,15810,begin surface coast
$FINISH,1.4,1.021941
$STATE,15837,end surface coast,CONTROL_FINISHED_OK
$STATE,15837,begin surface
$SM_CCo,15915,0.00,0.000,0,0,712,532.55
$SM_GC,1.99,7.88,0.00,0.00,0.039,0.000,0.000,154,1614,712,-8.04,0.11,532.55,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12300.35,251011,080824
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.62
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.60
$XPDR_PINGS,118
$24V_AH,23.0,107.325
$10V_AH,9.7,72.872
$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,20.725,60.625,652.850,0.000,0.000,57.051,32.546,319.436,29.500,0.000,42.286,3615.583,8068.289,677.460,3679.241,543.693,0.000,2074.639,0.000,3271.671,0.000,0.544,0.000
$DEVICE_MAMPS,221.850,70.380,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,997.862,1496.310,1673.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330552
$DATA_FILE_SIZE,83490,1461
$CAP_FILE_SIZE,171221,0
$CFSIZE,260165632,108515328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206, 42.8,1
$GPS,251011,174530,2327.263,12257.521,41,1.6,41,-3.2