version: 66.09
glider: 166
mission: 6
dive: 437
start: 10 25 111 17 52 58
data:
$ID,166
$MISSION,6
$DIVE,437
$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,-24956.863
$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,38
$R_STBD_OVSHOOT,48
$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
$GPS1,251011,174530,2327.263,12257.521,41,1.6,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.4
$GPS2,251011,175231,2327.280,12257.548,15,1.5,31,-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,237.6,162308,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.65,-194.6,0.0,0.0,0,114,0.00,0.00,-93.88,0.000,2,0.000,0.000,148,1616,2946,0,0,0,0,0,0
$GC,117,-0.65,-194.6,5.1,-5.3,12,148,9.60,1.02,-14.88,0.000,4,0.226,0.067,2521,2312,3679,0,0,0,0,0,0
$GC,285,-0.57,-194.6,56.9,-27.1,41,293,0.08,1.08,0.00,0.000,6,0.155,0.042,2553,1607,3680,0,0,0,0,0,0
$GC,611,-0.54,-194.6,119.9,-15.3,102,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1606,3681,0,0,0,0,0,0
$GC,942,-0.53,-194.6,169.4,-14.9,163,950,0.00,1.05,0.00,0.000,4,0.000,0.045,2551,2300,3681,0,0,0,0,0,0
$GC,1044,-0.53,-194.6,184.1,-14.1,181,1052,0.00,1.05,0.00,0.000,6,0.000,0.042,2550,1608,3682,0,0,0,0,0,0
$GC,1374,-0.53,-194.6,231.7,-13.2,242,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1607,3682,0,0,0,0,0,0
$GC,1705,-0.53,-194.6,272.0,-11.5,287,1709,0.00,1.05,0.00,0.000,4,0.000,0.046,2543,2299,3682,0,0,0,0,0,0
$GC,1785,-0.55,-194.6,280.7,-10.4,294,1788,0.00,1.05,0.00,0.000,6,0.000,0.041,2542,1609,3682,0,0,0,0,0,0
$GC,2116,-0.55,-194.6,320.0,-12.0,325,2119,0.00,1.05,0.00,0.000,4,0.000,0.047,2534,2294,3681,0,0,0,0,0,0
$GC,2140,-0.56,-194.6,322.6,-11.0,327,2144,0.00,1.02,0.00,0.000,6,0.000,0.041,2535,1616,3681,0,0,0,0,0,0
$GC,2471,-0.58,-194.6,362.1,-12.9,358,2475,0.00,1.08,0.00,0.000,4,0.000,0.047,2535,908,3681,0,0,0,0,0,0
$GC,2584,-0.60,-194.6,376.9,-13.0,368,2588,0.00,1.05,0.00,0.000,6,0.000,0.042,2531,1602,3680,0,0,0,0,0,0
$GC,2917,-0.62,-194.6,417.8,-11.1,399,2920,0.00,1.05,0.00,0.000,4,0.000,0.048,2527,2306,3678,0,0,0,0,0,0
$GC,2967,-0.64,-194.6,423.2,-10.3,403,2974,0.00,1.05,0.00,0.000,6,0.000,0.044,2529,1617,3678,0,0,0,0,0,0
$GC,3293,-0.66,-194.6,457.0,-10.2,434,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1617,3677,0,0,0,0,0,0
$GC,3613,-0.68,-194.6,489.3,-9.9,464,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1617,3676,0,0,0,0,0,0
$GC,3934,-0.71,-194.6,520.4,-9.4,494,3937,0.00,1.08,0.00,0.000,4,0.000,0.047,2544,910,3673,0,0,0,0,0,0
$GC,3973,-0.74,-194.6,524.8,-9.6,497,3979,0.00,1.08,0.00,0.000,6,0.000,0.042,2537,1611,3673,0,0,0,0,0,0
$GC,4299,-0.76,-194.6,556.3,-10.0,528,4303,0.12,1.08,0.00,0.000,4,0.085,0.050,2466,2314,3670,0,0,0,0,0,0
$GC,4462,-0.73,-194.6,580.2,-14.8,542,4470,0.12,1.08,0.00,0.000,6,0.141,0.045,2507,1609,3668,0,0,0,0,0,0
$GC,4794,-0.73,-194.6,619.5,-11.6,566,4798,0.00,1.08,0.00,0.000,4,0.000,0.050,2507,904,3666,0,0,0,0,0,0
$GC,4846,-0.73,-194.6,625.8,-12.2,568,4850,0.00,1.08,0.00,0.000,6,0.000,0.043,2504,1607,3666,0,0,0,0,0,0
$GC,5174,-0.73,-194.6,662.6,-10.9,584,5177,0.00,1.05,0.00,0.000,4,0.000,0.052,2499,2301,3664,0,0,0,0,0,0
$GC,5220,-0.74,-194.6,667.6,-10.8,586,5224,0.00,1.05,0.00,0.000,6,0.000,0.046,2499,1613,3663,0,0,0,0,0,0
$GC,5556,-0.74,-194.6,703.9,-11.3,602,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1613,3661,0,0,0,0,0,0
$GC,5863,-0.74,-194.6,738.7,-11.1,617,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1613,3659,0,0,0,0,0,0
$GC,6174,-0.74,-194.6,773.8,-11.4,632,6178,0.00,1.08,0.00,0.000,4,0.000,0.053,2499,914,3656,0,0,0,0,0,0
$GC,6220,-0.74,-194.6,779.7,-12.6,634,6224,0.00,1.08,0.00,0.000,6,0.000,0.047,2494,1606,3656,0,0,0,0,0,0
$GC,6552,-0.74,-194.6,819.8,-12.5,650,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1606,3654,0,0,0,0,0,0
$GC,6864,-0.74,-194.6,860.7,-13.4,665,6868,0.00,1.10,0.00,0.000,4,0.000,0.053,2494,906,3652,0,0,0,0,0,0
$GC,6891,-0.74,-194.6,865.1,-14.1,666,6895,0.00,1.10,0.00,0.000,6,0.000,0.047,2489,1613,3651,0,0,0,0,0,0
$GC,7218,-0.74,-194.6,908.5,-13.0,682,7222,0.00,1.08,0.00,0.000,4,0.000,0.057,2484,2309,3650,0,0,0,0,0,0
$GC,7281,-0.75,-194.6,916.2,-12.2,684,7288,0.00,1.08,0.00,0.000,6,0.000,0.049,2484,1616,3649,0,0,0,0,0,0
$GC,7597,-0.75,-194.6,957.4,-12.9,700,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1616,3647,0,0,0,0,0,0
$STATE,7863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7863,begin apogee
$GC,7871,-0.11,0.0,991.8,12.7,713,8042,0.68,0.00,165.90,1.440,6,0.125,0.000,2700,1777,2884,0,0,0,0,0,0
$STATE,8042,end apogee,CONTROL_FINISHED_OK
$STATE,8043,begin climb
$GC,8045,0.65,194.6,999.2,0.0,721,8231,0.75,1.20,180.07,1.388,4,0.070,0.063,2963,2479,2089,0,0,0,0,0,0
$GC,8269,0.63,194.6,977.6,14.4,732,8273,0.00,1.12,0.00,0.000,6,0.000,0.051,2967,1783,2087,0,0,0,0,0,0
$GC,8591,0.60,194.6,931.2,14.6,748,8595,0.00,1.10,0.00,0.000,4,0.000,0.062,2967,2477,2081,0,0,0,0,0,0
$GC,8663,0.57,194.6,921.0,14.5,751,8667,0.12,1.10,0.00,0.000,6,0.152,0.050,2934,1776,2081,0,0,0,0,0,0
$GC,8996,0.60,217.0,881.1,11.3,767,9021,0.00,1.15,20.05,1.291,4,0.000,0.058,2932,2509,1998,0,0,0,0,0,0
$GC,9074,0.64,243.2,872.2,11.1,770,9106,0.00,1.15,25.52,1.295,6,0.000,0.050,2935,1784,1891,0,0,0,0,0,0
$GC,9425,0.67,259.6,831.7,11.5,787,9447,0.00,1.08,15.77,1.239,4,0.000,0.052,2940,1069,1824,0,0,0,0,0,0
$GC,9478,0.71,280.9,825.4,11.3,789,9504,0.08,1.12,21.48,1.258,6,0.060,0.049,2988,1783,1739,0,0,0,0,0,0
$GC,9821,0.69,280.9,767.5,17.1,806,9824,0.00,1.08,0.00,0.000,4,0.000,0.057,2988,2486,1734,0,0,0,0,0,0
$GC,9901,0.67,280.9,753.6,17.6,809,9906,0.10,1.10,0.00,0.000,6,0.155,0.048,2962,1777,1733,0,0,0,0,0,0
$GC,10224,0.67,280.9,705.6,14.6,825,10228,0.00,1.08,0.00,0.000,4,0.000,0.053,2965,1068,1732,0,0,0,0,0,0
$GC,10282,0.67,280.9,696.9,14.6,827,10286,0.00,1.10,0.00,0.000,6,0.000,0.047,2965,1779,1731,0,0,0,0,0,0
$GC,10604,0.67,280.9,651.2,13.7,843,10607,0.00,1.10,0.00,0.000,4,0.000,0.057,2965,2488,1731,0,0,0,0,0,0
$GC,10653,0.67,280.9,644.1,13.7,845,10657,0.00,1.10,0.00,0.000,6,0.000,0.047,2968,1774,1730,0,0,0,0,0,0
$GC,10983,0.67,280.9,601.5,12.7,861,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1774,1730,0,0,0,0,0,0
$GC,11300,0.67,280.9,560.0,13.5,890,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1774,1730,0,0,0,0,0,0
$GC,11621,0.67,281.2,519.3,12.2,920,11624,0.00,1.10,0.00,0.000,4,0.000,0.053,2965,2488,1729,0,0,0,0,0,0
$GC,11751,0.68,281.2,502.9,12.3,931,11757,0.00,1.10,0.00,0.000,6,0.000,0.045,2968,1773,1729,0,0,0,0,0,0
$GC,12076,0.68,281.2,461.8,13.1,962,12080,0.00,1.05,0.00,0.000,4,0.000,0.050,2973,1075,1729,0,0,0,0,0,0
$GC,12191,0.69,281.2,447.5,12.9,972,12195,0.00,1.08,0.00,0.000,6,0.000,0.043,2970,1786,1729,0,0,0,0,0,0
$GC,12522,0.74,306.9,407.5,11.1,1003,12550,0.00,1.10,23.50,0.999,4,0.000,0.051,2970,2480,1632,0,0,0,0,0,0
$GC,12587,0.79,329.9,400.2,11.3,1008,12613,0.00,1.08,22.20,0.978,6,0.000,0.042,2973,1780,1539,0,0,0,0,0,0
$GC,12937,0.87,370.4,361.6,10.5,1040,12983,0.15,1.10,37.53,0.963,4,0.076,0.048,3062,1077,1372,0,0,0,0,0,0
$GC,13023,0.82,370.4,346.7,19.5,1047,13028,0.15,1.08,0.00,0.000,6,0.145,0.041,3013,1784,1370,0,0,0,0,0,0
$GC,13353,0.82,370.4,294.8,15.2,1078,13357,0.00,1.08,0.00,0.000,4,0.000,0.047,3017,1075,1369,0,0,0,0,0,0
$GC,13443,0.82,370.4,281.3,14.9,1086,13447,0.00,1.05,0.00,0.000,6,0.000,0.040,3014,1779,1369,0,0,0,0,0,0
$GC,13772,0.82,370.4,234.0,14.6,1127,13780,0.00,1.05,0.00,0.000,4,0.000,0.047,3014,2483,1368,0,0,0,0,0,0
$GC,13793,0.82,370.4,230.7,15.0,1130,13803,0.00,1.08,0.00,0.000,6,0.000,0.041,3017,1776,1368,0,0,0,0,0,0
$GC,14126,0.83,370.4,183.0,13.8,1191,14134,0.00,1.05,0.00,0.000,4,0.000,0.045,3023,1069,1368,0,0,0,0,0,0
$GC,14158,0.84,370.4,178.2,13.9,1196,14166,0.00,1.05,0.00,0.000,6,0.000,0.038,3023,1776,1368,0,0,0,0,0,0
$GC,14489,0.86,370.4,134.1,12.6,1257,14497,0.00,1.08,0.00,0.000,4,0.000,0.044,3026,1068,1368,0,0,0,0,0,0
$GC,14534,0.88,370.4,127.8,14.8,1264,14542,0.00,1.05,0.00,0.000,6,0.000,0.037,3026,1776,1368,0,0,0,0,0,0
$GC,14862,0.96,412.6,88.2,10.4,1325,14908,0.00,1.10,36.92,0.722,4,0.000,0.041,3031,1071,1201,0,0,0,0,0,0
$GC,14946,1.07,467.4,78.9,9.9,1337,14999,0.12,1.05,47.22,0.708,6,0.048,0.035,3112,1781,977,0,0,0,0,0,0
$GC,15323,1.16,527.1,26.9,9.7,1404,15383,0.00,1.15,49.80,0.659,4,0.000,0.045,3117,1062,732,0,0,0,0,0,0
$STATE,15478,end climb,SURFACE_DEPTH_REACHED
$STATE,15478,begin surface coast
$FINISH,1.4,1.021960
$STATE,15500,end surface coast,CONTROL_FINISHED_OK
$STATE,15500,begin surface
$SM_CCo,15581,0.00,0.000,0,0,727,528.87
$SM_GC,2.11,7.75,0.00,0.00,0.034,0.000,0.000,140,1605,727,-8.06,-0.14,528.87,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12257.10,251011,131318
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.29
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.30
$XPDR_PINGS,131
$24V_AH,23.0,107.557
$10V_AH,9.7,73.033
$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,19.825,64.750,645.975,0.000,0.000,24.782,19.911,186.036,32.750,0.000,31.887,3551.873,7832.892,690.549,3429.333,478.397,0.000,2036.504,0.000,3179.822,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,68.850,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,979.883,1468.256,1607.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330448
$DATA_FILE_SIZE,80019,1434
$CAP_FILE_SIZE,164544,0
$CFSIZE,260165632,108437504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193, 29.0,1
$GPS,251011,221406,2327.354,12255.988,48,1.6,48,-3.2