version: 66.09
glider: 166
mission: 6
dive: 438
start: 10 25 111 22 21 51
data:
$ID,166
$MISSION,6
$DIVE,438
$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,-24958.119
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,251011,221406,2327.354,12255.988,48,1.6,48,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-63.0
$GPS2,251011,222125,2327.401,12255.953,43,1.5,43,-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,231.7,159756,-18.6,-12.222
$D_GRID,3168
$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,14,begin dive
$GC,17,-0.65,-194.6,0.0,0.0,0,117,0.00,0.00,-98.15,0.000,2,0.000,0.000,121,1605,3097,0,0,0,0,0,0
$GC,121,-0.65,-194.6,5.5,-6.8,13,146,9.73,1.10,-11.35,0.000,4,0.226,0.067,2518,2320,3680,0,0,0,0,0,0
$GC,340,-0.59,-194.6,74.6,-21.9,52,349,0.08,1.10,0.00,0.000,6,0.148,0.040,2541,1593,3682,0,0,0,0,0,0
$GC,668,-0.57,-194.6,127.7,-15.3,113,676,0.00,1.02,0.00,0.000,4,0.000,0.044,2548,907,3683,0,0,0,0,0,0
$GC,721,-0.55,-194.6,136.6,-15.8,121,729,0.00,1.05,0.00,0.000,6,0.000,0.040,2549,1605,3684,0,0,0,0,0,0
$GC,1049,-0.53,-194.6,185.6,-14.0,182,1058,0.00,1.05,0.00,0.000,4,0.000,0.044,2538,2314,3684,0,0,0,0,0,0
$GC,1126,-0.53,-194.6,195.4,-12.9,195,1135,0.08,1.05,0.00,0.000,6,0.134,0.041,2564,1624,3684,0,0,0,0,0,0
$GC,1455,-0.55,-194.6,233.9,-11.8,256,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1624,3683,0,0,0,0,0,0
$GC,1791,-0.58,-194.6,274.3,-11.7,299,1794,0.00,1.05,0.00,0.000,4,0.000,0.047,2553,2307,3683,0,0,0,0,0,0
$GC,1876,-0.62,-194.6,283.6,-10.3,306,1885,0.00,1.08,0.00,0.000,6,0.000,0.041,2552,1605,3683,0,0,0,0,0,0
$GC,2201,-0.64,-194.6,318.7,-11.5,337,2205,0.00,1.08,0.00,0.000,4,0.000,0.047,2546,2311,3683,0,0,0,0,0,0
$GC,2254,-0.68,-194.6,324.4,-10.8,341,2260,0.00,1.08,0.00,0.000,6,0.000,0.041,2547,1606,3682,0,0,0,0,0,0
$GC,2579,-0.71,-194.6,362.1,-12.0,372,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1606,3681,0,0,0,0,0,0
$GC,2902,-0.74,-194.6,395.4,-9.8,402,2906,0.12,1.10,0.00,0.000,4,0.083,0.048,2469,2312,3680,0,0,0,0,0,0
$GC,2992,-0.71,-194.6,407.9,-14.1,410,2996,0.12,1.08,0.00,0.000,6,0.138,0.042,2508,1605,3680,0,0,0,0,0,0
$GC,3322,-0.71,-194.6,446.8,-11.8,441,3326,0.00,1.08,0.00,0.000,4,0.000,0.050,2514,2303,3678,0,0,0,0,0,0
$GC,3384,-0.72,-194.6,453.5,-11.3,446,3388,0.00,1.05,0.00,0.000,6,0.000,0.044,2517,1614,3678,0,0,0,0,0,0
$GC,3718,-0.72,-194.6,494.5,-12.0,477,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1614,3676,0,0,0,0,0,0
$GC,4047,-0.72,-194.6,535.7,-13.0,508,4050,0.00,1.08,0.00,0.000,4,0.000,0.053,2516,2299,3674,0,0,0,0,0,0
$GC,4221,-0.74,-194.6,555.8,-10.9,523,4227,0.00,1.08,0.00,0.000,6,0.000,0.046,2516,1605,3673,0,0,0,0,0,0
$GC,4546,-0.74,-194.6,591.8,-10.3,554,4550,0.00,1.05,0.00,0.000,4,0.000,0.050,2516,919,3670,0,0,0,0,0,0
$GC,4661,-0.75,-194.6,604.2,-10.8,563,4664,0.00,1.05,0.00,0.000,6,0.000,0.044,2511,1609,3670,0,0,0,0,0,0
$GC,4996,-0.75,-194.6,637.4,-9.5,579,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1609,3667,0,0,0,0,0,0
$GC,5303,-0.76,-194.6,667.5,-10.0,594,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1608,3665,0,0,0,0,0,0
$GC,5615,-0.77,-194.6,699.5,-10.6,609,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1609,3663,0,0,0,0,0,0
$GC,5922,-0.79,-194.6,731.9,-10.3,624,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1609,3660,0,0,0,0,0,0
$GC,6232,-0.81,-194.6,762.5,-9.7,639,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1608,3658,0,0,0,0,0,0
$GC,6543,-0.83,-194.6,792.0,-9.5,654,6547,0.00,1.08,0.00,0.000,4,0.000,0.056,2506,2304,3655,0,0,0,0,0,0
$GC,6572,-0.85,-194.6,795.0,-9.3,655,6576,0.08,1.08,0.00,0.000,6,0.055,0.049,2448,1612,3655,0,0,0,0,0,0
$GC,6903,-0.81,-194.6,839.4,-14.1,671,6907,0.12,1.10,0.00,0.000,4,0.177,0.055,2482,917,3653,0,0,0,0,0,0
$GC,6997,-0.81,-194.6,851.5,-11.3,675,7001,0.00,1.08,0.00,0.000,6,0.000,0.048,2480,1606,3653,0,0,0,0,0,0
$GC,7327,-0.81,-194.6,886.7,-10.6,691,7331,0.00,1.10,0.00,0.000,4,0.000,0.055,2480,910,3651,0,0,0,0,0,0
$GC,7374,-0.81,-194.6,892.2,-11.4,693,7378,0.00,1.10,0.00,0.000,6,0.000,0.051,2475,1606,3650,0,0,0,0,0,0
$GC,7707,-0.81,-194.6,928.6,-10.9,709,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1605,3649,0,0,0,0,0,0
$GC,8018,-0.81,-194.6,964.6,-11.7,724,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1605,3647,0,0,0,0,0,0
$STATE,8241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8241,begin apogee
$GC,8247,-0.11,0.0,991.8,12.0,735,8418,0.73,0.00,166.10,1.448,6,0.128,0.000,2703,1787,2883,0,0,0,0,0,0
$STATE,8419,end apogee,CONTROL_FINISHED_OK
$STATE,8419,begin climb
$GC,8421,0.65,194.6,997.9,0.0,743,8608,0.73,1.20,180.05,1.392,4,0.070,0.061,2960,2483,2090,0,0,0,0,0,0
$GC,8664,0.63,194.6,974.4,13.3,753,8668,0.00,1.12,0.00,0.000,6,0.000,0.052,2964,1786,2085,0,0,0,0,0,0
$GC,8989,0.60,194.6,929.9,14.0,769,8992,0.00,1.10,0.00,0.000,4,0.000,0.060,2963,2481,2081,0,0,0,0,0,0
$GC,9027,0.57,194.6,924.1,13.7,770,9035,0.10,1.10,0.00,0.000,6,0.158,0.051,2936,1777,2081,0,0,0,0,0,0
$GC,9343,0.57,194.6,885.6,12.2,786,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1777,2079,0,0,0,0,0,0
$GC,9655,0.57,194.6,846.1,12.8,801,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1777,2078,0,0,0,0,0,0
$GC,9963,0.58,200.1,808.0,12.0,816,9972,0.00,1.10,4.10,0.822,4,0.000,0.053,2939,1072,2068,0,0,0,0,0,0
$GC,10000,0.59,205.6,803.1,12.0,817,10011,0.00,1.10,7.10,1.071,6,0.000,0.049,2940,1776,2045,0,0,0,0,0,0
$GC,10337,0.61,224.5,764.2,11.4,834,10360,0.00,1.15,19.05,1.248,4,0.000,0.058,2940,2490,1968,0,0,0,0,0,0
$GC,10410,0.63,243.2,755.3,11.4,837,10434,0.00,1.12,18.55,1.225,6,0.000,0.047,2943,1769,1892,0,0,0,0,0,0
$GC,10757,0.64,244.1,714.1,12.2,854,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1769,1886,0,0,0,0,0,0
$GC,11066,0.64,244.1,674.7,13.0,869,11069,0.00,1.10,0.00,0.000,4,0.000,0.055,2941,2480,1885,0,0,0,0,0,0
$GC,11118,0.65,244.1,668.2,12.6,871,11121,0.00,1.08,0.00,0.000,6,0.000,0.046,2944,1783,1885,0,0,0,0,0,0
$GC,11448,0.66,244.1,626.9,12.6,887,11452,0.00,1.08,0.00,0.000,4,0.000,0.051,2949,1071,1884,0,0,0,0,0,0
$GC,11494,0.66,244.1,620.7,12.6,889,11498,0.00,1.10,0.00,0.000,6,0.000,0.046,2946,1789,1883,0,0,0,0,0,0
$GC,11825,0.68,247.1,581.1,12.1,911,11828,0.00,1.10,0.00,0.000,4,0.000,0.050,2949,1075,1883,0,0,0,0,0,0
$GC,11920,0.71,257.8,569.0,11.8,919,11939,0.00,1.08,13.30,1.087,6,0.000,0.044,2946,1778,1833,0,0,0,0,0,0
$GC,12258,0.79,313.0,533.0,9.9,951,12316,0.15,1.17,52.47,1.134,4,0.082,0.050,3028,1065,1607,0,0,0,0,0,0
$GC,12352,0.76,313.0,519.0,16.2,959,12356,0.10,1.12,0.00,0.000,6,0.148,0.045,2996,1787,1605,0,0,0,0,0,0
$GC,12682,0.76,313.0,471.5,14.3,990,12686,0.00,1.05,0.00,0.000,4,0.000,0.052,2992,2481,1602,0,0,0,0,0,0
$GC,12785,0.76,313.0,456.9,15.1,999,12789,0.00,1.08,0.00,0.000,6,0.000,0.044,2994,1780,1601,0,0,0,0,0,0
$GC,13118,0.76,313.0,407.8,14.3,1030,13119,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1779,1601,0,0,0,0,0,0
$GC,13436,0.77,325.0,367.8,11.7,1060,13454,0.00,0.00,11.02,0.897,6,0.000,0.000,2995,1779,1558,0,0,0,0,0,0
$GC,13773,0.77,325.0,325.0,13.7,1092,13777,0.00,1.10,0.00,0.000,4,0.000,0.047,3000,1065,1557,0,0,0,0,0,0
$GC,13856,0.77,325.0,313.2,13.6,1099,13864,0.00,1.08,0.00,0.000,6,0.000,0.041,2996,1778,1556,0,0,0,0,0,0
$GC,14182,0.77,325.0,265.1,15.1,1130,14185,0.00,1.08,0.00,0.000,4,0.000,0.047,3000,1074,1556,0,0,0,0,0,0
$GC,14217,0.78,325.0,260.2,14.6,1133,14221,0.00,1.08,0.00,0.000,6,0.000,0.040,2997,1788,1556,0,0,0,0,0,0
$GC,14545,0.82,339.8,219.1,11.6,1187,14568,0.00,1.12,14.73,0.799,4,0.000,0.047,3000,1076,1497,0,0,0,0,0,0
$GC,14711,0.91,396.0,201.9,9.9,1216,14771,0.08,1.05,50.50,0.826,6,0.063,0.037,3058,1784,1268,0,0,0,0,0,0
$GC,15096,0.90,396.0,144.0,16.1,1284,15104,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1784,1266,0,0,0,0,0,0
$GC,15425,0.92,396.0,95.6,13.5,1345,15433,0.00,1.08,0.00,0.000,4,0.000,0.044,3063,1072,1265,0,0,0,0,0,0
$GC,15542,0.96,411.8,81.0,11.6,1366,15565,0.00,1.05,14.62,0.667,6,0.000,0.037,3061,1782,1204,0,0,0,0,0,0
$GC,15892,1.12,498.9,52.0,8.6,1429,15975,0.12,1.12,73.03,0.678,4,0.081,0.043,3145,1071,848,0,0,0,0,0,0
$GC,16042,1.10,498.9,25.0,21.3,1452,16051,0.12,1.05,0.00,0.000,6,0.129,0.037,3104,1780,845,0,0,0,0,0,0
$STATE,16179,end climb,SURFACE_DEPTH_REACHED
$STATE,16179,begin surface coast
$FINISH,1.4,0.998753
$STATE,16201,end surface coast,CONTROL_FINISHED_OK
$STATE,16201,begin surface
$SM_CCo,16278,0.00,0.000,0,0,843,500.66
$SM_GC,1.99,7.57,0.00,0.00,0.031,0.000,0.000,150,1562,843,-8.04,-1.36,500.66,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12255.13,251011,171702
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.62
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.00
$XPDR_PINGS,127
$24V_AH,22.8,107.783
$10V_AH,9.7,73.198
$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,20.025,57.025,624.625,0.000,0.000,26.235,19.822,195.549,31.750,0.000,44.580,3656.465,8378.158,634.724,3540.770,488.001,0.000,2026.713,0.000,3275.311,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,68.850,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.896,1516.199,1666.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330408
$DATA_FILE_SIZE,83711,1480
$CAP_FILE_SIZE,167175,0
$CFSIZE,260165632,108351488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162, 42.2,1
$GPS,261011,025430,2326.911,12254.789,36,1.5,42,-3.2