version: 66.09
glider: 166
mission: 6
dive: 439
start: 10 26 111 3 1 55
data:
$ID,166
$MISSION,6
$DIVE,439
$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,-24959.375
$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,68
$R_STBD_OVSHOOT,52
$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
$GPS1,261011,025430,2326.911,12254.789,36,1.5,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-63.5
$GPS2,261011,030128,2326.996,12254.830,11,4.0,30,-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,241.6,157710,-18.6,-12.222
$D_GRID,3690
$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,-194.6,0.0,0.0,0,110,0.00,0.00,-91.40,0.000,2,0.000,0.000,142,1561,3041,0,0,0,0,0,0
$GC,114,-0.65,-194.6,5.3,-5.8,12,145,9.62,1.12,-12.85,0.000,4,0.226,0.067,2522,2299,3680,0,0,0,0,0,0
$GC,286,-0.55,-194.6,58.3,-27.8,42,295,0.00,1.00,0.00,0.000,6,0.000,0.043,2539,1639,3680,0,0,0,0,0,0
$GC,614,-0.50,-194.6,126.0,-17.7,103,623,0.15,1.12,0.00,0.000,4,0.161,0.046,2580,902,3682,0,0,0,0,0,0
$GC,745,-0.50,-194.6,144.2,-12.6,126,754,0.00,1.05,0.00,0.000,6,0.000,0.039,2575,1601,3682,0,0,0,0,0,0
$GC,1074,-0.50,-194.6,187.2,-13.2,187,1082,0.00,1.05,0.00,0.000,4,0.000,0.045,2567,2313,3682,0,0,0,0,0,0
$GC,1210,-0.52,-194.6,202.5,-11.1,211,1218,0.00,1.08,0.00,0.000,6,0.000,0.042,2569,1601,3682,0,0,0,0,0,0
$GC,1539,-0.55,-194.6,239.6,-10.9,272,1547,0.00,1.08,0.00,0.000,4,0.000,0.047,2559,2310,3682,0,0,0,0,0,0
$GC,1651,-0.58,-194.6,251.6,-10.3,291,1654,0.00,1.05,0.00,0.000,6,0.000,0.043,2558,1614,3682,0,0,0,0,0,0
$GC,1982,-0.60,-194.6,290.4,-11.8,322,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1614,3682,0,0,0,0,0,0
$GC,2304,-0.63,-194.6,325.2,-9.9,352,2308,0.00,1.05,0.00,0.000,4,0.000,0.047,2550,2305,3682,0,0,0,0,0,0
$GC,2355,-0.66,-194.6,330.5,-9.2,356,2362,0.00,1.05,0.00,0.000,6,0.000,0.043,2550,1613,3682,0,0,0,0,0,0
$GC,2684,-0.70,-194.6,360.9,-9.6,387,2688,0.00,1.05,0.00,0.000,4,0.000,0.047,2547,2303,3681,0,0,0,0,0,0
$GC,2731,-0.74,-194.6,365.3,-9.1,391,2735,0.08,1.05,0.00,0.000,6,0.047,0.044,2478,1607,3681,0,0,0,0,0,0
$GC,3064,-0.70,-194.6,417.2,-15.6,422,3071,0.10,0.00,0.00,0.000,6,0.178,0.000,2514,1607,3679,0,0,0,0,0,0
$GC,3389,-0.70,-194.6,460.3,-12.8,453,3393,0.00,1.08,0.00,0.000,4,0.000,0.049,2511,2312,3677,0,0,0,0,0,0
$GC,3446,-0.70,-194.6,467.3,-12.5,458,3450,0.00,1.05,0.00,0.000,6,0.000,0.044,2511,1616,3677,0,0,0,0,0,0
$GC,3778,-0.70,-194.6,509.8,-12.7,489,3781,0.00,1.08,0.00,0.000,4,0.000,0.050,2507,2305,3676,0,0,0,0,0,0
$GC,3894,-0.70,-194.6,523.7,-11.8,499,3898,0.00,1.08,0.00,0.000,6,0.000,0.047,2506,1609,3676,0,0,0,0,0,0
$GC,4225,-0.70,-194.6,563.7,-12.0,530,4229,0.00,1.08,0.00,0.000,4,0.000,0.050,2507,905,3673,0,0,0,0,0,0
$GC,4275,-0.70,-194.6,570.3,-13.2,534,4283,0.00,1.08,0.00,0.000,6,0.000,0.044,2501,1607,3672,0,0,0,0,0,0
$GC,4612,-0.70,-194.6,610.9,-12.6,562,4616,0.00,1.08,0.00,0.000,4,0.000,0.049,2501,910,3669,0,0,0,0,0,0
$GC,4662,-0.70,-194.6,618.0,-12.6,564,4666,0.00,1.08,0.00,0.000,6,0.000,0.045,2497,1609,3669,0,0,0,0,0,0
$GC,4992,-0.70,-194.6,656.9,-11.7,580,4996,0.00,1.05,0.00,0.000,4,0.000,0.052,2491,2304,3666,0,0,0,0,0,0
$GC,5038,-0.70,-194.6,662.4,-11.1,582,5042,0.00,1.08,0.00,0.000,6,0.000,0.047,2492,1603,3666,0,0,0,0,0,0
$GC,5374,-0.70,-194.6,701.5,-12.1,598,5377,0.00,1.10,0.00,0.000,4,0.000,0.055,2487,2299,3663,0,0,0,0,0,0
$GC,5442,-0.70,-194.6,709.9,-11.7,601,5447,0.08,1.08,0.00,0.000,6,0.140,0.047,2512,1604,3662,0,0,0,0,0,0
$GC,5777,-0.72,-194.6,747.4,-11.4,617,5781,0.00,1.10,0.00,0.000,4,0.000,0.057,2509,2297,3660,0,0,0,0,0,0
$GC,5849,-0.75,-194.6,755.4,-11.2,620,5852,0.00,1.08,0.00,0.000,6,0.000,0.049,2509,1604,3659,0,0,0,0,0,0
$GC,6182,-0.77,-194.6,795.0,-11.8,636,6186,0.00,1.10,0.00,0.000,4,0.000,0.057,2505,2301,3657,0,0,0,0,0,0
$GC,6235,-0.79,-194.6,800.8,-11.4,638,6238,0.00,1.08,0.00,0.000,6,0.000,0.049,2504,1610,3656,0,0,0,0,0,0
$GC,6563,-0.81,-194.6,838.7,-11.3,654,6567,0.00,1.08,0.00,0.000,4,0.000,0.055,2504,913,3654,0,0,0,0,0,0
$GC,6591,-0.82,-194.6,842.2,-11.4,655,6594,0.00,1.08,0.00,0.000,6,0.000,0.048,2499,1605,3653,0,0,0,0,0,0
$GC,6921,-0.83,-194.6,880.0,-11.7,671,6925,0.00,1.10,0.00,0.000,4,0.000,0.054,2499,904,3652,0,0,0,0,0,0
$GC,6949,-0.85,-194.6,883.9,-12.0,672,6953,0.00,1.10,0.00,0.000,6,0.000,0.050,2493,1608,3651,0,0,0,0,0,0
$GC,7279,-0.85,-194.6,923.8,-12.0,688,7283,0.00,1.10,0.00,0.000,4,0.000,0.055,2494,910,3650,0,0,0,0,0,0
$GC,7379,-0.85,-194.6,936.6,-11.8,692,7383,0.00,1.10,0.00,0.000,6,0.000,0.051,2489,1610,3649,0,0,0,0,0,0
$GC,7703,-0.85,-194.6,973.5,-11.0,708,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1610,3647,0,0,0,0,0,0
$STATE,7863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7863,begin apogee
$GC,7869,-0.11,0.0,991.3,10.7,716,8040,0.68,0.00,165.95,1.443,6,0.125,0.000,2703,1782,2884,0,0,0,0,0,0
$STATE,8041,end apogee,CONTROL_FINISHED_OK
$STATE,8041,begin climb
$GC,8046,0.65,194.6,996.4,0.0,724,8238,0.70,1.20,179.52,1.387,4,0.069,0.061,2956,2484,2088,0,0,0,0,0,0
$GC,8339,0.63,194.6,963.0,14.4,737,8343,0.00,1.10,0.00,0.000,6,0.000,0.051,2960,1789,2084,0,0,0,0,0,0
$GC,8661,0.61,194.6,917.8,13.7,753,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1789,2080,0,0,0,0,0,0
$GC,8972,0.58,194.6,877.9,12.4,768,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1789,2078,0,0,0,0,0,0
$GC,9279,0.56,197.7,840.0,12.1,783,9284,0.12,1.12,0.00,0.000,4,0.177,0.055,2933,1078,2077,0,0,0,0,0,0
$GC,9320,0.59,225.9,835.6,11.0,784,9352,0.00,1.10,27.95,1.306,6,0.000,0.049,2930,1778,1962,0,0,0,0,0,0
$GC,9680,0.69,291.7,801.1,9.5,802,9749,0.12,1.15,62.03,1.307,4,0.091,0.057,2990,2484,1693,0,0,0,0,0,0
$GC,9790,0.67,291.7,785.0,15.6,807,9795,0.10,1.12,0.00,0.000,6,0.157,0.047,2964,1777,1691,0,0,0,0,0,0
$GC,10122,0.67,291.7,740.4,13.4,823,10126,0.00,1.10,0.00,0.000,4,0.000,0.057,2963,2485,1687,0,0,0,0,0,0
$GC,10182,0.67,291.7,732.7,12.9,825,10186,0.00,1.10,0.00,0.000,6,0.000,0.047,2966,1781,1687,0,0,0,0,0,0
$GC,10504,0.67,291.7,688.3,13.8,841,10508,0.00,1.10,0.00,0.000,4,0.000,0.054,2963,2494,1685,0,0,0,0,0,0
$GC,10542,0.67,291.7,682.7,13.5,842,10550,0.00,1.10,0.00,0.000,6,0.000,0.045,2966,1780,1685,0,0,0,0,0,0
$GC,10861,0.67,291.7,640.7,13.6,858,10865,0.00,1.10,0.00,0.000,4,0.000,0.056,2965,2487,1684,0,0,0,0,0,0
$GC,10893,0.67,291.7,635.8,13.7,859,10897,0.00,1.10,0.00,0.000,6,0.000,0.046,2968,1776,1684,0,0,0,0,0,0
$GC,11219,0.67,291.7,593.6,12.7,877,11223,0.00,1.08,0.00,0.000,4,0.000,0.051,2974,1069,1683,0,0,0,0,0,0
$GC,11281,0.67,291.7,585.3,12.3,882,11288,0.00,1.10,0.00,0.000,6,0.000,0.044,2970,1786,1683,0,0,0,0,0,0
$GC,11610,0.70,319.2,549.2,11.1,913,11639,0.00,1.17,24.73,1.118,4,0.000,0.050,2974,1061,1582,0,0,0,0,0,0
$GC,11667,0.74,342.2,542.2,11.3,918,11697,0.00,1.12,22.60,1.088,6,0.000,0.044,2970,1788,1488,0,0,0,0,0,0
$GC,12017,0.76,342.2,499.0,12.4,951,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1788,1484,0,0,0,0,0,0
$GC,12344,0.78,342.2,457.8,13.0,982,12347,0.00,1.05,0.00,0.000,4,0.000,0.054,2968,2488,1483,0,0,0,0,0,0
$GC,12382,0.81,342.2,453.3,12.5,985,12386,0.08,1.10,0.00,0.000,6,0.056,0.044,3027,1763,1483,0,0,0,0,0,0
$GC,12712,0.78,342.2,394.7,17.3,1016,12714,0.12,0.00,0.00,0.000,6,0.169,0.000,2995,1763,1482,0,0,0,0,0,0
$GC,13030,0.78,342.2,352.4,12.7,1046,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1763,1482,0,0,0,0,0,0
$GC,13353,0.82,367.5,315.0,11.2,1076,13381,0.00,1.10,23.25,0.911,4,0.000,0.047,2999,1078,1385,0,0,0,0,0,0
$GC,13406,0.87,390.2,308.6,11.3,1081,13432,0.00,1.08,21.60,0.889,6,0.000,0.041,2995,1785,1292,0,0,0,0,0,0
$GC,13761,0.92,404.5,269.0,11.6,1114,13779,0.12,0.00,14.07,0.819,6,0.090,0.000,3064,1785,1234,0,0,0,0,0,0
$GC,14099,0.89,404.5,204.7,19.0,1167,14107,0.12,0.00,0.00,0.000,6,0.169,0.000,3033,1789,1233,0,0,0,0,0,0
$GC,14430,0.90,404.5,154.5,14.4,1228,14439,0.00,1.08,0.00,0.000,4,0.000,0.045,3036,1081,1233,0,0,0,0,0,0
$GC,14465,0.92,404.5,149.5,13.1,1233,14473,0.00,1.05,0.00,0.000,6,0.000,0.039,3034,1780,1233,0,0,0,0,0,0
$GC,14793,0.98,425.6,107.2,11.3,1294,14817,0.00,1.08,19.52,0.710,4,0.000,0.047,3029,2476,1147,0,0,0,0,0,0
$GC,14854,1.07,463.7,100.6,10.6,1303,14893,0.12,1.05,33.20,0.717,6,0.044,0.041,3111,1778,993,0,0,0,0,0,0
$GC,15214,1.07,463.7,45.1,13.2,1368,15222,0.00,1.02,0.00,0.000,4,0.000,0.043,3116,1084,989,0,0,0,0,0,0
$GC,15247,1.07,463.7,40.6,13.6,1373,15255,0.00,1.02,0.00,0.000,6,0.000,0.037,3116,1773,988,0,0,0,0,0,0
$STATE,15541,end climb,SURFACE_DEPTH_REACHED
$STATE,15541,begin surface coast
$FINISH,1.4,1.008993
$STATE,15571,end surface coast,CONTROL_FINISHED_OK
$STATE,15571,begin surface
$SM_CCo,15648,0.00,0.000,0,0,986,465.33
$SM_GC,2.10,7.78,0.00,0.00,0.039,0.000,0.000,143,1589,986,-8.03,-0.59,465.33,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12253.85,251011,222238
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,24.70
$XPDR_PINGS,121
$24V_AH,22.9,108.009
$10V_AH,9.7,73.359
$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,20.100,65.525,594.425,0.000,0.000,30.345,19.407,182.849,30.250,0.000,32.345,3574.818,7905.538,630.997,3452.350,483.654,0.000,1988.354,0.000,3203.907,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,70.380,1442.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.066,1467.609,1615.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330400
$DATA_FILE_SIZE,80167,1433
$CAP_FILE_SIZE,167318,0
$CFSIZE,260165632,108261376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216, 34.5,1
$GPS,261011,072409,2327.081,12253.473,38,1.2,47,-3.2