version: 66.09
glider: 166
mission: 6
dive: 442
start: 10 26 111 16 39 16
data:
$ID,166
$MISSION,6
$DIVE,442
$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,-8
$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,-24963.152
$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,39
$R_STBD_OVSHOOT,49
$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
$GPS1,261011,163136,2326.906,12250.897,40,1.3,52,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-64.5
$GPS2,261011,163850,2326.972,12250.951,15,1.7,33,-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,229.9,151353,-18.6,-12.222
$D_GRID,3741
$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,-194.6,0.0,0.0,0,107,0.00,0.00,-88.35,0.000,2,0.000,0.000,125,1614,3117,0,0,0,0,0,0
$GC,110,-0.65,-194.6,6.0,-9.8,12,135,9.73,1.08,-10.82,0.000,4,0.225,0.068,2524,2316,3680,0,0,0,0,0,0
$GC,334,-0.55,-194.6,73.9,-27.5,52,342,0.00,1.08,0.00,0.000,6,0.000,0.039,2536,1602,3682,0,0,0,0,0,0
$GC,660,-0.50,-194.6,136.7,-17.1,113,668,0.17,0.00,0.00,0.000,6,0.160,0.000,2584,1602,3683,0,0,0,0,0,0
$GC,993,-0.50,-194.6,182.1,-13.4,174,1002,0.00,1.08,0.00,0.000,4,0.000,0.045,2581,2301,3684,0,0,0,0,0,0
$GC,1182,-0.53,-194.6,205.7,-11.3,208,1190,0.00,1.05,0.00,0.000,6,0.000,0.042,2580,1611,3684,0,0,0,0,0,0
$GC,1513,-0.55,-194.6,240.6,-10.1,269,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1611,3684,0,0,0,0,0,0
$GC,1839,-0.58,-194.6,276.3,-11.6,308,1842,0.00,1.08,0.00,0.000,4,0.000,0.047,2560,2295,3684,0,0,0,0,0,0
$GC,2034,-0.62,-194.6,296.9,-9.9,325,2038,0.00,1.05,0.00,0.000,6,0.000,0.042,2559,1605,3684,0,0,0,0,0,0
$GC,2366,-0.66,-194.6,332.2,-10.5,356,2370,0.00,1.08,0.00,0.000,4,0.000,0.047,2552,2302,3684,0,0,0,0,0,0
$GC,2429,-0.71,-194.6,338.5,-9.8,361,2437,0.08,1.05,0.00,0.000,6,0.050,0.043,2483,1613,3683,0,0,0,0,0,0
$GC,2755,-0.67,-194.6,390.4,-16.0,392,2759,0.15,1.08,0.00,0.000,4,0.158,0.048,2524,918,3682,0,0,0,0,0,0
$GC,2818,-0.67,-194.6,398.8,-13.1,397,2824,0.00,1.02,0.00,0.000,6,0.000,0.041,2522,1599,3682,0,0,0,0,0,0
$GC,3143,-0.67,-194.6,437.8,-11.5,428,3147,0.00,1.05,0.00,0.000,4,0.000,0.048,2525,2302,3681,0,0,0,0,0,0
$GC,3229,-0.69,-194.6,446.4,-9.8,435,3236,0.00,1.05,0.00,0.000,6,0.000,0.044,2528,1612,3680,0,0,0,0,0,0
$GC,3557,-0.70,-194.6,481.4,-10.5,466,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1612,3677,0,0,0,0,0,0
$GC,3884,-0.72,-194.6,514.4,-9.8,497,3888,0.00,1.08,0.00,0.000,4,0.000,0.050,2532,906,3676,0,0,0,0,0,0
$GC,3945,-0.73,-194.6,520.6,-10.6,502,3949,0.00,1.08,0.00,0.000,6,0.000,0.043,2527,1610,3676,0,0,0,0,0,0
$GC,4276,-0.74,-194.6,556.3,-10.8,533,4280,0.00,1.05,0.00,0.000,4,0.000,0.050,2522,2307,3673,0,0,0,0,0,0
$GC,4326,-0.76,-194.6,561.2,-10.5,537,4329,0.00,1.08,0.00,0.000,6,0.000,0.045,2522,1602,3673,0,0,0,0,0,0
$GC,4657,-0.78,-194.6,595.8,-10.2,568,4661,0.00,1.10,0.00,0.000,4,0.000,0.052,2516,2311,3670,0,0,0,0,0,0
$GC,4820,-0.80,-194.6,612.1,-10.3,577,4824,0.00,1.08,0.00,0.000,6,0.000,0.046,2517,1612,3668,0,0,0,0,0,0
$GC,5153,-0.82,-194.6,648.8,-10.6,593,5155,0.10,0.00,0.00,0.000,6,0.101,0.000,2459,1612,3666,0,0,0,0,0,0
$GC,5464,-0.78,-194.6,693.8,-14.8,608,5469,0.12,1.10,0.00,0.000,4,0.171,0.054,2492,912,3664,0,0,0,0,0,0
$GC,5577,-0.78,-194.6,709.3,-13.3,613,5581,0.00,1.08,0.00,0.000,6,0.000,0.047,2489,1605,3663,0,0,0,0,0,0
$GC,5912,-0.78,-194.6,753.7,-13.4,629,5916,0.00,1.08,0.00,0.000,4,0.000,0.054,2484,2308,3661,0,0,0,0,0,0
$GC,5944,-0.78,-194.6,758.4,-12.9,630,5948,0.00,1.08,0.00,0.000,6,0.000,0.047,2484,1616,3660,0,0,0,0,0,0
$GC,6266,-0.78,-194.6,799.3,-12.6,646,6269,0.00,1.10,0.00,0.000,4,0.000,0.052,2484,904,3658,0,0,0,0,0,0
$GC,6314,-0.78,-194.6,805.5,-13.7,648,6317,0.00,1.10,0.00,0.000,6,0.000,0.047,2479,1610,3657,0,0,0,0,0,0
$GC,6647,-0.78,-194.6,846.8,-12.2,664,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1610,3655,0,0,0,0,0,0
$GC,6956,-0.78,-194.6,886.8,-13.0,679,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1610,3653,0,0,0,0,0,0
$GC,7267,-0.78,-194.6,927.2,-12.9,694,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1610,3651,0,0,0,0,0,0
$GC,7574,-0.78,-194.6,965.7,-12.4,709,7578,0.00,1.10,0.00,0.000,4,0.000,0.054,2479,916,3650,0,0,0,0,0,0
$GC,7669,-0.78,-194.6,978.0,-12.7,713,7673,0.00,1.10,0.00,0.000,6,0.000,0.050,2474,1611,3649,0,0,0,0,0,0
$STATE,7788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7788,begin apogee
$GC,7797,-0.11,0.0,992.4,12.0,719,7970,0.73,0.00,166.23,1.445,6,0.126,0.000,2703,1788,2883,0,0,0,0,0,0
$STATE,7970,end apogee,CONTROL_FINISHED_OK
$STATE,7970,begin climb
$GC,7975,0.65,194.6,999.5,0.0,727,8163,0.70,1.15,179.57,1.391,4,0.068,0.057,2957,2472,2090,0,0,0,0,0,0
$GC,8232,0.63,194.6,975.0,12.7,739,8236,0.00,1.10,0.00,0.000,6,0.000,0.051,2960,1788,2085,0,0,0,0,0,0
$GC,8560,0.61,194.6,932.8,12.8,755,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1788,2081,0,0,0,0,0,0
$GC,8871,0.59,194.6,893.7,12.6,770,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1788,2079,0,0,0,0,0,0
$GC,9178,0.57,198.3,855.6,12.1,785,9183,0.12,1.10,0.00,0.000,4,0.178,0.058,2925,2471,2078,0,0,0,0,0,0
$GC,9239,0.65,259.2,849.3,9.7,787,9303,0.00,1.08,58.38,1.346,6,0.000,0.048,2928,1781,1827,0,0,0,0,0,0
$GC,9619,0.74,314.5,811.0,9.9,806,9678,0.17,1.12,53.30,1.307,4,0.073,0.050,3018,1065,1600,0,0,0,0,0,0
$GC,9714,0.71,314.5,795.4,18.1,809,9718,0.12,1.12,0.00,0.000,6,0.152,0.049,2979,1771,1597,0,0,0,0,0,0
$GC,10035,0.71,314.5,749.3,14.1,825,10038,0.00,1.10,0.00,0.000,4,0.000,0.056,2974,2487,1594,0,0,0,0,0,0
$GC,10080,0.71,314.5,742.8,13.9,827,10084,0.00,1.10,0.00,0.000,6,0.000,0.047,2978,1777,1593,0,0,0,0,0,0
$GC,10415,0.71,314.5,696.9,13.9,843,10419,0.00,1.08,0.00,0.000,4,0.000,0.051,2983,1068,1592,0,0,0,0,0,0
$GC,10509,0.71,314.5,682.9,14.7,847,10514,0.00,1.10,0.00,0.000,6,0.000,0.045,2980,1780,1591,0,0,0,0,0,0
$GC,10839,0.71,314.5,637.4,14.0,863,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1780,1590,0,0,0,0,0,0
$GC,11147,0.71,314.5,594.8,13.6,879,11150,0.00,1.05,0.00,0.000,4,0.000,0.055,2975,2475,1590,0,0,0,0,0,0
$GC,11207,0.72,314.5,587.3,13.5,884,11211,0.00,1.08,0.00,0.000,6,0.000,0.046,2978,1774,1589,0,0,0,0,0,0
$GC,11538,0.72,314.5,540.3,14.5,915,11542,0.00,1.10,0.00,0.000,4,0.000,0.052,2975,2479,1589,0,0,0,0,0,0
$GC,11577,0.73,314.5,534.8,13.3,918,11583,0.00,1.08,0.00,0.000,6,0.000,0.044,2978,1777,1589,0,0,0,0,0,0
$GC,11902,0.73,314.5,490.1,13.4,949,11905,0.00,1.05,0.00,0.000,4,0.000,0.049,2983,1080,1589,0,0,0,0,0,0
$GC,11996,0.73,314.5,477.0,13.5,957,12003,0.00,1.08,0.00,0.000,6,0.000,0.043,2980,1785,1589,0,0,0,0,0,0
$GC,12323,0.74,314.5,435.5,12.3,988,12326,0.00,1.10,0.00,0.000,4,0.000,0.048,2983,1069,1589,0,0,0,0,0,0
$GC,12361,0.74,314.5,430.4,12.4,991,12369,0.00,1.08,0.00,0.000,6,0.000,0.041,2980,1779,1588,0,0,0,0,0,0
$GC,12687,0.75,316.4,391.1,12.1,1022,12688,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1779,1588,0,0,0,0,0,0
$GC,13011,0.78,324.9,352.6,11.9,1052,13026,0.00,1.10,8.65,0.838,4,0.000,0.045,2984,1080,1558,0,0,0,0,0,0
$GC,13131,0.84,353.6,338.3,11.0,1062,13166,0.08,1.08,27.25,0.935,6,0.063,0.041,3036,1788,1442,0,0,0,0,0,0
$GC,13485,0.82,353.6,284.1,14.6,1095,13489,0.00,1.10,0.00,0.000,4,0.000,0.045,3041,1068,1441,0,0,0,0,0,0
$GC,13523,0.80,353.6,277.7,15.5,1098,13532,0.10,1.08,0.00,0.000,6,0.138,0.039,3009,1784,1439,0,0,0,0,0,0
$GC,13852,0.82,359.0,236.7,12.0,1138,13869,0.00,1.05,6.20,0.669,4,0.000,0.047,3004,2476,1420,0,0,0,0,0,0
$GC,13975,0.87,377.1,222.8,11.5,1159,13999,0.00,1.05,17.83,0.801,6,0.000,0.041,3007,1782,1346,0,0,0,0,0,0
$GC,14324,0.92,396.6,181.1,11.4,1222,14351,0.10,1.10,18.23,0.762,4,0.099,0.041,3070,1070,1267,0,0,0,0,0,0
$GC,14418,0.90,396.6,166.6,15.9,1237,14427,0.08,1.08,0.00,0.000,6,0.151,0.037,3041,1791,1266,0,0,0,0,0,0
$GC,14748,0.90,396.6,117.9,14.9,1298,14756,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1791,1266,0,0,0,0,0,0
$GC,15073,0.92,398.4,75.4,12.1,1359,15081,0.00,1.10,0.00,0.000,4,0.000,0.043,3044,1072,1266,0,0,0,0,0,0
$GC,15185,1.04,456.0,63.6,9.8,1379,15245,0.08,1.05,51.58,0.694,6,0.062,0.035,3094,1787,1023,0,0,0,0,0,0
$GC,15568,1.06,456.0,14.5,15.1,1447,15577,0.00,1.10,0.00,0.000,4,0.000,0.044,3100,1071,1021,0,0,0,0,0,0
$STATE,15653,end climb,SURFACE_DEPTH_REACHED
$STATE,15653,begin surface coast
$FINISH,1.4,1.021288
$STATE,15679,end surface coast,CONTROL_FINISHED_OK
$STATE,15679,begin surface
$SM_CCo,15757,0.00,0.000,0,0,1019,457.48
$SM_GC,2.08,7.72,0.00,0.00,0.039,0.000,0.000,157,1621,1019,-8.03,0.31,457.48,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12250.60,261011,121201
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,24.70
$XPDR_PINGS,123
$24V_AH,22.9,108.676
$10V_AH,9.7,73.856
$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,20.350,60.475,587.200,0.000,0.000,31.149,19.551,194.356,30.750,0.000,33.849,3653.104,7830.459,629.529,3581.510,479.505,0.000,2005.969,0.000,3314.473,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,69.615,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.047,1500.613,1701.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,83577,1466
$CAP_FILE_SIZE,166190,0
$CFSIZE,260165632,108003328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.243, 28.7,1
$GPS,261011,210336,2327.362,12249.870,58,1.2,64,-3.2