version: 66.09
glider: 166
mission: 6
dive: 443
start: 10 26 111 21 19 8
data:
$ID,166
$MISSION,6
$DIVE,443
$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,-24964.41
$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,59
$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
$GPS1,261011,210336,2327.362,12249.870,58,1.2,64,-3.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.2
$GPS2,261011,211844,2327.441,12249.734,33,1.6,33,-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,223.6,149620,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.65,-194.6,0.0,0.0,0,104,0.00,0.00,-82.07,0.000,2,0.000,0.000,128,1623,2976,0,0,0,0,0,0
$GC,107,-0.65,-194.6,5.0,-5.4,11,139,9.70,1.10,-14.60,0.000,4,0.224,0.062,2528,891,3679,0,0,0,0,0,0
$GC,380,-0.61,-194.6,79.4,-19.5,60,389,0.00,1.08,0.00,0.000,6,0.000,0.039,2524,1599,3680,0,0,0,0,0,0
$GC,712,-0.56,-194.6,140.6,-19.2,121,721,0.15,1.08,0.00,0.000,4,0.168,0.045,2561,2306,3681,0,0,0,0,0,0
$GC,737,-0.53,-194.6,145.2,-17.0,124,745,0.00,1.08,0.00,0.000,6,0.000,0.042,2580,1602,3681,0,0,0,0,0,0
$GC,1068,-0.54,-194.6,185.4,-10.5,185,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1601,3682,0,0,0,0,0,0
$GC,1395,-0.57,-194.6,221.6,-11.0,246,1403,0.00,1.08,0.00,0.000,4,0.000,0.044,2568,2306,3681,0,0,0,0,0,0
$GC,1438,-0.59,-194.6,226.5,-11.5,253,1447,0.00,1.05,0.00,0.000,6,0.000,0.042,2562,1614,3682,0,0,0,0,0,0
$GC,1773,-0.61,-194.6,267.5,-12.6,302,1777,0.00,1.05,0.00,0.000,4,0.000,0.047,2554,2299,3681,0,0,0,0,0,0
$GC,1969,-0.65,-194.6,290.5,-11.4,319,1973,0.00,1.05,0.00,0.000,6,0.000,0.042,2553,1606,3680,0,0,0,0,0,0
$GC,2304,-0.67,-194.6,327.4,-10.0,350,2308,0.00,1.05,0.00,0.000,4,0.000,0.046,2553,910,3680,0,0,0,0,0,0
$GC,2343,-0.70,-194.6,332.0,-10.4,353,2351,0.00,1.05,0.00,0.000,6,0.000,0.041,2548,1606,3679,0,0,0,0,0,0
$GC,2671,-0.73,-194.6,360.1,-8.5,384,2676,0.12,1.05,0.00,0.000,4,0.082,0.046,2466,2303,3677,0,0,0,0,0,0
$GC,2717,-0.69,-194.6,365.8,-12.9,388,2721,0.12,1.05,0.00,0.000,6,0.135,0.044,2515,1609,3677,0,0,0,0,0,0
$GC,3049,-0.69,-194.6,409.8,-14.2,419,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1609,3676,0,0,0,0,0,0
$GC,3367,-0.69,-194.6,455.0,-13.6,449,3370,0.00,1.08,0.00,0.000,4,0.000,0.050,2524,2303,3675,0,0,0,0,0,0
$GC,3412,-0.69,-194.6,461.7,-14.5,453,3416,0.00,1.05,0.00,0.000,6,0.000,0.045,2523,1619,3675,0,0,0,0,0,0
$GC,3743,-0.69,-194.6,507.8,-13.1,484,3747,0.00,1.08,0.00,0.000,4,0.000,0.048,2524,910,3672,0,0,0,0,0,0
$GC,3804,-0.69,-194.6,515.7,-12.9,489,3812,0.00,1.08,0.00,0.000,6,0.000,0.042,2520,1611,3672,0,0,0,0,0,0
$GC,4130,-0.69,-194.6,553.1,-11.0,520,4133,0.00,1.05,0.00,0.000,4,0.000,0.050,2515,2311,3670,0,0,0,0,0,0
$GC,4176,-0.70,-194.6,558.0,-10.2,524,4180,0.00,1.08,0.00,0.000,6,0.000,0.044,2515,1607,3669,0,0,0,0,0,0
$GC,4508,-0.70,-194.6,590.6,-9.8,555,4511,0.00,1.10,0.00,0.000,4,0.000,0.052,2510,2311,3666,0,0,0,0,0,0
$GC,4668,-0.72,-194.6,605.1,-9.1,567,4672,0.00,1.08,0.00,0.000,6,0.000,0.047,2510,1612,3665,0,0,0,0,0,0
$GC,5003,-0.72,-194.6,640.1,-10.8,583,5007,0.00,1.08,0.00,0.000,4,0.000,0.051,2510,907,3662,0,0,0,0,0,0
$GC,5042,-0.72,-194.6,644.9,-11.3,584,5049,0.00,1.08,0.00,0.000,6,0.000,0.044,2505,1607,3662,0,0,0,0,0,0
$GC,5361,-0.72,-194.6,680.7,-11.1,600,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1607,3660,0,0,0,0,0,0
$GC,5668,-0.72,-194.6,715.5,-10.6,615,5671,0.00,1.10,0.00,0.000,4,0.000,0.051,2505,904,3657,0,0,0,0,0,0
$GC,5714,-0.72,-194.6,720.6,-11.2,617,5717,0.00,1.10,0.00,0.000,6,0.000,0.047,2500,1610,3656,0,0,0,0,0,0
$GC,6049,-0.72,-194.6,755.2,-10.4,633,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1610,3654,0,0,0,0,0,0
$GC,6356,-0.72,-194.6,787.7,-10.8,648,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1610,3652,0,0,0,0,0,0
$GC,6668,-0.72,-194.6,822.3,-11.5,663,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1610,3650,0,0,0,0,0,0
$GC,6975,-0.72,-194.6,857.3,-11.1,678,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1610,3648,0,0,0,0,0,0
$GC,7284,-0.72,-194.6,889.6,-10.1,693,7288,0.00,1.10,0.00,0.000,4,0.000,0.058,2494,2303,3645,0,0,0,0,0,0
$GC,7325,-0.73,-194.6,893.4,-9.6,694,7332,0.00,1.08,0.00,0.000,6,0.000,0.050,2494,1617,3645,0,0,0,0,0,0
$GC,7641,-0.73,-194.6,924.1,-9.5,710,7645,0.00,1.10,0.00,0.000,4,0.000,0.055,2495,912,3644,0,0,0,0,0,0
$GC,7691,-0.73,-194.6,929.3,-10.1,712,7695,0.00,1.10,0.00,0.000,6,0.000,0.050,2490,1608,3643,0,0,0,0,0,0
$GC,8021,-0.73,-194.6,962.6,-10.3,728,8025,0.00,1.10,0.00,0.000,4,0.000,0.058,2484,2314,3641,0,0,0,0,0,0
$GC,8090,-0.75,-194.6,969.6,-9.8,731,8094,0.00,1.10,0.00,0.000,6,0.000,0.049,2484,1609,3641,0,0,0,0,0,0
$STATE,8297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8297,begin apogee
$GC,8305,-0.11,0.0,991.7,10.8,741,8477,0.70,0.00,164.70,1.443,6,0.126,0.000,2705,1786,2883,0,0,0,0,0,0
$STATE,8478,end apogee,CONTROL_FINISHED_OK
$STATE,8478,begin climb
$GC,8483,0.65,194.6,997.5,0.0,749,8673,0.70,1.20,178.98,1.393,4,0.067,0.061,2959,2482,2088,0,0,0,0,0,0
$GC,8769,0.63,194.6,968.9,13.3,762,8773,0.00,1.10,0.00,0.000,6,0.000,0.052,2964,1790,2084,0,0,0,0,0,0
$GC,9096,0.60,194.6,926.5,12.9,778,9099,0.00,1.10,0.00,0.000,4,0.000,0.061,2962,2480,2081,0,0,0,0,0,0
$GC,9154,0.59,194.6,919.1,12.7,780,9159,0.08,1.10,0.00,0.000,6,0.161,0.051,2943,1781,2079,0,0,0,0,0,0
$GC,9475,0.64,238.3,884.4,10.4,796,9517,0.00,0.00,39.65,1.343,6,0.000,0.000,2942,1781,1912,0,0,0,0,0,0
$GC,9825,0.67,265.7,845.8,11.1,813,9855,0.00,1.10,26.52,1.297,4,0.000,0.055,2938,2480,1800,0,0,0,0,0,0
$GC,9880,0.73,298.4,839.7,10.8,815,9918,0.08,1.10,32.70,1.291,6,0.055,0.048,2991,1780,1666,0,0,0,0,0,0
$GC,10242,0.70,298.4,782.5,16.2,833,10246,0.00,1.10,0.00,0.000,4,0.000,0.053,2997,1075,1661,0,0,0,0,0,0
$GC,10270,0.68,298.4,777.2,16.8,834,10274,0.08,1.10,0.00,0.000,6,0.159,0.049,2970,1781,1660,0,0,0,0,0,0
$GC,10596,0.68,298.4,728.4,14.9,850,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1781,1659,0,0,0,0,0,0
$GC,10908,0.68,298.4,683.5,14.2,865,10912,0.00,1.08,0.00,0.000,4,0.000,0.056,2966,2486,1658,0,0,0,0,0,0
$GC,10957,0.68,298.4,676.1,13.8,867,10961,0.00,1.10,0.00,0.000,6,0.000,0.047,2969,1775,1657,0,0,0,0,0,0
$GC,11287,0.68,298.4,631.6,13.4,883,11291,0.00,1.08,0.00,0.000,4,0.000,0.052,2975,1065,1657,0,0,0,0,0,0
$GC,11348,0.68,298.4,622.4,14.2,885,11356,0.00,1.10,0.00,0.000,6,0.000,0.045,2971,1778,1656,0,0,0,0,0,0
$GC,11670,0.68,298.4,578.1,14.1,908,11674,0.00,1.10,0.00,0.000,4,0.000,0.050,2975,1069,1656,0,0,0,0,0,0
$GC,11723,0.68,298.4,570.4,14.7,912,11729,0.00,1.10,0.00,0.000,6,0.000,0.044,2971,1788,1655,0,0,0,0,0,0
$GC,12048,0.68,298.4,523.6,14.0,943,12052,0.00,1.05,0.00,0.000,4,0.000,0.053,2966,2481,1656,0,0,0,0,0,0
$GC,12121,0.69,298.4,514.4,13.1,949,12124,0.00,1.08,0.00,0.000,6,0.000,0.044,2970,1779,1655,0,0,0,0,0,0
$GC,12452,0.71,298.4,470.8,12.3,980,12456,0.00,1.08,0.00,0.000,4,0.000,0.048,2974,1063,1655,0,0,0,0,0,0
$GC,12526,0.71,301.5,462.1,12.1,986,12534,0.00,1.10,0.00,0.000,6,0.000,0.043,2972,1786,1655,0,0,0,0,0,0
$GC,12852,0.73,303.8,423.3,12.1,1017,12862,0.00,0.00,4.10,0.667,6,0.000,0.000,2971,1786,1645,0,0,0,0,0,0
$GC,13181,0.77,320.9,383.2,11.5,1048,13204,0.00,1.15,17.90,0.965,4,0.000,0.049,2974,1069,1575,0,0,0,0,0,0
$GC,13221,0.80,326.1,378.1,12.0,1051,13231,0.00,1.08,6.15,0.769,6,0.000,0.041,2972,1775,1554,0,0,0,0,0,0
$GC,13558,0.83,326.1,340.4,12.9,1083,13560,0.12,0.00,0.00,0.000,6,0.092,0.000,3042,1776,1552,0,0,0,0,0,0
$GC,13878,0.80,326.1,281.7,19.3,1113,13882,0.15,1.10,0.00,0.000,4,0.161,0.047,3006,1067,1552,0,0,0,0,0,0
$GC,13971,0.80,326.1,266.8,14.4,1121,13978,0.00,1.08,0.00,0.000,6,0.000,0.041,3002,1781,1552,0,0,0,0,0,0
$GC,14301,0.81,329.4,224.4,12.1,1170,14311,0.00,1.10,4.57,0.588,4,0.000,0.047,2997,2481,1540,0,0,0,0,0,0
$GC,14368,0.84,337.4,216.4,11.9,1181,14385,0.00,1.08,9.18,0.739,6,0.000,0.041,3001,1776,1508,0,0,0,0,0,0
$GC,14706,0.86,337.6,175.4,12.2,1243,14714,0.00,1.08,0.00,0.000,4,0.000,0.046,2998,2480,1507,0,0,0,0,0,0
$GC,14854,0.96,391.3,160.4,10.0,1270,14909,0.12,1.08,48.75,0.787,6,0.045,0.041,3074,1766,1287,0,0,0,0,0,0
$GC,15231,0.95,391.3,93.8,16.2,1337,15239,0.00,1.08,0.00,0.000,4,0.000,0.044,3074,2474,1284,0,0,0,0,0,0
$GC,15271,0.95,391.3,87.1,15.7,1343,15279,0.00,1.05,0.00,0.000,6,0.000,0.038,3079,1778,1284,0,0,0,0,0,0
$GC,15604,1.09,480.3,47.7,8.5,1404,15687,0.00,1.10,74.28,0.687,4,0.000,0.041,3084,1072,925,0,0,0,0,0,0
$GC,15782,1.13,480.3,29.4,12.3,1432,15790,0.00,1.08,0.00,0.000,6,0.000,0.035,3081,1794,922,0,0,0,0,0,0
$STATE,16018,end climb,SURFACE_DEPTH_REACHED
$STATE,16018,begin surface coast
$FINISH,1.3,1.022416
$STATE,16042,end surface coast,CONTROL_FINISHED_OK
$STATE,16042,begin surface
$SM_CCo,16122,0.00,0.000,0,0,919,482.01
$SM_GC,2.18,7.55,0.00,0.00,0.034,0.000,0.000,130,1589,919,-8.05,-0.62,482.01,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12250.60,261011,212104
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.37
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.70
$XPDR_PINGS,123
$24V_AH,23.0,108.913
$10V_AH,9.7,74.027
$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,19.675,65.575,607.475,0.000,0.000,126.597,113.385,276.556,30.750,0.000,34.036,3681.198,8329.863,636.682,3858.630,504.398,0.000,2028.203,0.000,3311.007,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,65.790,1442.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.961,1515.049,1699.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,83741,1480
$CAP_FILE_SIZE,173297,0
$CFSIZE,260165632,107909120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187, 27.8,1
$GPS,271011,014930,2327.007,12248.718,61,1.5,61,-3.2