version: 66.09
glider: 166
mission: 6
dive: 440
start: 10 26 111 7 32 18
data:
$ID,166
$MISSION,6
$DIVE,440
$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,-24960.637
$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,51
$R_STBD_OVSHOOT,50
$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
$GPS1,261011,072409,2327.081,12253.473,38,1.2,47,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-64.7
$GPS2,261011,073152,2327.094,12253.477,13,99.0,32,-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,231.4,155544,-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,-194.6,0.0,0.0,0,108,0.00,0.00,-88.50,0.000,2,0.000,0.000,122,1589,3142,0,0,0,0,0,0
$GC,111,-0.65,-194.6,5.7,-7.6,12,136,9.55,1.05,-10.20,0.000,4,0.219,0.069,2527,908,3679,0,0,0,0,0,0
$GC,324,-0.57,-194.6,74.7,-23.5,50,333,0.10,1.05,0.00,0.000,6,0.148,0.039,2556,1604,3681,0,0,0,0,0,0
$GC,651,-0.56,-194.6,129.8,-15.1,111,659,0.00,1.05,0.00,0.000,4,0.000,0.041,2550,2319,3682,0,0,0,0,0,0
$GC,740,-0.56,-194.6,143.7,-14.4,126,749,0.00,1.05,0.00,0.000,6,0.000,0.038,2564,1619,3683,0,0,0,0,0,0
$GC,1070,-0.56,-194.6,195.1,-14.1,187,1078,0.00,1.05,0.00,0.000,4,0.000,0.045,2557,2309,3683,0,0,0,0,0,0
$GC,1125,-0.57,-194.6,202.2,-13.1,196,1133,0.00,1.05,0.00,0.000,6,0.000,0.041,2556,1617,3683,0,0,0,0,0,0
$GC,1450,-0.57,-194.6,244.5,-12.5,257,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1617,3683,0,0,0,0,0,0
$GC,1783,-0.58,-194.6,285.9,-12.3,292,1786,0.00,1.05,0.00,0.000,4,0.000,0.046,2541,2312,3683,0,0,0,0,0,0
$GC,1900,-0.61,-194.6,299.4,-11.1,302,1904,0.00,1.08,0.00,0.000,6,0.000,0.042,2542,1605,3683,0,0,0,0,0,0
$GC,2231,-0.62,-194.6,340.6,-12.8,333,2234,0.00,1.05,0.00,0.000,4,0.000,0.047,2535,2299,3683,0,0,0,0,0,0
$GC,2262,-0.64,-194.6,343.9,-11.8,335,2269,0.00,1.05,0.00,0.000,6,0.000,0.043,2537,1606,3683,0,0,0,0,0,0
$GC,2588,-0.65,-194.6,381.8,-11.0,366,2592,0.00,1.08,0.00,0.000,4,0.000,0.048,2533,2305,3680,0,0,0,0,0,0
$GC,2626,-0.67,-194.6,385.6,-10.8,369,2629,0.00,1.05,0.00,0.000,6,0.000,0.044,2533,1612,3681,0,0,0,0,0,0
$GC,2957,-0.69,-194.6,422.7,-11.0,400,2961,0.00,1.05,0.00,0.000,4,0.000,0.047,2534,917,3680,0,0,0,0,0,0
$GC,2986,-0.71,-194.6,426.1,-10.9,402,2993,0.00,1.05,0.00,0.000,6,0.000,0.041,2532,1611,3680,0,0,0,0,0,0
$GC,3311,-0.73,-194.6,464.1,-11.6,433,3315,0.00,1.05,0.00,0.000,4,0.000,0.048,2531,2313,3678,0,0,0,0,0,0
$GC,3375,-0.76,-194.6,471.1,-10.6,438,3383,0.00,1.08,0.00,0.000,6,0.000,0.043,2529,1604,3677,0,0,0,0,0,0
$GC,3701,-0.78,-194.6,505.9,-10.3,469,3706,0.12,1.10,0.00,0.000,4,0.086,0.051,2464,2305,3676,0,0,0,0,0,0
$GC,3760,-0.74,-194.6,513.7,-14.5,474,3765,0.12,1.05,0.00,0.000,6,0.138,0.046,2504,1615,3675,0,0,0,0,0,0
$GC,4091,-0.74,-194.6,556.3,-12.3,505,4095,0.00,1.08,0.00,0.000,4,0.000,0.049,2504,904,3673,0,0,0,0,0,0
$GC,4231,-0.74,-194.6,573.2,-12.8,517,4234,0.00,1.08,0.00,0.000,6,0.000,0.043,2501,1608,3672,0,0,0,0,0,0
$GC,4570,-0.74,-194.6,615.9,-12.4,543,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1608,3670,0,0,0,0,0,0
$GC,4880,-0.74,-194.6,653.5,-12.0,558,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1608,3667,0,0,0,0,0,0
$GC,5187,-0.74,-194.6,691.4,-11.8,573,5191,0.00,1.05,0.00,0.000,4,0.000,0.054,2496,2302,3665,0,0,0,0,0,0
$GC,5214,-0.74,-194.6,694.7,-11.8,574,5218,0.00,1.05,0.00,0.000,6,0.000,0.047,2496,1614,3665,0,0,0,0,0,0
$GC,5544,-0.74,-194.6,732.5,-11.3,590,5548,0.00,1.08,0.00,0.000,4,0.000,0.053,2496,908,3663,0,0,0,0,0,0
$GC,5582,-0.74,-194.6,737.6,-12.4,591,5589,0.00,1.08,0.00,0.000,6,0.000,0.047,2491,1602,3662,0,0,0,0,0,0
$GC,5899,-0.74,-194.6,775.8,-12.6,607,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1602,3659,0,0,0,0,0,0
$GC,6210,-0.74,-194.6,813.5,-11.9,622,6214,0.00,1.08,0.00,0.000,4,0.000,0.057,2486,2303,3657,0,0,0,0,0,0
$GC,6304,-0.74,-194.6,824.8,-11.2,626,6308,0.00,1.08,0.00,0.000,6,0.000,0.050,2486,1607,3657,0,0,0,0,0,0
$GC,6634,-0.74,-194.6,864.2,-12.3,642,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1607,3654,0,0,0,0,0,0
$GC,6941,-0.74,-194.6,903.1,-12.8,657,6944,0.00,1.08,0.00,0.000,4,0.000,0.054,2486,911,3652,0,0,0,0,0,0
$GC,7058,-0.74,-194.6,918.8,-13.2,662,7062,0.00,1.10,0.00,0.000,6,0.000,0.050,2481,1610,3652,0,0,0,0,0,0
$GC,7388,-0.74,-194.6,959.4,-12.3,678,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1610,3650,0,0,0,0,0,0
$STATE,7652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7652,begin apogee
$GC,7658,-0.11,0.0,991.9,11.8,691,7830,0.70,0.00,165.48,1.434,6,0.126,0.000,2702,1780,2884,0,0,0,0,0,0
$STATE,7830,end apogee,CONTROL_FINISHED_OK
$STATE,7831,begin climb
$GC,7833,0.65,194.6,997.7,0.0,699,8018,0.70,1.12,178.82,1.384,4,0.071,0.058,2954,2479,2089,0,0,0,0,0,0
$GC,8053,0.63,194.6,978.0,12.5,709,8057,0.00,1.12,0.00,0.000,6,0.000,0.051,2958,1787,2086,0,0,0,0,0,0
$GC,8384,0.61,194.6,934.5,13.4,725,8387,0.00,1.10,0.00,0.000,4,0.000,0.056,2963,1075,2081,0,0,0,0,0,0
$GC,8422,0.58,194.6,928.7,13.3,726,8430,0.08,1.10,0.00,0.000,6,0.151,0.051,2940,1772,2080,0,0,0,0,0,0
$GC,8739,0.59,201.8,890.9,11.9,742,8746,0.00,0.00,5.85,1.008,6,0.000,0.000,2940,1771,2061,0,0,0,0,0,0
$GC,9051,0.60,206.5,854.3,12.0,757,9060,0.00,1.10,5.97,1.012,4,0.000,0.050,2944,1065,2041,0,0,0,0,0,0
$GC,9159,0.60,206.5,840.0,13.0,762,9163,0.00,1.12,0.00,0.000,6,0.000,0.050,2943,1776,2040,0,0,0,0,0,0
$GC,9494,0.60,206.5,798.2,12.4,778,9498,0.00,1.10,0.00,0.000,4,0.000,0.057,2943,2491,2039,0,0,0,0,0,0
$GC,9555,0.60,206.5,790.1,12.4,780,9563,0.00,1.12,0.00,0.000,6,0.000,0.047,2947,1771,2039,0,0,0,0,0,0
$GC,9872,0.61,217.1,753.1,11.8,796,9884,0.00,0.00,10.93,1.158,6,0.000,0.000,2947,1771,1999,0,0,0,0,0,0
$GC,10182,0.61,217.1,715.7,12.2,811,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1771,1995,0,0,0,0,0,0
$GC,10494,0.64,238.5,680.9,11.3,826,10519,0.00,1.15,20.70,1.196,4,0.000,0.054,2944,2491,1911,0,0,0,0,0,0
$GC,10563,0.70,277.6,673.2,10.6,829,10607,0.00,1.10,37.97,1.207,6,0.000,0.046,2947,1783,1752,0,0,0,0,0,0
$GC,10917,0.75,303.0,633.7,11.2,846,10944,0.10,0.00,24.52,1.155,6,0.103,0.000,3001,1783,1648,0,0,0,0,0,0
$GC,11253,0.72,303.0,583.7,15.0,867,11257,0.00,1.10,0.00,0.000,4,0.000,0.054,2998,2493,1643,0,0,0,0,0,0
$GC,11344,0.71,303.0,569.2,15.0,875,11347,0.00,1.10,0.00,0.000,6,0.000,0.045,3002,1781,1643,0,0,0,0,0,0
$GC,11675,0.69,303.0,516.7,16.5,906,11679,0.12,1.10,0.00,0.000,4,0.176,0.050,2974,1067,1642,0,0,0,0,0,0
$GC,11724,0.70,303.0,509.3,14.0,910,11731,0.00,1.10,0.00,0.000,6,0.000,0.043,2971,1790,1641,0,0,0,0,0,0
$GC,12050,0.71,303.0,465.2,13.6,941,12054,0.00,1.10,0.00,0.000,4,0.000,0.048,2974,1074,1641,0,0,0,0,0,0
$GC,12085,0.73,303.0,460.4,13.5,944,12089,0.00,1.08,0.00,0.000,6,0.000,0.043,2971,1780,1641,0,0,0,0,0,0
$GC,12417,0.75,303.9,417.9,12.2,975,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1780,1641,0,0,0,0,0,0
$GC,12740,0.83,355.1,382.4,10.1,1005,12797,0.12,1.15,46.88,0.991,4,0.090,0.048,3046,1072,1435,0,0,0,0,0,0
$GC,12854,0.80,355.1,364.0,17.3,1015,12859,0.12,1.10,0.00,0.000,6,0.138,0.042,3006,1790,1433,0,0,0,0,0,0
$GC,13184,0.80,355.1,317.5,14.3,1046,13188,0.00,1.10,0.00,0.000,4,0.000,0.045,3010,1065,1432,0,0,0,0,0,0
$GC,13211,0.80,355.1,313.6,13.7,1048,13219,0.00,1.08,0.00,0.000,6,0.000,0.041,3007,1779,1432,0,0,0,0,0,0
$GC,13538,0.81,355.1,266.9,14.2,1079,13542,0.00,1.02,0.00,0.000,4,0.000,0.050,3004,2468,1431,0,0,0,0,0,0
$GC,13577,0.83,355.1,261.2,13.6,1082,13585,0.00,1.05,0.00,0.000,6,0.000,0.043,3007,1777,1431,0,0,0,0,0,0
$GC,13905,0.83,355.1,217.8,13.6,1135,13913,0.00,1.08,0.00,0.000,4,0.000,0.047,3004,2481,1431,0,0,0,0,0,0
$GC,13990,0.86,355.1,207.1,12.4,1150,13998,0.00,1.08,0.00,0.000,6,0.000,0.041,3007,1772,1431,0,0,0,0,0,0
$GC,14322,0.93,392.7,168.9,10.6,1211,14361,0.10,1.10,33.55,0.786,4,0.099,0.046,3076,1069,1282,0,0,0,0,0,0
$GC,14441,0.90,392.7,150.3,16.3,1230,14450,0.12,1.08,0.00,0.000,6,0.137,0.039,3036,1788,1281,0,0,0,0,0,0
$GC,14770,0.93,397.5,108.4,12.0,1291,14780,0.00,1.05,5.57,0.552,4,0.000,0.045,3031,2474,1263,0,0,0,0,0,0
$GC,14806,0.96,399.6,104.1,12.1,1296,14816,0.00,1.05,3.80,0.437,6,0.000,0.039,3034,1773,1254,0,0,0,0,0,0
$GC,15140,1.04,423.3,64.4,11.2,1357,15171,0.12,1.05,21.55,0.672,4,0.086,0.041,3115,1080,1156,0,0,0,0,0,0
$GC,15290,1.04,423.3,41.9,12.9,1383,15299,0.10,1.02,0.00,0.000,6,0.135,0.037,3081,1784,1155,0,0,0,0,0,0
$STATE,15603,end climb,SURFACE_DEPTH_REACHED
$STATE,15603,begin surface coast
$FINISH,1.3,1.021990
$STATE,15632,end surface coast,CONTROL_FINISHED_OK
$STATE,15632,begin surface
$SM_CCo,15652,37.67,0.412,1,0,1048,450.13
$SM_GC,2.24,0.00,0.00,37.67,0.000,0.000,0.412,144,1605,1048,-8.12,-0.14,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2319.18,12257.10,261011,020207
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.14
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,24.70
$XPDR_PINGS,126
$24V_AH,23.0,108.229
$10V_AH,9.7,73.523
$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,20.050,62.975,561.600,37.675,0.000,22.330,39.557,207.681,31.500,0.000,34.524,3614.676,7890.635,646.938,3506.330,483.261,0.000,1990.526,0.000,3217.779,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,71.145,1434.375,412.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,989.370,1481.917,1666.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330432
$DATA_FILE_SIZE,80143,1446
$CAP_FILE_SIZE,165679,0
$CFSIZE,260165632,108179456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.184, 18.5,1
$GPS,261011,115508,2326.975,12251.902,33,1.8,33,-3.2