version: 66.09
glider: 166
mission: 6
dive: 441
start: 10 26 111 12 5 36
data:
$ID,166
$MISSION,6
$DIVE,441
$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,-24961.895
$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,44
$R_STBD_OVSHOOT,61
$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
$GPS1,261011,115508,2326.975,12251.902,33,1.8,33,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-64.0
$GPS2,261011,120455,2327.089,12251.875,30,1.7,47,-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,228.4,152924,-18.6,-12.222
$D_GRID,3599
$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,16,begin dive
$GC,19,-0.65,-194.6,0.0,0.0,0,108,0.00,0.00,-86.53,0.000,2,0.000,0.000,121,1606,3213,0,0,0,0,0,0
$GC,111,-0.65,-194.6,6.7,-10.9,12,135,9.65,1.08,-8.50,0.000,4,0.223,0.069,2521,2304,3680,0,0,0,0,0,0
$GC,309,-0.59,-194.6,68.9,-21.5,47,318,0.10,1.05,0.00,0.000,6,0.145,0.040,2551,1605,3682,0,0,0,0,0,0
$GC,637,-0.56,-194.6,123.4,-15.2,108,645,0.00,1.02,0.00,0.000,4,0.000,0.041,2552,2294,3683,0,0,0,0,0,0
$GC,666,-0.55,-194.6,127.7,-14.6,112,674,0.00,1.02,0.00,0.000,6,0.000,0.037,2564,1602,3683,0,0,0,0,0,0
$GC,994,-0.55,-194.6,178.2,-15.3,173,1002,0.00,1.02,0.00,0.000,4,0.000,0.043,2554,2291,3683,0,0,0,0,0,0
$GC,1114,-0.56,-194.6,195.0,-13.8,194,1123,0.00,1.00,0.00,0.000,6,0.000,0.040,2554,1620,3684,0,0,0,0,0,0
$GC,1442,-0.56,-194.6,237.3,-12.6,255,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1620,3684,0,0,0,0,0,0
$GC,1774,-0.56,-194.6,279.6,-12.7,295,1778,0.00,1.00,0.00,0.000,4,0.000,0.046,2540,2288,3683,0,0,0,0,0,0
$GC,1951,-0.58,-194.6,301.4,-12.2,310,1959,0.00,1.02,0.00,0.000,6,0.000,0.043,2538,1611,3683,0,0,0,0,0,0
$GC,2277,-0.59,-194.6,339.6,-11.2,341,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1611,3683,0,0,0,0,0,0
$GC,2598,-0.61,-194.6,374.8,-10.7,371,2602,0.00,1.02,0.00,0.000,4,0.000,0.048,2534,2289,3682,0,0,0,0,0,0
$GC,2681,-0.64,-194.6,383.3,-10.0,378,2684,0.00,1.02,0.00,0.000,6,0.000,0.044,2534,1610,3681,0,0,0,0,0,0
$GC,3012,-0.67,-194.6,419.1,-10.9,409,3016,0.00,1.05,0.00,0.000,4,0.000,0.050,2538,2285,3679,0,0,0,0,0,0
$GC,3061,-0.69,-194.6,424.0,-10.6,413,3065,0.00,1.02,0.00,0.000,6,0.000,0.044,2541,1607,3679,0,0,0,0,0,0
$GC,3393,-0.72,-194.6,461.0,-11.1,444,3396,0.00,1.02,0.00,0.000,4,0.000,0.049,2542,2282,3677,0,0,0,0,0,0
$GC,3442,-0.75,-194.6,465.9,-10.5,448,3446,0.08,1.02,0.00,0.000,6,0.051,0.045,2477,1607,3677,0,0,0,0,0,0
$GC,3773,-0.72,-194.6,516.7,-14.9,479,3777,0.12,1.08,0.00,0.000,4,0.169,0.050,2512,914,3675,0,0,0,0,0,0
$GC,3913,-0.72,-194.6,534.2,-12.2,491,3916,0.00,1.02,0.00,0.000,6,0.000,0.043,2509,1588,3675,0,0,0,0,0,0
$GC,4246,-0.72,-194.6,573.9,-11.8,522,4250,0.00,1.08,0.00,0.000,4,0.000,0.051,2504,2300,3672,0,0,0,0,0,0
$GC,4318,-0.72,-194.6,582.1,-10.6,528,4325,0.00,1.05,0.00,0.000,6,0.000,0.044,2505,1607,3671,0,0,0,0,0,0
$GC,4641,-0.72,-194.6,615.6,-10.9,552,4645,0.00,1.08,0.00,0.000,4,0.000,0.053,2499,2299,3669,0,0,0,0,0,0
$GC,4699,-0.72,-194.6,621.7,-10.3,554,4703,0.00,1.05,0.00,0.000,6,0.000,0.046,2499,1612,3668,0,0,0,0,0,0
$GC,5021,-0.72,-194.6,657.7,-11.5,570,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1612,3666,0,0,0,0,0,0
$GC,5332,-0.72,-194.6,692.4,-11.5,585,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1612,3663,0,0,0,0,0,0
$GC,5639,-0.72,-194.6,729.6,-12.7,600,5643,0.00,1.08,0.00,0.000,4,0.000,0.052,2500,913,3661,0,0,0,0,0,0
$GC,5700,-0.72,-194.6,738.0,-13.6,602,5708,0.00,1.08,0.00,0.000,6,0.000,0.048,2494,1605,3660,0,0,0,0,0,0
$GC,6018,-0.72,-194.6,777.8,-12.6,618,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1605,3658,0,0,0,0,0,0
$GC,6325,-0.72,-194.6,818.9,-13.7,633,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1605,3656,0,0,0,0,0,0
$GC,6635,-0.72,-194.6,857.2,-11.8,648,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1605,3654,0,0,0,0,0,0
$GC,6947,-0.72,-194.6,894.4,-11.9,663,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1605,3652,0,0,0,0,0,0
$GC,7254,-0.72,-194.6,929.2,-10.8,678,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1605,3650,0,0,0,0,0,0
$GC,7563,-0.72,-194.6,960.1,-9.6,693,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1605,3647,0,0,0,0,0,0
$STATE,7870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7870,begin apogee
$GC,7878,-0.11,0.0,991.3,10.1,708,8050,0.65,0.00,165.12,1.442,6,0.124,0.000,2702,1791,2884,0,0,0,0,0,0
$STATE,8050,end apogee,CONTROL_FINISHED_OK
$STATE,8051,begin climb
$GC,8055,0.65,194.6,995.9,0.0,716,8247,0.70,1.17,178.75,1.382,4,0.069,0.060,2955,2477,2088,0,0,0,0,0,0
$GC,8342,0.63,194.6,964.5,14.6,729,8346,0.00,1.10,0.00,0.000,6,0.000,0.051,2960,1791,2084,0,0,0,0,0,0
$GC,8670,0.61,194.6,917.8,14.2,745,8674,0.00,1.12,0.00,0.000,4,0.000,0.056,2965,1068,2081,0,0,0,0,0,0
$GC,8745,0.58,194.6,907.1,14.4,748,8750,0.08,1.12,0.00,0.000,6,0.151,0.051,2940,1778,2080,0,0,0,0,0,0
$GC,9071,0.58,194.6,865.2,12.5,764,9075,0.00,1.10,0.00,0.000,4,0.000,0.058,2936,2485,2078,0,0,0,0,0,0
$GC,9188,0.58,194.6,850.8,12.5,769,9192,0.00,1.12,0.00,0.000,6,0.000,0.049,2939,1770,2077,0,0,0,0,0,0
$GC,9521,0.58,194.6,808.8,12.6,785,9525,0.00,1.08,0.00,0.000,4,0.000,0.054,2944,1072,2076,0,0,0,0,0,0
$GC,9578,0.58,194.6,801.8,12.3,787,9582,0.00,1.12,0.00,0.000,6,0.000,0.050,2941,1788,2076,0,0,0,0,0,0
$GC,9901,0.63,229.4,765.7,10.8,803,9934,0.00,0.00,31.02,1.280,6,0.000,0.000,2941,1787,1948,0,0,0,0,0,0
$GC,10230,0.68,270.3,730.4,10.5,819,10274,0.00,1.20,38.53,1.257,4,0.000,0.051,2944,1065,1781,0,0,0,0,0,0
$GC,10312,0.73,300.8,721.5,10.9,822,10349,0.08,1.15,30.58,1.221,6,0.064,0.047,2987,1790,1657,0,0,0,0,0,0
$GC,10679,0.71,300.8,665.5,16.1,840,10682,0.00,1.12,0.00,0.000,4,0.000,0.050,2993,1066,1651,0,0,0,0,0,0
$GC,10706,0.69,300.8,660.3,16.6,841,10710,0.00,1.10,0.00,0.000,6,0.000,0.046,2993,1777,1650,0,0,0,0,0,0
$GC,11034,0.67,300.8,604.7,16.7,857,11038,0.12,1.08,0.00,0.000,4,0.177,0.054,2957,2480,1649,0,0,0,0,0,0
$GC,11086,0.69,300.8,597.3,13.6,859,11093,0.00,1.08,0.00,0.000,6,0.000,0.045,2959,1782,1648,0,0,0,0,0,0
$GC,11412,0.71,300.8,554.7,12.6,890,11416,0.00,1.10,0.00,0.000,4,0.000,0.053,2957,2489,1647,0,0,0,0,0,0
$GC,11460,0.74,304.8,549.0,12.1,894,11464,0.00,1.10,0.00,0.000,6,0.000,0.045,2961,1768,1648,0,0,0,0,0,0
$GC,11792,0.78,324.2,509.0,11.4,925,11818,0.10,1.08,20.98,1.080,4,0.105,0.052,3025,1083,1562,0,0,0,0,0,0
$GC,11896,0.75,324.2,493.6,16.1,934,11901,0.10,1.08,0.00,0.000,6,0.147,0.045,2993,1785,1559,0,0,0,0,0,0
$GC,12227,0.75,324.2,448.7,13.3,965,12231,0.00,1.08,0.00,0.000,4,0.000,0.049,2997,1083,1559,0,0,0,0,0,0
$GC,12266,0.75,324.2,443.3,13.0,968,12273,0.00,1.08,0.00,0.000,6,0.000,0.044,2993,1787,1558,0,0,0,0,0,0
$GC,12594,0.77,342.0,403.6,11.5,999,12613,0.00,0.00,17.38,0.982,6,0.000,0.000,2993,1787,1488,0,0,0,0,0,0
$GC,12930,0.78,350.7,363.7,11.9,1031,12943,0.00,1.12,8.95,0.858,4,0.000,0.047,2997,1078,1454,0,0,0,0,0,0
$GC,13017,0.79,350.7,352.9,12.5,1038,13024,0.00,1.08,0.00,0.000,6,0.000,0.041,2993,1785,1453,0,0,0,0,0,0
$GC,13343,0.81,350.7,309.1,14.0,1069,13347,0.00,1.08,0.00,0.000,4,0.000,0.047,2997,1083,1453,0,0,0,0,0,0
$GC,13441,0.82,350.7,295.8,13.4,1077,13447,0.00,1.05,0.00,0.000,6,0.000,0.042,2993,1775,1453,0,0,0,0,0,0
$GC,13769,0.84,350.7,254.2,12.8,1108,13773,0.00,1.08,0.00,0.000,4,0.000,0.047,2997,1077,1453,0,0,0,0,0,0
$GC,13813,0.87,350.7,248.8,12.4,1112,13822,0.00,1.08,0.00,0.000,6,0.000,0.040,2993,1790,1453,0,0,0,0,0,0
$GC,14145,0.90,350.7,208.5,12.4,1173,14153,0.12,1.02,0.00,0.000,4,0.089,0.048,3062,2471,1453,0,0,0,0,0,0
$GC,14246,0.87,350.7,191.4,17.3,1191,14255,0.12,1.05,0.00,0.000,6,0.150,0.041,3028,1777,1453,0,0,0,0,0,0
$GC,14577,0.87,350.7,147.3,12.6,1252,14586,0.00,1.05,0.00,0.000,4,0.000,0.045,3032,1071,1453,0,0,0,0,0,0
$GC,14607,0.87,350.7,143.7,12.4,1256,14616,0.00,1.05,0.00,0.000,6,0.000,0.037,3029,1780,1452,0,0,0,0,0,0
$GC,14934,0.93,374.0,105.2,11.2,1317,14964,0.00,0.00,22.58,0.720,6,0.000,0.000,3028,1780,1358,0,0,0,0,0,0
$GC,15287,1.10,465.5,72.1,8.4,1381,15370,0.20,1.15,77.68,0.702,4,0.063,0.044,3142,1071,985,0,0,0,0,0,0
$GC,15406,1.07,465.5,53.7,16.8,1398,15415,0.15,1.08,0.00,0.000,6,0.133,0.037,3093,1783,983,0,0,0,0,0,0
$GC,15737,1.10,465.5,8.6,13.4,1459,15745,0.00,1.08,0.00,0.000,4,0.000,0.043,3096,1076,981,0,0,0,0,0,0
$STATE,15782,end climb,SURFACE_DEPTH_REACHED
$STATE,15782,begin surface coast
$FINISH,1.6,1.021993
$STATE,15788,end surface coast,CONTROL_FINISHED_OK
$STATE,15788,begin surface
$SM_CCo,15869,0.00,0.000,0,0,978,467.54
$SM_GC,2.13,7.72,0.00,0.00,0.037,0.000,0.000,149,1614,978,-8.05,0.11,467.54,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12251.88,261011,111142
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.45
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,25.10
$XPDR_PINGS,115
$24V_AH,23.0,108.452
$10V_AH,9.7,73.690
$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,20.100,60.100,591.550,0.000,0.000,60.299,86.326,168.188,28.750,0.000,48.678,3649.678,8040.199,626.427,3633.401,502.150,0.000,1996.026,0.000,3283.871,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,68.850,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.328,1504.263,1689.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324792
$DATA_FILE_SIZE,83535,1467
$CAP_FILE_SIZE,166605,0
$CFSIZE,260165632,108085248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214, 31.7,1
$GPS,261011,163136,2326.906,12250.897,40,1.3,52,-3.2