version: 66.09
glider: 166
mission: 6
dive: 299
start: 9 30 111 4 35 58
data:
$ID,166
$MISSION,6
$DIVE,299
$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,350
$T_MISSION,380
$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,-24775.594
$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,66
$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,3
$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
$GPS1,300911,042730,2228.451,12209.235,66,1.9,72,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-72.8
$GPS2,300911,043537,2228.341,12209.246,35,2.0,35,-2.9
$SPEED_LIMITS,0.163,0.290
$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,318.7,98665,-14.9,-9.429
$D_GRID,4699
$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,18,-0.57,-194.6,0.0,0.0,0,109,0.00,0.00,-88.40,0.000,2,0.000,0.000,131,1583,3262,0,0,0,0,0,0
$GC,112,-0.57,-194.6,6.7,-10.5,12,136,9.60,1.10,-7.57,0.000,4,0.222,0.067,2545,2306,3681,0,0,0,0,0,0
$GC,194,-0.42,-194.6,41.9,-32.5,25,202,0.17,1.00,0.00,0.000,6,0.146,0.037,2600,1629,3682,0,0,0,0,0,0
$GC,520,-0.40,-194.6,100.3,-11.7,86,529,0.00,1.00,0.00,0.000,4,0.000,0.043,2597,2297,3683,0,0,0,0,0,0
$GC,618,-0.40,-194.6,110.3,-9.2,103,626,0.00,1.02,0.00,0.000,6,0.000,0.037,2594,1604,3684,0,0,0,0,0,0
$GC,944,-0.40,-194.6,151.9,-13.2,164,952,0.00,1.02,0.00,0.000,4,0.000,0.042,2589,2294,3684,0,0,0,0,0,0
$GC,991,-0.40,-194.6,158.2,-13.6,172,999,0.00,1.00,0.00,0.000,6,0.000,0.037,2589,1614,3684,0,0,0,0,0,0
$GC,1322,-0.42,-194.6,190.3,-8.4,233,1330,0.00,1.02,0.00,0.000,4,0.000,0.043,2584,2297,3684,0,0,0,0,0,0
$GC,1396,-0.44,-194.6,196.3,-8.4,245,1404,0.00,1.02,0.00,0.000,6,0.000,0.038,2584,1606,3684,0,0,0,0,0,0
$GC,1724,-0.46,-194.6,224.0,-8.4,306,1733,0.00,1.02,0.00,0.000,4,0.000,0.044,2579,2293,3684,0,0,0,0,0,0
$GC,1773,-0.50,-194.6,228.0,-7.8,314,1782,0.00,1.02,0.00,0.000,6,0.000,0.039,2579,1602,3684,0,0,0,0,0,0
$GC,2101,-0.52,-194.6,259.1,-10.0,367,2105,0.00,1.05,0.00,0.000,4,0.000,0.046,2575,2296,3684,0,0,0,0,0,0
$GC,2128,-0.54,-194.6,262.1,-9.8,369,2135,0.00,1.02,0.00,0.000,6,0.000,0.040,2576,1607,3684,0,0,0,0,0,0
$GC,2454,-0.56,-194.6,291.9,-9.0,400,2458,0.00,1.02,0.00,0.000,4,0.000,0.047,2582,2285,3683,0,0,0,0,0,0
$GC,2491,-0.59,-194.6,294.9,-8.9,403,2495,0.00,1.02,0.00,0.000,6,0.000,0.042,2583,1606,3682,0,0,0,0,0,0
$GC,2822,-0.61,-194.6,322.1,-8.6,434,2827,0.12,1.05,0.00,0.000,4,0.085,0.048,2503,2291,3680,0,0,0,0,0,0
$GC,2894,-0.55,-194.6,330.9,-13.2,440,2902,0.17,1.02,0.00,0.000,6,0.131,0.042,2561,1607,3680,0,0,0,0,0,0
$GC,3220,-0.55,-194.6,366.6,-11.5,471,3224,0.00,1.05,0.00,0.000,4,0.000,0.047,2562,911,3678,0,0,0,0,0,0
$GC,3279,-0.55,-194.6,374.0,-13.1,476,3282,0.00,1.02,0.00,0.000,6,0.000,0.043,2559,1589,3678,0,0,0,0,0,0
$GC,3610,-0.55,-194.6,419.8,-12.6,507,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1589,3677,0,0,0,0,0,0
$GC,3932,-0.55,-194.6,457.2,-11.5,537,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1589,3674,0,0,0,0,0,0
$GC,4259,-0.55,-194.6,490.6,-9.2,568,4263,0.00,1.08,0.00,0.000,4,0.000,0.050,2554,2303,3673,0,0,0,0,0,0
$GC,4345,-0.57,-194.6,498.0,-8.4,575,4352,0.00,1.05,0.00,0.000,6,0.000,0.045,2554,1616,3672,0,0,0,0,0,0
$GC,4670,-0.57,-194.6,525.6,-8.1,606,4674,0.00,1.08,0.00,0.000,4,0.000,0.052,2550,2311,3669,0,0,0,0,0,0
$GC,4722,-0.58,-194.6,529.7,-7.9,610,4730,0.00,1.08,0.00,0.000,6,0.000,0.045,2550,1608,3669,0,0,0,0,0,0
$GC,5048,-0.58,-194.6,557.6,-8.7,641,5051,0.00,1.08,0.00,0.000,4,0.000,0.054,2545,2300,3667,0,0,0,0,0,0
$GC,5083,-0.59,-194.6,560.7,-9.0,644,5087,0.00,1.05,0.00,0.000,6,0.000,0.046,2545,1614,3666,0,0,0,0,0,0
$GC,5414,-0.59,-194.6,594.1,-10.1,675,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1614,3664,0,0,0,0,0,0
$GC,5725,-0.59,-194.6,624.4,-9.2,693,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1614,3662,0,0,0,0,0,0
$GC,6036,-0.59,-194.6,650.6,-8.2,708,6040,0.00,1.08,0.00,0.000,4,0.000,0.053,2545,911,3659,0,0,0,0,0,0
$GC,6120,-0.59,-194.6,657.7,-8.2,711,6127,0.00,1.08,0.00,0.000,6,0.000,0.047,2540,1610,3659,0,0,0,0,0,0
$GC,6439,-0.59,-194.6,682.1,-7.9,727,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1610,3656,0,0,0,0,0,0
$GC,6746,-0.59,-194.6,708.7,-9.3,742,6750,0.00,1.12,0.00,0.000,4,0.000,0.053,2540,909,3654,0,0,0,0,0,0
$GC,6779,-0.59,-194.6,712.1,-9.3,743,6782,0.00,1.10,0.00,0.000,6,0.000,0.048,2534,1614,3654,0,0,0,0,0,0
$GC,7103,-0.59,-194.6,743.6,-9.7,759,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1614,3652,0,0,0,0,0,0
$GC,7410,-0.59,-194.6,770.1,-7.9,774,7413,0.00,1.10,0.00,0.000,4,0.000,0.054,2534,917,3651,0,0,0,0,0,0
$GC,7460,-0.59,-194.6,774.5,-8.6,776,7464,0.00,1.08,0.00,0.000,6,0.000,0.049,2529,1608,3650,0,0,0,0,0,0
$GC,7789,-0.59,-194.6,802.1,-8.4,792,7793,0.00,1.08,0.00,0.000,4,0.000,0.059,2524,2305,3649,0,0,0,0,0,0
$GC,7835,-0.59,-194.6,806.0,-8.2,794,7839,0.00,1.08,0.00,0.000,6,0.000,0.050,2524,1612,3648,0,0,0,0,0,0
$GC,8171,-0.59,-194.6,833.3,-8.0,810,8175,0.10,1.10,0.00,0.000,4,0.168,0.057,2551,917,3646,0,0,0,0,0,0
$GC,8278,-0.62,-194.6,840.8,-6.5,814,8286,0.00,1.08,0.00,0.000,6,0.000,0.049,2548,1605,3645,0,0,0,0,0,0
$GC,8596,-0.64,-194.6,861.7,-7.0,830,8600,0.00,1.08,0.00,0.000,4,0.000,0.058,2543,2304,3645,0,0,0,0,0,0
$GC,8643,-0.67,-194.6,865.1,-7.4,832,8647,0.00,1.08,0.00,0.000,6,0.000,0.050,2543,1613,3644,0,0,0,0,0,0
$GC,8980,-0.69,-194.6,894.3,-9.3,848,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1612,3642,0,0,0,0,0,0
$GC,9287,-0.71,-194.6,921.9,-8.8,863,9291,0.00,1.10,0.00,0.000,4,0.000,0.062,2538,2299,3641,0,0,0,0,0,0
$GC,9321,-0.74,-194.6,925.0,-8.5,864,9324,0.00,1.08,0.00,0.000,6,0.000,0.052,2538,1616,3641,0,0,0,0,0,0
$GC,9645,-0.76,-194.6,951.9,-8.1,880,9649,0.10,1.12,0.00,0.000,4,0.105,0.060,2483,908,3640,0,0,0,0,0,0
$GC,9706,-0.72,-194.6,959.2,-12.4,882,9714,0.10,1.10,0.00,0.000,6,0.147,0.051,2510,1607,3639,0,0,0,0,0,0
$GC,10024,-0.72,-194.6,987.2,-8.2,898,10028,0.00,1.10,0.00,0.000,4,0.000,0.056,2510,908,3638,0,0,0,0,0,0
$STATE,10056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10056,begin apogee
$GC,10063,-0.11,0.0,990.5,8.0,899,10234,0.60,0.00,165.88,1.453,6,0.122,0.000,2702,1783,2884,0,0,0,0,0,0
$STATE,10235,end apogee,CONTROL_FINISHED_OK
$STATE,10235,begin climb
$GC,10237,0.57,194.6,993.3,0.0,907,10427,0.62,0.00,184.62,1.387,6,0.068,0.000,2927,1783,2090,0,0,0,0,0,0
$GC,10726,0.53,194.6,937.8,12.5,931,10730,0.00,1.08,0.00,0.000,4,0.000,0.060,2928,2480,2082,0,0,0,0,0,0
$GC,10742,0.49,194.6,935.3,12.4,931,10749,0.00,1.10,0.00,0.000,6,0.000,0.049,2932,1774,2082,0,0,0,0,0,0
$GC,11059,0.44,194.6,896.1,12.4,947,11063,0.15,1.12,0.00,0.000,4,0.166,0.060,2887,2488,2080,0,0,0,0,0,0
$GC,11121,0.44,194.6,889.5,9.9,949,11128,0.00,1.10,0.00,0.000,6,0.000,0.050,2888,1784,2079,0,0,0,0,0,0
$GC,11437,0.44,194.6,856.9,10.6,965,11441,0.00,1.10,0.00,0.000,4,0.000,0.057,2885,2488,2078,0,0,0,0,0,0
$GC,11511,0.44,194.6,849.3,10.2,968,11515,0.00,1.10,0.00,0.000,6,0.000,0.048,2889,1782,2078,0,0,0,0,0,0
$GC,11838,0.44,194.6,817.7,9.5,984,11842,0.00,1.10,0.00,0.000,4,0.000,0.054,2892,1067,2077,0,0,0,0,0,0
$GC,11871,0.44,194.6,814.5,9.5,985,11875,0.00,1.12,0.00,0.000,6,0.000,0.048,2894,1790,2076,0,0,0,0,0,0
$GC,12195,0.44,194.6,783.2,9.7,1001,12199,0.00,1.05,0.00,0.000,4,0.000,0.057,2893,2481,2076,0,0,0,0,0,0
$GC,12312,0.44,194.6,771.1,10.1,1006,12316,0.00,1.10,0.00,0.000,6,0.000,0.047,2893,1768,2076,0,0,0,0,0,0
$GC,12642,0.44,194.6,737.8,9.8,1022,12645,0.00,1.12,0.00,0.000,4,0.000,0.056,2895,2490,2075,0,0,0,0,0,0
$GC,12719,0.44,194.6,729.9,9.5,1025,12724,0.00,1.10,0.00,0.000,6,0.000,0.047,2900,1780,2075,0,0,0,0,0,0
$GC,13041,0.44,194.6,699.8,9.6,1041,13045,0.00,1.08,0.00,0.000,4,0.000,0.056,2899,2482,2075,0,0,0,0,0,0
$GC,13093,0.44,194.6,694.3,10.7,1043,13097,0.00,1.10,0.00,0.000,6,0.000,0.047,2902,1772,2075,0,0,0,0,0,0
$GC,13421,0.43,194.6,656.4,11.9,1059,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1771,2075,0,0,0,0,0,0
$GC,13731,0.43,194.6,620.0,10.9,1074,13735,0.00,1.10,0.00,0.000,4,0.000,0.056,2905,2482,2074,0,0,0,0,0,0
$GC,13821,0.43,194.6,610.6,10.0,1078,13825,0.00,1.08,0.00,0.000,6,0.000,0.046,2907,1785,2074,0,0,0,0,0,0
$GC,14154,0.51,257.0,583.8,7.4,1103,14212,0.00,0.00,55.60,1.178,6,0.000,0.000,2906,1785,1836,0,0,0,0,0,0
$GC,14530,0.53,279.8,552.3,8.7,1139,14556,0.00,1.10,21.73,1.104,4,0.000,0.050,2910,2494,1743,0,0,0,0,0,0
$GC,14581,0.58,301.8,547.9,8.7,1143,14610,0.00,1.12,21.65,1.086,6,0.000,0.044,2912,1781,1653,0,0,0,0,0,0
$GC,14930,0.60,301.8,515.2,9.9,1176,14936,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1781,1648,0,0,0,0,0,0
$GC,15258,0.65,323.3,483.8,8.7,1207,15285,0.12,1.15,19.90,1.050,4,0.086,0.053,2982,2495,1566,0,0,0,0,0,0
$GC,15298,0.62,323.3,479.0,12.3,1210,15306,0.12,1.12,0.00,0.000,6,0.145,0.044,2948,1774,1565,0,0,0,0,0,0
$GC,15623,0.62,323.3,442.4,11.0,1241,15626,0.00,1.05,0.00,0.000,4,0.000,0.049,2951,1078,1562,0,0,0,0,0,0
$GC,15693,0.62,323.3,435.2,10.4,1247,15697,0.00,1.08,0.00,0.000,6,0.000,0.042,2951,1788,1561,0,0,0,0,0,0
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$STATE,19836,end climb,SURFACE_DEPTH_REACHED
$STATE,19836,begin surface coast
$FINISH,1.2,1.021717
$STATE,19868,end surface coast,CONTROL_FINISHED_OK
$STATE,19868,begin surface
$SM_CCo,19946,0.00,0.000,0,0,684,539.91
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$IRIDIUM_FIX,2218.34,12213.43,290911,222253
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.63
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.30
$XPDR_PINGS,121
$24V_AH,22.4,71.424
$10V_AH,9.8,50.649
$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,20.150,88.525,658.125,0.000,0.000,25.733,18.381,239.787,30.250,0.000,36.507,4592.774,10080.463,749.387,4389.962,587.713,0.000,2440.755,0.000,4101.336,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,66.555,1452.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1269.374,1898.120,2192.372,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,103432,1854
$CAP_FILE_SIZE,211906,0
$CFSIZE,260165632,120537088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,157.4,1
$GPS,300911,100957,2229.362,12207.386,36,99.0,55,-2.9