version: 66.09
glider: 166
mission: 6
dive: 452
start: 10 28 111 14 41 30
data:
$ID,166
$MISSION,6
$DIVE,452
$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,-24975.92
$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,37
$R_STBD_OVSHOOT,54
$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
$GPS1,281011,142930,2327.683,12242.901,68,2.0,74,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-62.4
$GPS2,281011,144106,2327.860,12242.946,50,2.0,60,-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,216.3,138861,-18.6,-12.222
$D_GRID,3881
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.65,-194.6,0.0,0.0,0,122,0.00,0.00,-101.55,0.000,2,0.000,0.000,128,1607,2992,0,0,0,0,0,0
$GC,125,-0.65,-194.6,5.1,-5.8,13,157,9.48,1.08,-14.23,0.000,4,0.217,0.066,2530,901,3678,0,0,0,0,0,0
$GC,335,-0.58,-194.6,66.2,-24.1,50,344,0.08,1.05,0.00,0.000,6,0.154,0.041,2550,1592,3679,0,0,0,0,0,0
$GC,661,-0.58,-194.6,120.3,-12.3,111,670,0.00,1.08,0.00,0.000,4,0.000,0.044,2549,2317,3680,0,0,0,0,0,0
$GC,696,-0.58,-194.6,124.7,-12.5,116,704,0.00,1.08,0.00,0.000,6,0.000,0.041,2549,1604,3680,0,0,0,0,0,0
$GC,1023,-0.56,-194.6,170.9,-14.4,177,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1604,3681,0,0,0,0,0,0
$GC,1351,-0.56,-194.6,213.6,-13.2,238,1359,0.00,1.10,0.00,0.000,4,0.000,0.047,2548,2317,3681,0,0,0,0,0,0
$GC,1424,-0.57,-194.6,222.5,-12.2,250,1432,0.00,1.08,0.00,0.000,6,0.000,0.041,2554,1610,3681,0,0,0,0,0,0
$GC,1753,-0.57,-194.6,263.0,-12.1,301,1756,0.00,1.10,0.00,0.000,4,0.000,0.047,2548,2317,3681,0,0,0,0,0,0
$GC,1966,-0.59,-194.6,290.3,-13.3,320,1974,0.00,1.08,0.00,0.000,6,0.000,0.041,2541,1611,3680,0,0,0,0,0,0
$GC,2292,-0.60,-194.6,330.5,-11.8,351,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1611,3680,0,0,0,0,0,0
$GC,2612,-0.62,-194.6,366.6,-11.6,381,2616,0.00,1.08,0.00,0.000,4,0.000,0.047,2531,2307,3678,0,0,0,0,0,0
$GC,2729,-0.65,-194.6,379.4,-11.1,391,2733,0.00,1.08,0.00,0.000,6,0.000,0.044,2532,1605,3677,0,0,0,0,0,0
$GC,3063,-0.68,-194.6,415.5,-10.0,422,3067,0.00,1.05,0.00,0.000,4,0.000,0.047,2532,913,3675,0,0,0,0,0,0
$GC,3120,-0.70,-194.6,421.7,-10.2,427,3124,0.00,1.08,0.00,0.000,6,0.000,0.041,2528,1620,3675,0,0,0,0,0,0
$GC,3452,-0.73,-194.6,454.3,-9.7,458,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1620,3674,0,0,0,0,0,0
$GC,3773,-0.76,-194.6,484.3,-9.6,488,3777,0.12,1.05,0.00,0.000,4,0.084,0.050,2469,2300,3671,0,0,0,0,0,0
$GC,3858,-0.73,-194.6,495.6,-13.7,495,3866,0.10,1.08,0.00,0.000,6,0.137,0.044,2503,1606,3670,0,0,0,0,0,0
$GC,4183,-0.73,-194.6,535.6,-12.2,526,4187,0.00,1.08,0.00,0.000,4,0.000,0.050,2507,904,3668,0,0,0,0,0,0
$GC,4276,-0.73,-194.6,547.3,-13.1,534,4281,0.00,1.08,0.00,0.000,6,0.000,0.044,2505,1604,3667,0,0,0,0,0,0
$GC,4607,-0.73,-194.6,589.7,-12.5,565,4611,0.00,1.08,0.00,0.000,4,0.000,0.049,2506,916,3664,0,0,0,0,0,0
$GC,4636,-0.73,-194.6,593.3,-12.5,567,4643,0.00,1.08,0.00,0.000,6,0.000,0.045,2500,1611,3663,0,0,0,0,0,0
$GC,4964,-0.73,-194.6,634.3,-12.4,586,4967,0.00,1.10,0.00,0.000,4,0.000,0.051,2501,905,3661,0,0,0,0,0,0
$GC,5018,-0.73,-194.6,641.5,-12.8,588,5023,0.00,1.08,0.00,0.000,6,0.000,0.045,2490,1605,3660,0,0,0,0,0,0
$GC,5343,-0.73,-194.6,680.8,-12.0,604,5347,0.00,1.08,0.00,0.000,4,0.000,0.053,2491,2312,3658,0,0,0,0,0,0
$GC,5451,-0.73,-194.6,693.6,-11.2,608,5458,0.08,1.08,0.00,0.000,6,0.135,0.047,2505,1615,3657,0,0,0,0,0,0
$GC,5772,-0.75,-194.6,726.0,-10.3,624,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1615,3655,0,0,0,0,0,0
$GC,6077,-0.77,-194.6,759.3,-10.8,639,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1615,3653,0,0,0,0,0,0
$GC,6393,-0.79,-194.6,791.9,-10.4,654,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1615,3650,0,0,0,0,0,0
$GC,6695,-0.82,-194.6,822.3,-9.6,669,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1615,3649,0,0,0,0,0,0
$GC,7005,-0.85,-194.6,851.7,-9.4,684,7007,0.12,0.00,0.00,0.000,6,0.089,0.000,2454,1615,3646,0,0,0,0,0,0
$GC,7316,-0.82,-194.6,893.0,-13.9,699,7320,0.00,1.10,0.00,0.000,4,0.000,0.054,2455,915,3644,0,0,0,0,0,0
$GC,7371,-0.79,-194.6,901.5,-14.0,701,7376,0.12,1.10,0.00,0.000,6,0.151,0.050,2489,1608,3644,0,0,0,0,0,0
$GC,7696,-0.79,-194.6,936.8,-11.0,717,7699,0.00,1.10,0.00,0.000,4,0.000,0.054,2488,915,3642,0,0,0,0,0,0
$GC,7742,-0.79,-194.6,942.4,-12.2,719,7746,0.00,1.10,0.00,0.000,6,0.000,0.050,2486,1612,3642,0,0,0,0,0,0
$GC,8075,-0.79,-194.6,980.8,-11.6,735,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1612,3640,0,0,0,0,0,0
$STATE,8155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8155,begin apogee
$GC,8163,-0.11,0.0,990.2,11.4,739,8334,0.68,0.00,163.88,1.450,6,0.126,0.000,2700,1785,2883,0,0,0,0,0,0
$STATE,8335,end apogee,CONTROL_FINISHED_OK
$STATE,8335,begin climb
$GC,8340,0.65,194.6,996.7,0.0,747,8532,0.73,1.17,179.98,1.388,4,0.069,0.061,2960,2478,2088,0,0,0,0,0,0
$GC,8583,0.63,194.6,973.7,13.0,758,8587,0.00,1.12,0.00,0.000,6,0.000,0.051,2964,1786,2085,0,0,0,0,0,0
$GC,8910,0.61,194.6,929.8,13.5,774,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1786,2080,0,0,0,0,0,0
$GC,9222,0.58,194.6,887.9,12.9,789,9224,0.12,0.00,0.00,0.000,6,0.178,0.000,2933,1786,2079,0,0,0,0,0,0
$GC,9529,0.65,252.1,856.2,9.8,804,9588,0.00,0.00,52.05,1.343,6,0.000,0.000,2933,1786,1855,0,0,0,0,0,0
$GC,9898,0.71,285.1,816.8,10.8,822,9938,0.12,0.00,31.60,1.293,6,0.093,0.000,2997,1786,1720,0,0,0,0,0,0
$GC,10249,0.68,285.1,759.0,17.1,839,10253,0.12,1.10,0.00,0.000,4,0.171,0.057,2962,2474,1715,0,0,0,0,0,0
$GC,10295,0.68,285.1,752.0,14.0,841,10298,0.00,1.10,0.00,0.000,6,0.000,0.047,2965,1767,1715,0,0,0,0,0,0
$GC,10630,0.68,285.1,705.2,14.3,857,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1766,1713,0,0,0,0,0,0
$GC,10937,0.68,285.1,659.1,14.9,872,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1766,1713,0,0,0,0,0,0
$GC,11246,0.68,285.1,614.5,14.4,887,11250,0.00,1.12,0.00,0.000,4,0.000,0.055,2963,2482,1712,0,0,0,0,0,0
$GC,11304,0.69,285.1,606.3,14.1,889,11307,0.00,1.08,0.00,0.000,6,0.000,0.045,2966,1784,1712,0,0,0,0,0,0
$GC,11633,0.69,285.1,560.9,12.7,918,11637,0.00,1.08,0.00,0.000,4,0.000,0.048,2972,1077,1711,0,0,0,0,0,0
$GC,11784,0.69,285.1,542.1,12.9,931,11788,0.00,1.08,0.00,0.000,6,0.000,0.045,2969,1778,1711,0,0,0,0,0,0
$GC,12117,0.69,285.1,497.4,14.4,962,12121,0.00,1.10,0.00,0.000,4,0.000,0.049,2972,1065,1711,0,0,0,0,0,0
$GC,12162,0.69,285.1,490.4,14.3,966,12166,0.00,1.10,0.00,0.000,6,0.000,0.044,2972,1780,1711,0,0,0,0,0,0
$GC,12493,0.69,285.1,444.1,13.0,997,12497,0.00,1.05,0.00,0.000,4,0.000,0.054,2972,2475,1711,0,0,0,0,0,0
$GC,12576,0.71,294.5,434.5,11.8,1004,12588,0.00,1.08,8.32,0.915,6,0.000,0.044,2976,1771,1683,0,0,0,0,0,0
$GC,12908,0.76,335.1,394.9,10.5,1035,12954,0.00,1.10,38.22,1.022,4,0.000,0.050,2981,1075,1515,0,0,0,0,0,0
$GC,13049,0.83,371.0,379.7,10.7,1047,13090,0.00,1.08,33.35,0.987,6,0.000,0.041,2980,1778,1370,0,0,0,0,0,0
$GC,13408,0.86,371.0,336.1,12.6,1081,13410,0.12,0.00,0.00,0.000,6,0.085,0.000,3049,1778,1366,0,0,0,0,0,0
$GC,13731,0.83,371.0,277.4,18.5,1111,13735,0.15,1.10,0.00,0.000,4,0.164,0.047,3004,1073,1365,0,0,0,0,0,0
$GC,13822,0.83,371.0,262.4,13.7,1119,13830,0.00,1.08,0.00,0.000,6,0.000,0.039,2999,1785,1364,0,0,0,0,0,0
$GC,14151,0.84,372.5,220.0,12.2,1172,14159,0.00,1.08,0.00,0.000,4,0.000,0.045,3002,1080,1364,0,0,0,0,0,0
$GC,14172,0.86,372.5,217.1,12.5,1175,14181,0.00,1.05,0.00,0.000,6,0.000,0.039,2999,1780,1364,0,0,0,0,0,0
$GC,14504,0.89,375.1,176.4,12.1,1236,14513,0.00,1.08,4.30,0.536,4,0.000,0.048,2995,2476,1354,0,0,0,0,0,0
$GC,14556,0.92,375.1,170.0,12.4,1244,14564,0.00,1.05,0.00,0.000,6,0.000,0.041,3007,1782,1354,0,0,0,0,0,0
$GC,14884,0.95,375.1,132.1,12.5,1305,14893,0.12,1.08,0.00,0.000,4,0.086,0.046,3088,1072,1354,0,0,0,0,0,0
$GC,14907,0.95,375.1,128.4,13.3,1308,14916,0.10,1.05,0.00,0.000,6,0.145,0.037,3056,1785,1354,0,0,0,0,0,0
$GC,15239,0.98,391.9,81.2,11.5,1369,15263,0.00,1.10,16.90,0.684,4,0.000,0.041,3060,1062,1285,0,0,0,0,0,0
$GC,15333,1.06,434.2,71.6,10.4,1384,15377,0.00,1.05,36.47,0.701,6,0.000,0.035,3056,1771,1113,0,0,0,0,0,0
$GC,15701,1.19,487.1,36.8,10.0,1450,15755,0.20,1.08,45.33,0.664,4,0.061,0.038,3159,1075,896,0,0,0,0,0,0
$GC,15795,1.14,487.1,20.8,20.9,1463,15805,0.12,1.05,0.00,0.000,6,0.150,0.034,3120,1789,894,0,0,0,0,0,0
$STATE,15899,end climb,SURFACE_DEPTH_REACHED
$STATE,15899,begin surface coast
$FINISH,1.2,1.021202
$STATE,15923,end surface coast,CONTROL_FINISHED_OK
$STATE,15923,begin surface
$SM_CCo,16001,0.00,0.000,0,0,891,488.88
$SM_GC,2.01,7.80,0.00,0.00,0.041,0.000,0.000,152,1604,891,-8.03,-0.17,488.88,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12243.41,281011,141404
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.80
$XPDR_PINGS,121
$24V_AH,22.8,111.033
$10V_AH,9.8,75.518
$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,20.500,56.750,610.400,0.000,0.000,52.806,91.692,269.316,30.250,0.000,60.964,3677.671,8072.663,672.512,3714.161,538.787,0.000,2044.711,0.000,3302.433,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,71.145,1450.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.419,1520.419,1729.734,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324760
$DATA_FILE_SIZE,83527,1486
$CAP_FILE_SIZE,167686,0
$CFSIZE,260165632,107106304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274, 18.0,1
$GPS,281011,190936,2328.074,12242.095,40,1.4,46,-3.2