version: 66.09
glider: 166
mission: 6
dive: 453
start: 10 28 111 19 18 48
data:
$ID,166
$MISSION,6
$DIVE,453
$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,-24977.178
$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,43
$R_STBD_OVSHOOT,62
$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
$GPS1,281011,190936,2328.074,12242.095,40,1.4,46,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-65.1
$GPS2,281011,191825,2328.183,12242.104,15,1.7,32,-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,210.3,137699,-18.6,-12.222
$D_GRID,3907
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.65,-194.6,0.0,0.0,0,117,0.00,0.00,-94.03,0.000,2,0.000,0.000,145,1603,3187,0,0,0,0,0,0
$GC,120,-0.65,-194.6,6.2,-10.0,13,145,9.40,1.10,-9.38,0.000,4,0.218,0.069,2532,899,3679,0,0,0,0,0,0
$GC,387,-0.59,-194.6,88.5,-22.3,61,395,0.00,1.05,0.00,0.000,6,0.000,0.041,2528,1587,3681,0,0,0,0,0,0
$GC,715,-0.55,-194.6,144.5,-15.6,122,723,0.12,1.10,0.00,0.000,4,0.172,0.046,2557,2309,3683,0,0,0,0,0,0
$GC,815,-0.57,-194.6,157.5,-12.0,139,825,0.00,1.08,0.00,0.000,6,0.000,0.043,2560,1607,3683,0,0,0,0,0,0
$GC,1146,-0.58,-194.6,201.5,-12.7,200,1153,0.00,1.10,0.00,0.000,4,0.000,0.047,2557,2317,3683,0,0,0,0,0,0
$GC,1225,-0.60,-194.6,211.6,-11.6,214,1233,0.00,1.10,0.00,0.000,6,0.000,0.041,2557,1600,3683,0,0,0,0,0,0
$GC,1557,-0.62,-194.6,251.7,-11.4,275,1561,0.00,1.05,0.00,0.000,4,0.000,0.047,2555,907,3683,0,0,0,0,0,0
$GC,1592,-0.63,-194.6,255.8,-11.1,278,1595,0.00,1.08,0.00,0.000,6,0.000,0.040,2549,1615,3683,0,0,0,0,0,0
$GC,1924,-0.65,-194.6,289.2,-9.8,309,1928,0.00,1.05,0.00,0.000,4,0.000,0.048,2541,2301,3683,0,0,0,0,0,0
$GC,1972,-0.67,-194.6,293.9,-9.7,313,1976,0.00,1.05,0.00,0.000,6,0.000,0.042,2542,1609,3683,0,0,0,0,0,0
$GC,2304,-0.69,-194.6,331.2,-11.1,344,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1609,3682,0,0,0,0,0,0
$GC,2628,-0.71,-194.6,367.4,-11.6,374,2632,0.00,1.08,0.00,0.000,4,0.000,0.048,2534,2306,3680,0,0,0,0,0,0
$GC,2702,-0.74,-194.6,376.6,-11.5,380,2709,0.00,1.08,0.00,0.000,6,0.000,0.044,2535,1605,3679,0,0,0,0,0,0
$GC,3030,-0.77,-194.6,413.1,-10.4,411,3037,0.12,0.00,0.00,0.000,6,0.082,0.000,2464,1605,3679,0,0,0,0,0,0
$GC,3356,-0.73,-194.6,461.0,-15.0,442,3357,0.12,0.00,0.00,0.000,6,0.168,0.000,2510,1605,3676,0,0,0,0,0,0
$GC,3674,-0.73,-194.6,503.2,-13.7,472,3678,0.00,1.10,0.00,0.000,4,0.000,0.050,2507,2308,3675,0,0,0,0,0,0
$GC,3779,-0.73,-194.6,517.3,-12.9,481,3786,0.00,1.08,0.00,0.000,6,0.000,0.045,2510,1611,3675,0,0,0,0,0,0
$GC,4105,-0.73,-194.6,560.7,-13.0,512,4108,0.00,1.08,0.00,0.000,4,0.000,0.050,2510,909,3672,0,0,0,0,0,0
$GC,4177,-0.73,-194.6,570.3,-12.6,518,4184,0.00,1.08,0.00,0.000,6,0.000,0.044,2505,1608,3670,0,0,0,0,0,0
$GC,4515,-0.73,-194.6,610.4,-11.4,546,4518,0.00,1.05,0.00,0.000,4,0.000,0.052,2500,2303,3668,0,0,0,0,0,0
$GC,4564,-0.73,-194.6,616.3,-10.5,548,4568,0.00,1.05,0.00,0.000,6,0.000,0.046,2500,1613,3668,0,0,0,0,0,0
$GC,4894,-0.73,-194.6,653.2,-11.4,564,4898,0.00,1.08,0.00,0.000,4,0.000,0.053,2500,913,3665,0,0,0,0,0,0
$GC,5011,-0.73,-194.6,668.0,-12.3,569,5015,0.00,1.08,0.00,0.000,6,0.000,0.046,2491,1608,3664,0,0,0,0,0,0
$GC,5339,-0.73,-194.6,706.3,-11.6,585,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1609,3661,0,0,0,0,0,0
$GC,5651,-0.73,-194.6,742.0,-11.5,600,5655,0.00,1.10,0.00,0.000,4,0.000,0.052,2486,907,3659,0,0,0,0,0,0
$GC,5735,-0.73,-194.6,752.5,-11.9,603,5743,0.08,1.10,0.00,0.000,6,0.146,0.047,2502,1611,3658,0,0,0,0,0,0
$GC,6054,-0.76,-194.6,785.8,-10.6,619,6058,0.00,1.08,0.00,0.000,4,0.000,0.055,2498,2311,3656,0,0,0,0,0,0
$GC,6081,-0.78,-194.6,788.9,-10.7,620,6085,0.00,1.10,0.00,0.000,6,0.000,0.047,2500,1603,3656,0,0,0,0,0,0
$GC,6410,-0.80,-194.6,823.0,-10.3,636,6413,0.00,1.05,0.00,0.000,4,0.000,0.054,2499,917,3654,0,0,0,0,0,0
$GC,6474,-0.82,-194.6,830.0,-10.9,638,6480,0.00,1.08,0.00,0.000,6,0.000,0.049,2494,1606,3653,0,0,0,0,0,0
$GC,6794,-0.84,-194.6,864.6,-10.9,654,6798,0.00,1.08,0.00,0.000,4,0.000,0.057,2488,2305,3650,0,0,0,0,0,0
$GC,6837,-0.86,-194.6,869.4,-11.0,655,6845,0.00,1.08,0.00,0.000,6,0.000,0.050,2488,1611,3650,0,0,0,0,0,0
$GC,7154,-0.88,-194.6,905.8,-11.6,671,7158,0.00,1.08,0.00,0.000,4,0.000,0.056,2490,917,3649,0,0,0,0,0,0
$GC,7229,-0.89,-194.6,914.8,-12.1,674,7232,0.00,1.08,0.00,0.000,6,0.000,0.050,2485,1604,3648,0,0,0,0,0,0
$GC,7556,-0.90,-194.6,955.5,-12.5,690,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1604,3646,0,0,0,0,0,0
$STATE,7843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7843,begin apogee
$GC,7849,-0.11,0.0,992.2,12.7,704,8020,0.68,0.00,165.35,1.444,6,0.122,0.000,2707,1789,2883,0,0,0,0,0,0
$STATE,8021,end apogee,CONTROL_FINISHED_OK
$STATE,8021,begin climb
$GC,8023,0.65,194.6,1000.7,0.0,712,8216,0.70,1.23,180.95,1.385,4,0.063,0.054,2967,1083,2089,0,0,0,0,0,0
$GC,8240,0.62,194.6,982.7,12.8,722,8244,0.00,1.12,0.00,0.000,6,0.000,0.051,2968,1765,2086,0,0,0,0,0,0
$GC,8575,0.59,194.6,936.1,14.3,738,8580,0.12,1.12,0.00,0.000,4,0.176,0.059,2931,2488,2081,0,0,0,0,0,0
$GC,8681,0.60,202.7,922.4,11.9,742,8692,0.00,1.10,7.25,1.091,6,0.000,0.049,2934,1782,2057,0,0,0,0,0,0
$GC,9018,0.61,211.8,882.8,11.8,759,9032,0.00,1.12,9.90,1.183,4,0.000,0.054,2940,1067,2020,0,0,0,0,0,0
$GC,9064,0.64,237.8,877.0,11.1,761,9095,0.00,1.12,25.45,1.304,6,0.000,0.048,2940,1786,1913,0,0,0,0,0,0
$GC,9417,0.67,263.3,836.1,11.2,778,9447,0.00,1.12,24.20,1.287,4,0.000,0.058,2940,2484,1810,0,0,0,0,0,0
$GC,9470,0.72,294.2,830.0,10.9,780,9506,0.00,1.12,31.17,1.284,6,0.000,0.047,2943,1773,1684,0,0,0,0,0,0
$GC,9835,0.77,321.6,788.7,11.1,798,9865,0.15,1.10,25.88,1.269,4,0.080,0.050,3025,1049,1572,0,0,0,0,0,0
$GC,9893,0.72,321.6,779.0,17.5,800,9901,0.12,1.15,0.00,0.000,6,0.146,0.047,2985,1779,1571,0,0,0,0,0,0
$GC,10212,0.71,321.6,734.8,14.0,816,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1779,1567,0,0,0,0,0,0
$GC,10519,0.70,321.6,691.2,14.3,831,10523,0.00,1.08,0.00,0.000,4,0.000,0.056,2984,2486,1566,0,0,0,0,0,0
$GC,10565,0.70,321.6,684.4,14.5,833,10568,0.00,1.10,0.00,0.000,6,0.000,0.046,2988,1775,1565,0,0,0,0,0,0
$GC,10900,0.68,321.6,634.0,15.3,849,10904,0.00,1.08,0.00,0.000,4,0.000,0.050,2993,1066,1565,0,0,0,0,0,0
$GC,10927,0.68,321.6,629.4,15.1,850,10931,0.00,1.10,0.00,0.000,6,0.000,0.045,2992,1775,1565,0,0,0,0,0,0
$GC,11251,0.67,321.6,581.9,14.6,871,11255,0.00,1.08,0.00,0.000,4,0.000,0.055,2992,2486,1565,0,0,0,0,0,0
$GC,11364,0.67,321.6,565.0,14.3,881,11368,0.10,1.10,0.00,0.000,6,0.147,0.045,2964,1773,1564,0,0,0,0,0,0
$GC,11695,0.72,343.6,528.1,11.3,912,11718,0.00,0.00,20.20,1.092,6,0.000,0.000,2964,1773,1483,0,0,0,0,0,0
$GC,12036,0.74,343.6,488.7,12.3,944,12042,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1773,1479,0,0,0,0,0,0
$GC,12363,0.77,343.6,443.9,13.8,975,12366,0.00,1.10,0.00,0.000,4,0.000,0.051,2958,2484,1478,0,0,0,0,0,0
$GC,12425,0.81,343.6,436.0,12.6,980,12429,0.10,1.08,0.00,0.000,6,0.048,0.044,3024,1782,1479,0,0,0,0,0,0
$GC,12755,0.78,343.6,377.3,17.2,1011,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1782,1479,0,0,0,0,0,0
$GC,13078,0.76,343.6,324.4,14.8,1041,13082,0.12,1.08,0.00,0.000,4,0.166,0.047,2990,1077,1479,0,0,0,0,0,0
$GC,13135,0.77,343.6,316.2,12.4,1046,13138,0.00,1.08,0.00,0.000,6,0.000,0.041,2986,1788,1478,0,0,0,0,0,0
$GC,13467,0.78,343.6,274.2,13.9,1077,13471,0.00,1.02,0.00,0.000,4,0.000,0.049,2981,2475,1478,0,0,0,0,0,0
$GC,13505,0.81,343.6,268.3,14.2,1080,13513,0.00,1.05,0.00,0.000,6,0.000,0.041,2986,1782,1479,0,0,0,0,0,0
$GC,13830,0.83,343.6,224.0,12.4,1129,13838,0.00,1.05,0.00,0.000,4,0.000,0.046,2995,1078,1479,0,0,0,0,0,0
$GC,13904,0.85,343.6,215.0,12.2,1142,13912,0.00,1.05,0.00,0.000,6,0.000,0.039,2994,1785,1478,0,0,0,0,0,0
$GC,14235,0.91,369.0,177.8,11.2,1203,14267,0.12,1.00,24.15,0.786,4,0.088,0.044,3064,2474,1378,0,0,0,0,0,0
$GC,14286,0.88,369.0,170.2,15.2,1210,14295,0.12,1.05,0.00,0.000,6,0.145,0.040,3030,1783,1378,0,0,0,0,0,0
$GC,14619,0.91,396.0,131.1,11.1,1271,14649,0.00,0.00,24.58,0.740,6,0.000,0.000,3030,1782,1269,0,0,0,0,0,0
$GC,14971,0.95,396.0,87.0,13.5,1335,14979,0.00,1.05,0.00,0.000,4,0.000,0.044,3035,1074,1267,0,0,0,0,0,0
$GC,15037,1.05,432.5,79.0,10.7,1346,15076,0.10,1.05,32.20,0.700,6,0.052,0.035,3103,1790,1119,0,0,0,0,0,0
$GC,15401,1.05,432.5,29.0,15.1,1411,15410,0.00,1.08,0.00,0.000,4,0.000,0.044,3099,1077,1117,0,0,0,0,0,0
$GC,15495,1.05,432.5,15.1,16.1,1428,15503,0.00,1.02,0.00,0.000,6,0.000,0.035,3098,1774,1117,0,0,0,0,0,0
$STATE,15578,end climb,SURFACE_DEPTH_REACHED
$STATE,15578,begin surface coast
$FINISH,1.3,1.010130
$STATE,15605,end surface coast,CONTROL_FINISHED_OK
$STATE,15605,begin surface
$SM_CCo,15623,30.12,0.347,1,0,1048,450.13
$SM_GC,2.07,0.00,0.00,30.12,0.000,0.000,0.347,151,1597,1048,-8.11,-0.37,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2319.18,12243.41,281011,141422
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.40
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.70
$XPDR_PINGS,134
$24V_AH,22.7,111.264
$10V_AH,9.7,75.684
$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,20.075,65.400,571.275,30.125,0.000,24.569,16.579,301.616,33.500,0.000,33.801,3625.310,7785.492,655.934,3571.256,529.304,0.000,2020.375,0.000,3260.844,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,69.615,1443.555,346.545,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,989.846,1479.882,1696.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324748
$DATA_FILE_SIZE,80308,1447
$CAP_FILE_SIZE,170289,0
$CFSIZE,260165632,107016192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.342, 23.4,1
$GPS,281011,234107,2328.584,12242.155,39,1.9,39,-3.2