version: 66.09
glider: 166
mission: 6
dive: 455
start: 10 29 111 4 30 13
data:
$ID,166
$MISSION,6
$DIVE,455
$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,-24979.693
$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,47
$R_STBD_OVSHOOT,60
$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
$GPS1,291011,041906,2328.283,12241.551,41,1.0,53,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-65.5
$GPS2,291011,042950,2328.464,12241.656,36,1.4,36,-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,220.5,137153,-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,21,-0.65,-194.6,0.0,0.0,0,114,0.00,0.00,-91.43,0.000,2,0.000,0.000,146,1593,3110,0,0,0,0,0,0
$GC,118,-0.65,-194.6,5.9,-8.7,12,143,9.50,1.08,-11.05,0.000,4,0.218,0.069,2519,901,3680,0,0,0,0,0,0
$GC,384,-0.56,-194.6,88.2,-24.9,60,392,0.12,1.05,0.00,0.000,6,0.151,0.036,2553,1605,3682,0,0,0,0,0,0
$GC,712,-0.56,-194.6,137.2,-14.6,121,720,0.00,1.02,0.00,0.000,4,0.000,0.041,2551,2302,3683,0,0,0,0,0,0
$GC,849,-0.58,-194.6,154.9,-12.3,145,857,0.00,1.05,0.00,0.000,6,0.000,0.040,2548,1609,3684,0,0,0,0,0,0
$GC,1176,-0.58,-194.6,194.2,-13.4,206,1185,0.00,1.05,0.00,0.000,4,0.000,0.045,2543,2297,3684,0,0,0,0,0,0
$GC,1236,-0.59,-194.6,202.0,-12.0,216,1244,0.00,1.02,0.00,0.000,6,0.000,0.041,2544,1616,3684,0,0,0,0,0,0
$GC,1562,-0.59,-194.6,244.1,-12.2,277,1570,0.00,1.05,0.00,0.000,4,0.000,0.045,2547,914,3684,0,0,0,0,0,0
$GC,1644,-0.61,-194.6,254.5,-12.3,289,1651,0.00,1.05,0.00,0.000,6,0.000,0.041,2543,1606,3684,0,0,0,0,0,0
$GC,1970,-0.61,-194.6,295.0,-12.0,320,1974,0.00,1.05,0.00,0.000,4,0.000,0.045,2543,2316,3683,0,0,0,0,0,0
$GC,2063,-0.62,-194.6,305.5,-11.6,328,2067,0.00,1.08,0.00,0.000,6,0.000,0.041,2547,1606,3683,0,0,0,0,0,0
$GC,2395,-0.64,-194.6,346.0,-11.9,359,2399,0.00,1.08,0.00,0.000,4,0.000,0.047,2541,2314,3682,0,0,0,0,0,0
$GC,2459,-0.67,-194.6,353.9,-12.1,364,2466,0.00,1.08,0.00,0.000,6,0.000,0.042,2536,1606,3681,0,0,0,0,0,0
$GC,2786,-0.68,-194.6,392.9,-11.8,395,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1606,3680,0,0,0,0,0,0
$GC,3108,-0.70,-194.6,425.7,-9.5,425,3111,0.00,1.08,0.00,0.000,4,0.000,0.048,2522,2310,3678,0,0,0,0,0,0
$GC,3143,-0.73,-194.6,429.4,-10.0,428,3146,0.00,1.05,0.00,0.000,6,0.000,0.043,2522,1616,3678,0,0,0,0,0,0
$GC,3475,-0.75,-194.6,463.9,-10.8,459,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1616,3676,0,0,0,0,0,0
$GC,3794,-0.78,-194.6,495.7,-9.6,489,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1616,3674,0,0,0,0,0,0
$GC,4115,-0.81,-194.6,522.5,-8.0,519,4121,0.15,0.00,0.00,0.000,6,0.076,0.000,2462,1616,3672,0,0,0,0,0,0
$GC,4443,-0.76,-194.6,565.7,-13.6,550,4450,0.12,0.00,0.00,0.000,6,0.171,0.000,2495,1616,3669,0,0,0,0,0,0
$GC,4768,-0.76,-194.6,602.7,-10.6,580,4771,0.00,1.08,0.00,0.000,4,0.000,0.054,2492,2304,3667,0,0,0,0,0,0
$GC,4802,-0.76,-194.6,606.4,-10.6,581,4806,0.00,1.08,0.00,0.000,6,0.000,0.047,2492,1609,3666,0,0,0,0,0,0
$GC,5127,-0.75,-194.6,642.5,-11.6,597,5131,0.00,1.08,0.00,0.000,4,0.000,0.052,2492,908,3663,0,0,0,0,0,0
$GC,5205,-0.74,-194.6,652.4,-11.9,600,5209,0.00,1.08,0.00,0.000,6,0.000,0.046,2485,1605,3662,0,0,0,0,0,0
$GC,5529,-0.73,-194.6,691.8,-12.6,616,5533,0.00,1.08,0.00,0.000,4,0.000,0.050,2485,916,3660,0,0,0,0,0,0
$GC,5585,-0.73,-194.6,699.1,-12.3,618,5589,0.08,1.08,0.00,0.000,6,0.150,0.047,2501,1608,3660,0,0,0,0,0,0
$GC,5911,-0.74,-194.6,730.9,-10.0,634,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1608,3657,0,0,0,0,0,0
$GC,6216,-0.75,-194.6,763.4,-10.4,649,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1608,3655,0,0,0,0,0,0
$GC,6525,-0.77,-194.6,794.0,-9.6,664,6529,0.00,1.10,0.00,0.000,4,0.000,0.057,2496,2315,3653,0,0,0,0,0,0
$GC,6567,-0.79,-194.6,797.8,-9.1,665,6574,0.00,1.10,0.00,0.000,6,0.000,0.048,2496,1610,3652,0,0,0,0,0,0
$GC,6884,-0.80,-194.6,829.3,-10.4,681,6887,0.00,1.10,0.00,0.000,4,0.000,0.056,2497,918,3651,0,0,0,0,0,0
$GC,6925,-0.80,-194.6,834.0,-11.4,682,6932,0.00,1.08,0.00,0.000,6,0.000,0.048,2492,1605,3650,0,0,0,0,0,0
$GC,7240,-0.80,-194.6,872.8,-12.5,698,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1605,3648,0,0,0,0,0,0
$GC,7550,-0.80,-194.6,910.9,-12.2,713,7554,0.00,1.10,0.00,0.000,4,0.000,0.054,2494,918,3646,0,0,0,0,0,0
$GC,7608,-0.80,-194.6,918.2,-12.6,715,7611,0.00,1.10,0.00,0.000,6,0.000,0.050,2489,1613,3646,0,0,0,0,0,0
$GC,7930,-0.80,-194.6,954.6,-10.5,731,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1613,3644,0,0,0,0,0,0
$GC,8239,-0.80,-194.6,984.7,-9.5,746,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1613,3643,0,0,0,0,0,0
$STATE,8298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8298,begin apogee
$GC,8307,-0.11,0.0,990.9,9.8,749,8478,0.65,0.00,164.77,1.446,6,0.123,0.000,2699,1783,2884,0,0,0,0,0,0
$STATE,8478,end apogee,CONTROL_FINISHED_OK
$STATE,8478,begin climb
$GC,8483,0.65,194.6,994.9,0.0,757,8675,0.73,1.20,180.15,1.383,4,0.069,0.061,2959,2483,2088,0,0,0,0,0,0
$GC,8743,0.63,194.6,968.1,13.6,769,8747,0.00,1.12,0.00,0.000,6,0.000,0.051,2963,1785,2084,0,0,0,0,0,0
$GC,9076,0.60,194.6,921.9,14.0,785,9080,0.00,1.10,0.00,0.000,4,0.000,0.060,2963,2483,2080,0,0,0,0,0,0
$GC,9111,0.57,194.6,916.8,14.2,786,9115,0.10,1.10,0.00,0.000,6,0.157,0.051,2938,1783,2080,0,0,0,0,0,0
$GC,9436,0.57,194.6,876.2,12.5,802,9440,0.00,1.10,0.00,0.000,4,0.000,0.054,2941,1067,2078,0,0,0,0,0,0
$GC,9541,0.57,194.6,862.6,12.7,806,9549,0.00,1.12,0.00,0.000,6,0.000,0.050,2940,1778,2077,0,0,0,0,0,0
$GC,9860,0.58,198.8,824.5,12.0,822,9864,0.00,1.10,0.00,0.000,4,0.000,0.059,2940,2492,2076,0,0,0,0,0,0
$GC,9909,0.58,199.0,817.8,12.2,824,9914,0.00,1.12,0.00,0.000,6,0.000,0.048,2943,1770,2076,0,0,0,0,0,0
$GC,10239,0.58,199.0,776.5,12.7,840,10243,0.00,1.12,0.00,0.000,4,0.000,0.058,2943,2487,2075,0,0,0,0,0,0
$GC,10289,0.58,199.0,769.7,12.3,842,10293,0.00,1.10,0.00,0.000,6,0.000,0.047,2946,1781,2075,0,0,0,0,0,0
$GC,10616,0.58,199.0,729.0,12.3,858,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1781,2075,0,0,0,0,0,0
$GC,10928,0.60,216.4,693.0,11.5,873,10951,0.00,1.17,18.50,1.209,4,0.000,0.054,2943,2497,2001,0,0,0,0,0,0
$GC,11000,0.62,236.1,684.1,11.4,876,11025,0.00,1.12,19.35,1.190,6,0.000,0.045,2946,1777,1920,0,0,0,0,0,0
$GC,11352,0.64,248.3,642.8,11.7,893,11369,0.00,0.00,12.32,1.115,6,0.000,0.000,2947,1777,1870,0,0,0,0,0,0
$GC,11678,0.66,269.8,606.1,11.3,909,11703,0.00,1.05,21.33,1.149,4,0.000,0.048,2951,1073,1781,0,0,0,0,0,0
$GC,11759,0.68,273.2,597.1,12.1,913,11772,0.00,1.12,4.22,0.747,6,0.000,0.045,2948,1799,1769,0,0,0,0,0,0
$GC,12090,0.72,292.4,558.6,11.4,944,12113,0.00,1.08,19.33,1.108,4,0.000,0.055,2943,2475,1691,0,0,0,0,0,0
$GC,12155,0.78,312.9,551.1,11.4,949,12186,0.10,1.08,20.60,1.095,6,0.050,0.044,3008,1774,1607,0,0,0,0,0,0
$GC,12505,0.75,312.9,495.0,15.4,982,12509,0.00,1.05,0.00,0.000,4,0.000,0.049,3012,1081,1604,0,0,0,0,0,0
$GC,12574,0.73,312.9,484.2,15.6,988,12578,0.08,1.08,0.00,0.000,6,0.151,0.044,2986,1784,1603,0,0,0,0,0,0
$GC,12905,0.73,312.9,440.9,12.6,1019,12906,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1785,1602,0,0,0,0,0,0
$GC,13225,0.74,321.2,403.2,11.9,1049,13238,0.00,1.15,7.97,0.880,4,0.000,0.050,2985,1068,1574,0,0,0,0,0,0
$GC,13267,0.74,321.2,397.6,12.4,1052,13277,0.00,1.08,0.00,0.000,6,0.000,0.042,2980,1774,1573,0,0,0,0,0,0
$GC,13593,0.75,321.2,352.7,13.8,1083,13596,0.00,1.05,0.00,0.000,4,0.000,0.050,2974,2474,1572,0,0,0,0,0,0
$GC,13630,0.77,321.2,348.0,13.5,1086,13634,0.00,1.05,0.00,0.000,6,0.000,0.044,2975,1785,1572,0,0,0,0,0,0
$GC,13961,0.78,321.2,306.6,13.1,1117,13964,0.00,1.05,0.00,0.000,4,0.000,0.049,2972,2473,1572,0,0,0,0,0,0
$GC,14013,0.80,321.2,299.9,13.0,1121,14020,0.00,1.05,0.00,0.000,6,0.000,0.044,2976,1784,1572,0,0,0,0,0,0
$GC,14339,0.87,359.1,259.9,10.6,1152,14378,0.15,1.12,34.92,0.886,4,0.075,0.047,3060,1074,1419,0,0,0,0,0,0
$GC,14478,0.82,359.1,238.0,16.9,1169,14487,0.12,1.08,0.00,0.000,6,0.147,0.041,3016,1785,1417,0,0,0,0,0,0
$GC,14810,0.82,359.1,192.3,14.5,1230,14819,0.00,1.02,0.00,0.000,4,0.000,0.047,3016,2476,1417,0,0,0,0,0,0
$GC,14848,0.82,359.1,186.1,14.4,1236,14856,0.00,1.05,0.00,0.000,6,0.000,0.041,3023,1782,1417,0,0,0,0,0,0
$GC,15176,0.82,359.1,140.9,12.5,1297,15184,0.00,1.05,0.00,0.000,4,0.000,0.044,3028,1077,1417,0,0,0,0,0,0
$GC,15246,0.82,359.1,132.5,12.5,1309,15255,0.00,1.05,0.00,0.000,6,0.000,0.037,3025,1784,1417,0,0,0,0,0,0
$GC,15578,0.88,386.5,91.9,11.1,1370,15608,0.00,1.08,25.08,0.721,4,0.000,0.045,3020,2477,1307,0,0,0,0,0,0
$GC,15649,0.99,439.8,84.2,10.0,1381,15702,0.08,1.05,46.40,0.721,6,0.054,0.038,3081,1776,1090,0,0,0,0,0,0
$GC,16024,1.09,486.8,34.3,10.2,1448,16069,0.00,1.08,39.75,0.671,4,0.000,0.043,3085,1081,898,0,0,0,0,0,0
$GC,16156,1.13,486.8,19.8,13.5,1469,16164,0.00,1.02,0.00,0.000,6,0.000,0.035,3081,1778,895,0,0,0,0,0,0
$STATE,16293,end climb,SURFACE_DEPTH_REACHED
$STATE,16293,begin surface coast
$FINISH,1.3,1.012559
$STATE,16322,end surface coast,CONTROL_FINISHED_OK
$STATE,16322,begin surface
$SM_CCo,16402,0.00,0.000,0,0,892,488.64
$SM_GC,2.03,7.53,0.00,0.00,0.031,0.000,0.000,139,1606,892,-8.03,-0.08,488.64,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12242.14,291011,040439
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.51
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.30
$XPDR_PINGS,130
$24V_AH,22.7,111.736
$10V_AH,9.7,76.018
$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,19.500,65.275,614.700,0.000,0.000,56.640,67.451,266.193,32.500,0.000,37.563,3718.155,8434.354,653.835,3666.108,550.819,0.000,2054.253,0.000,3302.972,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,72.675,1445.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.847,1534.902,1686.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324708
$DATA_FILE_SIZE,83593,1499
$CAP_FILE_SIZE,173809,0
$CFSIZE,260165632,106827776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256, 28.4,1
$GPS,291011,090506,2328.390,12241.053,52,1.7,52,-3.2