version: 66.09
glider: 166
mission: 6
dive: 458
start: 10 29 111 18 45 58
data:
$ID,166
$MISSION,6
$DIVE,458
$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,-24983.469
$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,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,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
$GPS1,291011,183526,2328.354,12237.997,25,4.1,44,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-65.0
$GPS2,291011,184534,2328.480,12238.066,13,3.5,32,-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,212.1,131418,-18.6,-12.222
$D_GRID,3879
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.65,-194.6,0.0,0.0,0,112,0.00,0.00,-89.38,0.000,2,0.000,0.000,133,1595,3243,0,0,0,0,0,0
$GC,115,-0.65,-194.6,6.3,-10.0,12,140,9.50,1.02,-8.32,0.000,4,0.217,0.060,2531,890,3678,0,0,0,0,0,0
$GC,381,-0.60,-194.6,86.9,-19.6,60,389,0.00,1.05,0.00,0.000,6,0.000,0.037,2527,1595,3681,0,0,0,0,0,0
$GC,710,-0.55,-194.6,138.7,-15.1,121,719,0.15,1.08,0.00,0.000,4,0.165,0.041,2564,905,3682,0,0,0,0,0,0
$GC,791,-0.57,-194.6,149.2,-12.8,134,799,0.00,1.05,0.00,0.000,6,0.000,0.036,2562,1611,3682,0,0,0,0,0,0
$GC,1116,-0.58,-194.6,193.2,-12.8,195,1124,0.00,1.02,0.00,0.000,4,0.000,0.041,2562,2312,3683,0,0,0,0,0,0
$GC,1224,-0.60,-194.6,205.3,-10.7,214,1232,0.00,1.05,0.00,0.000,6,0.000,0.036,2557,1605,3682,0,0,0,0,0,0
$GC,1554,-0.62,-194.6,240.2,-10.6,275,1561,0.00,1.05,0.00,0.000,4,0.000,0.040,2552,2306,3683,0,0,0,0,0,0
$GC,1656,-0.65,-194.6,252.4,-11.3,292,1664,0.00,1.05,0.00,0.000,6,0.000,0.037,2547,1603,3683,0,0,0,0,0,0
$GC,1983,-0.67,-194.6,289.0,-10.7,323,1987,0.00,1.05,0.00,0.000,4,0.000,0.041,2541,2306,3682,0,0,0,0,0,0
$GC,2022,-0.69,-194.6,293.6,-11.3,326,2030,0.00,1.05,0.00,0.000,6,0.000,0.037,2541,1604,3682,0,0,0,0,0,0
$GC,2348,-0.71,-194.6,330.9,-10.8,357,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1604,3681,0,0,0,0,0,0
$GC,2670,-0.74,-194.6,366.6,-10.5,387,2674,0.00,1.08,0.00,0.000,4,0.000,0.045,2536,2300,3679,0,0,0,0,0,0
$GC,2732,-0.78,-194.6,372.9,-8.9,392,2739,0.10,1.05,0.00,0.000,6,0.042,0.041,2474,1610,3679,0,0,0,0,0,0
$GC,3057,-0.73,-194.6,424.3,-16.7,423,3062,0.12,1.08,0.00,0.000,4,0.173,0.047,2511,917,3678,0,0,0,0,0,0
$GC,3096,-0.71,-194.6,430.7,-15.5,426,3103,0.00,1.02,0.00,0.000,6,0.000,0.042,2508,1592,3678,0,0,0,0,0,0
$GC,3422,-0.70,-194.6,473.6,-12.7,457,3425,0.00,1.08,0.00,0.000,4,0.000,0.049,2504,2306,3675,0,0,0,0,0,0
$GC,3445,-0.69,-194.6,476.5,-12.7,459,3449,0.00,1.05,0.00,0.000,6,0.000,0.044,2503,1619,3675,0,0,0,0,0,0
$GC,3777,-0.69,-194.6,517.8,-11.6,490,3780,0.00,1.08,0.00,0.000,4,0.000,0.051,2498,2311,3674,0,0,0,0,0,0
$GC,3861,-0.69,-194.6,527.5,-11.4,497,3868,0.00,1.08,0.00,0.000,6,0.000,0.046,2498,1609,3674,0,0,0,0,0,0
$GC,4186,-0.69,-194.6,568.2,-12.3,528,4190,0.12,1.10,0.00,0.000,4,0.159,0.051,2525,904,3670,0,0,0,0,0,0
$GC,4235,-0.72,-194.6,573.8,-11.1,532,4245,0.00,1.08,0.00,0.000,6,0.000,0.043,2521,1607,3670,0,0,0,0,0,0
$GC,4574,-0.74,-194.6,606.7,-9.7,561,4578,0.00,1.08,0.00,0.000,4,0.000,0.049,2520,912,3666,0,0,0,0,0,0
$GC,4602,-0.77,-194.6,609.9,-9.8,562,4605,0.00,1.08,0.00,0.000,6,0.000,0.045,2515,1607,3666,0,0,0,0,0,0
$GC,4930,-0.80,-194.6,641.5,-9.8,578,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1607,3664,0,0,0,0,0,0
$GC,5242,-0.82,-194.6,670.3,-9.2,593,5245,0.00,1.08,0.00,0.000,4,0.000,0.054,2510,2311,3661,0,0,0,0,0,0
$GC,5269,-0.85,-194.6,673.3,-9.2,594,5274,0.08,1.08,0.00,0.000,6,0.054,0.047,2451,1615,3661,0,0,0,0,0,0
$GC,5600,-0.81,-194.6,717.1,-13.6,610,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1615,3658,0,0,0,0,0,0
$GC,5906,-0.78,-194.6,759.3,-13.8,625,5911,0.12,1.10,0.00,0.000,4,0.171,0.054,2495,916,3656,0,0,0,0,0,0
$GC,5984,-0.78,-194.6,769.2,-12.1,628,5987,0.00,1.08,0.00,0.000,6,0.000,0.047,2492,1610,3656,0,0,0,0,0,0
$GC,6308,-0.78,-194.6,808.2,-12.5,644,6311,0.00,1.12,0.00,0.000,4,0.000,0.053,2492,908,3653,0,0,0,0,0,0
$GC,6402,-0.78,-194.6,820.9,-13.2,648,6406,0.00,1.10,0.00,0.000,6,0.000,0.048,2487,1610,3652,0,0,0,0,0,0
$GC,6731,-0.78,-194.6,863.0,-12.6,664,6735,0.00,1.10,0.00,0.000,4,0.000,0.059,2481,2306,3650,0,0,0,0,0,0
$GC,6781,-0.78,-194.6,869.7,-12.3,666,6785,0.00,1.08,0.00,0.000,6,0.000,0.050,2481,1614,3650,0,0,0,0,0,0
$GC,7109,-0.78,-194.6,913.0,-13.6,682,7113,0.00,1.10,0.00,0.000,4,0.000,0.055,2481,902,3648,0,0,0,0,0,0
$GC,7161,-0.78,-194.6,920.2,-14.1,684,7165,0.00,1.10,0.00,0.000,6,0.000,0.049,2476,1606,3648,0,0,0,0,0,0
$GC,7487,-0.78,-194.6,964.5,-13.5,700,7491,0.00,1.08,0.00,0.000,4,0.000,0.057,2471,2301,3645,0,0,0,0,0,0
$GC,7512,-0.78,-194.6,967.5,-13.3,701,7516,0.00,1.08,0.00,0.000,6,0.000,0.049,2471,1610,3645,0,0,0,0,0,0
$STATE,7678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7678,begin apogee
$GC,7686,-0.11,0.0,990.6,13.7,709,7859,0.73,0.00,164.30,1.437,6,0.129,0.000,2699,1788,2885,0,0,0,0,0,0
$STATE,7860,end apogee,CONTROL_FINISHED_OK
$STATE,7860,begin climb
$GC,7865,0.65,194.6,999.0,0.0,717,8057,0.73,1.20,179.48,1.384,4,0.069,0.061,2960,2482,2088,0,0,0,0,0,0
$GC,8159,0.63,194.6,970.6,13.4,730,8163,0.00,1.10,0.00,0.000,6,0.000,0.051,2963,1791,2084,0,0,0,0,0,0
$GC,8481,0.60,194.6,926.5,14.0,746,8485,0.00,1.08,0.00,0.000,4,0.000,0.060,2963,2475,2080,0,0,0,0,0,0
$GC,8568,0.58,194.6,914.1,14.3,749,8576,0.10,1.10,0.00,0.000,6,0.159,0.051,2937,1775,2080,0,0,0,0,0,0
$GC,8884,0.58,194.6,874.4,12.9,765,8888,0.00,1.08,0.00,0.000,4,0.000,0.054,2939,1075,2078,0,0,0,0,0,0
$GC,8922,0.58,194.6,869.1,13.2,766,8929,0.00,1.10,0.00,0.000,6,0.000,0.049,2938,1773,2077,0,0,0,0,0,0
$GC,9241,0.58,195.1,829.5,12.2,782,9245,0.00,1.10,0.00,0.000,4,0.000,0.057,2939,2488,2076,0,0,0,0,0,0
$GC,9325,0.58,198.0,818.6,12.1,785,9332,0.00,1.10,0.00,0.000,6,0.000,0.048,2941,1785,2076,0,0,0,0,0,0
$GC,9643,0.61,216.3,781.6,11.5,801,9667,0.00,1.15,18.62,1.249,4,0.000,0.053,2947,1066,2001,0,0,0,0,0,0
$GC,9723,0.61,216.3,771.6,12.3,804,9727,0.00,1.12,0.00,0.000,6,0.000,0.048,2944,1784,1999,0,0,0,0,0,0
$GC,10047,0.66,258.3,736.7,10.5,820,10089,0.00,0.00,40.20,1.265,6,0.000,0.000,2944,1784,1830,0,0,0,0,0,0
$GC,10394,0.70,296.7,699.5,10.6,837,10438,0.00,1.10,36.55,1.229,4,0.000,0.053,2941,2483,1673,0,0,0,0,0,0
$GC,10525,0.78,340.0,685.4,10.4,842,10575,0.12,1.10,41.45,1.211,6,0.047,0.045,3019,1774,1496,0,0,0,0,0,0
$GC,10883,0.74,340.0,622.1,17.9,860,10885,0.12,0.00,0.00,0.000,6,0.174,0.000,2988,1774,1490,0,0,0,0,0,0
$GC,11197,0.74,340.0,573.7,15.2,883,11200,0.00,1.05,0.00,0.000,4,0.000,0.050,2991,1080,1489,0,0,0,0,0,0
$GC,11242,0.74,340.0,566.4,15.8,887,11246,0.00,1.08,0.00,0.000,6,0.000,0.044,2988,1781,1488,0,0,0,0,0,0
$GC,11574,0.74,340.0,513.7,15.5,918,11577,0.00,1.05,0.00,0.000,4,0.000,0.054,2984,2474,1488,0,0,0,0,0,0
$GC,11634,0.74,340.0,504.7,14.1,923,11641,0.00,1.08,0.00,0.000,6,0.000,0.044,2986,1769,1487,0,0,0,0,0,0
$GC,11960,0.74,340.0,459.9,14.0,954,11964,0.00,1.10,0.00,0.000,4,0.000,0.052,2984,2478,1487,0,0,0,0,0,0
$GC,12029,0.76,340.0,450.5,13.4,960,12032,0.00,1.08,0.00,0.000,6,0.000,0.043,2987,1773,1487,0,0,0,0,0,0
$GC,12359,0.76,340.0,408.4,12.3,991,12363,0.00,1.05,0.00,0.000,4,0.000,0.048,2992,1077,1486,0,0,0,0,0,0
$GC,12386,0.76,342.4,404.9,12.1,993,12394,0.00,1.08,0.00,0.000,6,0.000,0.042,2988,1783,1486,0,0,0,0,0,0
$GC,12711,0.76,342.4,365.7,12.8,1024,12715,0.00,1.10,0.00,0.000,4,0.000,0.048,2992,1068,1486,0,0,0,0,0,0
$GC,12757,0.78,342.4,360.0,12.5,1028,12761,0.00,1.08,0.00,0.000,6,0.000,0.042,2989,1775,1485,0,0,0,0,0,0
$GC,13091,0.81,352.2,321.2,11.8,1059,13108,0.00,0.00,10.30,0.848,6,0.000,0.000,2989,1775,1448,0,0,0,0,0,0
$GC,13428,0.85,365.7,279.8,11.7,1091,13452,0.00,1.12,13.85,0.842,4,0.000,0.047,2992,1074,1392,0,0,0,0,0,0
$GC,13502,0.91,387.2,271.7,11.3,1097,13528,0.10,1.08,20.70,0.858,6,0.053,0.041,3066,1788,1305,0,0,0,0,0,0
$GC,13846,0.86,387.2,210.7,18.2,1149,13856,0.15,1.05,0.00,0.000,4,0.167,0.049,3023,2479,1303,0,0,0,0,0,0
$GC,13890,0.86,387.2,202.6,16.2,1156,13898,0.00,1.08,0.00,0.000,6,0.000,0.041,3024,1772,1302,0,0,0,0,0,0
$GC,14218,0.86,387.2,155.2,14.0,1217,14226,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1772,1302,0,0,0,0,0,0
$GC,14547,0.94,428.0,112.9,10.5,1278,14592,0.00,1.10,36.15,0.744,4,0.000,0.043,3027,1071,1137,0,0,0,0,0,0
$GC,14683,1.06,494.8,98.8,9.4,1300,14750,0.15,1.08,57.55,0.727,6,0.046,0.036,3114,1791,863,0,0,0,0,0,0
$GC,15072,1.06,494.8,35.1,16.8,1369,15081,0.00,1.10,0.00,0.000,4,0.000,0.044,3126,1077,857,0,0,0,0,0,0
$GC,15105,1.06,494.8,29.6,17.2,1374,15114,0.10,1.05,0.00,0.000,6,0.132,0.036,3092,1790,858,0,0,0,0,0,0
$STATE,15323,end climb,SURFACE_DEPTH_REACHED
$STATE,15323,begin surface coast
$FINISH,1.2,1.007060
$STATE,15346,end surface coast,CONTROL_FINISHED_OK
$STATE,15346,begin surface
$SM_CCo,15423,0.00,0.000,0,0,856,497.22
$SM_GC,2.22,7.62,0.00,0.00,0.037,0.000,0.000,144,1596,856,-8.05,-0.31,497.22,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12238.18,291011,131319
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.91
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.40
$XPDR_PINGS,117
$24V_AH,22.8,112.454
$10V_AH,9.8,76.527
$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,20.125,69.625,619.150,0.000,0.000,27.166,40.339,351.502,29.250,0.000,33.838,3528.032,7694.978,675.758,3584.226,527.825,0.000,2047.637,0.000,3195.351,0.000,0.542,0.000
$DEVICE_MAMPS,217.260,66.555,1437.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,969.572,1452.111,1618.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324756
$DATA_FILE_SIZE,80080,1418
$CAP_FILE_SIZE,168175,0
$CFSIZE,260165632,106565632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.319, 24.5,1
$GPS,291011,230437,2328.710,12238.065,55,1.6,55,-3.2