version: 66.09
glider: 166
mission: 6
dive: 459
start: 10 29 111 23 16 30
data:
$ID,166
$MISSION,6
$DIVE,459
$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,-24984.729
$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,45
$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
$GPS1,291011,230437,2328.710,12238.065,55,1.6,55,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-62.0
$GPS2,291011,231607,2328.811,12238.013,12,1.6,29,-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,207.4,131549,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.65,-194.6,0.0,0.0,0,115,0.00,0.00,-94.38,0.000,2,0.000,0.000,140,1596,3128,0,0,0,0,0,0
$GC,121,-0.65,-194.6,5.4,-7.0,13,146,9.35,1.10,-10.45,0.000,4,0.214,0.068,2543,896,3681,0,0,0,0,0,0
$GC,387,-0.59,-194.6,84.5,-24.1,61,395,0.00,1.05,0.00,0.000,6,0.000,0.040,2540,1587,3683,0,0,0,0,0,0
$GC,717,-0.55,-194.6,146.0,-15.4,122,725,0.00,1.08,0.00,0.000,4,0.000,0.044,2535,2310,3684,0,0,0,0,0,0
$GC,765,-0.52,-194.6,152.8,-15.4,129,774,0.15,1.05,0.00,0.000,6,0.125,0.041,2572,1618,3684,0,0,0,0,0,0
$GC,1097,-0.55,-194.6,191.3,-11.2,190,1105,0.00,1.05,0.00,0.000,4,0.000,0.047,2572,2309,3685,0,0,0,0,0,0
$GC,1182,-0.59,-194.6,200.2,-10.1,205,1190,0.00,1.08,0.00,0.000,6,0.000,0.043,2573,1604,3685,0,0,0,0,0,0
$GC,1509,-0.62,-194.6,234.8,-9.9,266,1518,0.12,1.10,0.00,0.000,4,0.080,0.047,2497,2311,3685,0,0,0,0,0,0
$GC,1572,-0.58,-194.6,243.0,-14.6,276,1580,0.17,1.08,0.00,0.000,6,0.130,0.043,2550,1603,3685,0,0,0,0,0,0
$GC,1906,-0.58,-194.6,281.2,-12.4,312,1909,0.00,1.08,0.00,0.000,4,0.000,0.047,2552,2308,3684,0,0,0,0,0,0
$GC,1954,-0.59,-194.6,286.9,-12.2,316,1958,0.00,1.05,0.00,0.000,6,0.000,0.043,2550,1612,3684,0,0,0,0,0,0
$GC,2285,-0.59,-194.6,328.8,-12.9,347,2289,0.00,1.08,0.00,0.000,4,0.000,0.050,2530,2306,3683,0,0,0,0,0,0
$GC,2359,-0.61,-194.6,337.4,-11.3,353,2365,0.00,1.08,0.00,0.000,6,0.000,0.044,2532,1602,3682,0,0,0,0,0,0
$GC,2685,-0.61,-194.6,379.4,-12.9,384,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1602,3681,0,0,0,0,0,0
$GC,3007,-0.62,-194.6,416.4,-12.2,414,3010,0.00,1.10,0.00,0.000,4,0.000,0.050,2524,2311,3679,0,0,0,0,0,0
$GC,3024,-0.64,-194.6,418.9,-11.7,415,3034,0.00,1.08,0.00,0.000,6,0.000,0.043,2525,1608,3679,0,0,0,0,0,0
$GC,3350,-0.66,-194.6,457.3,-11.8,446,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1608,3678,0,0,0,0,0,0
$GC,3673,-0.68,-194.6,489.3,-8.3,476,3677,0.00,1.08,0.00,0.000,4,0.000,0.051,2538,2302,3675,0,0,0,0,0,0
$GC,3737,-0.71,-194.6,494.7,-8.1,481,3744,0.00,1.05,0.00,0.000,6,0.000,0.045,2538,1620,3675,0,0,0,0,0,0
$GC,4064,-0.74,-194.6,524.4,-8.9,512,4067,0.00,1.05,0.00,0.000,4,0.000,0.052,2533,2300,3674,0,0,0,0,0,0
$GC,4146,-0.77,-194.6,531.5,-8.5,519,4151,0.08,1.08,0.00,0.000,6,0.050,0.046,2470,1601,3673,0,0,0,0,0,0
$GC,4477,-0.73,-194.6,579.9,-15.8,550,4482,0.15,1.12,0.00,0.000,4,0.161,0.052,2508,2309,3670,0,0,0,0,0,0
$GC,4537,-0.75,-194.6,587.6,-13.1,555,4540,0.00,1.08,0.00,0.000,6,0.000,0.047,2508,1609,3670,0,0,0,0,0,0
$GC,4861,-0.75,-194.6,626.5,-11.2,575,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1609,3667,0,0,0,0,0,0
$GC,5173,-0.75,-194.6,662.0,-11.5,590,5177,0.00,1.08,0.00,0.000,4,0.000,0.052,2508,906,3665,0,0,0,0,0,0
$GC,5257,-0.75,-194.6,672.4,-11.8,593,5264,0.00,1.08,0.00,0.000,6,0.000,0.046,2502,1603,3664,0,0,0,0,0,0
$GC,5573,-0.75,-194.6,707.4,-11.1,609,5577,0.00,1.08,0.00,0.000,4,0.000,0.054,2498,2306,3661,0,0,0,0,0,0
$GC,5637,-0.76,-194.6,714.5,-11.0,611,5645,0.00,1.08,0.00,0.000,6,0.000,0.048,2498,1610,3661,0,0,0,0,0,0
$GC,5953,-0.76,-194.6,754.5,-13.2,627,5957,0.00,1.12,0.00,0.000,4,0.000,0.057,2493,2309,3658,0,0,0,0,0,0
$GC,6049,-0.76,-194.6,767.5,-13.5,631,6053,0.00,1.08,0.00,0.000,6,0.000,0.049,2493,1614,3657,0,0,0,0,0,0
$GC,6376,-0.76,-194.6,812.0,-13.3,647,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1614,3655,0,0,0,0,0,0
$GC,6686,-0.76,-194.6,853.3,-13.5,662,6689,0.00,1.10,0.00,0.000,4,0.000,0.054,2493,904,3653,0,0,0,0,0,0
$GC,6726,-0.76,-194.6,859.0,-14.0,663,6734,0.00,1.10,0.00,0.000,6,0.000,0.050,2488,1605,3653,0,0,0,0,0,0
$GC,7042,-0.76,-194.6,902.5,-13.3,679,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1605,3651,0,0,0,0,0,0
$GC,7352,-0.76,-194.6,939.6,-11.3,694,7356,0.00,1.10,0.00,0.000,4,0.000,0.055,2488,909,3649,0,0,0,0,0,0
$GC,7400,-0.76,-194.6,944.7,-11.3,696,7404,0.00,1.10,0.00,0.000,6,0.000,0.050,2483,1609,3649,0,0,0,0,0,0
$GC,7734,-0.76,-194.6,979.2,-9.8,712,7738,0.00,1.10,0.00,0.000,4,0.000,0.060,2477,2302,3646,0,0,0,0,0,0
$GC,7760,-0.76,-194.6,981.5,-9.6,713,7763,0.00,1.08,0.00,0.000,6,0.000,0.050,2477,1608,3646,0,0,0,0,0,0
$STATE,7843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7843,begin apogee
$GC,7849,-0.11,0.0,990.2,10.1,717,8021,0.70,0.00,164.65,1.439,6,0.128,0.000,2698,1784,2884,0,0,0,0,0,0
$STATE,8021,end apogee,CONTROL_FINISHED_OK
$STATE,8022,begin climb
$GC,8026,0.65,194.6,992.8,0.0,725,8217,0.73,1.20,178.45,1.380,4,0.070,0.062,2956,2483,2088,0,0,0,0,0,0
$GC,8273,0.63,194.6,963.8,15.2,736,8277,0.00,1.12,0.00,0.000,6,0.000,0.050,2961,1781,2085,0,0,0,0,0,0
$GC,8595,0.60,194.6,917.0,14.2,752,8598,0.00,1.10,0.00,0.000,4,0.000,0.060,2958,2480,2080,0,0,0,0,0,0
$GC,8625,0.58,194.6,912.7,14.1,753,8629,0.00,1.10,0.00,0.000,6,0.000,0.050,2961,1777,2080,0,0,0,0,0,0
$GC,8956,0.55,194.6,867.7,13.5,769,8958,0.15,0.00,0.00,0.000,6,0.174,0.000,2923,1777,2078,0,0,0,0,0,0
$GC,9265,0.59,220.7,833.3,11.1,784,9290,0.00,0.00,23.08,1.290,6,0.000,0.000,2923,1777,1984,0,0,0,0,0,0
$GC,9592,0.64,246.1,796.9,11.2,800,9618,0.00,0.00,24.23,1.270,6,0.000,0.000,2923,1777,1879,0,0,0,0,0,0
$GC,9921,0.70,272.6,759.8,11.1,816,9949,0.15,0.00,25.70,1.252,6,0.083,0.000,2994,1777,1772,0,0,0,0,0,0
$GC,10252,0.66,272.6,703.2,17.6,832,10257,0.12,1.12,0.00,0.000,4,0.177,0.056,2959,2484,1768,0,0,0,0,0,0
$GC,10382,0.66,272.6,683.9,13.4,837,10389,0.00,1.10,0.00,0.000,6,0.000,0.046,2962,1777,1768,0,0,0,0,0,0
$GC,10701,0.66,272.6,641.4,12.7,853,10705,0.00,1.08,0.00,0.000,4,0.000,0.050,2967,1069,1766,0,0,0,0,0,0
$GC,10762,0.66,272.6,633.0,12.6,855,10769,0.00,1.10,0.00,0.000,6,0.000,0.044,2964,1782,1766,0,0,0,0,0,0
$GC,11082,0.66,272.6,593.8,12.3,873,11086,0.00,1.10,0.00,0.000,4,0.000,0.050,2968,1070,1765,0,0,0,0,0,0
$GC,11166,0.66,272.6,582.4,13.3,880,11176,0.00,1.10,0.00,0.000,6,0.000,0.045,2967,1785,1765,0,0,0,0,0,0
$GC,11491,0.66,272.6,538.9,13.2,911,11495,0.00,1.05,0.00,0.000,4,0.000,0.055,2968,2479,1764,0,0,0,0,0,0
$GC,11548,0.66,272.6,531.3,13.6,916,11552,0.00,1.08,0.00,0.000,6,0.000,0.044,2972,1778,1764,0,0,0,0,0,0
$GC,11881,0.66,272.6,488.2,13.2,947,11885,0.00,1.08,0.00,0.000,4,0.000,0.051,2969,2478,1764,0,0,0,0,0,0
$GC,11905,0.66,272.6,484.7,13.2,949,11908,0.00,1.08,0.00,0.000,6,0.000,0.044,2972,1778,1764,0,0,0,0,0,0
$GC,12236,0.69,293.6,443.3,11.3,980,12260,0.00,1.12,19.33,1.027,4,0.000,0.048,2977,1068,1686,0,0,0,0,0,0
$GC,12311,0.70,305.4,435.1,11.7,986,12327,0.00,1.10,12.52,0.962,6,0.000,0.042,2974,1786,1638,0,0,0,0,0,0
$GC,12650,0.72,305.4,391.3,13.1,1017,12653,0.00,1.10,0.00,0.000,4,0.000,0.048,2978,1074,1635,0,0,0,0,0,0
$GC,12702,0.74,311.4,384.7,12.0,1021,12712,0.00,1.08,6.60,0.808,6,0.000,0.041,2974,1781,1614,0,0,0,0,0,0
$GC,13033,0.81,354.1,348.6,10.4,1052,13079,0.00,1.15,39.42,0.968,4,0.000,0.048,2978,1075,1439,0,0,0,0,0,0
$GC,13171,0.89,384.8,333.7,10.9,1064,13207,0.12,1.08,28.48,0.928,6,0.050,0.040,3058,1787,1315,0,0,0,0,0,0
$GC,13526,0.84,384.8,263.2,20.7,1097,13531,0.15,1.05,0.00,0.000,4,0.168,0.050,3015,2474,1312,0,0,0,0,0,0
$GC,13669,0.85,384.8,240.4,14.1,1115,13677,0.00,1.05,0.00,0.000,6,0.000,0.041,3018,1782,1311,0,0,0,0,0,0
$GC,14000,0.86,384.8,196.7,12.5,1176,14009,0.00,1.05,0.00,0.000,4,0.000,0.046,3023,1077,1310,0,0,0,0,0,0
$GC,14044,0.87,384.8,190.9,12.7,1183,14052,0.00,1.05,0.00,0.000,6,0.000,0.039,3020,1780,1309,0,0,0,0,0,0
$GC,14375,0.89,384.8,148.0,14.4,1244,14384,0.00,1.05,0.00,0.000,4,0.000,0.048,3015,2474,1309,0,0,0,0,0,0
$GC,14436,0.92,384.8,139.3,13.9,1254,14445,0.00,1.05,0.00,0.000,6,0.000,0.041,3018,1777,1309,0,0,0,0,0,0
$GC,14765,1.07,468.6,98.9,8.7,1315,14847,0.20,1.10,71.55,0.740,4,0.063,0.044,3130,1069,971,0,0,0,0,0,0
$GC,14894,1.04,468.6,79.6,13.4,1334,14903,0.12,1.08,0.00,0.000,6,0.138,0.035,3088,1792,969,0,0,0,0,0,0
$GC,15225,1.10,490.6,43.4,11.3,1395,15252,0.00,1.10,19.20,0.649,4,0.000,0.041,3092,1084,881,0,0,0,0,0,0
$GC,15332,1.14,490.6,31.4,14.9,1412,15341,0.00,1.02,0.00,0.000,6,0.000,0.036,3088,1777,880,0,0,0,0,0,0
$STATE,15550,end climb,SURFACE_DEPTH_REACHED
$STATE,15550,begin surface coast
$FINISH,1.4,1.009814
$STATE,15578,end surface coast,CONTROL_FINISHED_OK
$STATE,15578,begin surface
$SM_CCo,15658,0.00,0.000,0,0,877,492.32
$SM_GC,2.03,7.68,0.00,0.00,0.039,0.000,0.000,138,1598,877,-8.05,-0.31,492.32,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12236.92,291011,232312
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.10
$XPDR_PINGS,128
$24V_AH,22.9,112.690
$10V_AH,9.7,76.695
$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,20.150,67.700,613.200,0.000,0.000,56.809,84.988,304.427,32.000,0.000,30.734,3618.721,7815.991,673.542,3666.628,553.356,0.000,2049.380,0.000,3263.808,0.000,0.541,0.000
$DEVICE_MAMPS,214.200,68.085,1438.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.082,1495.383,1704.365,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80083,1458
$CAP_FILE_SIZE,170598,0
$CFSIZE,260165632,106479616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.257, 20.6,1
$GPS,301011,033836,2328.702,12237.650,29,1.3,29,-3.2