version: 66.09
glider: 166
mission: 6
dive: 428
start: 10 24 111 0 19 39
data:
$ID,166
$MISSION,6
$DIVE,428
$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,-9
$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,-24945.537
$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,42
$R_STBD_OVSHOOT,57
$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
$GPS1,241011,001036,2328.622,12308.652,41,1.0,53,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.7
$GPS2,241011,001913,2328.703,12308.719,36,1.7,36,-3.3
$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,240.9,181367,-18.6,-12.222
$D_GRID,3620
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.65,-194.6,0.0,0.0,0,113,0.00,0.00,-93.47,0.000,2,0.000,0.000,158,1612,3182,0,0,0,0,0,0
$GC,116,-0.65,-194.6,6.2,-9.8,13,141,9.40,1.10,-9.43,0.000,4,0.216,0.067,2514,895,3679,0,0,0,0,0,0
$GC,335,-0.56,-194.6,75.2,-25.5,52,343,0.15,1.05,0.00,0.000,6,0.144,0.034,2557,1607,3682,0,0,0,0,0,0
$GC,662,-0.55,-194.6,127.7,-13.7,113,671,0.00,1.02,0.00,0.000,4,0.000,0.040,2553,2317,3683,0,0,0,0,0,0
$GC,715,-0.55,-194.6,135.0,-13.0,121,723,0.00,1.05,0.00,0.000,6,0.000,0.035,2555,1597,3683,0,0,0,0,0,0
$GC,1042,-0.55,-194.6,178.5,-13.6,182,1050,0.00,1.05,0.00,0.000,4,0.000,0.038,2547,2314,3684,0,0,0,0,0,0
$GC,1118,-0.57,-194.6,188.4,-13.1,195,1127,0.00,1.02,0.00,0.000,6,0.000,0.035,2548,1610,3684,0,0,0,0,0,0
$GC,1446,-0.57,-194.6,234.2,-13.6,256,1454,0.00,1.05,0.00,0.000,4,0.000,0.040,2541,2309,3684,0,0,0,0,0,0
$GC,1491,-0.59,-194.6,239.5,-12.7,263,1500,0.00,1.02,0.00,0.000,6,0.000,0.035,2542,1609,3684,0,0,0,0,0,0
$GC,1819,-0.59,-194.6,283.8,-13.9,301,1823,0.00,1.02,0.00,0.000,4,0.000,0.039,2537,2311,3684,0,0,0,0,0,0
$GC,1877,-0.60,-194.6,291.4,-13.1,306,1881,0.00,1.02,0.00,0.000,6,0.000,0.035,2537,1609,3684,0,0,0,0,0,0
$GC,2208,-0.60,-194.6,335.9,-12.3,337,2212,0.00,1.02,0.00,0.000,4,0.000,0.039,2533,2306,3683,0,0,0,0,0,0
$GC,2291,-0.63,-194.6,344.3,-10.1,344,2295,0.00,1.02,0.00,0.000,6,0.000,0.036,2534,1609,3683,0,0,0,0,0,0
$GC,2623,-0.65,-194.6,379.0,-10.3,375,2626,0.00,1.02,0.00,0.000,4,0.000,0.041,2536,2303,3681,0,0,0,0,0,0
$GC,2649,-0.67,-194.6,381.6,-10.4,377,2653,0.00,1.02,0.00,0.000,6,0.000,0.037,2538,1609,3681,0,0,0,0,0,0
$GC,2981,-0.68,-194.6,420.7,-12.0,408,2985,0.00,1.02,0.00,0.000,4,0.000,0.041,2540,2302,3680,0,0,0,0,0,0
$GC,3053,-0.71,-194.6,428.5,-11.1,414,3056,0.00,1.02,0.00,0.000,6,0.000,0.037,2540,1609,3680,0,0,0,0,0,0
$GC,3384,-0.73,-194.6,466.2,-11.0,445,3388,0.00,1.05,0.00,0.000,4,0.000,0.043,2536,2314,3678,0,0,0,0,0,0
$GC,3528,-0.76,-194.6,480.2,-9.3,457,3534,0.00,1.05,0.00,0.000,6,0.000,0.038,2536,1606,3677,0,0,0,0,0,0
$GC,3854,-0.78,-194.6,512.9,-10.5,488,3859,0.12,1.08,0.00,0.000,4,0.085,0.043,2460,2312,3675,0,0,0,0,0,0
$GC,3888,-0.75,-194.6,517.4,-13.8,491,3893,0.10,1.05,0.00,0.000,6,0.143,0.038,2497,1601,3674,0,0,0,0,0,0
$GC,4219,-0.73,-194.6,561.9,-13.1,522,4223,0.00,1.08,0.00,0.000,4,0.000,0.045,2492,2310,3673,0,0,0,0,0,0
$GC,4246,-0.72,-194.6,565.6,-13.2,524,4253,0.00,1.02,0.00,0.000,6,0.000,0.040,2494,1622,3672,0,0,0,0,0,0
$GC,4574,-0.71,-194.6,607.7,-12.3,552,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1622,3670,0,0,0,0,0,0
$GC,4878,-0.71,-194.6,645.4,-12.3,567,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1622,3668,0,0,0,0,0,0
$GC,5188,-0.71,-194.6,683.9,-12.3,582,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1622,3666,0,0,0,0,0,0
$GC,5500,-0.71,-194.6,720.6,-11.7,597,5504,0.00,1.05,0.00,0.000,4,0.000,0.045,2494,918,3663,0,0,0,0,0,0
$GC,5555,-0.71,-194.6,727.8,-12.2,599,5559,0.00,1.05,0.00,0.000,6,0.000,0.043,2489,1608,3663,0,0,0,0,0,0
$GC,5877,-0.71,-194.6,765.9,-11.6,615,5881,0.00,1.05,0.00,0.000,4,0.000,0.050,2484,2305,3661,0,0,0,0,0,0
$GC,5918,-0.71,-194.6,770.3,-10.9,616,5925,0.08,1.05,0.00,0.000,6,0.140,0.044,2509,1615,3660,0,0,0,0,0,0
$GC,6236,-0.73,-194.6,801.2,-9.5,632,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1615,3658,0,0,0,0,0,0
$GC,6546,-0.75,-194.6,830.9,-9.6,647,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1615,3656,0,0,0,0,0,0
$GC,6853,-0.77,-194.6,863.3,-10.9,662,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1615,3654,0,0,0,0,0,0
$GC,7162,-0.80,-194.6,899.1,-11.9,677,7166,0.00,1.08,0.00,0.000,4,0.000,0.054,2509,919,3652,0,0,0,0,0,0
$GC,7287,-0.83,-194.6,914.9,-12.6,682,7291,0.00,1.08,0.00,0.000,6,0.000,0.051,2506,1604,3651,0,0,0,0,0,0
$GC,7610,-0.85,-194.6,953.6,-11.6,698,7613,0.00,1.08,0.00,0.000,4,0.000,0.054,2506,920,3648,0,0,0,0,0,0
$GC,7662,-0.87,-194.6,959.5,-11.4,700,7666,0.08,1.08,0.00,0.000,6,0.061,0.051,2451,1606,3649,0,0,0,0,0,0
$STATE,7884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7884,begin apogee
$GC,7890,-0.11,0.0,992.5,14.8,711,8063,0.80,0.00,166.48,1.450,6,0.135,0.000,2700,1780,2884,0,0,0,0,0,0
$STATE,8063,end apogee,CONTROL_FINISHED_OK
$STATE,8063,begin climb
$GC,8066,0.65,194.6,999.4,0.0,719,8253,0.73,1.20,180.30,1.393,4,0.069,0.060,2960,2483,2090,0,0,0,0,0,0
$GC,8314,0.63,194.6,974.7,14.1,729,8321,0.00,1.10,0.00,0.000,6,0.000,0.051,2964,1797,2086,0,0,0,0,0,0
$GC,8632,0.60,194.6,929.0,14.5,745,8636,0.00,1.12,0.00,0.000,4,0.000,0.057,2970,1071,2081,0,0,0,0,0,0
$GC,8688,0.57,194.6,920.2,14.7,747,8692,0.10,1.10,0.00,0.000,6,0.152,0.051,2936,1770,2080,0,0,0,0,0,0
$GC,9013,0.57,196.9,880.6,12.1,763,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1770,2079,0,0,0,0,0,0
$GC,9320,0.58,206.3,843.9,11.8,778,9335,0.00,1.12,9.82,1.183,4,0.000,0.054,2939,1074,2043,0,0,0,0,0,0
$GC,9388,0.58,206.3,835.7,12.5,781,9391,0.00,1.12,0.00,0.000,6,0.000,0.049,2938,1785,2042,0,0,0,0,0,0
$GC,9723,0.60,221.7,795.8,11.6,797,9741,0.00,0.00,15.88,1.248,6,0.000,0.000,2939,1785,1980,0,0,0,0,0,0
$GC,10050,0.60,222.6,755.7,12.2,813,10054,0.00,1.08,0.00,0.000,4,0.000,0.057,2938,2489,1975,0,0,0,0,0,0
$GC,10095,0.60,222.6,750.2,12.4,815,10099,0.00,1.10,0.00,0.000,6,0.000,0.047,2941,1780,1975,0,0,0,0,0,0
$GC,10429,0.60,222.6,709.5,12.4,831,10433,0.00,1.12,0.00,0.000,4,0.000,0.056,2941,2489,1975,0,0,0,0,0,0
$GC,10457,0.61,226.5,705.6,12.1,832,10466,0.00,1.10,5.28,0.920,6,0.000,0.046,2944,1776,1960,0,0,0,0,0,0
$GC,10787,0.62,234.6,666.5,11.9,848,10803,0.00,0.00,8.95,1.080,6,0.000,0.000,2944,1776,1926,0,0,0,0,0,0
$GC,11113,0.67,273.5,629.3,10.6,864,11156,0.00,1.15,37.17,1.202,4,0.000,0.051,2950,1067,1769,0,0,0,0,0,0
$GC,11176,0.73,315.6,622.5,10.5,866,11226,0.00,1.12,41.08,1.175,6,0.000,0.044,2947,1786,1597,0,0,0,0,0,0
$GC,11539,0.77,325.4,581.3,11.8,891,11551,0.15,0.00,9.52,1.009,6,0.079,0.000,3022,1786,1557,0,0,0,0,0,0
$GC,11867,0.74,325.4,520.7,18.5,922,11869,0.15,0.00,0.00,0.000,6,0.168,0.000,2984,1790,1554,0,0,0,0,0,0
$GC,12185,0.74,325.4,473.7,14.0,952,12189,0.00,1.10,0.00,0.000,4,0.000,0.049,2988,1072,1552,0,0,0,0,0,0
$GC,12209,0.74,325.4,470.4,13.5,954,12213,0.00,1.08,0.00,0.000,6,0.000,0.043,2987,1778,1552,0,0,0,0,0,0
$GC,12542,0.74,325.4,424.8,13.8,985,12545,0.00,1.05,0.00,0.000,4,0.000,0.053,2987,2475,1552,0,0,0,0,0,0
$GC,12625,0.75,325.4,412.8,13.4,992,12632,0.00,1.08,0.00,0.000,6,0.000,0.044,2991,1772,1552,0,0,0,0,0,0
$GC,12951,0.75,325.4,367.6,13.7,1023,12954,0.00,1.05,0.00,0.000,4,0.000,0.048,2996,1073,1551,0,0,0,0,0,0
$GC,13022,0.75,325.4,357.2,14.0,1029,13029,0.00,1.08,0.00,0.000,6,0.000,0.041,2993,1782,1551,0,0,0,0,0,0
$GC,13351,0.78,337.6,317.6,11.7,1060,13368,0.00,0.00,12.05,0.858,6,0.000,0.000,2993,1782,1507,0,0,0,0,0,0
$GC,13687,0.80,342.5,276.2,12.0,1092,13701,0.00,1.10,5.72,0.676,4,0.000,0.044,2997,1074,1487,0,0,0,0,0,0
$GC,13764,0.83,348.6,266.9,12.0,1098,13775,0.00,1.08,7.45,0.734,6,0.000,0.040,2993,1788,1462,0,0,0,0,0,0
$GC,14096,0.88,371.6,228.7,11.3,1147,14121,0.10,0.00,21.75,0.823,6,0.103,0.000,3052,1788,1369,0,0,0,0,0,0
$GC,14442,0.86,371.6,170.6,15.4,1210,14451,0.12,1.05,0.00,0.000,4,0.168,0.047,3015,2475,1367,0,0,0,0,0,0
$GC,14491,0.88,371.6,164.0,12.4,1218,14499,0.00,1.05,0.00,0.000,6,0.000,0.040,3018,1780,1367,0,0,0,0,0,0
$GC,14821,0.93,390.3,125.2,11.4,1279,14846,0.00,1.02,18.00,0.727,4,0.000,0.041,3024,1075,1291,0,0,0,0,0,0
$GC,14936,0.99,410.1,113.0,11.4,1298,14961,0.10,1.05,18.20,0.712,6,0.054,0.036,3084,1785,1211,0,0,0,0,0,0
$GC,15286,0.99,410.1,63.3,15.0,1361,15294,0.00,1.08,0.00,0.000,4,0.000,0.042,3090,1077,1210,0,0,0,0,0,0
$GC,15386,1.01,411.1,50.8,12.2,1379,15394,0.00,1.05,0.00,0.000,6,0.000,0.035,3089,1787,1210,0,0,0,0,0,0
$GC,15715,1.03,411.1,10.4,12.4,1440,15723,0.00,1.08,0.00,0.000,4,0.000,0.042,3094,1073,1210,0,0,0,0,0,0
$STATE,15775,end climb,SURFACE_DEPTH_REACHED
$STATE,15775,begin surface coast
$FINISH,1.3,1.002708
$STATE,15803,end surface coast,CONTROL_FINISHED_OK
$STATE,15804,begin surface
$SM_CCo,15824,48.08,0.469,1,0,1049,450.13
$SM_GC,2.07,0.00,0.00,48.08,0.000,0.000,0.469,135,1641,1049,-8.15,0.88,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2316.83,12307.54,231011,191940
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.29
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,24.90
$XPDR_PINGS,121
$24V_AH,22.9,105.450
$10V_AH,9.7,71.528
$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,19.825,61.875,557.650,48.075,0.000,30.373,44.838,250.020,30.250,0.000,36.903,3632.097,8035.920,655.394,3570.585,484.088,0.000,2004.615,0.000,3222.539,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,69.615,1449.675,468.945,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.431,1491.900,1671.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,80109,1456
$CAP_FILE_SIZE,167694,0
$CFSIZE,260165632,109240320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.183, 55.9,1
$GPS,241011,044601,2328.355,12307.612,63,1.2,63,-3.3