version: 66.09
glider: 166
mission: 6
dive: 429
start: 10 24 111 4 57 8
data:
$ID,166
$MISSION,6
$DIVE,429
$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,-24946.797
$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,39
$R_STBD_OVSHOOT,72
$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
$GPS1,241011,044601,2328.355,12307.612,63,1.2,63,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-72.8
$GPS2,241011,045643,2328.418,12307.749,14,1.4,17,-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,247.5,179634,-18.6,-12.222
$D_GRID,3543
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-86.40,0.000,2,0.000,0.000,121,1642,3169,0,0,0,0,0,0
$GC,111,-0.65,-194.6,6.1,-10.2,12,136,9.48,1.17,-9.45,0.000,4,0.217,0.063,2533,882,3680,0,0,0,0,0,0
$GC,288,-0.59,-194.6,64.9,-24.9,43,296,0.00,1.05,0.00,0.000,6,0.000,0.034,2530,1594,3681,0,0,0,0,0,0
$GC,613,-0.53,-194.6,132.5,-17.3,104,621,0.15,0.00,0.00,0.000,6,0.168,0.000,2567,1594,3683,0,0,0,0,0,0
$GC,943,-0.54,-194.6,177.3,-11.9,165,951,0.00,1.02,0.00,0.000,4,0.000,0.039,2565,2303,3684,0,0,0,0,0,0
$GC,1091,-0.58,-194.6,192.8,-9.9,191,1099,0.00,1.05,0.00,0.000,6,0.000,0.036,2563,1590,3683,0,0,0,0,0,0
$GC,1421,-0.59,-194.6,229.5,-10.9,252,1429,0.00,1.08,0.00,0.000,4,0.000,0.039,2557,2307,3683,0,0,0,0,0,0
$GC,1480,-0.62,-194.6,236.3,-10.5,262,1489,0.00,1.02,0.00,0.000,6,0.000,0.036,2557,1612,3683,0,0,0,0,0,0
$GC,1813,-0.64,-194.6,272.8,-10.8,305,1817,0.00,1.02,0.00,0.000,4,0.000,0.041,2554,2297,3684,0,0,0,0,0,0
$GC,1884,-0.67,-194.6,280.2,-10.4,311,1887,0.00,1.00,0.00,0.000,6,0.000,0.036,2555,1619,3683,0,0,0,0,0,0
$GC,2215,-0.70,-194.6,319.8,-11.6,342,2219,0.00,1.00,0.00,0.000,4,0.000,0.041,2549,2297,3682,0,0,0,0,0,0
$GC,2243,-0.72,-194.6,323.2,-11.6,344,2250,0.10,1.02,0.00,0.000,6,0.044,0.037,2477,1604,3682,0,0,0,0,0,0
$GC,2569,-0.66,-194.6,383.0,-17.8,375,2571,0.20,0.00,0.00,0.000,6,0.155,0.000,2533,1604,3680,0,0,0,0,0,0
$GC,2889,-0.66,-194.6,421.3,-11.3,405,2892,0.00,1.02,0.00,0.000,4,0.000,0.041,2532,911,3679,0,0,0,0,0,0
$GC,2924,-0.67,-194.6,425.6,-11.7,408,2928,0.00,1.02,0.00,0.000,6,0.000,0.037,2531,1606,3679,0,0,0,0,0,0
$GC,3257,-0.67,-194.6,462.6,-11.2,439,3261,0.00,1.02,0.00,0.000,4,0.000,0.044,2525,2301,3677,0,0,0,0,0,0
$GC,3418,-0.69,-194.6,480.6,-11.0,453,3422,0.00,1.02,0.00,0.000,6,0.000,0.040,2523,1619,3676,0,0,0,0,0,0
$GC,3749,-0.71,-194.6,516.8,-10.6,484,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1619,3674,0,0,0,0,0,0
$GC,4070,-0.72,-194.6,549.5,-10.1,514,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1619,3672,0,0,0,0,0,0
$GC,4400,-0.74,-194.6,583.7,-10.9,545,4404,0.00,1.05,0.00,0.000,4,0.000,0.050,2518,2293,3670,0,0,0,0,0,0
$GC,4480,-0.77,-194.6,592.5,-10.1,552,4484,0.00,1.02,0.00,0.000,6,0.000,0.044,2523,1620,3669,0,0,0,0,0,0
$GC,4809,-0.79,-194.6,627.6,-10.4,571,4812,0.00,1.05,0.00,0.000,4,0.000,0.052,2521,2300,3667,0,0,0,0,0,0
$GC,4837,-0.81,-194.6,631.0,-10.2,572,4841,0.08,1.05,0.00,0.000,6,0.051,0.046,2459,1611,3666,0,0,0,0,0,0
$GC,5166,-0.77,-194.6,677.1,-14.3,588,5170,0.12,1.10,0.00,0.000,4,0.171,0.053,2495,904,3664,0,0,0,0,0,0
$GC,5318,-0.77,-194.6,695.8,-11.9,594,5325,0.00,1.08,0.00,0.000,6,0.000,0.046,2492,1603,3663,0,0,0,0,0,0
$GC,5636,-0.77,-194.6,733.4,-12.1,610,5640,0.00,1.08,0.00,0.000,4,0.000,0.049,2492,910,3661,0,0,0,0,0,0
$GC,5674,-0.77,-194.6,738.8,-12.8,611,5681,0.00,1.08,0.00,0.000,6,0.000,0.047,2487,1604,3660,0,0,0,0,0,0
$GC,5991,-0.77,-194.6,778.4,-12.7,627,5995,0.00,1.08,0.00,0.000,4,0.000,0.055,2482,2306,3658,0,0,0,0,0,0
$GC,6016,-0.77,-194.6,781.3,-12.5,628,6020,0.00,1.08,0.00,0.000,6,0.000,0.048,2482,1609,3657,0,0,0,0,0,0
$GC,6349,-0.77,-194.6,824.1,-12.7,644,6352,0.00,1.08,0.00,0.000,4,0.000,0.053,2481,908,3654,0,0,0,0,0,0
$GC,6418,-0.75,-194.6,832.8,-13.0,647,6422,0.00,1.10,0.00,0.000,6,0.000,0.049,2476,1612,3654,0,0,0,0,0,0
$GC,6754,-0.74,-194.6,875.3,-12.5,663,6758,0.10,1.12,0.00,0.000,4,0.185,0.053,2502,907,3652,0,0,0,0,0,0
$GC,6823,-0.76,-194.6,883.4,-11.2,666,6827,0.00,1.10,0.00,0.000,6,0.000,0.049,2498,1610,3652,0,0,0,0,0,0
$GC,7159,-0.77,-194.6,920.2,-11.2,682,7163,0.00,1.12,0.00,0.000,4,0.000,0.054,2499,914,3649,0,0,0,0,0,0
$GC,7242,-0.78,-194.6,930.3,-12.0,685,7248,0.00,1.10,0.00,0.000,6,0.000,0.050,2493,1612,3648,0,0,0,0,0,0
$GC,7560,-0.78,-194.6,966.3,-11.4,701,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1611,3646,0,0,0,0,0,0
$STATE,7782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7782,begin apogee
$GC,7788,-0.11,0.0,991.6,11.2,712,7960,0.65,0.00,165.77,1.446,6,0.119,0.000,2704,1782,2884,0,0,0,0,0,0
$STATE,7961,end apogee,CONTROL_FINISHED_OK
$STATE,7961,begin climb
$GC,7963,0.65,194.6,997.8,0.0,720,8156,0.70,1.20,179.82,1.391,4,0.067,0.061,2959,2489,2089,0,0,0,0,0,0
$GC,8212,0.63,194.6,974.1,13.6,731,8216,0.00,1.12,0.00,0.000,6,0.000,0.052,2963,1788,2085,0,0,0,0,0,0
$GC,8536,0.61,194.6,930.1,13.6,747,8540,0.00,1.10,0.00,0.000,4,0.000,0.061,2963,2483,2080,0,0,0,0,0,0
$GC,8583,0.59,194.6,923.6,13.8,749,8587,0.10,1.10,0.00,0.000,6,0.158,0.050,2937,1780,2081,0,0,0,0,0,0
$GC,8916,0.60,209.2,885.2,11.6,765,8937,0.00,1.15,12.93,1.232,4,0.000,0.054,2940,1061,2031,0,0,0,0,0,0
$GC,9026,0.60,209.2,871.7,12.3,769,9033,0.00,1.12,0.00,0.000,6,0.000,0.050,2940,1771,2028,0,0,0,0,0,0
$GC,9343,0.60,209.2,832.2,12.5,785,9346,0.00,1.10,0.00,0.000,4,0.000,0.059,2939,2486,2027,0,0,0,0,0,0
$GC,9383,0.60,209.2,826.9,12.5,786,9390,0.00,1.10,0.00,0.000,6,0.000,0.048,2942,1776,2026,0,0,0,0,0,0
$GC,9699,0.60,209.2,786.8,12.5,802,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1776,2025,0,0,0,0,0,0
$GC,10009,0.62,225.4,750.5,11.5,817,10031,0.00,1.12,15.77,1.220,4,0.000,0.053,2941,2492,1964,0,0,0,0,0,0
$GC,10067,0.65,246.4,743.7,11.3,819,10092,0.00,1.12,21.00,1.229,6,0.000,0.046,2944,1773,1878,0,0,0,0,0,0
$GC,10411,0.66,253.1,702.5,11.9,836,10421,0.00,1.12,6.80,1.003,4,0.000,0.051,2950,1065,1852,0,0,0,0,0,0
$GC,10491,0.66,255.4,692.4,12.1,839,10499,0.00,1.12,4.05,0.763,6,0.000,0.046,2947,1788,1842,0,0,0,0,0,0
$GC,10809,0.70,277.0,655.0,11.3,855,10835,0.00,1.10,21.98,1.185,4,0.000,0.047,2950,1068,1752,0,0,0,0,0,0
$GC,10906,0.75,297.7,644.0,11.3,859,10932,0.08,1.12,20.88,1.161,6,0.063,0.044,2995,1792,1669,0,0,0,0,0,0
$GC,11253,0.72,297.7,588.5,16.4,879,11257,0.00,1.05,0.00,0.000,4,0.000,0.055,2995,2485,1665,0,0,0,0,0,0
$GC,11292,0.71,297.7,581.5,15.9,882,11299,0.00,1.10,0.00,0.000,6,0.000,0.045,2999,1771,1665,0,0,0,0,0,0
$GC,11618,0.69,297.7,530.2,15.5,913,11622,0.12,1.12,0.00,0.000,4,0.184,0.054,2964,2481,1664,0,0,0,0,0,0
$GC,11724,0.71,297.7,517.0,12.3,922,11727,0.00,1.08,0.00,0.000,6,0.000,0.044,2967,1779,1663,0,0,0,0,0,0
$GC,12056,0.77,338.4,478.4,10.5,953,12101,0.00,1.10,37.12,1.076,4,0.000,0.045,2972,1074,1504,0,0,0,0,0,0
$GC,12174,0.82,359.6,465.3,11.3,963,12204,0.10,1.10,20.62,1.019,6,0.059,0.042,3032,1790,1417,0,0,0,0,0,0
$GC,12522,0.79,359.6,405.4,16.9,996,12526,0.12,1.05,0.00,0.000,4,0.167,0.051,2996,2479,1414,0,0,0,0,0,0
$GC,12555,0.79,359.6,400.0,14.8,999,12559,0.00,1.08,0.00,0.000,6,0.000,0.043,2999,1775,1413,0,0,0,0,0,0
$GC,12886,0.79,359.6,354.7,13.9,1030,12890,0.00,1.05,0.00,0.000,4,0.000,0.047,3004,1072,1413,0,0,0,0,0,0
$GC,12935,0.79,359.6,347.5,14.1,1034,12942,0.00,1.08,0.00,0.000,6,0.000,0.041,3001,1785,1412,0,0,0,0,0,0
$GC,13263,0.80,359.6,302.8,13.5,1065,13269,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1785,1412,0,0,0,0,0,0
$GC,13594,0.82,359.6,259.5,13.0,1096,13598,0.00,1.08,0.00,0.000,4,0.000,0.046,3005,1075,1412,0,0,0,0,0,0
$GC,13630,0.84,359.6,254.3,13.1,1099,13633,0.00,1.05,0.00,0.000,6,0.000,0.039,3001,1782,1413,0,0,0,0,0,0
$GC,13954,0.86,360.5,215.8,12.2,1157,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1782,1412,0,0,0,0,0,0
$GC,14282,0.89,360.5,174.0,12.7,1218,14293,0.00,1.08,0.00,0.000,4,0.000,0.045,3005,1074,1412,0,0,0,0,0,0
$GC,14312,0.92,360.5,170.0,12.5,1222,14321,0.08,1.05,0.00,0.000,6,0.060,0.037,3063,1786,1412,0,0,0,0,0,0
$GC,14641,0.91,360.5,118.3,14.6,1283,14650,0.00,1.08,0.00,0.000,4,0.000,0.044,3068,1071,1413,0,0,0,0,0,0
$GC,14697,0.89,360.5,110.0,14.8,1292,14706,0.10,1.05,0.00,0.000,6,0.140,0.036,3036,1790,1413,0,0,0,0,0,0
$GC,15029,1.03,441.5,74.0,8.8,1353,15105,0.12,1.15,70.28,0.712,4,0.087,0.042,3110,1067,1083,0,0,0,0,0,0
$GC,15162,1.01,441.5,53.3,17.7,1373,15170,0.10,1.05,0.00,0.000,6,0.133,0.035,3077,1778,1081,0,0,0,0,0,0
$GC,15494,1.10,480.1,17.5,10.6,1434,15532,0.00,1.12,32.72,0.641,4,0.000,0.043,3080,1063,924,0,0,0,0,0,0
$GC,15620,1.19,512.6,4.4,10.9,1454,15637,0.10,1.05,12.80,0.572,2,0.047,0.035,3152,1772,866,0,0,0,0,0,0
$STATE,15638,end climb,SURFACE_DEPTH_REACHED
$STATE,15638,begin surface coast
$FINISH,1.2,0.997472
$STATE,15666,end surface coast,CONTROL_FINISHED_OK
$STATE,15666,begin surface
$SM_CCo,15746,0.00,0.000,0,0,862,496.00
$SM_GC,2.11,7.78,0.00,0.00,0.030,0.000,0.000,137,1599,862,-8.05,-0.31,496.00,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12308.82,241011,040439
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.31
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.90
$XPDR_PINGS,116
$24V_AH,23.0,105.683
$10V_AH,9.7,71.698
$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,20.375,69.600,622.550,0.000,0.000,54.958,98.527,220.050,29.000,0.000,18.031,3656.044,7790.871,653.466,3749.626,517.639,0.000,2071.950,0.000,3347.676,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,71.145,1445.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,997.858,1498.690,1734.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330360
$DATA_FILE_SIZE,83351,1461
$CAP_FILE_SIZE,177331,0
$CFSIZE,260165632,109133824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160, 38.7,1
$GPS,241011,092054,2328.422,12306.116,41,1.6,41,-3.2