version: 66.09
glider: 166
mission: 6
dive: 445
start: 10 27 111 6 35 4
data:
$ID,166
$MISSION,6
$DIVE,445
$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,-24967.018
$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,52
$R_STBD_OVSHOOT,52
$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
$GPS1,271011,062756,2327.510,12247.824,42,2.5,61,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.3
$GPS2,271011,063437,2327.588,12247.841,36,1.9,36,-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,224.3,146624,-18.6,-12.222
$D_GRID,4032
$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,-194.6,0.0,0.0,0,114,0.00,0.00,-94.80,0.000,2,0.000,0.000,127,1596,3183,0,0,0,0,0,0
$GC,117,-0.65,-194.6,6.2,-9.6,13,143,9.55,1.08,-9.38,0.000,4,0.221,0.068,2530,901,3681,0,0,0,0,0,0
$GC,299,-0.58,-194.6,62.9,-21.3,45,308,0.08,1.05,0.00,0.000,6,0.151,0.037,2550,1603,3683,0,0,0,0,0,0
$GC,625,-0.56,-194.6,120.4,-14.0,106,633,0.00,1.02,0.00,0.000,4,0.000,0.042,2545,2303,3684,0,0,0,0,0,0
$GC,803,-0.56,-194.6,145.8,-14.5,138,811,0.00,1.02,0.00,0.000,6,0.000,0.041,2565,1622,3685,0,0,0,0,0,0
$GC,1132,-0.56,-194.6,188.6,-12.3,199,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1622,3685,0,0,0,0,0,0
$GC,1457,-0.56,-194.6,230.0,-13.5,260,1465,0.00,1.05,0.00,0.000,4,0.000,0.046,2558,2309,3685,0,0,0,0,0,0
$GC,1687,-0.59,-194.6,262.4,-13.7,295,1690,0.00,1.08,0.00,0.000,6,0.000,0.043,2551,1605,3685,0,0,0,0,0,0
$GC,2022,-0.60,-194.6,301.9,-10.8,326,2026,0.00,1.05,0.00,0.000,4,0.000,0.047,2547,909,3685,0,0,0,0,0,0
$GC,2057,-0.62,-194.6,306.2,-11.0,329,2061,0.00,1.05,0.00,0.000,6,0.000,0.040,2543,1607,3685,0,0,0,0,0,0
$GC,2392,-0.64,-194.6,342.5,-10.6,360,2395,0.00,1.05,0.00,0.000,4,0.000,0.047,2537,2311,3683,0,0,0,0,0,0
$GC,2518,-0.67,-194.6,355.8,-10.5,371,2522,0.00,1.08,0.00,0.000,6,0.000,0.043,2538,1605,3682,0,0,0,0,0,0
$GC,2849,-0.70,-194.6,395.9,-12.5,402,2853,0.00,1.08,0.00,0.000,4,0.000,0.048,2534,2306,3681,0,0,0,0,0,0
$GC,2933,-0.74,-194.6,405.7,-11.1,409,2939,0.00,1.05,0.00,0.000,6,0.000,0.044,2536,1617,3681,0,0,0,0,0,0
$GC,3259,-0.76,-194.6,443.3,-11.3,440,3263,0.12,1.08,0.00,0.000,4,0.082,0.050,2470,2299,3680,0,0,0,0,0,0
$GC,3282,-0.76,-194.6,446.4,-12.2,442,3286,0.00,1.08,0.00,0.000,6,0.000,0.044,2473,1597,3679,0,0,0,0,0,0
$GC,3613,-0.72,-194.6,498.3,-15.7,473,3618,0.12,1.12,0.00,0.000,4,0.168,0.050,2504,2305,3678,0,0,0,0,0,0
$GC,3641,-0.70,-194.6,502.3,-13.4,475,3649,0.00,1.08,0.00,0.000,6,0.000,0.045,2504,1609,3677,0,0,0,0,0,0
$GC,3966,-0.70,-194.6,544.0,-12.5,506,3970,0.00,1.08,0.00,0.000,4,0.000,0.050,2504,907,3676,0,0,0,0,0,0
$GC,4005,-0.69,-194.6,549.2,-13.0,509,4012,0.00,1.08,0.00,0.000,6,0.000,0.043,2499,1605,3675,0,0,0,0,0,0
$GC,4331,-0.69,-194.6,590.8,-12.8,540,4334,0.00,1.08,0.00,0.000,4,0.000,0.050,2499,916,3672,0,0,0,0,0,0
$GC,4369,-0.69,-194.6,596.0,-13.0,543,4377,0.00,1.08,0.00,0.000,6,0.000,0.044,2493,1615,3672,0,0,0,0,0,0
$GC,4697,-0.69,-194.6,638.4,-12.6,561,4700,0.00,1.10,0.00,0.000,4,0.000,0.051,2494,910,3670,0,0,0,0,0,0
$GC,4748,-0.69,-194.6,645.2,-13.4,563,4753,0.08,1.08,0.00,0.000,6,0.149,0.045,2513,1605,3669,0,0,0,0,0,0
$GC,5078,-0.71,-194.6,681.6,-10.6,579,5081,0.00,1.08,0.00,0.000,4,0.000,0.052,2510,2312,3667,0,0,0,0,0,0
$GC,5117,-0.73,-194.6,686.1,-10.9,580,5123,0.00,1.08,0.00,0.000,6,0.000,0.045,2510,1609,3666,0,0,0,0,0,0
$GC,5436,-0.74,-194.6,721.2,-11.4,596,5440,0.00,1.10,0.00,0.000,4,0.000,0.056,2505,2311,3664,0,0,0,0,0,0
$GC,5538,-0.76,-194.6,732.4,-10.3,600,5541,0.00,1.08,0.00,0.000,6,0.000,0.048,2505,1617,3662,0,0,0,0,0,0
$GC,5863,-0.77,-194.6,768.5,-11.4,616,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1617,3660,0,0,0,0,0,0
$GC,6169,-0.79,-194.6,805.0,-11.9,631,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1617,3658,0,0,0,0,0,0
$GC,6481,-0.80,-194.6,842.0,-11.9,646,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1617,3656,0,0,0,0,0,0
$GC,6788,-0.82,-194.6,878.2,-11.6,661,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1617,3654,0,0,0,0,0,0
$GC,7098,-0.84,-194.6,912.0,-10.8,676,7102,0.00,1.10,0.00,0.000,4,0.000,0.054,2505,909,3652,0,0,0,0,0,0
$GC,7139,-0.86,-194.6,916.7,-11.6,677,7146,0.00,1.10,0.00,0.000,6,0.000,0.050,2500,1607,3651,0,0,0,0,0,0
$GC,7456,-0.87,-194.6,951.4,-10.6,693,7460,0.10,1.12,0.00,0.000,4,0.103,0.056,2447,910,3650,0,0,0,0,0,0
$GC,7552,-0.84,-194.6,964.9,-14.8,697,7556,0.08,1.10,0.00,0.000,6,0.161,0.051,2465,1606,3649,0,0,0,0,0,0
$STATE,7752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7752,begin apogee
$GC,7758,-0.11,0.0,991.9,13.1,707,7934,0.75,0.00,165.40,1.441,6,0.132,0.000,2701,1793,2883,0,0,0,0,0,0
$STATE,7935,end apogee,CONTROL_FINISHED_OK
$STATE,7935,begin climb
$GC,7937,0.65,194.6,998.4,0.0,715,8123,0.70,1.12,178.82,1.385,4,0.069,0.065,2955,2478,2089,0,0,0,0,0,0
$GC,8179,0.63,194.6,977.1,12.6,726,8182,0.00,1.10,0.00,0.000,6,0.000,0.050,2959,1790,2085,0,0,0,0,0,0
$GC,8509,0.61,194.6,936.1,12.4,742,8513,0.00,1.10,0.00,0.000,4,0.000,0.056,2964,1077,2080,0,0,0,0,0,0
$GC,8536,0.58,194.6,932.1,12.4,743,8540,0.08,1.10,0.00,0.000,6,0.154,0.050,2940,1772,2079,0,0,0,0,0,0
$GC,8863,0.61,218.3,894.8,11.2,759,8889,0.00,1.15,20.90,1.300,4,0.000,0.060,2937,2489,1993,0,0,0,0,0,0
$GC,8939,0.62,227.8,886.1,11.8,762,8956,0.00,1.12,10.40,1.175,6,0.000,0.050,2940,1776,1954,0,0,0,0,0,0
$GC,9264,0.62,227.8,845.8,12.6,778,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1776,1950,0,0,0,0,0,0
$GC,9576,0.63,234.2,807.7,12.0,793,9586,0.00,1.10,6.32,1.024,4,0.000,0.054,2938,2483,1928,0,0,0,0,0,0
$GC,9620,0.66,251.6,802.0,11.5,795,9642,0.00,1.10,18.15,1.246,6,0.000,0.047,2941,1773,1858,0,0,0,0,0,0
$GC,9969,0.71,291.6,764.2,10.5,812,10013,0.10,1.20,38.50,1.275,4,0.105,0.057,2996,2495,1695,0,0,0,0,0,0
$GC,10075,0.69,291.6,748.2,14.7,816,10082,0.10,1.12,0.00,0.000,6,0.156,0.047,2971,1774,1692,0,0,0,0,0,0
$GC,10393,0.69,291.6,706.6,13.5,832,10397,0.00,1.10,0.00,0.000,4,0.000,0.055,2967,2478,1690,0,0,0,0,0,0
$GC,10449,0.69,291.6,698.3,13.8,834,10453,0.00,1.08,0.00,0.000,6,0.000,0.045,2970,1782,1689,0,0,0,0,0,0
$GC,10773,0.69,291.6,653.8,13.8,850,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1783,1688,0,0,0,0,0,0
$GC,11080,0.69,291.6,613.2,12.9,865,11083,0.00,1.08,0.00,0.000,4,0.000,0.050,2975,1077,1687,0,0,0,0,0,0
$GC,11113,0.69,291.6,608.7,13.0,866,11117,0.00,1.10,0.00,0.000,6,0.000,0.044,2972,1791,1687,0,0,0,0,0,0
$GC,11442,0.70,296.2,567.8,12.0,894,11454,0.00,1.12,4.60,0.787,4,0.000,0.050,2975,1080,1676,0,0,0,0,0,0
$GC,11505,0.70,296.2,560.1,12.3,899,11512,0.00,1.08,0.00,0.000,6,0.000,0.044,2972,1782,1675,0,0,0,0,0,0
$GC,11832,0.70,300.3,520.7,12.0,930,11840,0.00,0.00,5.62,0.846,6,0.000,0.000,2972,1782,1659,0,0,0,0,0,0
$GC,12159,0.71,300.3,479.9,12.7,961,12163,0.00,1.05,0.00,0.000,4,0.000,0.052,2967,2477,1658,0,0,0,0,0,0
$GC,12242,0.74,302.3,470.1,12.1,968,12246,0.00,1.08,0.00,0.000,6,0.000,0.044,2971,1774,1657,0,0,0,0,0,0
$GC,12575,0.75,302.3,428.7,12.5,999,12579,0.00,1.05,0.00,0.000,4,0.000,0.049,2976,1077,1657,0,0,0,0,0,0
$GC,12624,0.76,302.3,421.9,13.0,1003,12631,0.00,1.08,0.00,0.000,6,0.000,0.041,2972,1784,1657,0,0,0,0,0,0
$GC,12952,0.78,302.3,382.1,12.6,1034,12955,0.00,1.05,0.00,0.000,4,0.000,0.051,2968,2470,1657,0,0,0,0,0,0
$GC,13047,0.84,333.1,370.8,10.9,1042,13087,0.10,1.05,31.00,0.976,6,0.049,0.043,3033,1777,1526,0,0,0,0,0,0
$GC,13408,0.81,333.1,312.4,16.8,1076,13411,0.00,1.05,0.00,0.000,4,0.000,0.047,3038,1080,1523,0,0,0,0,0,0
$GC,13432,0.78,333.1,307.9,16.6,1078,13436,0.10,1.05,0.00,0.000,6,0.145,0.040,3002,1781,1522,0,0,0,0,0,0
$GC,13763,0.78,333.1,263.2,13.9,1109,13767,0.00,1.02,0.00,0.000,4,0.000,0.048,2998,2472,1522,0,0,0,0,0,0
$GC,13939,0.80,333.1,238.8,13.8,1132,13947,0.00,1.05,0.00,0.000,6,0.000,0.041,3001,1776,1522,0,0,0,0,0,0
$GC,14272,0.82,341.9,197.0,11.9,1193,14288,0.00,1.02,9.23,0.722,4,0.000,0.042,2998,2477,1489,0,0,0,0,0,0
$GC,14339,0.86,348.9,188.4,11.9,1204,14354,0.00,1.05,8.23,0.691,6,0.000,0.040,3001,1777,1460,0,0,0,0,0,0
$GC,14680,0.88,349.2,146.7,12.2,1266,14688,0.00,1.05,0.00,0.000,4,0.000,0.046,2998,2473,1459,0,0,0,0,0,0
$GC,14838,0.99,406.0,129.1,9.8,1294,14899,0.12,1.05,50.83,0.761,6,0.044,0.039,3076,1769,1227,0,0,0,0,0,0
$GC,15222,0.99,406.0,66.6,14.7,1362,15230,0.00,1.02,0.00,0.000,4,0.000,0.044,3081,1086,1224,0,0,0,0,0,0
$GC,15290,0.99,406.0,57.0,14.6,1374,15298,0.00,1.02,0.00,0.000,6,0.000,0.036,3078,1776,1224,0,0,0,0,0,0
$GC,15620,1.17,525.3,22.7,7.2,1435,15726,0.12,0.00,98.45,0.661,6,0.086,0.000,3151,1778,740,0,0,0,0,0,0
$STATE,15742,end climb,SURFACE_DEPTH_REACHED
$STATE,15742,begin surface coast
$FINISH,1.3,1.008924
$STATE,15762,end surface coast,CONTROL_FINISHED_OK
$STATE,15762,begin surface
$SM_CCo,15840,0.00,0.000,0,0,734,527.40
$SM_GC,2.02,7.97,0.00,0.00,0.042,0.000,0.000,142,1585,734,-8.04,-0.68,527.40,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12251.88,271011,010105
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.17
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.50
$XPDR_PINGS,128
$24V_AH,22.9,109.379
$10V_AH,9.7,74.358
$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,20.275,67.275,646.450,0.000,0.000,24.711,16.671,165.762,32.000,0.000,36.863,3608.733,7952.793,658.383,3504.614,497.340,0.000,2066.293,0.000,3272.031,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,68.085,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,993.277,1490.271,1673.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,83373,1454
$CAP_FILE_SIZE,171206,0
$CFSIZE,260165632,107728896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232, 13.6,1
$GPS,271011,110025,2327.670,12246.695,42,1.8,42,-3.2