version: 66.09
glider: 166
mission: 6
dive: 446
start: 10 27 111 11 8 46
data:
$ID,166
$MISSION,6
$DIVE,446
$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,-24968.277
$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,61
$R_STBD_OVSHOOT,54
$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
$GPS1,271011,110025,2327.670,12246.695,42,1.8,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-65.9
$GPS2,271011,110819,2327.771,12246.594,36,2.2,55,-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,216.6,144704,-18.6,-12.222
$D_GRID,4082
$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,-194.6,0.0,0.0,0,121,0.00,0.00,-101.57,0.000,2,0.000,0.000,129,1582,3212,0,0,0,0,0,0
$GC,124,-0.65,-194.6,6.1,-8.0,14,149,9.50,1.05,-8.90,0.000,4,0.219,0.072,2525,917,3680,0,0,0,0,0,0
$GC,390,-0.58,-194.6,83.1,-21.9,62,399,0.10,1.02,0.00,0.000,6,0.145,0.037,2552,1602,3683,0,0,0,0,0,0
$GC,720,-0.57,-194.6,130.9,-15.0,123,727,0.00,1.05,0.00,0.000,4,0.000,0.044,2575,920,3684,0,0,0,0,0,0
$GC,833,-0.57,-194.6,148.6,-15.7,143,841,0.00,1.02,0.00,0.000,6,0.000,0.039,2572,1601,3684,0,0,0,0,0,0
$GC,1160,-0.57,-194.6,192.7,-12.8,204,1169,0.00,1.05,0.00,0.000,4,0.000,0.046,2564,2307,3684,0,0,0,0,0,0
$GC,1327,-0.58,-194.6,212.7,-12.1,234,1335,0.00,1.05,0.00,0.000,6,0.000,0.044,2566,1624,3684,0,0,0,0,0,0
$GC,1661,-0.60,-194.6,255.1,-11.3,292,1665,0.00,1.10,0.00,0.000,4,0.000,0.047,2556,904,3684,0,0,0,0,0,0
$GC,1722,-0.61,-194.6,263.0,-12.1,297,1729,0.00,1.08,0.00,0.000,6,0.000,0.039,2545,1613,3684,0,0,0,0,0,0
$GC,2048,-0.63,-194.6,300.5,-11.2,328,2052,0.00,1.02,0.00,0.000,4,0.000,0.046,2538,2306,3684,0,0,0,0,0,0
$GC,2144,-0.65,-194.6,311.6,-11.5,336,2151,0.00,1.08,0.00,0.000,6,0.000,0.043,2538,1604,3684,0,0,0,0,0,0
$GC,2471,-0.67,-194.6,347.8,-11.6,367,2475,0.00,1.05,0.00,0.000,4,0.000,0.047,2538,910,3683,0,0,0,0,0,0
$GC,2579,-0.69,-194.6,360.6,-11.8,376,2587,0.00,1.05,0.00,0.000,6,0.000,0.041,2533,1605,3681,0,0,0,0,0,0
$GC,2905,-0.71,-194.6,396.1,-9.7,407,2909,0.00,1.05,0.00,0.000,4,0.000,0.047,2529,2307,3680,0,0,0,0,0,0
$GC,3073,-0.74,-194.6,410.9,-8.8,421,3079,0.00,1.08,0.00,0.000,6,0.000,0.045,2535,1612,3680,0,0,0,0,0,0
$GC,3398,-0.77,-194.6,443.5,-10.2,452,3400,0.15,0.00,0.00,0.000,6,0.073,0.000,2466,1611,3678,0,0,0,0,0,0
$GC,3716,-0.71,-194.6,492.8,-15.6,482,3720,0.17,1.10,0.00,0.000,4,0.158,0.050,2511,2305,3675,0,0,0,0,0,0
$GC,3787,-0.71,-194.6,502.4,-12.3,488,3796,0.00,1.08,0.00,0.000,6,0.000,0.047,2512,1609,3675,0,0,0,0,0,0
$GC,4113,-0.71,-194.6,542.9,-12.3,519,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1609,3675,0,0,0,0,0,0
$GC,4436,-0.71,-194.6,578.7,-11.3,549,4440,0.00,1.08,0.00,0.000,4,0.000,0.053,2512,916,3671,0,0,0,0,0,0
$GC,4539,-0.71,-194.6,591.1,-12.2,558,4543,0.00,1.05,0.00,0.000,6,0.000,0.044,2507,1600,3670,0,0,0,0,0,0
$GC,4875,-0.71,-194.6,628.4,-10.9,578,4879,0.00,1.08,0.00,0.000,4,0.000,0.052,2502,2309,3668,0,0,0,0,0,0
$GC,4953,-0.71,-194.6,636.7,-10.1,581,4956,0.00,1.08,0.00,0.000,6,0.000,0.048,2502,1612,3667,0,0,0,0,0,0
$GC,5275,-0.71,-194.6,674.5,-12.1,597,5279,0.00,1.08,0.00,0.000,4,0.000,0.054,2501,916,3664,0,0,0,0,0,0
$GC,5327,-0.71,-194.6,680.8,-11.7,599,5331,0.00,1.08,0.00,0.000,6,0.000,0.046,2497,1609,3665,0,0,0,0,0,0
$GC,5655,-0.71,-194.6,718.9,-11.2,615,5658,0.00,1.10,0.00,0.000,4,0.000,0.055,2491,2311,3662,0,0,0,0,0,0
$GC,5689,-0.71,-194.6,722.8,-11.2,616,5693,0.00,1.10,0.00,0.000,6,0.000,0.048,2491,1603,3661,0,0,0,0,0,0
$GC,6013,-0.71,-194.6,759.6,-11.3,632,6017,0.00,1.10,0.00,0.000,4,0.000,0.056,2487,2306,3659,0,0,0,0,0,0
$GC,6052,-0.71,-194.6,764.7,-11.6,633,6059,0.00,1.08,0.00,0.000,6,0.000,0.050,2486,1614,3659,0,0,0,0,0,0
$GC,6371,-0.71,-194.6,803.1,-12.3,649,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1614,3657,0,0,0,0,0,0
$GC,6677,-0.71,-194.6,842.9,-13.2,664,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1614,3655,0,0,0,0,0,0
$GC,6987,-0.71,-194.6,882.4,-12.7,679,6991,0.00,1.10,0.00,0.000,4,0.000,0.057,2487,914,3653,0,0,0,0,0,0
$GC,7038,-0.71,-194.6,888.9,-13.0,681,7043,0.08,1.10,0.00,0.000,6,0.147,0.050,2506,1613,3652,0,0,0,0,0,0
$GC,7368,-0.74,-194.6,923.8,-10.5,697,7372,0.00,1.12,0.00,0.000,4,0.000,0.056,2507,907,3650,0,0,0,0,0,0
$GC,7448,-0.76,-194.6,932.2,-10.2,700,7452,0.00,1.10,0.00,0.000,6,0.000,0.050,2504,1607,3650,0,0,0,0,0,0
$GC,7770,-0.77,-194.6,964.9,-10.1,716,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1607,3649,0,0,0,0,0,0
$STATE,8015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8015,begin apogee
$GC,8021,-0.11,0.0,991.0,10.5,728,8194,0.62,0.00,165.23,1.445,6,0.122,0.000,2703,1780,2883,0,0,0,0,0,0
$STATE,8195,end apogee,CONTROL_FINISHED_OK
$STATE,8195,begin climb
$GC,8197,0.65,194.6,997.5,0.0,736,8383,0.70,1.20,179.27,1.382,4,0.071,0.060,2954,2482,2089,0,0,0,0,0,0
$GC,8412,0.63,194.6,978.8,13.0,745,8416,0.00,1.15,0.00,0.000,6,0.000,0.052,2958,1781,2086,0,0,0,0,0,0
$GC,8743,0.61,194.6,933.7,13.8,761,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1782,2081,0,0,0,0,0,0
$GC,9049,0.58,194.6,891.1,13.9,776,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1782,2079,0,0,0,0,0,0
$GC,9361,0.56,194.6,846.4,14.4,791,9365,0.12,1.10,0.00,0.000,4,0.177,0.057,2923,2477,2078,0,0,0,0,0,0
$GC,9409,0.58,194.6,840.0,12.3,793,9413,0.00,1.10,0.00,0.000,6,0.000,0.049,2926,1772,2076,0,0,0,0,0,0
$GC,9742,0.60,214.5,801.2,11.4,809,9765,0.00,1.17,17.23,1.254,4,0.000,0.059,2926,2484,2009,0,0,0,0,0,0
$GC,9829,0.65,241.5,791.6,11.1,812,9859,0.00,1.10,26.12,1.273,6,0.000,0.048,2929,1785,1899,0,0,0,0,0,0
$GC,10170,0.70,270.2,753.4,11.0,829,10200,0.12,0.00,27.38,1.257,6,0.087,0.000,2994,1785,1782,0,0,0,0,0,0
$GC,10500,0.67,270.2,701.3,16.3,845,10505,0.12,1.12,0.00,0.000,4,0.174,0.056,2959,2488,1777,0,0,0,0,0,0
$GC,10527,0.67,270.2,696.2,15.9,846,10531,0.00,1.10,0.00,0.000,6,0.000,0.047,2962,1784,1777,0,0,0,0,0,0
$GC,10857,0.67,270.2,650.0,14.2,862,10860,0.00,1.10,0.00,0.000,4,0.000,0.052,2967,1063,1775,0,0,0,0,0,0
$GC,10890,0.67,270.2,644.6,14.2,863,10894,0.00,1.10,0.00,0.000,6,0.000,0.046,2964,1778,1775,0,0,0,0,0,0
$GC,11211,0.67,270.2,597.5,14.3,879,11215,0.00,1.08,0.00,0.000,4,0.000,0.053,2960,2485,1775,0,0,0,0,0,0
$GC,11328,0.68,270.2,581.6,14.0,889,11332,0.00,1.10,0.00,0.000,6,0.000,0.047,2962,1768,1775,0,0,0,0,0,0
$GC,11661,0.68,270.2,537.6,12.4,920,11665,0.00,1.05,0.00,0.000,4,0.000,0.051,2967,1083,1774,0,0,0,0,0,0
$GC,11764,0.68,270.2,524.4,12.7,929,11767,0.00,1.08,0.00,0.000,6,0.000,0.046,2964,1780,1774,0,0,0,0,0,0
$GC,12097,0.71,288.4,484.2,11.5,960,12121,0.00,1.10,17.12,1.054,4,0.000,0.049,2968,1072,1706,0,0,0,0,0,0
$GC,12145,0.73,305.1,478.2,11.5,964,12169,0.00,1.10,16.88,1.031,6,0.000,0.043,2964,1789,1639,0,0,0,0,0,0
$GC,12490,0.76,319.6,439.6,11.6,996,12508,0.00,1.10,14.27,0.990,4,0.000,0.053,2960,2484,1581,0,0,0,0,0,0
$GC,12544,0.81,335.7,432.9,11.5,1000,12569,0.10,1.08,16.58,0.988,6,0.053,0.044,3031,1787,1514,0,0,0,0,0,0
$GC,12886,0.78,335.7,375.1,16.3,1032,12890,0.12,1.10,0.00,0.000,4,0.170,0.048,3003,1069,1510,0,0,0,0,0,0
$GC,12934,0.78,335.7,367.9,13.5,1036,12943,0.00,1.08,0.00,0.000,6,0.000,0.043,2999,1773,1509,0,0,0,0,0,0
$GC,13262,0.78,335.7,325.0,14.0,1067,13265,0.00,1.08,0.00,0.000,4,0.000,0.048,3003,1072,1509,0,0,0,0,0,0
$GC,13341,0.78,335.7,313.4,14.0,1074,13345,0.00,1.08,0.00,0.000,6,0.000,0.041,2999,1785,1509,0,0,0,0,0,0
$GC,13676,0.78,335.7,270.3,12.7,1105,13680,0.00,1.02,0.00,0.000,4,0.000,0.050,2995,2473,1509,0,0,0,0,0,0
$GC,13876,0.86,380.5,248.3,10.3,1124,13923,0.00,1.05,39.78,0.877,6,0.000,0.043,2998,1781,1332,0,0,0,0,0,0
$GC,14243,0.89,380.5,209.7,12.4,1190,14252,0.10,1.08,0.00,0.000,4,0.098,0.047,3062,1077,1330,0,0,0,0,0,0
$GC,14266,0.89,380.5,206.4,13.9,1193,14275,0.08,1.05,0.00,0.000,6,0.144,0.040,3038,1781,1330,0,0,0,0,0,0
$GC,14597,0.89,380.5,154.7,13.0,1254,14605,0.00,1.05,0.00,0.000,4,0.000,0.047,3034,2474,1329,0,0,0,0,0,0
$GC,14704,0.91,380.5,140.7,12.4,1273,14713,0.00,1.05,0.00,0.000,6,0.000,0.041,3036,1774,1330,0,0,0,0,0,0
$GC,15035,0.93,381.6,100.6,12.2,1334,15043,0.00,1.02,0.00,0.000,4,0.000,0.045,3042,1083,1330,0,0,0,0,0,0
$GC,15160,0.97,399.1,84.5,11.5,1356,15184,0.00,1.02,17.67,0.690,6,0.000,0.037,3039,1776,1256,0,0,0,0,0,0
$GC,15508,1.16,502.7,50.7,7.9,1419,15606,0.22,1.10,87.12,0.686,4,0.058,0.045,3159,2487,831,0,0,0,0,0,0
$GC,15644,1.14,502.7,28.0,18.7,1438,15653,0.15,1.10,0.00,0.000,6,0.146,0.040,3116,1774,829,0,0,0,0,0,0
$STATE,15807,end climb,SURFACE_DEPTH_REACHED
$STATE,15807,begin surface coast
$FINISH,1.5,1.022001
$STATE,15829,end surface coast,CONTROL_FINISHED_OK
$STATE,15830,begin surface
$SM_CCo,15907,0.00,0.000,0,0,825,504.83
$SM_GC,1.98,7.70,0.00,0.00,0.037,0.000,0.000,143,1600,825,-8.04,-0.31,504.83,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12248.63,271011,060625
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.61
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.50
$XPDR_PINGS,138
$24V_AH,22.9,109.607
$10V_AH,9.7,74.527
$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,20.175,67.425,624.650,0.000,0.000,30.382,48.615,186.709,34.500,0.000,56.982,3657.057,7921.674,653.010,3635.490,494.956,0.000,2062.716,0.000,3331.520,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,71.910,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.614,1506.768,1719.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,83421,1471
$CAP_FILE_SIZE,170407,0
$CFSIZE,260165632,107638784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223, 12.8,1
$GPS,271011,153530,2327.532,12245.713,58,1.1,58,-3.2