version: 66.09
glider: 166
mission: 6
dive: 449
start: 10 28 111 0 46 40
data:
$ID,166
$MISSION,6
$DIVE,449
$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,-24972.148
$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,48
$R_STBD_OVSHOOT,51
$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
$GPS1,281011,003654,2328.087,12245.359,45,1.7,62,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-63.9
$GPS2,281011,004616,2328.267,12245.382,32,3.2,51,-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,212.6,143032,-18.6,-12.222
$D_GRID,4081
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.65,-194.6,0.0,0.0,0,126,0.00,0.00,-103.45,0.000,2,0.000,0.000,138,1588,3097,0,0,0,0,0,0
$GC,129,-0.65,-194.6,5.6,-7.5,14,161,9.60,1.05,-11.68,0.000,4,0.224,0.070,2528,907,3681,0,0,0,0,0,0
$GC,384,-0.57,-194.6,79.0,-23.3,60,393,0.00,1.05,0.00,0.000,6,0.000,0.040,2532,1601,3682,0,0,0,0,0,0
$GC,714,-0.52,-194.6,140.5,-17.8,121,722,0.15,1.08,0.00,0.000,4,0.164,0.045,2569,2314,3683,0,0,0,0,0,0
$GC,808,-0.54,-194.6,153.7,-13.4,137,817,0.00,1.08,0.00,0.000,6,0.000,0.041,2576,1606,3684,0,0,0,0,0,0
$GC,1136,-0.54,-194.6,193.2,-11.3,198,1144,0.00,1.08,0.00,0.000,4,0.000,0.046,2568,2316,3684,0,0,0,0,0,0
$GC,1205,-0.56,-194.6,200.8,-10.5,210,1213,0.00,1.08,0.00,0.000,6,0.000,0.041,2571,1606,3684,0,0,0,0,0,0
$GC,1534,-0.58,-194.6,239.9,-11.8,271,1543,0.00,1.05,0.00,0.000,4,0.000,0.046,2568,912,3684,0,0,0,0,0,0
$GC,1608,-0.59,-194.6,249.5,-12.5,284,1617,0.00,1.05,0.00,0.000,6,0.000,0.041,2561,1607,3684,0,0,0,0,0,0
$GC,1934,-0.62,-194.6,285.5,-9.8,315,1938,0.00,1.02,0.00,0.000,4,0.000,0.045,2547,2304,3684,0,0,0,0,0,0
$GC,2099,-0.64,-194.6,301.4,-9.7,329,2105,0.00,1.05,0.00,0.000,6,0.000,0.043,2545,1616,3683,0,0,0,0,0,0
$GC,2425,-0.67,-194.6,340.0,-10.6,360,2428,0.00,1.08,0.00,0.000,4,0.000,0.047,2545,907,3681,0,0,0,0,0,0
$GC,2466,-0.70,-194.6,344.3,-10.6,363,2473,0.00,1.08,0.00,0.000,6,0.000,0.041,2540,1616,3681,0,0,0,0,0,0
$GC,2792,-0.72,-194.6,377.4,-9.7,394,2795,0.00,1.02,0.00,0.000,4,0.000,0.048,2537,2302,3680,0,0,0,0,0,0
$GC,2844,-0.75,-194.6,382.6,-10.1,398,2851,0.00,1.05,0.00,0.000,6,0.000,0.043,2538,1609,3679,0,0,0,0,0,0
$GC,3171,-0.78,-194.6,416.7,-10.8,429,3175,0.17,1.10,0.00,0.000,4,0.066,0.050,2452,2311,3678,0,0,0,0,0,0
$GC,3211,-0.72,-194.6,422.5,-15.6,432,3220,0.15,1.08,0.00,0.000,6,0.140,0.043,2504,1602,3678,0,0,0,0,0,0
$GC,3537,-0.72,-194.6,464.5,-11.7,463,3541,0.00,1.05,0.00,0.000,4,0.000,0.049,2509,911,3675,0,0,0,0,0,0
$GC,3634,-0.72,-194.6,476.1,-12.1,471,3641,0.00,1.08,0.00,0.000,6,0.000,0.044,2502,1612,3675,0,0,0,0,0,0
$GC,3959,-0.72,-194.6,516.6,-12.7,502,3962,0.00,1.08,0.00,0.000,4,0.000,0.049,2508,919,3674,0,0,0,0,0,0
$GC,4010,-0.72,-194.6,523.3,-13.4,506,4017,0.00,1.05,0.00,0.000,6,0.000,0.043,2503,1607,3673,0,0,0,0,0,0
$GC,4336,-0.71,-194.6,565.2,-12.3,537,4340,0.00,1.05,0.00,0.000,4,0.000,0.051,2498,2304,3670,0,0,0,0,0,0
$GC,4422,-0.71,-194.6,575.7,-12.2,544,4430,0.00,1.05,0.00,0.000,6,0.000,0.047,2496,1618,3670,0,0,0,0,0,0
$GC,4745,-0.71,-194.6,615.7,-12.5,569,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1618,3666,0,0,0,0,0,0
$GC,5053,-0.71,-194.6,652.2,-11.1,584,5057,0.00,1.10,0.00,0.000,4,0.000,0.051,2493,908,3665,0,0,0,0,0,0
$GC,5088,-0.71,-194.6,656.0,-11.0,585,5091,0.00,1.08,0.00,0.000,6,0.000,0.045,2488,1604,3664,0,0,0,0,0,0
$GC,5410,-0.71,-194.6,691.7,-11.2,601,5414,0.00,1.10,0.00,0.000,4,0.000,0.050,2485,902,3661,0,0,0,0,0,0
$GC,5496,-0.71,-194.6,702.0,-12.3,604,5504,0.08,1.10,0.00,0.000,6,0.151,0.045,2507,1609,3660,0,0,0,0,0,0
$GC,5814,-0.73,-194.6,734.7,-10.4,620,5818,0.00,1.08,0.00,0.000,4,0.000,0.054,2503,2313,3658,0,0,0,0,0,0
$GC,5847,-0.75,-194.6,738.5,-10.2,621,5851,0.00,1.10,0.00,0.000,6,0.000,0.047,2501,1604,3658,0,0,0,0,0,0
$GC,6172,-0.76,-194.6,774.5,-11.8,637,6176,0.00,1.08,0.00,0.000,4,0.000,0.053,2501,907,3656,0,0,0,0,0,0
$GC,6256,-0.78,-194.6,786.0,-13.3,640,6263,0.00,1.10,0.00,0.000,6,0.000,0.048,2497,1611,3655,0,0,0,0,0,0
$GC,6574,-0.79,-194.6,825.9,-12.7,656,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1610,3653,0,0,0,0,0,0
$GC,6882,-0.80,-194.6,862.9,-11.6,671,6886,0.00,1.10,0.00,0.000,4,0.000,0.053,2498,911,3651,0,0,0,0,0,0
$GC,6940,-0.81,-194.6,869.7,-11.8,673,6944,0.00,1.10,0.00,0.000,6,0.000,0.050,2494,1611,3650,0,0,0,0,0,0
$GC,7263,-0.82,-194.6,903.7,-9.8,689,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1611,3649,0,0,0,0,0,0
$GC,7572,-0.84,-194.6,933.3,-9.7,704,7576,0.00,1.10,0.00,0.000,4,0.000,0.054,2497,916,3646,0,0,0,0,0,0
$GC,7643,-0.85,-194.6,940.3,-10.6,707,7647,0.00,1.10,0.00,0.000,6,0.000,0.050,2493,1615,3646,0,0,0,0,0,0
$GC,7977,-0.86,-194.6,976.4,-10.9,723,7980,0.00,1.12,0.00,0.000,4,0.000,0.056,2494,907,3644,0,0,0,0,0,0
$GC,8040,-0.86,-194.6,983.7,-11.7,725,8047,0.00,1.12,0.00,0.000,6,0.000,0.052,2489,1615,3644,0,0,0,0,0,0
$STATE,8106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8107,begin apogee
$GC,8113,-0.11,0.0,991.6,11.6,729,8284,0.68,0.00,165.02,1.440,6,0.125,0.000,2704,1789,2883,0,0,0,0,0,0
$STATE,8285,end apogee,CONTROL_FINISHED_OK
$STATE,8285,begin climb
$GC,8287,0.65,194.6,997.7,0.0,737,8478,0.73,1.17,180.62,1.387,4,0.069,0.061,2957,2478,2089,0,0,0,0,0,0
$GC,8534,0.63,194.6,973.9,14.0,748,8540,0.00,1.10,0.00,0.000,6,0.000,0.050,2962,1792,2085,0,0,0,0,0,0
$GC,8850,0.60,194.6,928.1,14.7,764,8853,0.00,1.08,0.00,0.000,4,0.000,0.060,2961,2477,2081,0,0,0,0,0,0
$GC,8906,0.58,194.6,919.3,15.2,766,8911,0.10,1.10,0.00,0.000,6,0.157,0.050,2934,1773,2080,0,0,0,0,0,0
$GC,9227,0.58,197.5,879.3,12.1,782,9231,0.00,1.10,0.00,0.000,4,0.000,0.058,2930,2475,2079,0,0,0,0,0,0
$GC,9265,0.60,210.2,874.5,11.7,783,9285,0.00,1.08,13.68,1.239,6,0.000,0.048,2933,1780,2027,0,0,0,0,0,0
$GC,9605,0.63,239.8,836.4,11.0,800,9635,0.00,0.00,28.30,1.301,6,0.000,0.000,2933,1780,1905,0,0,0,0,0,0
$GC,9932,0.69,275.6,800.6,10.7,816,9975,0.10,1.17,33.95,1.289,4,0.105,0.058,2987,2488,1759,0,0,0,0,0,0
$GC,10013,0.67,275.6,789.5,14.8,819,10017,0.08,1.12,0.00,0.000,6,0.158,0.048,2967,1772,1757,0,0,0,0,0,0
$GC,10334,0.67,275.6,744.7,14.3,835,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1772,1754,0,0,0,0,0,0
$GC,10645,0.67,275.6,700.7,14.0,850,10649,0.00,1.10,0.00,0.000,4,0.000,0.056,2962,2477,1752,0,0,0,0,0,0
$GC,10745,0.67,275.6,686.4,13.5,854,10749,0.00,1.08,0.00,0.000,6,0.000,0.046,2965,1778,1752,0,0,0,0,0,0
$GC,11069,0.67,275.6,640.7,14.1,870,11073,0.00,1.05,0.00,0.000,4,0.000,0.050,2970,1077,1751,0,0,0,0,0,0
$GC,11118,0.67,275.6,633.0,14.8,872,11122,0.00,1.08,0.00,0.000,6,0.000,0.046,2967,1775,1751,0,0,0,0,0,0
$GC,11438,0.67,275.6,590.0,13.1,891,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1775,1750,0,0,0,0,0,0
$GC,11760,0.67,275.6,548.0,13.3,921,11764,0.00,1.08,0.00,0.000,4,0.000,0.054,2963,2482,1750,0,0,0,0,0,0
$GC,11843,0.68,275.6,536.0,13.6,928,11850,0.00,1.08,0.00,0.000,6,0.000,0.045,2966,1781,1749,0,0,0,0,0,0
$GC,12169,0.68,275.6,492.4,13.1,959,12172,0.00,1.08,0.00,0.000,4,0.000,0.048,2970,1066,1749,0,0,0,0,0,0
$GC,12196,0.68,275.6,488.5,13.3,961,12203,0.00,1.10,0.00,0.000,6,0.000,0.044,2967,1783,1749,0,0,0,0,0,0
$GC,12522,0.69,276.9,446.8,12.2,992,12526,0.00,1.10,0.00,0.000,4,0.000,0.049,2971,1068,1749,0,0,0,0,0,0
$GC,12612,0.72,300.1,436.2,11.2,1000,12639,0.00,1.10,22.15,1.028,6,0.000,0.042,2967,1791,1660,0,0,0,0,0,0
$GC,12960,0.80,344.1,397.8,10.4,1032,13006,0.10,1.10,40.22,1.008,4,0.105,0.052,3025,2480,1481,0,0,0,0,0,0
$GC,13027,0.77,344.1,388.4,15.4,1037,13034,0.10,1.10,0.00,0.000,6,0.151,0.043,2999,1771,1480,0,0,0,0,0,0
$GC,13352,0.77,344.1,342.5,14.3,1068,13356,0.00,1.08,0.00,0.000,4,0.000,0.051,2995,2471,1477,0,0,0,0,0,0
$GC,13467,0.79,344.1,327.1,13.0,1078,13471,0.00,1.05,0.00,0.000,6,0.000,0.043,2997,1782,1477,0,0,0,0,0,0
$GC,13800,0.80,344.1,284.0,14.1,1109,13803,0.00,1.08,0.00,0.000,4,0.000,0.047,3001,1064,1477,0,0,0,0,0,0
$GC,13828,0.81,344.1,280.4,14.3,1111,13831,0.00,1.08,0.00,0.000,6,0.000,0.041,2996,1776,1476,0,0,0,0,0,0
$GC,14155,0.85,364.9,239.3,11.3,1149,14179,0.00,1.10,19.20,0.830,4,0.000,0.050,2991,2482,1395,0,0,0,0,0,0
$GC,14334,0.93,399.4,219.2,10.8,1180,14372,0.12,1.10,31.52,0.827,6,0.044,0.047,3067,1767,1255,0,0,0,0,0,0
$GC,14694,0.90,399.4,157.4,17.1,1245,14703,0.12,1.05,0.00,0.000,4,0.171,0.047,3037,1077,1252,0,0,0,0,0,0
$GC,14729,0.90,399.4,152.6,14.6,1250,14738,0.00,1.05,0.00,0.000,6,0.000,0.038,3032,1783,1252,0,0,0,0,0,0
$GC,15059,0.91,399.4,107.8,13.5,1311,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1783,1252,0,0,0,0,0,0
$GC,15388,1.03,451.1,69.2,10.0,1372,15441,0.12,0.00,44.72,0.700,6,0.089,0.000,3106,1785,1042,0,0,0,0,0,0
$GC,15763,1.03,451.1,17.1,13.6,1439,15772,0.12,1.10,0.00,0.000,4,0.159,0.044,3085,1077,1040,0,0,0,0,0,0
$GC,15812,1.10,484.3,11.9,10.8,1447,15846,0.00,1.05,28.27,0.633,6,0.000,0.035,3083,1788,908,0,0,0,0,0,0
$STATE,15894,end climb,SURFACE_DEPTH_REACHED
$STATE,15894,begin surface coast
$FINISH,1.3,1.021436
$STATE,15926,end surface coast,CONTROL_FINISHED_OK
$STATE,15926,begin surface
$SM_CCo,16003,0.00,0.000,0,0,904,485.69
$SM_GC,2.05,7.62,0.00,0.00,0.037,0.000,0.000,137,1608,904,-8.04,-0.06,485.69,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12259.07,271011,202002
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.70
$XPDR_PINGS,138
$24V_AH,22.8,110.315
$10V_AH,9.7,75.017
$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,20.150,71.900,607.675,0.000,0.000,30.796,41.160,272.752,34.500,0.000,53.316,3643.348,8038.692,690.421,3623.994,547.343,0.000,2085.795,0.000,3281.291,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,69.615,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.805,1500.066,1663.874,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83478,1465
$CAP_FILE_SIZE,174375,0
$CFSIZE,260165632,107368448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217, 27.7,1
$GPS,281011,051454,2327.638,12245.061,34,1.4,52,-3.2