version: 66.09
glider: 166
mission: 6
dive: 450
start: 10 28 111 5 29 46
data:
$ID,166
$MISSION,6
$DIVE,450
$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,-24973.408
$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,41
$R_STBD_OVSHOOT,53
$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
$GPS1,281011,051454,2327.638,12245.061,34,1.4,52,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-69.2
$GPS2,281011,052922,2327.757,12245.240,63,99.0,82,-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,226.5,142504,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.65,-194.6,0.0,0.0,0,109,0.00,0.00,-88.43,0.000,2,0.000,0.000,135,1606,3037,0,0,0,0,0,0
$GC,114,-0.65,-194.6,5.4,-7.1,12,146,9.60,1.08,-12.50,0.000,4,0.223,0.073,2521,2301,3680,0,0,0,0,0,0
$GC,386,-0.58,-194.6,84.0,-21.0,61,395,0.08,1.05,0.00,0.000,6,0.148,0.040,2551,1603,3681,0,0,0,0,0,0
$GC,716,-0.55,-194.6,136.7,-16.8,122,725,0.00,1.05,0.00,0.000,4,0.000,0.046,2548,2292,3682,0,0,0,0,0,0
$GC,797,-0.55,-194.6,148.7,-13.1,136,805,0.00,1.02,0.00,0.000,6,0.000,0.041,2546,1616,3682,0,0,0,0,0,0
$GC,1126,-0.54,-194.6,194.8,-14.0,197,1134,0.00,1.05,0.00,0.000,4,0.000,0.047,2544,2298,3682,0,0,0,0,0,0
$GC,1164,-0.54,-194.6,200.7,-14.2,203,1172,0.00,1.05,0.00,0.000,6,0.000,0.042,2556,1606,3682,0,0,0,0,0,0
$GC,1495,-0.54,-194.6,242.7,-12.2,264,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1606,3682,0,0,0,0,0,0
$GC,1827,-0.54,-194.6,278.5,-10.5,301,1831,0.00,1.05,0.00,0.000,4,0.000,0.046,2538,2300,3682,0,0,0,0,0,0
$GC,1997,-0.56,-194.6,296.1,-11.3,316,2001,0.00,1.05,0.00,0.000,6,0.000,0.042,2536,1607,3682,0,0,0,0,0,0
$GC,2329,-0.57,-194.6,337.7,-12.6,347,2332,0.00,1.05,0.00,0.000,4,0.000,0.047,2534,915,3680,0,0,0,0,0,0
$GC,2420,-0.59,-194.6,349.4,-12.6,355,2424,0.00,1.02,0.00,0.000,6,0.000,0.039,2529,1601,3680,0,0,0,0,0,0
$GC,2751,-0.59,-194.6,389.0,-10.4,386,2755,0.00,1.05,0.00,0.000,4,0.000,0.048,2524,2305,3678,0,0,0,0,0,0
$GC,2831,-0.60,-194.6,397.4,-10.3,393,2835,0.00,1.05,0.00,0.000,6,0.000,0.044,2527,1613,3677,0,0,0,0,0,0
$GC,3163,-0.62,-194.6,434.3,-10.9,424,3166,0.00,1.05,0.00,0.000,4,0.000,0.050,2532,2295,3675,0,0,0,0,0,0
$GC,3224,-0.64,-194.6,440.6,-9.7,429,3230,0.00,1.05,0.00,0.000,6,0.000,0.043,2537,1604,3675,0,0,0,0,0,0
$GC,3550,-0.66,-194.6,475.2,-10.9,460,3553,0.00,1.05,0.00,0.000,4,0.000,0.048,2538,908,3674,0,0,0,0,0,0
$GC,3610,-0.67,-194.6,481.9,-11.8,465,3614,0.00,1.05,0.00,0.000,6,0.000,0.043,2533,1601,3674,0,0,0,0,0,0
$GC,3941,-0.69,-194.6,521.8,-11.5,496,3945,0.00,1.08,0.00,0.000,4,0.000,0.049,2532,914,3671,0,0,0,0,0,0
$GC,3982,-0.71,-194.6,526.6,-11.9,499,3989,0.00,1.08,0.00,0.000,6,0.000,0.044,2525,1614,3670,0,0,0,0,0,0
$GC,4308,-0.73,-194.6,561.3,-9.5,530,4312,0.00,1.05,0.00,0.000,4,0.000,0.051,2512,2309,3667,0,0,0,0,0,0
$GC,4391,-0.75,-194.6,568.7,-9.2,537,4395,0.00,1.08,0.00,0.000,6,0.000,0.046,2513,1607,3667,0,0,0,0,0,0
$GC,4723,-0.77,-194.6,602.4,-10.7,567,4726,0.00,1.08,0.00,0.000,4,0.000,0.050,2510,905,3665,0,0,0,0,0,0
$GC,4825,-0.79,-194.6,614.0,-11.5,571,4829,0.00,1.08,0.00,0.000,6,0.000,0.044,2502,1605,3664,0,0,0,0,0,0
$GC,5148,-0.81,-194.6,651.4,-11.7,587,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1606,3661,0,0,0,0,0,0
$GC,5459,-0.83,-194.6,686.0,-11.1,602,5463,0.00,1.08,0.00,0.000,4,0.000,0.053,2502,916,3658,0,0,0,0,0,0
$GC,5505,-0.85,-194.6,691.4,-11.3,604,5509,0.00,1.08,0.00,0.000,6,0.000,0.046,2496,1613,3658,0,0,0,0,0,0
$GC,5839,-0.86,-194.6,728.7,-10.8,620,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1613,3655,0,0,0,0,0,0
$GC,6151,-0.88,-194.6,762.2,-10.9,635,6155,0.15,1.12,0.00,0.000,4,0.080,0.053,2437,911,3653,0,0,0,0,0,0
$GC,6251,-0.82,-194.6,778.7,-17.1,639,6255,0.12,1.08,0.00,0.000,6,0.154,0.048,2470,1601,3652,0,0,0,0,0,0
$GC,6575,-0.80,-194.6,823.2,-13.6,655,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1601,3650,0,0,0,0,0,0
$GC,6882,-0.79,-194.6,863.3,-13.0,670,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1601,3648,0,0,0,0,0,0
$GC,7193,-0.77,-194.6,901.2,-12.1,685,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1601,3646,0,0,0,0,0,0
$GC,7500,-0.76,-194.6,936.1,-11.4,700,7504,0.00,1.10,0.00,0.000,4,0.000,0.055,2470,907,3644,0,0,0,0,0,0
$GC,7547,-0.74,-194.6,941.7,-12.3,702,7551,0.10,1.10,0.00,0.000,6,0.148,0.050,2499,1604,3644,0,0,0,0,0,0
$GC,7883,-0.76,-194.6,975.8,-10.3,718,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1604,3642,0,0,0,0,0,0
$STATE,8021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8021,begin apogee
$GC,8027,-0.11,0.0,991.3,10.8,725,8198,0.62,0.00,163.88,1.445,6,0.124,0.000,2701,1791,2884,0,0,0,0,0,0
$STATE,8199,end apogee,CONTROL_FINISHED_OK
$STATE,8199,begin climb
$GC,8202,0.65,194.6,998.1,0.0,733,8388,0.70,1.12,179.40,1.385,4,0.069,0.064,2954,2477,2089,0,0,0,0,0,0
$GC,8467,0.64,200.5,975.3,12.0,744,8480,0.00,1.10,6.22,1.008,6,0.000,0.051,2958,1789,2066,0,0,0,0,0,0
$GC,8792,0.62,200.5,936.0,12.2,760,8796,0.00,1.10,0.00,0.000,4,0.000,0.062,2958,2486,2061,0,0,0,0,0,0
$GC,8825,0.60,200.5,931.3,12.3,761,8828,0.00,1.10,0.00,0.000,6,0.000,0.051,2961,1782,2060,0,0,0,0,0,0
$GC,9146,0.58,200.5,891.0,13.0,777,9150,0.00,1.10,0.00,0.000,4,0.000,0.059,2958,2481,2059,0,0,0,0,0,0
$GC,9227,0.56,200.5,880.7,12.6,780,9232,0.10,1.10,0.00,0.000,6,0.155,0.050,2931,1777,2058,0,0,0,0,0,0
$GC,9549,0.60,235.3,845.8,10.8,796,9584,0.00,1.12,31.73,1.323,4,0.000,0.056,2930,2486,1924,0,0,0,0,0,0
$GC,9622,0.63,248.5,837.5,11.7,798,9639,0.00,1.12,13.68,1.212,6,0.000,0.048,2932,1775,1871,0,0,0,0,0,0
$GC,9964,0.65,248.5,795.1,12.7,815,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1774,1866,0,0,0,0,0,0
$GC,10274,0.67,257.9,757.1,11.8,830,10290,0.00,0.00,9.38,1.128,6,0.000,0.000,2932,1774,1831,0,0,0,0,0,0
$GC,10600,0.71,269.7,718.2,11.7,846,10617,0.12,1.12,12.50,1.164,4,0.090,0.054,3006,1070,1784,0,0,0,0,0,0
$GC,10652,0.67,269.7,710.1,16.8,847,10656,0.12,1.10,0.00,0.000,6,0.152,0.048,2966,1777,1782,0,0,0,0,0,0
$GC,10973,0.67,269.7,665.2,13.5,863,10977,0.00,1.08,0.00,0.000,4,0.000,0.055,2962,2482,1780,0,0,0,0,0,0
$GC,11128,0.67,269.7,645.3,12.7,869,11135,0.00,1.08,0.00,0.000,6,0.000,0.046,2965,1783,1780,0,0,0,0,0,0
$GC,11444,0.67,269.7,604.0,13.0,885,11447,0.00,1.08,0.00,0.000,4,0.000,0.050,2970,1072,1780,0,0,0,0,0,0
$GC,11467,0.67,269.7,600.9,13.3,886,11471,0.00,1.10,0.00,0.000,6,0.000,0.045,2968,1785,1780,0,0,0,0,0,0
$GC,11799,0.67,273.5,559.3,12.1,916,11811,0.00,1.08,4.28,0.757,4,0.000,0.054,2967,2480,1769,0,0,0,0,0,0
$GC,11846,0.68,277.1,553.5,12.1,920,11858,0.00,1.08,5.35,0.850,6,0.000,0.044,2969,1781,1754,0,0,0,0,0,0
$GC,12176,0.68,277.1,510.0,13.7,951,12180,0.00,1.08,0.00,0.000,4,0.000,0.050,2975,1070,1753,0,0,0,0,0,0
$GC,12226,0.68,277.1,502.9,14.0,955,12233,0.00,1.10,0.00,0.000,6,0.000,0.044,2971,1786,1753,0,0,0,0,0,0
$GC,12553,0.68,277.5,460.2,12.2,986,12557,0.00,1.05,0.00,0.000,4,0.000,0.052,2968,2488,1752,0,0,0,0,0,0
$GC,12600,0.70,286.9,454.6,11.8,990,12616,0.00,1.10,11.02,0.973,6,0.000,0.044,2971,1762,1713,0,0,0,0,0,0
$GC,12942,0.76,325.2,417.7,10.6,1022,12987,0.00,1.08,35.80,1.026,4,0.000,0.048,2976,1083,1557,0,0,0,0,0,0
$GC,13039,0.82,355.5,407.9,10.9,1030,13075,0.08,1.08,28.90,0.991,6,0.063,0.042,3028,1787,1434,0,0,0,0,0,0
$GC,13395,0.79,355.5,348.7,17.2,1063,13399,0.00,1.02,0.00,0.000,4,0.000,0.051,3028,2474,1429,0,0,0,0,0,0
$GC,13523,0.79,355.5,325.6,16.9,1074,13532,0.10,1.05,0.00,0.000,6,0.143,0.041,3001,1783,1428,0,0,0,0,0,0
$GC,13851,0.79,355.5,281.2,13.5,1105,13854,0.00,1.05,0.00,0.000,4,0.000,0.046,3005,1080,1429,0,0,0,0,0,0
$GC,13923,0.80,355.5,270.9,13.7,1111,13930,0.00,1.05,0.00,0.000,6,0.000,0.040,3001,1778,1428,0,0,0,0,0,0
$GC,14253,0.82,355.5,229.4,12.7,1157,14261,0.00,1.02,0.00,0.000,4,0.000,0.049,3000,2470,1428,0,0,0,0,0,0
$GC,14389,0.85,355.5,212.2,12.4,1181,14397,0.00,1.05,0.00,0.000,6,0.000,0.041,2996,1777,1428,0,0,0,0,0,0
$GC,14720,0.87,355.5,169.2,12.2,1242,14728,0.00,1.02,0.00,0.000,4,0.000,0.044,2999,1082,1428,0,0,0,0,0,0
$GC,14826,0.95,394.7,157.2,10.6,1261,14872,0.12,1.05,34.55,0.782,6,0.045,0.037,3078,1791,1274,0,0,0,0,0,0
$GC,15191,0.91,394.7,90.0,19.9,1327,15199,0.15,1.10,0.00,0.000,4,0.165,0.043,3042,1075,1272,0,0,0,0,0,0
$GC,15235,0.91,394.7,82.9,16.7,1333,15243,0.00,1.02,0.00,0.000,6,0.000,0.037,3041,1768,1271,0,0,0,0,0,0
$GC,15565,1.11,499.7,48.9,7.8,1394,15663,0.17,0.00,88.22,0.689,6,0.068,0.000,3139,1770,843,0,0,0,0,0,0
$STATE,15832,end climb,SURFACE_DEPTH_REACHED
$STATE,15832,begin surface coast
$FINISH,1.3,1.015971
$STATE,15853,end surface coast,CONTROL_FINISHED_OK
$STATE,15853,begin surface
$SM_CCo,15931,0.00,0.000,0,0,838,501.64
$SM_GC,2.07,7.88,0.00,0.00,0.041,0.000,0.000,144,1580,838,-8.05,-0.85,501.64,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12245.38,281011,050525
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.00
$XPDR_PINGS,122
$24V_AH,22.9,110.554
$10V_AH,9.7,75.183
$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,20.225,64.775,624.900,0.000,0.000,85.349,95.766,323.642,30.500,0.000,84.380,3599.232,8204.743,650.415,3781.457,542.973,0.000,2052.679,0.000,3254.788,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,72.675,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,986.334,1476.327,1602.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324708
$DATA_FILE_SIZE,80171,1442
$CAP_FILE_SIZE,174109,0
$CFSIZE,260165632,107282432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262, 19.4,1
$GPS,281011,095655,2327.999,12244.278,40,1.7,59,-3.2