version: 66.09
glider: 166
mission: 6
dive: 457
start: 10 29 111 14 5 30
data:
$ID,166
$MISSION,6
$DIVE,457
$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,-24982.213
$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,68
$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
$GPS1,291011,134757,2328.028,12239.549,35,99.0,54,-3.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-65.6
$GPS2,291011,140507,2328.170,12239.492,71,1.8,76,-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,223.0,133499,-18.6,-12.222
$D_GRID,3967
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.65,-194.6,0.0,0.0,0,111,0.00,0.00,-87.93,0.000,2,0.000,0.000,159,1582,3142,0,0,0,0,0,0
$GC,114,-0.65,-194.6,6.1,-10.3,12,139,9.45,1.12,-10.40,0.000,4,0.217,0.061,2522,2330,3678,0,0,0,0,0,0
$GC,334,-0.54,-194.6,72.0,-26.8,51,342,0.17,1.05,0.00,0.000,6,0.146,0.041,2565,1639,3681,0,0,0,0,0,0
$GC,661,-0.54,-194.6,129.7,-14.3,112,669,0.00,1.00,0.00,0.000,4,0.000,0.044,2562,2300,3681,0,0,0,0,0,0
$GC,771,-0.56,-194.6,143.3,-11.4,131,779,0.00,1.05,0.00,0.000,6,0.000,0.042,2561,1607,3681,0,0,0,0,0,0
$GC,1100,-0.58,-194.6,181.7,-10.3,192,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1607,3682,0,0,0,0,0,0
$GC,1429,-0.60,-194.6,215.7,-10.5,253,1438,0.00,1.05,0.00,0.000,4,0.000,0.046,2559,2291,3682,0,0,0,0,0,0
$GC,1486,-0.64,-194.6,221.1,-9.8,262,1494,0.00,1.05,0.00,0.000,6,0.000,0.042,2560,1604,3682,0,0,0,0,0,0
$GC,1821,-0.67,-194.6,251.2,-8.5,323,1825,0.00,1.05,0.00,0.000,4,0.000,0.046,2559,2295,3681,0,0,0,0,0,0
$GC,1912,-0.71,-194.6,260.0,-9.6,331,1916,0.10,1.05,0.00,0.000,6,0.044,0.043,2485,1602,3681,0,0,0,0,0,0
$GC,2243,-0.66,-194.6,313.9,-14.7,362,2247,0.15,1.08,0.00,0.000,4,0.163,0.047,2538,911,3680,0,0,0,0,0,0
$GC,2337,-0.66,-194.6,326.6,-12.9,370,2344,0.00,1.05,0.00,0.000,6,0.000,0.042,2536,1601,3679,0,0,0,0,0,0
$GC,2662,-0.66,-194.6,370.4,-13.9,401,2666,0.00,1.05,0.00,0.000,4,0.000,0.047,2531,2305,3678,0,0,0,0,0,0
$GC,2731,-0.67,-194.6,378.9,-12.3,407,2735,0.00,1.08,0.00,0.000,6,0.000,0.044,2521,1606,3678,0,0,0,0,0,0
$GC,3062,-0.67,-194.6,419.7,-12.1,438,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1605,3675,0,0,0,0,0,0
$GC,3382,-0.67,-194.6,456.3,-10.6,468,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1605,3674,0,0,0,0,0,0
$GC,3705,-0.68,-194.6,486.6,-9.2,498,3709,0.00,1.08,0.00,0.000,4,0.000,0.050,2512,907,3672,0,0,0,0,0,0
$GC,3755,-0.70,-194.6,491.9,-9.4,502,3762,0.00,1.08,0.00,0.000,6,0.000,0.044,2508,1607,3671,0,0,0,0,0,0
$GC,4081,-0.70,-194.6,522.1,-9.6,533,4084,0.00,1.05,0.00,0.000,4,0.000,0.050,2505,2303,3668,0,0,0,0,0,0
$GC,4105,-0.71,-194.6,524.3,-9.6,535,4109,0.00,1.08,0.00,0.000,6,0.000,0.046,2504,1601,3668,0,0,0,0,0,0
$GC,4436,-0.71,-194.6,558.0,-11.1,566,4440,0.00,1.05,0.00,0.000,4,0.000,0.050,2507,913,3665,0,0,0,0,0,0
$GC,4472,-0.72,-194.6,561.8,-10.6,569,4475,0.00,1.08,0.00,0.000,6,0.000,0.045,2508,1610,3665,0,0,0,0,0,0
$GC,4803,-0.72,-194.6,598.4,-10.7,600,4806,0.00,1.08,0.00,0.000,4,0.000,0.053,2509,2303,3662,0,0,0,0,0,0
$GC,4941,-0.73,-194.6,613.4,-11.2,607,4944,0.00,1.08,0.00,0.000,6,0.000,0.048,2510,1605,3660,0,0,0,0,0,0
$GC,5276,-0.73,-194.6,656.3,-13.2,623,5279,0.00,1.08,0.00,0.000,4,0.000,0.053,2511,902,3658,0,0,0,0,0,0
$GC,5354,-0.74,-194.6,667.3,-13.4,626,5357,0.00,1.10,0.00,0.000,6,0.000,0.047,2505,1608,3658,0,0,0,0,0,0
$GC,5678,-0.74,-194.6,704.0,-10.5,642,5683,0.00,1.08,0.00,0.000,4,0.000,0.055,2500,2309,3655,0,0,0,0,0,0
$GC,5735,-0.76,-194.6,709.7,-9.0,644,5738,0.00,1.10,0.00,0.000,6,0.000,0.049,2500,1603,3655,0,0,0,0,0,0
$GC,6056,-0.76,-194.6,738.6,-9.3,660,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1603,3652,0,0,0,0,0,0
$GC,6368,-0.76,-194.6,769.3,-10.4,675,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1603,3650,0,0,0,0,0,0
$GC,6675,-0.76,-194.6,803.2,-11.2,690,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1603,3649,0,0,0,0,0,0
$GC,6984,-0.76,-194.6,837.1,-10.9,705,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1603,3646,0,0,0,0,0,0
$GC,7296,-0.77,-194.6,867.6,-9.8,720,7300,0.00,1.12,0.00,0.000,4,0.000,0.059,2495,2305,3644,0,0,0,0,0,0
$GC,7330,-0.78,-194.6,871.3,-10.0,721,7333,0.00,1.10,0.00,0.000,6,0.000,0.053,2495,1614,3644,0,0,0,0,0,0
$GC,7654,-0.78,-194.6,904.5,-10.3,737,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1614,3643,0,0,0,0,0,0
$GC,7961,-0.78,-194.6,937.3,-10.7,752,7964,0.00,1.10,0.00,0.000,4,0.000,0.062,2491,2297,3641,0,0,0,0,0,0
$GC,8016,-0.80,-194.6,943.1,-10.2,754,8020,0.00,1.10,0.00,0.000,6,0.000,0.054,2490,1606,3640,0,0,0,0,0,0
$GC,8341,-0.80,-194.6,977.2,-10.3,770,8345,0.00,1.10,0.00,0.000,4,0.000,0.057,2491,902,3638,0,0,0,0,0,0
$GC,8396,-0.80,-194.6,983.8,-10.9,772,8400,0.00,1.12,0.00,0.000,6,0.000,0.051,2485,1611,3638,0,0,0,0,0,0
$STATE,8468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8468,begin apogee
$GC,8477,-0.11,0.0,991.6,10.7,776,8648,0.68,0.00,163.90,1.445,6,0.127,0.000,2698,1785,2884,0,0,0,0,0,0
$STATE,8649,end apogee,CONTROL_FINISHED_OK
$STATE,8649,begin climb
$GC,8652,0.65,194.6,995.5,0.0,784,8841,0.73,0.00,180.05,1.388,6,0.071,0.000,2956,1785,2089,0,0,0,0,0,0
$GC,9153,0.63,194.6,928.0,15.8,808,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1785,2082,0,0,0,0,0,0
$GC,9462,0.61,194.6,882.3,14.6,823,9466,0.00,1.08,0.00,0.000,4,0.000,0.060,2956,2484,2079,0,0,0,0,0,0
$GC,9556,0.59,194.6,868.1,14.0,827,9560,0.00,1.10,0.00,0.000,6,0.000,0.050,2961,1783,2079,0,0,0,0,0,0
$GC,9886,0.56,194.6,822.2,14.3,843,9890,0.12,1.10,0.00,0.000,4,0.179,0.058,2927,2483,2077,0,0,0,0,0,0
$GC,9935,0.57,202.7,815.5,11.9,845,9946,0.00,1.10,6.62,1.045,6,0.000,0.047,2930,1780,2057,0,0,0,0,0,0
$GC,10260,0.58,211.7,777.3,11.8,860,10276,0.00,0.00,9.82,1.148,6,0.000,0.000,2930,1780,2020,0,0,0,0,0,0
$GC,10586,0.62,239.5,739.6,11.1,876,10617,0.00,1.10,26.58,1.256,4,0.000,0.050,2936,1059,1907,0,0,0,0,0,0
$GC,10671,0.67,269.4,730.5,11.0,879,10705,0.00,1.12,29.58,1.237,6,0.000,0.047,2932,1778,1785,0,0,0,0,0,0
$GC,11027,0.76,322.8,694.2,10.0,897,11084,0.17,1.15,50.42,1.237,4,0.072,0.052,3024,1074,1567,0,0,0,0,0,0
$GC,11129,0.72,322.8,677.0,18.4,901,11136,0.12,1.10,0.00,0.000,6,0.153,0.046,2985,1776,1564,0,0,0,0,0,0
$GC,11445,0.72,322.8,625.6,16.8,917,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1776,1560,0,0,0,0,0,0
$GC,11761,0.72,322.8,574.3,15.7,939,11765,0.00,1.08,0.00,0.000,4,0.000,0.054,2981,2482,1559,0,0,0,0,0,0
$GC,11799,0.72,322.8,567.8,14.9,942,11806,0.00,1.08,0.00,0.000,6,0.000,0.044,2984,1779,1558,0,0,0,0,0,0
$GC,12126,0.72,322.8,515.1,16.2,973,12130,0.00,1.08,0.00,0.000,4,0.000,0.048,2989,1066,1557,0,0,0,0,0,0
$GC,12278,0.72,322.8,490.3,15.9,986,12285,0.00,1.10,0.00,0.000,6,0.000,0.044,2986,1784,1557,0,0,0,0,0,0
$GC,12603,0.72,322.8,442.4,14.0,1017,12606,0.00,1.10,0.00,0.000,4,0.000,0.048,2989,1067,1557,0,0,0,0,0,0
$GC,12638,0.72,322.8,437.7,13.7,1020,12641,0.00,1.10,0.00,0.000,6,0.000,0.042,2986,1788,1556,0,0,0,0,0,0
$GC,12969,0.72,322.8,390.8,14.5,1051,12972,0.00,1.10,0.00,0.000,4,0.000,0.047,2990,1078,1557,0,0,0,0,0,0
$GC,13007,0.72,322.8,385.0,14.4,1054,13014,0.00,1.08,0.00,0.000,6,0.000,0.041,2986,1785,1556,0,0,0,0,0,0
$GC,13335,0.73,322.8,341.6,12.5,1085,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1785,1556,0,0,0,0,0,0
$GC,13663,0.78,344.4,303.7,11.3,1116,13686,0.00,1.15,19.05,0.903,4,0.000,0.047,2990,1069,1479,0,0,0,0,0,0
$GC,13771,0.81,352.0,291.6,11.9,1125,13783,0.00,1.08,8.02,0.782,6,0.000,0.040,2986,1781,1449,0,0,0,0,0,0
$GC,14102,0.87,374.8,251.0,11.3,1156,14130,0.12,1.15,21.83,0.860,4,0.090,0.046,3063,1063,1355,0,0,0,0,0,0
$GC,14157,0.83,374.8,242.9,16.7,1163,14167,0.12,1.10,0.00,0.000,6,0.142,0.039,3020,1791,1354,0,0,0,0,0,0
$GC,14488,0.83,374.8,195.1,15.2,1224,14496,0.00,1.02,0.00,0.000,4,0.000,0.047,3013,2477,1354,0,0,0,0,0,0
$GC,14533,0.85,374.8,187.6,14.4,1231,14542,0.00,1.08,0.00,0.000,6,0.000,0.041,3017,1770,1354,0,0,0,0,0,0
$GC,14863,0.89,391.0,144.8,11.5,1292,14886,0.00,1.08,15.75,0.741,4,0.000,0.043,3024,1069,1289,0,0,0,0,0,0
$GC,15002,0.92,391.0,128.5,12.4,1316,15010,0.00,1.05,0.00,0.000,6,0.000,0.037,3019,1775,1287,0,0,0,0,0,0
$GC,15332,1.04,446.8,95.7,9.9,1377,15385,0.17,0.00,48.50,0.729,6,0.070,0.000,3114,1777,1061,0,0,0,0,0,0
$GC,15706,1.04,446.8,41.5,14.5,1444,15715,0.12,1.10,0.00,0.000,4,0.161,0.045,3084,1074,1058,0,0,0,0,0,0
$GC,15752,1.05,446.8,36.0,12.5,1451,15762,0.00,1.05,0.00,0.000,6,0.000,0.034,3078,1790,1058,0,0,0,0,0,0
$STATE,16037,end climb,SURFACE_DEPTH_REACHED
$STATE,16037,begin surface coast
$FINISH,1.4,1.021919
$STATE,16068,end surface coast,CONTROL_FINISHED_OK
$STATE,16068,begin surface
$SM_CCo,16086,17.77,0.110,1,0,1049,450.13
$SM_GC,2.10,0.00,0.00,17.77,0.000,0.000,0.110,153,1595,1049,-8.11,-0.45,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2319.18,12243.41,291011,131352
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.00
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,25.10
$XPDR_PINGS,124
$24V_AH,22.8,112.213
$10V_AH,9.8,76.364
$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,20.000,61.150,580.125,17.775,0.000,128.218,110.376,363.938,31.000,0.000,77.688,3761.300,8145.665,641.895,3997.575,574.844,0.000,2034.228,0.000,3385.734,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,71.910,1445.085,110.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.932,1546.403,1800.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324696
$DATA_FILE_SIZE,83561,1509
$CAP_FILE_SIZE,174223,0
$CFSIZE,260165632,106647552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.240, 10.5,1
$GPS,291011,183526,2328.354,12237.997,25,4.1,44,-3.2