version: 66.09
glider: 166
mission: 6
dive: 460
start: 10 30 111 3 48 19
data:
$ID,166
$MISSION,6
$DIVE,460
$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,-24985.988
$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,50
$R_STBD_OVSHOOT,55
$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
$GPS1,301011,033836,2328.702,12237.650,29,1.3,29,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-65.4
$GPS2,301011,034755,2328.828,12237.672,16,1.4,32,-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,214.8,131016,-18.6,-12.222
$D_GRID,3879
$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,-194.6,0.0,0.0,0,113,0.00,0.00,-89.97,0.000,2,0.000,0.000,132,1595,3023,0,0,0,0,0,0
$GC,116,-0.65,-194.6,5.4,-7.4,12,147,9.48,1.05,-13.00,0.000,4,0.219,0.067,2539,905,3678,0,0,0,0,0,0
$GC,382,-0.58,-194.6,90.1,-28.9,60,390,0.00,1.05,0.00,0.000,6,0.000,0.039,2536,1601,3679,0,0,0,0,0,0
$GC,710,-0.53,-194.6,152.0,-14.0,121,719,0.12,1.08,0.00,0.000,4,0.174,0.045,2564,2309,3680,0,0,0,0,0,0
$GC,741,-0.52,-194.6,156.0,-12.8,125,749,0.00,1.05,0.00,0.000,6,0.000,0.041,2549,1617,3680,0,0,0,0,0,0
$GC,1068,-0.52,-194.6,197.4,-13.5,186,1077,0.00,1.05,0.00,0.000,4,0.000,0.046,2550,2305,3681,0,0,0,0,0,0
$GC,1225,-0.53,-194.6,216.8,-12.4,214,1234,0.00,1.05,0.00,0.000,6,0.000,0.043,2560,1615,3681,0,0,0,0,0,0
$GC,1562,-0.54,-194.6,258.2,-12.0,270,1566,0.00,1.08,0.00,0.000,4,0.000,0.046,2563,910,3681,0,0,0,0,0,0
$GC,1621,-0.56,-194.6,265.1,-11.8,275,1624,0.00,1.05,0.00,0.000,6,0.000,0.041,2559,1604,3681,0,0,0,0,0,0
$GC,1952,-0.57,-194.6,300.9,-9.7,306,1956,0.00,1.05,0.00,0.000,4,0.000,0.046,2552,2310,3681,0,0,0,0,0,0
$GC,2025,-0.60,-194.6,308.3,-9.9,312,2032,0.00,1.08,0.00,0.000,6,0.000,0.042,2547,1605,3681,0,0,0,0,0,0
$GC,2351,-0.61,-194.6,343.0,-10.4,343,2355,0.00,1.05,0.00,0.000,4,0.000,0.046,2539,913,3679,0,0,0,0,0,0
$GC,2379,-0.63,-194.6,346.4,-11.1,345,2386,0.00,1.05,0.00,0.000,6,0.000,0.040,2531,1606,3679,0,0,0,0,0,0
$GC,2705,-0.65,-194.6,382.3,-10.4,376,2709,0.00,1.05,0.00,0.000,4,0.000,0.047,2525,2307,3678,0,0,0,0,0,0
$GC,2768,-0.67,-194.6,388.2,-9.2,381,2775,0.00,1.08,0.00,0.000,6,0.000,0.044,2525,1606,3677,0,0,0,0,0,0
$GC,3098,-0.69,-194.6,417.8,-9.5,412,3102,0.00,1.05,0.00,0.000,4,0.000,0.047,2528,914,3676,0,0,0,0,0,0
$GC,3126,-0.71,-194.6,421.1,-9.6,414,3134,0.00,1.05,0.00,0.000,6,0.000,0.042,2532,1604,3675,0,0,0,0,0,0
$GC,3452,-0.73,-194.6,455.6,-10.9,445,3456,0.00,1.05,0.00,0.000,4,0.000,0.048,2532,2304,3674,0,0,0,0,0,0
$GC,3521,-0.75,-194.6,463.1,-11.0,451,3525,0.00,1.05,0.00,0.000,6,0.000,0.045,2533,1618,3674,0,0,0,0,0,0
$GC,3852,-0.77,-194.6,504.1,-12.6,482,3856,0.10,1.08,0.00,0.000,4,0.098,0.051,2471,2300,3671,0,0,0,0,0,0
$GC,3897,-0.73,-194.6,511.0,-16.2,486,3902,0.10,1.08,0.00,0.000,6,0.136,0.045,2504,1603,3670,0,0,0,0,0,0
$GC,4227,-0.73,-194.6,556.6,-12.7,517,4231,0.00,1.08,0.00,0.000,4,0.000,0.052,2501,2297,3668,0,0,0,0,0,0
$GC,4300,-0.73,-194.6,565.0,-11.0,523,4307,0.00,1.05,0.00,0.000,6,0.000,0.047,2501,1617,3667,0,0,0,0,0,0
$GC,4625,-0.73,-194.6,600.4,-10.7,554,4629,0.00,1.08,0.00,0.000,4,0.000,0.050,2501,911,3665,0,0,0,0,0,0
$GC,4726,-0.73,-194.6,611.5,-11.1,558,4730,0.00,1.08,0.00,0.000,6,0.000,0.046,2496,1607,3664,0,0,0,0,0,0
$GC,5050,-0.73,-194.6,647.4,-11.4,574,5054,0.00,1.08,0.00,0.000,4,0.000,0.053,2491,2313,3661,0,0,0,0,0,0
$GC,5074,-0.73,-194.6,650.3,-11.7,575,5078,0.00,1.08,0.00,0.000,6,0.000,0.046,2491,1612,3661,0,0,0,0,0,0
$GC,5411,-0.72,-194.6,690.6,-12.1,591,5414,0.00,1.08,0.00,0.000,4,0.000,0.053,2491,913,3658,0,0,0,0,0,0
$GC,5444,-0.71,-194.6,695.5,-12.6,592,5447,0.00,1.08,0.00,0.000,6,0.000,0.047,2486,1605,3658,0,0,0,0,0,0
$GC,5766,-0.69,-194.6,736.5,-13.3,608,5770,0.12,1.10,0.00,0.000,4,0.169,0.054,2516,2307,3656,0,0,0,0,0,0
$GC,5924,-0.72,-194.6,752.9,-9.7,615,5928,0.00,1.08,0.00,0.000,6,0.000,0.048,2516,1614,3655,0,0,0,0,0,0
$GC,6258,-0.75,-194.6,788.2,-10.5,631,6262,0.00,1.08,0.00,0.000,4,0.000,0.054,2516,919,3652,0,0,0,0,0,0
$GC,6353,-0.77,-194.6,798.1,-10.7,635,6357,0.00,1.08,0.00,0.000,6,0.000,0.048,2511,1608,3651,0,0,0,0,0,0
$GC,6687,-0.78,-194.6,831.7,-9.4,651,6690,0.00,1.08,0.00,0.000,4,0.000,0.057,2507,2306,3650,0,0,0,0,0,0
$GC,6739,-0.81,-194.6,836.3,-8.7,653,6743,0.00,1.08,0.00,0.000,6,0.000,0.048,2506,1612,3650,0,0,0,0,0,0
$GC,7067,-0.82,-194.6,863.8,-8.1,669,7071,0.00,1.08,0.00,0.000,4,0.000,0.055,2506,917,3647,0,0,0,0,0,0
$GC,7125,-0.84,-194.6,868.8,-8.7,671,7129,0.00,1.10,0.00,0.000,6,0.000,0.050,2501,1616,3647,0,0,0,0,0,0
$GC,7448,-0.85,-194.6,897.6,-9.4,687,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1615,3645,0,0,0,0,0,0
$GC,7757,-0.86,-194.6,928.6,-10.3,702,7761,0.00,1.12,0.00,0.000,4,0.000,0.055,2501,907,3644,0,0,0,0,0,0
$GC,7821,-0.87,-194.6,935.6,-11.1,704,7828,0.00,1.12,0.00,0.000,6,0.000,0.051,2496,1615,3643,0,0,0,0,0,0
$GC,8137,-0.87,-194.6,970.9,-11.2,720,8141,0.00,1.12,0.00,0.000,4,0.000,0.055,2496,907,3642,0,0,0,0,0,0
$GC,8185,-0.87,-194.6,976.0,-11.5,722,8189,0.00,1.12,0.00,0.000,6,0.000,0.051,2491,1615,3641,0,0,0,0,0,0
$STATE,8310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8310,begin apogee
$GC,8316,-0.11,0.0,991.1,11.7,728,8488,0.68,0.00,164.20,1.450,6,0.125,0.000,2704,1785,2884,0,0,0,0,0,0
$STATE,8491,end apogee,CONTROL_FINISHED_OK
$STATE,8491,begin climb
$GC,8493,0.65,194.6,997.4,0.0,736,8686,0.70,1.17,180.52,1.386,4,0.067,0.061,2956,2477,2088,0,0,0,0,0,0
$GC,8718,0.63,194.6,977.3,13.1,746,8721,0.00,1.12,0.00,0.000,6,0.000,0.051,2961,1790,2086,0,0,0,0,0,0
$GC,9045,0.60,194.6,929.7,14.6,762,9049,0.00,1.12,0.00,0.000,4,0.000,0.055,2966,1065,2081,0,0,0,0,0,0
$GC,9081,0.57,194.6,924.3,15.0,763,9086,0.10,1.12,0.00,0.000,6,0.151,0.052,2934,1771,2080,0,0,0,0,0,0
$GC,9403,0.57,194.6,881.9,13.4,779,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1771,2078,0,0,0,0,0,0
$GC,9714,0.57,194.6,841.9,12.5,794,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1770,2077,0,0,0,0,0,0
$GC,10022,0.57,194.6,803.4,12.3,809,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1770,2076,0,0,0,0,0,0
$GC,10331,0.59,210.9,767.5,11.5,824,10354,0.00,1.15,13.65,1.211,4,0.000,0.059,2929,2487,2024,0,0,0,0,0,0
$GC,10437,0.65,246.3,755.9,10.7,828,10475,0.00,1.12,34.25,1.271,6,0.000,0.047,2932,1764,1878,0,0,0,0,0,0
$GC,10798,0.70,274.2,715.9,11.0,846,10827,0.10,0.00,26.52,1.232,6,0.101,0.000,2983,1764,1765,0,0,0,0,0,0
$GC,11131,0.67,274.2,662.8,16.4,862,11135,0.00,1.12,0.00,0.000,4,0.000,0.057,2983,2482,1761,0,0,0,0,0,0
$GC,11271,0.65,274.2,640.5,16.1,868,11275,0.08,1.08,0.00,0.000,6,0.161,0.046,2962,1785,1761,0,0,0,0,0,0
$GC,11594,0.65,274.2,594.9,13.8,885,11598,0.00,1.08,0.00,0.000,4,0.000,0.049,2966,1075,1759,0,0,0,0,0,0
$GC,11650,0.65,274.2,587.0,14.0,890,11654,0.00,1.10,0.00,0.000,6,0.000,0.044,2963,1788,1759,0,0,0,0,0,0
$GC,11982,0.69,303.0,546.5,11.0,921,12015,0.00,1.12,27.27,1.128,4,0.000,0.047,2966,1066,1647,0,0,0,0,0,0
$GC,12065,0.73,324.2,537.3,11.3,928,12090,0.00,1.10,20.62,1.086,6,0.000,0.045,2963,1773,1562,0,0,0,0,0,0
$GC,12408,0.78,351.4,499.7,11.1,960,12442,0.00,1.15,25.88,1.078,4,0.000,0.049,2967,1068,1450,0,0,0,0,0,0
$GC,12495,0.82,356.7,490.1,12.0,967,12508,0.10,1.10,6.47,0.851,6,0.057,0.044,3027,1782,1429,0,0,0,0,0,0
$GC,12828,0.79,356.7,430.0,18.0,998,12831,0.00,1.05,0.00,0.000,4,0.000,0.054,3026,2478,1426,0,0,0,0,0,0
$GC,12911,0.77,356.7,414.4,17.4,1005,12918,0.10,1.08,0.00,0.000,6,0.151,0.043,2999,1778,1425,0,0,0,0,0,0
$GC,13239,0.77,356.7,366.2,14.3,1036,13242,0.00,1.08,0.00,0.000,4,0.000,0.049,3002,1068,1425,0,0,0,0,0,0
$GC,13284,0.77,356.7,359.7,13.6,1040,13288,0.00,1.08,0.00,0.000,6,0.000,0.042,2999,1773,1424,0,0,0,0,0,0
$GC,13617,0.77,356.7,310.5,15.3,1071,13621,0.00,1.05,0.00,0.000,4,0.000,0.050,2995,2476,1424,0,0,0,0,0,0
$GC,13678,0.79,356.7,301.2,14.0,1076,13686,0.00,1.08,0.00,0.000,6,0.000,0.041,2998,1771,1423,0,0,0,0,0,0
$GC,14007,0.82,370.2,258.9,11.7,1107,14026,0.00,0.00,13.12,0.832,6,0.000,0.000,2998,1771,1374,0,0,0,0,0,0
$GC,14343,0.86,385.0,219.0,11.6,1163,14367,0.00,1.08,14.52,0.801,4,0.000,0.047,3003,1073,1312,0,0,0,0,0,0
$GC,14460,0.89,385.0,204.0,13.0,1183,14468,0.00,1.08,0.00,0.000,6,0.000,0.040,3000,1787,1311,0,0,0,0,0,0
$GC,14791,0.95,398.9,162.8,11.6,1244,14815,0.15,1.12,13.82,0.745,4,0.078,0.044,3086,1073,1256,0,0,0,0,0,0
$GC,14862,0.90,398.9,151.2,18.7,1255,14871,0.15,1.08,0.00,0.000,6,0.145,0.039,3037,1791,1255,0,0,0,0,0,0
$GC,15191,0.92,416.2,107.5,11.5,1316,15215,0.00,1.02,16.52,0.712,4,0.000,0.044,3032,2473,1185,0,0,0,0,0,0
$GC,15353,1.05,486.4,92.2,9.3,1344,15421,0.10,1.05,60.08,0.731,6,0.050,0.039,3103,1771,899,0,0,0,0,0,0
$GC,15746,1.08,486.4,33.8,12.5,1413,15754,0.00,1.02,0.00,0.000,4,0.000,0.044,3108,1083,894,0,0,0,0,0,0
$GC,15847,1.09,486.4,20.9,14.0,1431,15855,0.00,1.02,0.00,0.000,6,0.000,0.037,3108,1780,894,0,0,0,0,0,0
$STATE,15969,end climb,SURFACE_DEPTH_REACHED
$STATE,15969,begin surface coast
$FINISH,1.3,1.020756
$STATE,15990,end surface coast,CONTROL_FINISHED_OK
$STATE,15990,begin surface
$SM_CCo,16068,0.00,0.000,0,0,892,488.64
$SM_GC,2.21,7.72,0.00,0.00,0.040,0.000,0.000,143,1605,892,-8.04,-0.14,488.64,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12236.92,291011,232324
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.40
$XPDR_PINGS,124
$24V_AH,22.6,112.926
$10V_AH,9.8,76.861
$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,19.900,73.925,617.475,0.000,0.000,24.892,47.901,292.660,31.000,0.000,32.906,3656.066,8082.158,665.061,3647.606,554.297,0.000,2083.486,0.000,3305.105,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,71.910,1450.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.212,1489.530,1638.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83396,1456
$CAP_FILE_SIZE,178419,0
$CFSIZE,260165632,106377216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.270, 25.0,1
$GPS,301011,081736,2328.933,12237.322,38,1.8,50,-3.2