version: 66.09
glider: 166
mission: 6
dive: 465
start: 10 31 111 2 48 25
data:
$ID,166
$MISSION,6
$DIVE,465
$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,-24992.279
$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,47
$R_STBD_OVSHOOT,60
$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
$GPS1,311011,023736,2329.767,12235.134,37,1.8,43,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-63.2
$GPS2,311011,024801,2329.882,12235.170,37,1.8,42,-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,210.0,127774,-18.6,-12.222
$D_GRID,3596
$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,-194.6,0.0,0.0,0,118,0.00,0.00,-94.88,0.000,2,0.000,0.000,146,1588,3102,0,0,0,0,0,0
$GC,121,-0.65,-194.6,5.5,-6.4,13,146,9.25,1.08,-11.40,0.000,4,0.211,0.070,2549,896,3679,0,0,0,0,0,0
$GC,324,-0.56,-194.6,66.5,-26.6,49,332,0.00,1.05,0.00,0.000,6,0.000,0.041,2546,1587,3681,0,0,0,0,0,0
$GC,650,-0.52,-194.6,134.3,-17.7,110,659,0.12,1.10,0.00,0.000,4,0.169,0.044,2576,2311,3682,0,0,0,0,0,0
$GC,736,-0.53,-194.6,145.6,-11.8,124,744,0.00,1.05,0.00,0.000,6,0.000,0.042,2561,1621,3682,0,0,0,0,0,0
$GC,1064,-0.55,-194.6,180.3,-9.5,185,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1621,3682,0,0,0,0,0,0
$GC,1392,-0.57,-194.6,214.3,-10.5,246,1400,0.00,1.05,0.00,0.000,4,0.000,0.046,2560,2312,3682,0,0,0,0,0,0
$GC,1438,-0.59,-194.6,219.0,-10.7,253,1446,0.00,1.08,0.00,0.000,6,0.000,0.043,2573,1606,3682,0,0,0,0,0,0
$GC,1772,-0.61,-194.6,257.9,-12.2,309,1775,0.00,1.08,0.00,0.000,4,0.000,0.047,2571,2312,3683,0,0,0,0,0,0
$GC,1854,-0.65,-194.6,267.2,-9.7,316,1863,0.08,1.08,0.00,0.000,6,0.050,0.042,2499,1607,3682,0,0,0,0,0,0
$GC,2180,-0.59,-194.6,317.9,-17.4,347,2184,0.22,1.10,0.00,0.000,4,0.148,0.045,2554,2306,3681,0,0,0,0,0,0
$GC,2252,-0.62,-194.6,327.5,-11.6,353,2259,0.00,1.08,0.00,0.000,6,0.000,0.044,2547,1609,3681,0,0,0,0,0,0
$GC,2578,-0.65,-194.6,366.0,-11.8,384,2582,0.00,1.08,0.00,0.000,4,0.000,0.049,2537,2304,3680,0,0,0,0,0,0
$GC,2636,-0.68,-194.6,372.2,-10.3,389,2640,0.00,1.05,0.00,0.000,6,0.000,0.044,2538,1616,3680,0,0,0,0,0,0
$GC,2968,-0.71,-194.6,408.5,-10.9,420,2972,0.00,1.08,0.00,0.000,4,0.000,0.048,2538,913,3678,0,0,0,0,0,0
$GC,3003,-0.74,-194.6,412.3,-10.8,423,3007,0.00,1.05,0.00,0.000,6,0.000,0.042,2532,1605,3678,0,0,0,0,0,0
$GC,3334,-0.77,-194.6,447.7,-10.6,454,3338,0.10,1.08,0.00,0.000,4,0.097,0.049,2466,2306,3676,0,0,0,0,0,0
$GC,3413,-0.74,-194.6,458.9,-14.9,461,3416,0.00,1.08,0.00,0.000,6,0.000,0.044,2478,1606,3675,0,0,0,0,0,0
$GC,3744,-0.71,-194.6,505.8,-14.5,492,3749,0.12,1.08,0.00,0.000,4,0.162,0.048,2519,913,3674,0,0,0,0,0,0
$GC,3847,-0.72,-194.6,518.5,-11.3,501,3851,0.00,1.05,0.00,0.000,6,0.000,0.042,2517,1604,3673,0,0,0,0,0,0
$GC,4179,-0.72,-194.6,555.1,-11.3,532,4183,0.00,1.08,0.00,0.000,4,0.000,0.051,2513,2307,3670,0,0,0,0,0,0
$GC,4260,-0.73,-194.6,563.9,-10.6,539,4264,0.00,1.08,0.00,0.000,6,0.000,0.046,2513,1612,3669,0,0,0,0,0,0
$GC,4600,-0.73,-194.6,605.9,-12.6,569,4604,0.00,1.08,0.00,0.000,4,0.000,0.055,2507,2295,3666,0,0,0,0,0,0
$GC,4678,-0.75,-194.6,615.7,-12.4,572,4682,0.00,1.05,0.00,0.000,6,0.000,0.047,2508,1616,3666,0,0,0,0,0,0
$GC,5003,-0.75,-194.6,653.9,-12.0,588,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1616,3663,0,0,0,0,0,0
$GC,5309,-0.75,-194.6,690.0,-11.7,603,5313,0.00,1.10,0.00,0.000,4,0.000,0.050,2507,905,3660,0,0,0,0,0,0
$GC,5380,-0.75,-194.6,698.5,-12.8,606,5383,0.00,1.10,0.00,0.000,6,0.000,0.047,2503,1609,3660,0,0,0,0,0,0
$GC,5713,-0.75,-194.6,738.9,-11.9,622,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1608,3657,0,0,0,0,0,0
$GC,6022,-0.75,-194.6,773.9,-11.3,637,6026,0.00,1.08,0.00,0.000,4,0.000,0.057,2498,2303,3655,0,0,0,0,0,0
$GC,6189,-0.76,-194.6,791.1,-10.1,644,6193,0.00,1.08,0.00,0.000,6,0.000,0.050,2498,1618,3654,0,0,0,0,0,0
$GC,6517,-0.76,-194.6,825.3,-9.9,660,6520,0.00,1.10,0.00,0.000,4,0.000,0.057,2493,2308,3651,0,0,0,0,0,0
$GC,6546,-0.76,-194.6,828.0,-9.5,661,6550,0.00,1.10,0.00,0.000,6,0.000,0.050,2493,1610,3651,0,0,0,0,0,0
$GC,6874,-0.76,-194.6,857.2,-8.6,677,6877,0.00,1.12,0.00,0.000,4,0.000,0.057,2493,905,3649,0,0,0,0,0,0
$GC,6937,-0.76,-194.6,862.9,-9.3,679,6945,0.00,1.10,0.00,0.000,6,0.000,0.050,2487,1603,3649,0,0,0,0,0,0
$GC,7253,-0.76,-194.6,891.4,-9.2,695,7257,0.00,1.10,0.00,0.000,4,0.000,0.057,2482,2312,3646,0,0,0,0,0,0
$GC,7287,-0.76,-194.6,894.8,-9.3,696,7290,0.00,1.10,0.00,0.000,6,0.000,0.049,2482,1607,3646,0,0,0,0,0,0
$GC,7611,-0.76,-194.6,929.2,-11.4,712,7615,0.00,1.08,0.00,0.000,4,0.000,0.056,2482,916,3645,0,0,0,0,0,0
$GC,7685,-0.76,-194.6,938.7,-12.2,715,7689,0.00,1.10,0.00,0.000,6,0.000,0.050,2477,1608,3644,0,0,0,0,0,0
$GC,8012,-0.76,-194.6,979.4,-12.7,731,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1608,3642,0,0,0,0,0,0
$STATE,8092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8093,begin apogee
$GC,8101,-0.11,0.0,990.1,13.0,735,8272,0.73,0.00,164.20,1.448,6,0.129,0.000,2703,1782,2884,0,0,0,0,0,0
$STATE,8273,end apogee,CONTROL_FINISHED_OK
$STATE,8273,begin climb
$GC,8277,0.65,194.6,997.9,0.0,743,8467,0.70,0.00,182.05,1.393,6,0.068,0.000,2956,1782,2090,0,0,0,0,0,0
$GC,8775,0.63,197.0,949.1,12.1,767,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1782,2082,0,0,0,0,0,0
$GC,9082,0.61,197.0,910.7,12.5,782,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1782,2079,0,0,0,0,0,0
$GC,9391,0.59,197.0,871.5,12.9,797,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1782,2078,0,0,0,0,0,0
$GC,9703,0.58,197.0,831.7,13.1,812,9707,0.00,1.10,0.00,0.000,4,0.000,0.054,2961,1081,2076,0,0,0,0,0,0
$GC,9736,0.56,197.0,826.7,13.3,813,9740,0.10,1.10,0.00,0.000,6,0.143,0.050,2929,1778,2076,0,0,0,0,0,0
$GC,10058,0.63,252.9,793.6,9.9,829,10116,0.00,1.15,51.80,1.317,4,0.000,0.057,2928,2477,1853,0,0,0,0,0,0
$GC,10178,0.70,290.8,781.2,10.6,834,10221,0.08,1.10,37.28,1.272,6,0.055,0.047,2982,1780,1697,0,0,0,0,0,0
$GC,10544,0.68,290.8,729.2,14.3,852,10548,0.00,1.12,0.00,0.000,4,0.000,0.056,2982,2479,1691,0,0,0,0,0,0
$GC,10594,0.68,290.8,721.8,13.8,854,10598,0.00,1.10,0.00,0.000,6,0.000,0.047,2986,1773,1691,0,0,0,0,0,0
$GC,10924,0.66,290.8,675.4,14.0,870,10928,0.00,1.08,0.00,0.000,4,0.000,0.052,2991,1077,1690,0,0,0,0,0,0
$GC,10996,0.65,290.8,664.5,14.1,873,11001,0.10,1.10,0.00,0.000,6,0.146,0.045,2959,1788,1689,0,0,0,0,0,0
$GC,11323,0.68,319.5,627.7,11.0,889,11353,0.00,1.12,26.35,1.180,4,0.000,0.047,2962,1066,1580,0,0,0,0,0,0
$GC,11396,0.72,338.9,619.3,11.4,892,11421,0.00,1.10,19.27,1.138,6,0.000,0.046,2963,1770,1501,0,0,0,0,0,0
$GC,11741,0.76,357.0,578.3,11.5,917,11763,0.00,0.00,17.75,1.105,6,0.000,0.000,2962,1770,1427,0,0,0,0,0,0
$GC,12082,0.85,405.8,541.1,10.2,949,12133,0.15,0.00,45.38,1.127,6,0.080,0.000,3037,1773,1229,0,0,0,0,0,0
$GC,12451,0.82,405.8,478.6,16.9,984,12455,0.00,1.08,0.00,0.000,4,0.000,0.048,3043,1074,1225,0,0,0,0,0,0
$GC,12490,0.79,405.8,471.7,16.8,987,12498,0.12,1.10,0.00,0.000,6,0.142,0.044,3003,1789,1225,0,0,0,0,0,0
$GC,12815,0.79,405.8,425.5,15.0,1018,12819,0.00,1.05,0.00,0.000,4,0.000,0.051,2998,2481,1224,0,0,0,0,0,0
$GC,12853,0.81,405.8,419.9,14.4,1021,12860,0.00,1.08,0.00,0.000,6,0.000,0.043,3002,1779,1223,0,0,0,0,0,0
$GC,13179,0.82,405.8,369.5,16.4,1052,13183,0.00,1.08,0.00,0.000,4,0.000,0.047,3007,1067,1223,0,0,0,0,0,0
$GC,13255,0.83,405.8,356.8,17.0,1058,13261,0.00,1.10,0.00,0.000,6,0.000,0.042,3004,1788,1222,0,0,0,0,0,0
$GC,13580,0.84,405.8,305.7,15.0,1089,13584,0.00,1.05,0.00,0.000,4,0.000,0.050,2999,2478,1222,0,0,0,0,0,0
$GC,13630,0.88,405.8,298.5,13.4,1093,13637,0.00,1.08,0.00,0.000,6,0.000,0.041,3002,1781,1222,0,0,0,0,0,0
$GC,13956,0.90,405.8,259.0,12.3,1124,13960,0.00,1.08,0.00,0.000,4,0.000,0.046,3007,1070,1222,0,0,0,0,0,0
$GC,14018,0.92,405.8,250.9,13.1,1129,14026,0.08,1.08,0.00,0.000,6,0.063,0.041,3061,1779,1222,0,0,0,0,0,0
$GC,14351,0.89,405.8,190.8,18.4,1190,14359,0.00,1.05,0.00,0.000,4,0.000,0.048,3061,2482,1222,0,0,0,0,0,0
$GC,14394,0.87,405.8,182.0,17.8,1197,14402,0.10,1.08,0.00,0.000,6,0.145,0.041,3032,1776,1222,0,0,0,0,0,0
$GC,14727,0.89,405.8,135.7,12.8,1258,14735,0.00,1.05,0.00,0.000,4,0.000,0.045,3035,1074,1222,0,0,0,0,0,0
$GC,14807,0.89,405.8,124.0,14.2,1272,14815,0.00,1.05,0.00,0.000,6,0.000,0.037,3033,1778,1221,0,0,0,0,0,0
$GC,15136,0.97,429.9,81.3,11.2,1333,15161,0.00,1.12,21.38,0.710,4,0.000,0.044,3036,1074,1130,0,0,0,0,0,0
$GC,15226,1.13,502.7,72.6,9.2,1347,15296,0.15,1.05,62.38,0.717,6,0.045,0.036,3132,1787,832,0,0,0,0,0,0
$GC,15618,1.13,502.7,8.0,16.8,1416,15626,0.00,1.08,0.00,0.000,4,0.000,0.043,3136,1075,827,0,0,0,0,0,0
$STATE,15647,end climb,SURFACE_DEPTH_REACHED
$STATE,15648,begin surface coast
$FINISH,1.4,1.000001
$STATE,15665,end surface coast,CONTROL_FINISHED_OK
$STATE,15665,begin surface
$SM_CCo,15746,0.00,0.000,0,0,825,504.83
$SM_GC,2.12,7.82,0.00,0.00,0.037,0.000,0.000,134,1638,825,-8.05,0.79,504.83,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12243.41,301011,222233
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.10
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.10
$XPDR_PINGS,120
$24V_AH,22.5,114.134
$10V_AH,9.8,77.687
$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,20.025,67.025,627.825,0.000,0.000,25.013,22.251,378.217,30.000,0.000,43.522,3568.511,7970.839,670.934,3603.185,536.409,0.000,2024.828,0.000,3199.736,0.000,0.542,0.000
$DEVICE_MAMPS,211.140,71.145,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,974.575,1457.605,1605.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80387,1424
$CAP_FILE_SIZE,169444,0
$CFSIZE,260165632,105943040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.250, 17.8,1
$GPS,311011,071206,2329.715,12234.414,36,1.6,36,-3.2