version: 66.09
glider: 166
mission: 6
dive: 466
start: 10 31 111 7 21 19
data:
$ID,166
$MISSION,6
$DIVE,466
$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,-24993.539
$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,39
$R_STBD_OVSHOOT,72
$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
$GPS1,311011,071206,2329.715,12234.414,36,1.6,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-64.1
$GPS2,311011,072055,2329.831,12234.451,37,1.7,43,-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,213.6,126606,-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,-194.6,0.0,0.0,0,123,0.00,0.00,-100.00,0.000,2,0.000,0.000,118,1638,3238,0,0,0,0,0,0
$GC,126,-0.65,-194.6,5.6,-6.4,14,150,9.43,1.00,-8.50,0.000,4,0.214,0.069,2518,2297,3681,0,0,0,0,0,0
$GC,350,-0.56,-194.6,78.0,-27.0,54,358,0.12,1.05,0.00,0.000,6,0.138,0.039,2570,1593,3682,0,0,0,0,0,0
$GC,677,-0.56,-194.6,127.4,-11.9,115,685,0.00,1.00,0.00,0.000,4,0.000,0.043,2556,917,3684,0,0,0,0,0,0
$GC,740,-0.56,-194.6,134.9,-12.2,125,748,0.00,1.00,0.00,0.000,6,0.000,0.038,2553,1584,3684,0,0,0,0,0,0
$GC,1070,-0.56,-194.6,175.5,-12.4,186,1078,0.00,1.08,0.00,0.000,4,0.000,0.044,2549,2311,3684,0,0,0,0,0,0
$GC,1172,-0.57,-194.6,187.8,-12.2,204,1181,0.00,1.05,0.00,0.000,6,0.000,0.042,2551,1619,3684,0,0,0,0,0,0
$GC,1502,-0.57,-194.6,229.8,-12.8,265,1510,0.00,1.05,0.00,0.000,4,0.000,0.047,2559,2306,3684,0,0,0,0,0,0
$GC,1545,-0.59,-194.6,235.5,-12.5,272,1554,0.00,1.05,0.00,0.000,6,0.000,0.044,2560,1615,3684,0,0,0,0,0,0
$GC,1878,-0.60,-194.6,276.8,-12.5,314,1882,0.00,1.05,0.00,0.000,4,0.000,0.048,2556,2298,3684,0,0,0,0,0,0
$GC,1938,-0.63,-194.6,283.9,-11.3,319,1945,0.00,1.05,0.00,0.000,6,0.000,0.043,2556,1607,3684,0,0,0,0,0,0
$GC,2265,-0.64,-194.6,322.7,-11.6,350,2269,0.00,1.08,0.00,0.000,4,0.000,0.047,2547,2312,3684,0,0,0,0,0,0
$GC,2304,-0.66,-194.6,328.1,-12.5,353,2311,0.00,1.05,0.00,0.000,6,0.000,0.042,2546,1615,3684,0,0,0,0,0,0
$GC,2630,-0.68,-194.6,366.4,-10.9,384,2634,0.00,1.05,0.00,0.000,4,0.000,0.050,2532,2298,3682,0,0,0,0,0,0
$GC,2699,-0.70,-194.6,373.1,-9.4,390,2703,0.00,1.05,0.00,0.000,6,0.000,0.044,2532,1604,3681,0,0,0,0,0,0
$GC,3030,-0.72,-194.6,404.0,-9.2,421,3034,0.00,1.08,0.00,0.000,4,0.000,0.049,2524,2302,3680,0,0,0,0,0,0
$GC,3069,-0.75,-194.6,407.5,-8.5,424,3077,0.00,1.05,0.00,0.000,6,0.000,0.044,2523,1612,3680,0,0,0,0,0,0
$GC,3395,-0.77,-194.6,441.6,-12.4,455,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1612,3679,0,0,0,0,0,0
$GC,3716,-0.79,-194.6,483.1,-12.3,485,3722,0.15,0.00,0.00,0.000,6,0.075,0.000,2462,1612,3676,0,0,0,0,0,0
$GC,4041,-0.74,-194.6,538.9,-15.8,516,4046,0.15,1.10,0.00,0.000,4,0.162,0.053,2499,2300,3675,0,0,0,0,0,0
$GC,4091,-0.74,-194.6,545.5,-11.9,520,4099,0.00,1.08,0.00,0.000,6,0.000,0.046,2500,1602,3674,0,0,0,0,0,0
$GC,4416,-0.74,-194.6,584.7,-11.0,551,4420,0.00,1.05,0.00,0.000,4,0.000,0.050,2500,913,3672,0,0,0,0,0,0
$GC,4569,-0.74,-194.6,601.0,-11.2,564,4572,0.00,1.08,0.00,0.000,6,0.000,0.046,2494,1610,3670,0,0,0,0,0,0
$GC,4890,-0.74,-194.6,637.0,-11.4,580,4894,0.00,1.12,0.00,0.000,4,0.000,0.050,2494,909,3667,0,0,0,0,0,0
$GC,4929,-0.74,-194.6,641.9,-12.2,581,4936,0.00,1.10,0.00,0.000,6,0.000,0.047,2490,1612,3667,0,0,0,0,0,0
$GC,5248,-0.74,-194.6,680.1,-12.1,597,5252,0.00,1.10,0.00,0.000,4,0.000,0.050,2489,913,3665,0,0,0,0,0,0
$GC,5298,-0.74,-194.6,687.0,-12.5,599,5302,0.00,1.08,0.00,0.000,6,0.000,0.047,2484,1605,3664,0,0,0,0,0,0
$GC,5626,-0.73,-194.6,730.8,-14.1,615,5630,0.00,1.08,0.00,0.000,4,0.000,0.054,2479,2303,3662,0,0,0,0,0,0
$GC,5661,-0.73,-194.6,735.6,-13.5,616,5664,0.00,1.08,0.00,0.000,6,0.000,0.048,2479,1613,3661,0,0,0,0,0,0
$GC,5982,-0.72,-194.6,779.3,-13.1,632,5984,0.12,0.00,0.00,0.000,6,0.164,0.000,2513,1613,3659,0,0,0,0,0,0
$GC,6295,-0.74,-194.6,808.7,-8.9,647,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1613,3657,0,0,0,0,0,0
$GC,6601,-0.76,-194.6,835.8,-8.8,662,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1612,3655,0,0,0,0,0,0
$GC,6911,-0.79,-194.6,865.6,-10.0,677,6915,0.00,1.10,0.00,0.000,4,0.000,0.060,2509,2302,3653,0,0,0,0,0,0
$GC,6947,-0.82,-194.6,869.2,-10.1,678,6951,0.00,1.08,0.00,0.000,6,0.000,0.050,2510,1618,3652,0,0,0,0,0,0
$GC,7269,-0.84,-194.6,903.0,-10.8,694,7271,0.10,0.00,0.00,0.000,6,0.103,0.000,2457,1618,3650,0,0,0,0,0,0
$GC,7581,-0.81,-194.6,948.5,-15.1,709,7584,0.00,1.10,0.00,0.000,4,0.000,0.057,2457,911,3649,0,0,0,0,0,0
$GC,7746,-0.79,-194.6,974.5,-15.7,716,7750,0.10,1.10,0.00,0.000,6,0.152,0.053,2483,1604,3648,0,0,0,0,0,0
$STATE,7864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7864,begin apogee
$GC,7872,-0.11,0.0,990.4,12.6,722,8043,0.70,0.00,165.30,1.450,6,0.128,0.000,2704,1793,2884,0,0,0,0,0,0
$STATE,8043,end apogee,CONTROL_FINISHED_OK
$STATE,8043,begin climb
$GC,8048,0.65,194.6,997.8,0.0,730,8241,0.73,1.15,182.07,1.390,4,0.069,0.057,2960,2485,2088,0,0,0,0,0,0
$GC,8289,0.63,194.6,976.1,12.7,741,8293,0.00,1.15,0.00,0.000,6,0.000,0.051,2964,1786,2085,0,0,0,0,0,0
$GC,8622,0.61,198.7,934.2,12.1,757,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1786,2080,0,0,0,0,0,0
$GC,8934,0.58,198.7,894.6,13.0,772,8938,0.12,1.12,0.00,0.000,4,0.181,0.060,2930,2473,2078,0,0,0,0,0,0
$GC,8991,0.62,229.8,887.5,10.9,774,9026,0.00,1.10,31.40,1.333,6,0.000,0.048,2932,1772,1947,0,0,0,0,0,0
$GC,9341,0.63,230.6,847.1,12.2,791,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1772,1940,0,0,0,0,0,0
$GC,9644,0.64,230.6,808.3,13.0,806,9648,0.00,1.12,0.00,0.000,4,0.000,0.058,2932,2481,1939,0,0,0,0,0,0
$GC,9700,0.66,230.6,800.6,13.6,808,9703,0.00,1.10,0.00,0.000,6,0.000,0.047,2937,1779,1938,0,0,0,0,0,0
$GC,10023,0.66,230.6,757.5,13.5,824,10027,0.00,1.10,0.00,0.000,4,0.000,0.057,2936,2482,1938,0,0,0,0,0,0
$GC,10073,0.67,230.6,750.1,13.4,826,10077,0.00,1.10,0.00,0.000,6,0.000,0.047,2939,1776,1938,0,0,0,0,0,0
$GC,10400,0.67,230.6,705.9,13.3,842,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1776,1937,0,0,0,0,0,0
$GC,10712,0.67,230.6,666.6,12.5,857,10716,0.00,1.10,0.00,0.000,4,0.000,0.055,2936,2480,1936,0,0,0,0,0,0
$GC,10859,0.70,238.8,648.7,11.9,863,10872,0.00,1.10,7.95,1.043,6,0.000,0.046,2940,1765,1910,0,0,0,0,0,0
$GC,11185,0.75,271.6,612.1,10.8,879,11222,0.15,1.12,31.83,1.187,4,0.080,0.051,3027,1072,1775,0,0,0,0,0,0
$GC,11302,0.71,271.6,593.1,16.9,885,11307,0.15,1.10,0.00,0.000,6,0.153,0.046,2981,1780,1772,0,0,0,0,0,0
$GC,11633,0.69,271.6,548.9,13.1,916,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1780,1770,0,0,0,0,0,0
$GC,11955,0.69,271.6,505.0,13.6,946,11958,0.00,1.08,0.00,0.000,4,0.000,0.054,2976,2474,1770,0,0,0,0,0,0
$GC,12057,0.69,271.6,491.1,12.8,955,12061,0.00,1.05,0.00,0.000,6,0.000,0.044,2979,1789,1769,0,0,0,0,0,0
$GC,12388,0.69,271.6,450.4,12.3,986,12392,0.00,1.08,0.00,0.000,4,0.000,0.049,2984,1077,1769,0,0,0,0,0,0
$GC,12494,0.72,291.2,438.0,11.4,995,12516,0.00,1.08,18.27,1.027,6,0.000,0.044,2981,1778,1696,0,0,0,0,0,0
$GC,12837,0.78,343.9,402.5,10.0,1027,12893,0.00,1.10,48.28,1.030,4,0.000,0.054,2980,2476,1482,0,0,0,0,0,0
$GC,12964,0.87,395.0,389.5,10.1,1038,13022,0.08,1.08,47.12,0.999,6,0.055,0.044,3040,1777,1272,0,0,0,0,0,0
$GC,13340,0.85,395.0,325.5,18.0,1073,13344,0.00,1.08,0.00,0.000,4,0.000,0.049,3040,2482,1268,0,0,0,0,0,0
$GC,13390,0.83,395.0,316.3,17.0,1077,13397,0.08,1.08,0.00,0.000,6,0.155,0.043,3020,1782,1267,0,0,0,0,0,0
$GC,13717,0.83,395.0,268.1,14.9,1108,13721,0.00,1.08,0.00,0.000,4,0.000,0.047,3024,1067,1267,0,0,0,0,0,0
$GC,13790,0.83,395.0,257.3,14.0,1114,13799,0.00,1.08,0.00,0.000,6,0.000,0.040,3020,1782,1266,0,0,0,0,0,0
$GC,14116,0.83,395.0,214.1,13.4,1170,14125,0.00,1.08,0.00,0.000,4,0.000,0.046,3023,1078,1266,0,0,0,0,0,0
$GC,14154,0.84,395.0,208.7,13.6,1176,14162,0.00,1.05,0.00,0.000,6,0.000,0.040,3020,1780,1266,0,0,0,0,0,0
$GC,14485,0.85,395.0,163.6,13.2,1237,14493,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1780,1266,0,0,0,0,0,0
$GC,14810,0.88,395.0,125.3,12.8,1298,14819,0.00,1.08,0.00,0.000,4,0.000,0.046,3024,1075,1266,0,0,0,0,0,0
$GC,14967,0.94,414.8,104.8,11.4,1326,14991,0.00,1.05,17.77,0.718,6,0.000,0.037,3020,1785,1191,0,0,0,0,0,0
$GC,15314,1.23,576.0,75.3,5.4,1389,15461,0.28,1.17,136.02,0.711,4,0.052,0.046,3170,1067,533,0,0,0,0,0,0
$GC,15496,1.19,576.0,46.2,17.7,1414,15505,0.12,1.08,0.00,0.000,6,0.143,0.036,3132,1786,527,0,0,0,0,0,0
$STATE,15760,end climb,SURFACE_DEPTH_REACHED
$STATE,15760,begin surface coast
$FINISH,1.6,1.022073
$STATE,15778,end surface coast,CONTROL_FINISHED_OK
$STATE,15782,begin surface
$SM_CCo,15860,0.00,0.000,0,0,522,579.40
$SM_GC,1.95,7.75,0.00,0.00,0.037,0.000,0.000,150,1588,522,-8.03,-0.65,579.40,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12232.96,311011,020207
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.40
$XPDR_PINGS,136
$24V_AH,22.4,114.383
$10V_AH,9.7,77.855
$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,20.325,63.125,686.025,0.000,0.000,25.398,17.033,292.898,34.000,0.000,43.985,3620.754,7879.605,694.517,3631.160,543.959,0.000,2110.426,0.000,3321.175,0.000,0.542,0.000
$DEVICE_MAMPS,214.200,68.850,1450.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.821,1502.168,1714.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83535,1466
$CAP_FILE_SIZE,170363,0
$CFSIZE,260165632,105852928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.249, 30.6,1
$GPS,311011,114707,2329.541,12234.241,37,1.8,49,-3.2