version: 66.09
glider: 166
mission: 6
dive: 461
start: 10 30 111 8 31 29
data:
$ID,166
$MISSION,6
$DIVE,461
$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,-24987.246
$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,46
$R_STBD_OVSHOOT,56
$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
$GPS1,301011,081736,2328.933,12237.322,38,1.8,50,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-60.9
$GPS2,301011,083106,2329.128,12237.377,33,1.3,33,-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,215.8,130747,-18.6,-12.222
$D_GRID,3769
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.65,-194.6,0.0,0.0,0,119,0.00,0.00,-98.12,0.000,2,0.000,0.000,136,1604,3310,0,0,0,0,0,0
$GC,125,-0.65,-194.6,6.4,-10.0,13,149,9.43,1.05,-6.68,0.000,4,0.217,0.067,2526,2300,3680,0,0,0,0,0,0
$GC,300,-0.58,-194.6,66.9,-22.8,44,309,0.08,1.05,0.00,0.000,6,0.148,0.040,2553,1602,3681,0,0,0,0,0,0
$GC,629,-0.56,-194.6,116.3,-12.4,105,637,0.00,1.02,0.00,0.000,4,0.000,0.045,2548,917,3682,0,0,0,0,0,0
$GC,650,-0.55,-194.6,118.9,-13.5,107,659,0.00,1.02,0.00,0.000,6,0.000,0.040,2545,1595,3683,0,0,0,0,0,0
$GC,978,-0.55,-194.6,164.0,-12.7,168,986,0.00,1.05,0.00,0.000,4,0.000,0.046,2546,2303,3683,0,0,0,0,0,0
$GC,1168,-0.56,-194.6,187.4,-11.8,202,1176,0.00,1.05,0.00,0.000,6,0.000,0.044,2549,1616,3683,0,0,0,0,0,0
$GC,1498,-0.56,-194.6,230.2,-13.0,263,1507,0.00,1.08,0.00,0.000,4,0.000,0.047,2556,902,3683,0,0,0,0,0,0
$GC,1536,-0.56,-194.6,235.1,-12.7,269,1544,0.00,1.08,0.00,0.000,6,0.000,0.040,2553,1614,3683,0,0,0,0,0,0
$GC,1868,-0.56,-194.6,281.8,-14.4,310,1871,0.00,1.02,0.00,0.000,4,0.000,0.047,2548,2305,3683,0,0,0,0,0,0
$GC,1917,-0.57,-194.6,288.6,-13.1,314,1925,0.00,1.05,0.00,0.000,6,0.000,0.043,2547,1612,3683,0,0,0,0,0,0
$GC,2242,-0.57,-194.6,331.5,-12.5,345,2245,0.00,1.08,0.00,0.000,4,0.000,0.048,2529,2307,3681,0,0,0,0,0,0
$GC,2371,-0.59,-194.6,346.0,-11.8,356,2375,0.00,1.08,0.00,0.000,6,0.000,0.044,2529,1608,3680,0,0,0,0,0,0
$GC,2702,-0.61,-194.6,385.5,-11.9,387,2706,0.00,1.08,0.00,0.000,4,0.000,0.048,2520,2304,3679,0,0,0,0,0,0
$GC,2785,-0.62,-194.6,394.2,-10.8,394,2788,0.00,1.05,0.00,0.000,6,0.000,0.044,2521,1615,3678,0,0,0,0,0,0
$GC,3116,-0.64,-194.6,432.0,-10.7,425,3120,0.00,1.08,0.00,0.000,4,0.000,0.048,2521,904,3677,0,0,0,0,0,0
$GC,3209,-0.65,-194.6,442.1,-11.1,433,3213,0.00,1.08,0.00,0.000,6,0.000,0.041,2517,1610,3676,0,0,0,0,0,0
$GC,3541,-0.66,-194.6,478.2,-11.7,464,3545,0.00,1.08,0.00,0.000,4,0.000,0.050,2514,2310,3674,0,0,0,0,0,0
$GC,3670,-0.69,-194.6,493.0,-11.8,475,3674,0.00,1.08,0.00,0.000,6,0.000,0.044,2516,1605,3674,0,0,0,0,0,0
$GC,4004,-0.70,-194.6,533.2,-11.7,506,4008,0.00,1.05,0.00,0.000,4,0.000,0.048,2528,916,3671,0,0,0,0,0,0
$GC,4088,-0.72,-194.6,543.6,-11.6,513,4095,0.00,1.08,0.00,0.000,6,0.000,0.043,2523,1610,3670,0,0,0,0,0,0
$GC,4417,-0.73,-194.6,576.2,-9.3,544,4420,0.00,1.12,0.00,0.000,4,0.000,0.050,2523,906,3667,0,0,0,0,0,0
$GC,4452,-0.75,-194.6,579.8,-9.3,547,4455,0.00,1.08,0.00,0.000,6,0.000,0.044,2518,1605,3667,0,0,0,0,0,0
$GC,4784,-0.76,-194.6,611.0,-10.0,573,4788,0.00,1.08,0.00,0.000,4,0.000,0.052,2513,2312,3664,0,0,0,0,0,0
$GC,4898,-0.78,-194.6,623.0,-10.4,578,4901,0.00,1.08,0.00,0.000,6,0.000,0.045,2513,1609,3663,0,0,0,0,0,0
$GC,5234,-0.79,-194.6,661.9,-12.0,594,5238,0.00,1.10,0.00,0.000,4,0.000,0.056,2508,2309,3660,0,0,0,0,0,0
$GC,5320,-0.81,-194.6,672.2,-11.7,597,5327,0.00,1.08,0.00,0.000,6,0.000,0.048,2508,1621,3659,0,0,0,0,0,0
$GC,5636,-0.82,-194.6,714.8,-14.4,613,5640,0.00,1.10,0.00,0.000,4,0.000,0.053,2508,907,3657,0,0,0,0,0,0
$GC,5677,-0.82,-194.6,720.8,-14.9,614,5684,0.00,1.10,0.00,0.000,6,0.000,0.047,2504,1610,3657,0,0,0,0,0,0
$GC,5993,-0.82,-194.6,765.2,-13.4,630,5996,0.00,1.12,0.00,0.000,4,0.000,0.052,2503,907,3655,0,0,0,0,0,0
$GC,6031,-0.82,-194.6,770.7,-14.3,631,6039,0.00,1.10,0.00,0.000,6,0.000,0.047,2498,1609,3655,0,0,0,0,0,0
$GC,6350,-0.82,-194.6,808.0,-11.0,647,6354,0.00,1.08,0.00,0.000,4,0.000,0.057,2493,2307,3652,0,0,0,0,0,0
$GC,6445,-0.83,-194.6,818.0,-9.9,651,6449,0.00,1.10,0.00,0.000,6,0.000,0.049,2493,1604,3651,0,0,0,0,0,0
$GC,6774,-0.83,-194.6,852.4,-10.8,667,6778,0.00,1.08,0.00,0.000,4,0.000,0.054,2493,907,3650,0,0,0,0,0,0
$GC,6802,-0.83,-194.6,855.8,-10.7,668,6805,0.00,1.10,0.00,0.000,6,0.000,0.050,2488,1606,3649,0,0,0,0,0,0
$GC,7130,-0.83,-194.6,894.5,-12.2,684,7134,0.00,1.10,0.00,0.000,4,0.000,0.054,2488,911,3647,0,0,0,0,0,0
$GC,7170,-0.83,-194.6,899.5,-12.6,685,7177,0.00,1.10,0.00,0.000,6,0.000,0.050,2483,1609,3647,0,0,0,0,0,0
$GC,7486,-0.83,-194.6,936.4,-11.2,701,7490,0.00,1.10,0.00,0.000,4,0.000,0.053,2483,911,3645,0,0,0,0,0,0
$GC,7536,-0.83,-194.6,942.3,-11.5,703,7540,0.00,1.10,0.00,0.000,6,0.000,0.052,2477,1607,3645,0,0,0,0,0,0
$GC,7866,-0.83,-194.6,978.4,-10.9,719,7870,0.00,1.10,0.00,0.000,4,0.000,0.055,2477,911,3642,0,0,0,0,0,0
$GC,7916,-0.83,-194.6,984.5,-11.6,721,7919,0.00,1.10,0.00,0.000,6,0.000,0.052,2472,1607,3642,0,0,0,0,0,0
$STATE,7973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7973,begin apogee
$GC,7981,-0.11,0.0,990.7,11.0,724,8153,0.75,0.00,164.68,1.445,6,0.131,0.000,2705,1794,2884,0,0,0,0,0,0
$STATE,8156,end apogee,CONTROL_FINISHED_OK
$STATE,8156,begin climb
$GC,8158,0.65,194.6,994.7,0.0,732,8347,0.73,1.17,180.65,1.388,4,0.066,0.060,2961,2480,2089,0,0,0,0,0,0
$GC,8398,0.63,194.6,967.7,15.2,743,8402,0.00,1.12,0.00,0.000,6,0.000,0.050,2965,1788,2085,0,0,0,0,0,0
$GC,8723,0.60,194.6,919.5,14.6,759,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1788,2080,0,0,0,0,0,0
$GC,9030,0.56,194.6,877.2,13.5,774,9032,0.15,0.00,0.00,0.000,6,0.177,0.000,2928,1788,2078,0,0,0,0,0,0
$GC,9341,0.61,229.5,842.9,10.8,789,9379,0.00,0.00,31.23,1.317,6,0.000,0.000,2928,1788,1947,0,0,0,0,0,0
$GC,9689,0.67,266.1,804.6,10.7,806,9732,0.00,1.15,34.47,1.297,4,0.000,0.058,2927,2486,1798,0,0,0,0,0,0
$GC,9792,0.74,305.8,793.4,10.6,810,9838,0.12,1.12,38.90,1.280,6,0.047,0.047,3002,1780,1637,0,0,0,0,0,0
$GC,10154,0.71,305.8,732.2,16.5,828,10158,0.00,1.10,0.00,0.000,4,0.000,0.051,3007,1062,1631,0,0,0,0,0,0
$GC,10190,0.68,305.8,726.6,15.9,829,10194,0.12,1.12,0.00,0.000,6,0.151,0.047,2969,1785,1630,0,0,0,0,0,0
$GC,10511,0.68,305.8,685.8,12.4,845,10514,0.00,1.08,0.00,0.000,4,0.000,0.057,2967,2488,1629,0,0,0,0,0,0
$GC,10556,0.68,305.8,680.1,12.2,847,10560,0.00,1.10,0.00,0.000,6,0.000,0.046,2970,1782,1629,0,0,0,0,0,0
$GC,10891,0.68,305.8,635.7,13.6,863,10895,0.00,1.08,0.00,0.000,4,0.000,0.056,2969,2477,1628,0,0,0,0,0,0
$GC,10941,0.68,305.8,628.2,13.9,865,10945,0.00,1.08,0.00,0.000,6,0.000,0.044,2972,1775,1628,0,0,0,0,0,0
$GC,11264,0.68,305.8,581.9,14.4,886,11268,0.00,1.10,0.00,0.000,4,0.000,0.054,2969,2486,1627,0,0,0,0,0,0
$GC,11314,0.69,305.8,574.3,13.6,890,11321,0.00,1.10,0.00,0.000,6,0.000,0.045,2972,1768,1627,0,0,0,0,0,0
$GC,11639,0.69,305.8,531.8,12.3,921,11643,0.00,1.05,0.00,0.000,4,0.000,0.049,2978,1078,1627,0,0,0,0,0,0
$GC,11707,0.69,305.8,523.3,12.9,927,11711,0.00,1.08,0.00,0.000,6,0.000,0.044,2977,1776,1626,0,0,0,0,0,0
$GC,12038,0.69,305.8,480.2,13.4,958,12042,0.00,1.10,0.00,0.000,4,0.000,0.050,2981,1072,1626,0,0,0,0,0,0
$GC,12062,0.69,305.8,477.0,13.4,960,12065,0.00,1.10,0.00,0.000,6,0.000,0.043,2977,1786,1626,0,0,0,0,0,0
$GC,12395,0.69,305.8,432.5,14.0,991,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1786,1626,0,0,0,0,0,0
$GC,12713,0.71,318.7,391.9,11.7,1021,12729,0.00,1.12,11.30,0.934,4,0.000,0.049,2981,1080,1584,0,0,0,0,0,0
$GC,12821,0.79,368.0,380.9,10.1,1030,12871,0.00,1.08,45.90,1.006,6,0.000,0.043,2981,1781,1383,0,0,0,0,0,0
$GC,13193,0.82,368.0,336.1,13.3,1064,13197,0.00,1.08,0.00,0.000,4,0.000,0.052,2981,2476,1378,0,0,0,0,0,0
$GC,13232,0.85,368.0,330.4,13.4,1067,13238,0.00,1.08,0.00,0.000,6,0.000,0.041,2986,1772,1379,0,0,0,0,0,0
$GC,13560,0.87,368.0,288.3,12.9,1098,13568,0.12,0.00,0.00,0.000,6,0.086,0.000,3058,1772,1378,0,0,0,0,0,0
$GC,13886,0.83,368.0,227.8,18.5,1140,13894,0.17,1.08,0.00,0.000,4,0.161,0.047,3014,1073,1378,0,0,0,0,0,0
$GC,14005,0.84,368.0,211.5,13.2,1161,14014,0.00,1.08,0.00,0.000,6,0.000,0.040,3011,1789,1377,0,0,0,0,0,0
$GC,14337,0.87,368.0,169.6,12.9,1222,14345,0.00,1.08,0.00,0.000,4,0.000,0.046,3014,1081,1378,0,0,0,0,0,0
$GC,14398,0.89,368.0,161.2,12.7,1232,14406,0.00,1.05,0.00,0.000,6,0.000,0.039,3011,1783,1378,0,0,0,0,0,0
$GC,14726,0.94,383.3,123.1,11.6,1293,14751,0.12,1.05,14.32,0.718,4,0.087,0.047,3081,2477,1320,0,0,0,0,0,0
$GC,14873,0.92,383.3,99.3,15.1,1318,14881,0.12,1.05,0.00,0.000,6,0.148,0.039,3046,1781,1320,0,0,0,0,0,0
$GC,15204,1.06,462.5,66.5,8.9,1379,15280,0.12,1.05,67.78,0.709,4,0.086,0.041,3123,1070,997,0,0,0,0,0,0
$GC,15394,1.06,462.5,40.1,14.7,1409,15403,0.10,1.05,0.00,0.000,6,0.132,0.036,3090,1784,994,0,0,0,0,0,0
$STATE,15723,end climb,SURFACE_DEPTH_REACHED
$STATE,15723,begin surface coast
$FINISH,1.3,1.007605
$STATE,15756,end surface coast,CONTROL_FINISHED_OK
$STATE,15756,begin surface
$SM_CCo,15834,0.00,0.000,0,0,992,464.11
$SM_GC,2.19,7.60,0.00,0.00,0.034,0.000,0.000,132,1591,992,-8.03,-0.54,464.11,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12238.18,301011,080839
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.84
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,24.90
$XPDR_PINGS,131
$24V_AH,22.6,113.162
$10V_AH,9.8,77.033
$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,19.750,74.100,589.225,0.000,0.000,90.814,143.210,262.710,32.750,0.000,33.877,3686.864,7906.367,652.924,3823.821,552.963,0.000,2067.024,0.000,3353.165,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,68.850,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.991,1510.011,1722.139,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324768
$DATA_FILE_SIZE,83442,1476
$CAP_FILE_SIZE,175322,0
$CFSIZE,260165632,106291200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256, 22.5,1
$GPS,301011,125706,2329.121,12236.566,64,1.3,64,-3.2