version: 66.09
glider: 166
mission: 6
dive: 464
start: 10 30 111 22 11 6
data:
$ID,166
$MISSION,6
$DIVE,464
$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,-24991.021
$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,41
$R_STBD_OVSHOOT,59
$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
$GPS1,301011,220200,2329.566,12234.957,40,1.5,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-60.7
$GPS2,301011,221043,2329.699,12235.001,38,1.6,44,-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,205.9,127379,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.65,-194.6,0.0,0.0,0,126,0.00,0.00,-102.93,0.000,2,0.000,0.000,128,1606,3131,0,0,0,0,0,0
$GC,129,-0.65,-194.6,5.2,-5.4,14,154,9.48,1.10,-11.07,0.000,4,0.216,0.066,2537,892,3680,0,0,0,0,0,0
$GC,353,-0.58,-194.6,73.1,-25.9,54,361,0.00,1.08,0.00,0.000,6,0.000,0.038,2533,1601,3682,0,0,0,0,0,0
$GC,680,-0.53,-194.6,135.5,-18.1,115,688,0.12,1.08,0.00,0.000,4,0.172,0.047,2562,2303,3683,0,0,0,0,0,0
$GC,738,-0.53,-194.6,144.1,-13.2,124,747,0.00,1.05,0.00,0.000,6,0.000,0.043,2552,1618,3683,0,0,0,0,0,0
$GC,1067,-0.53,-194.6,184.7,-13.6,185,1074,0.00,1.08,0.00,0.000,4,0.000,0.046,2558,908,3684,0,0,0,0,0,0
$GC,1169,-0.54,-194.6,197.0,-12.5,203,1177,0.00,1.05,0.00,0.000,6,0.000,0.040,2553,1604,3684,0,0,0,0,0,0
$GC,1497,-0.54,-194.6,238.9,-12.9,264,1506,0.00,1.05,0.00,0.000,4,0.000,0.045,2559,2309,3684,0,0,0,0,0,0
$GC,1607,-0.56,-194.6,252.4,-11.2,282,1611,0.00,1.08,0.00,0.000,6,0.000,0.041,2558,1604,3684,0,0,0,0,0,0
$GC,1940,-0.57,-194.6,290.2,-10.9,313,1944,0.00,1.08,0.00,0.000,4,0.000,0.047,2554,2304,3684,0,0,0,0,0,0
$GC,2115,-0.60,-194.6,308.7,-10.6,328,2122,0.00,1.08,0.00,0.000,6,0.000,0.044,2554,1603,3683,0,0,0,0,0,0
$GC,2440,-0.62,-194.6,347.5,-12.7,359,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1603,3682,0,0,0,0,0,0
$GC,2764,-0.64,-194.6,385.0,-11.2,389,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1603,3680,0,0,0,0,0,0
$GC,3091,-0.67,-194.6,421.9,-11.5,420,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1603,3679,0,0,0,0,0,0
$GC,3411,-0.71,-194.6,456.1,-10.2,450,3415,0.00,1.10,0.00,0.000,4,0.000,0.049,2531,2299,3677,0,0,0,0,0,0
$GC,3503,-0.75,-194.6,465.7,-9.6,458,3507,0.00,1.08,0.00,0.000,6,0.000,0.045,2535,1609,3676,0,0,0,0,0,0
$GC,3835,-0.78,-194.6,502.7,-11.3,489,3839,0.15,1.10,0.00,0.000,4,0.074,0.051,2465,2295,3674,0,0,0,0,0,0
$GC,3891,-0.75,-194.6,511.2,-15.8,494,3896,0.10,1.05,0.00,0.000,6,0.138,0.045,2498,1614,3674,0,0,0,0,0,0
$GC,4223,-0.74,-194.6,559.0,-14.3,525,4226,0.00,1.08,0.00,0.000,4,0.000,0.050,2498,913,3671,0,0,0,0,0,0
$GC,4258,-0.73,-194.6,564.2,-14.8,528,4262,0.00,1.08,0.00,0.000,6,0.000,0.044,2495,1610,3671,0,0,0,0,0,0
$GC,4599,-0.71,-194.6,608.6,-11.9,557,4602,0.00,1.08,0.00,0.000,4,0.000,0.054,2490,2299,3668,0,0,0,0,0,0
$GC,4712,-0.71,-194.6,621.5,-11.3,562,4715,0.00,1.05,0.00,0.000,6,0.000,0.047,2490,1616,3666,0,0,0,0,0,0
$GC,5047,-0.70,-194.6,661.3,-11.7,578,5052,0.10,1.10,0.00,0.000,4,0.172,0.052,2515,913,3664,0,0,0,0,0,0
$GC,5071,-0.70,-194.6,664.3,-12.1,579,5074,0.00,1.08,0.00,0.000,6,0.000,0.046,2512,1606,3664,0,0,0,0,0,0
$GC,5404,-0.71,-194.6,698.3,-9.9,595,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1606,3662,0,0,0,0,0,0
$GC,5713,-0.73,-194.6,729.2,-10.0,610,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1606,3660,0,0,0,0,0,0
$GC,6025,-0.74,-194.6,761.7,-10.7,625,6029,0.00,1.08,0.00,0.000,4,0.000,0.057,2507,2302,3657,0,0,0,0,0,0
$GC,6132,-0.77,-194.6,773.0,-9.9,629,6139,0.00,1.08,0.00,0.000,6,0.000,0.050,2508,1612,3656,0,0,0,0,0,0
$GC,6452,-0.78,-194.6,807.5,-11.1,645,6455,0.00,1.10,0.00,0.000,4,0.000,0.060,2503,2304,3654,0,0,0,0,0,0
$GC,6476,-0.80,-194.6,810.4,-11.3,646,6479,0.00,1.10,0.00,0.000,6,0.000,0.050,2503,1604,3654,0,0,0,0,0,0
$GC,6809,-0.81,-194.6,849.6,-12.0,662,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1604,3652,0,0,0,0,0,0
$GC,7121,-0.82,-194.6,886.9,-11.8,677,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1604,3651,0,0,0,0,0,0
$GC,7428,-0.84,-194.6,920.4,-10.4,692,7431,0.00,1.12,0.00,0.000,4,0.000,0.060,2498,2302,3649,0,0,0,0,0,0
$GC,7452,-0.85,-194.6,922.8,-10.4,693,7456,0.00,1.10,0.00,0.000,6,0.000,0.052,2498,1607,3648,0,0,0,0,0,0
$GC,7789,-0.86,-194.6,957.9,-10.5,709,7793,0.00,1.10,0.00,0.000,4,0.000,0.057,2498,904,3646,0,0,0,0,0,0
$GC,7817,-0.87,-194.6,961.5,-10.6,710,7820,0.00,1.12,0.00,0.000,6,0.000,0.051,2493,1608,3646,0,0,0,0,0,0
$STATE,8079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8079,begin apogee
$GC,8088,-0.11,0.0,991.5,11.6,723,8258,0.65,0.00,165.38,1.445,6,0.124,0.000,2699,1783,2884,0,0,0,0,0,0
$STATE,8259,end apogee,CONTROL_FINISHED_OK
$STATE,8259,begin climb
$GC,8264,0.65,194.6,998.7,0.0,731,8456,0.73,1.15,182.30,1.388,4,0.070,0.059,2955,2478,2088,0,0,0,0,0,0
$GC,8517,0.63,194.6,975.3,12.7,742,8524,0.00,1.12,0.00,0.000,6,0.000,0.052,2960,1789,2085,0,0,0,0,0,0
$GC,8833,0.61,194.6,932.0,13.8,758,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1789,2081,0,0,0,0,0,0
$GC,9146,0.59,194.6,889.0,13.7,773,9149,0.00,1.10,0.00,0.000,4,0.000,0.060,2960,2483,2078,0,0,0,0,0,0
$GC,9201,0.56,194.6,880.9,13.3,775,9206,0.10,1.12,0.00,0.000,6,0.152,0.051,2933,1767,2078,0,0,0,0,0,0
$GC,9524,0.61,235.0,845.7,10.5,791,9565,0.00,0.00,35.88,1.326,6,0.000,0.000,2934,1767,1925,0,0,0,0,0,0
$GC,9876,0.68,277.2,809.3,10.4,808,9920,0.00,0.00,40.00,1.304,6,0.000,0.000,2933,1767,1753,0,0,0,0,0,0
$GC,10233,0.74,304.8,770.4,11.1,825,10266,0.15,1.20,26.33,1.256,4,0.080,0.059,3007,2479,1641,0,0,0,0,0,0
$GC,10331,0.71,304.8,756.0,15.1,829,10335,0.10,1.10,0.00,0.000,6,0.157,0.047,2981,1784,1639,0,0,0,0,0,0
$GC,10658,0.71,304.8,709.8,13.7,845,10662,0.00,1.10,0.00,0.000,4,0.000,0.056,2976,2481,1636,0,0,0,0,0,0
$GC,10721,0.71,304.8,701.1,13.3,847,10728,0.00,1.10,0.00,0.000,6,0.000,0.047,2979,1776,1636,0,0,0,0,0,0
$GC,11037,0.71,304.8,657.8,14.1,863,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1776,1635,0,0,0,0,0,0
$GC,11348,0.71,304.8,613.3,15.0,878,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1776,1634,0,0,0,0,0,0
$GC,11661,0.71,304.8,565.6,14.6,903,11665,0.00,1.10,0.00,0.000,4,0.000,0.054,2977,2482,1633,0,0,0,0,0,0
$GC,11741,0.71,304.8,554.8,13.2,910,11745,0.00,1.10,0.00,0.000,6,0.000,0.045,2980,1770,1633,0,0,0,0,0,0
$GC,12072,0.73,317.8,514.8,11.7,941,12088,0.00,1.10,12.15,1.033,4,0.000,0.050,2985,1076,1588,0,0,0,0,0,0
$GC,12129,0.74,328.5,508.1,11.8,945,12147,0.00,1.10,11.43,1.008,6,0.000,0.043,2982,1791,1543,0,0,0,0,0,0
$GC,12466,0.74,328.5,467.0,12.5,977,12469,0.00,1.02,0.00,0.000,4,0.000,0.053,2980,2472,1541,0,0,0,0,0,0
$GC,12503,0.75,328.5,462.4,13.1,980,12507,0.00,1.05,0.00,0.000,6,0.000,0.044,2983,1787,1541,0,0,0,0,0,0
$GC,12834,0.77,333.4,420.7,12.0,1011,12847,0.00,1.08,5.65,0.788,4,0.000,0.046,2989,1060,1523,0,0,0,0,0,0
$GC,12957,0.78,337.2,405.7,12.1,1021,12967,0.00,1.10,5.22,0.747,6,0.000,0.042,2985,1783,1509,0,0,0,0,0,0
$GC,13297,0.82,347.4,365.1,11.8,1053,13310,0.00,0.00,11.05,0.890,6,0.000,0.000,2985,1784,1466,0,0,0,0,0,0
$GC,13628,0.91,400.0,329.6,10.0,1084,13686,0.15,1.12,47.90,0.945,4,0.077,0.047,3067,1075,1252,0,0,0,0,0,0
$GC,13760,0.87,400.0,306.0,18.7,1095,13768,0.10,1.08,0.00,0.000,6,0.148,0.040,3034,1787,1250,0,0,0,0,0,0
$GC,14088,0.87,400.0,250.5,16.7,1126,14091,0.00,1.02,0.00,0.000,4,0.000,0.048,3029,2475,1250,0,0,0,0,0,0
$GC,14133,0.87,400.0,242.9,16.3,1133,14141,0.00,1.05,0.00,0.000,6,0.000,0.041,3032,1781,1250,0,0,0,0,0,0
$GC,14461,0.87,400.0,188.4,14.7,1194,14469,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1781,1249,0,0,0,0,0,0
$GC,14789,0.94,439.0,146.1,10.6,1255,14827,0.00,1.10,34.03,0.773,4,0.000,0.045,3037,1074,1093,0,0,0,0,0,0
$GC,14916,0.97,439.0,130.0,13.7,1276,14925,0.00,1.05,0.00,0.000,6,0.000,0.037,3034,1779,1091,0,0,0,0,0,0
$GC,15250,1.12,495.6,88.6,9.8,1337,15303,0.20,0.00,48.70,0.719,6,0.061,0.000,3148,1782,861,0,0,0,0,0,0
$GC,15625,1.08,495.6,21.1,17.6,1404,15635,0.20,1.08,0.00,0.000,4,0.155,0.041,3096,1078,857,0,0,0,0,0,0
$GC,15670,1.12,511.8,15.6,11.5,1411,15694,0.00,1.02,14.62,0.607,6,0.000,0.035,3092,1783,795,0,0,0,0,0,0
$STATE,15803,end climb,SURFACE_DEPTH_REACHED
$STATE,15803,begin surface coast
$FINISH,1.3,0.997597
$STATE,15830,end surface coast,CONTROL_FINISHED_OK
$STATE,15831,begin surface
$SM_CCo,15908,0.00,0.000,0,0,791,513.41
$SM_GC,1.98,7.62,0.00,0.00,0.037,0.000,0.000,148,1585,791,-8.05,-0.68,513.41,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12234.94,301011,171704
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.84
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.80
$XPDR_PINGS,120
$24V_AH,22.4,113.884
$10V_AH,9.7,77.524
$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,19.950,56.975,640.625,0.000,0.000,23.892,22.296,279.283,30.000,0.000,45.186,3565.417,8172.167,662.423,3488.128,520.541,0.000,2016.045,0.000,3180.935,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,71.910,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.252,1471.807,1592.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324756
$DATA_FILE_SIZE,80163,1439
$CAP_FILE_SIZE,166367,0
$CFSIZE,260165632,106033152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309, 25.5,1
$GPS,311011,023736,2329.767,12235.134,37,1.8,43,-3.2