version: 66.09
glider: 166
mission: 6
dive: 468
start: 10 31 111 16 32 4
data:
$ID,166
$MISSION,6
$DIVE,468
$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,-24996.057
$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,43
$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
$GPS1,311011,162426,2329.745,12232.448,35,99.0,54,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-61.4
$GPS2,311011,163137,2329.854,12232.452,15,2.0,33,-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,215.2,123484,-18.6,-12.222
$D_GRID,3452
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.65,-194.6,0.0,0.0,0,110,0.00,0.00,-90.62,0.000,2,0.000,0.000,133,1591,3223,0,0,0,0,0,0
$GC,113,-0.65,-194.6,6.2,-9.7,12,138,9.38,1.08,-8.82,0.000,4,0.216,0.072,2539,902,3680,0,0,0,0,0,0
$GC,377,-0.56,-194.6,82.6,-22.2,60,385,0.00,1.05,0.00,0.000,6,0.000,0.039,2536,1598,3682,0,0,0,0,0,0
$GC,705,-0.52,-194.6,141.2,-18.1,121,713,0.15,0.00,0.00,0.000,6,0.164,0.000,2576,1599,3684,0,0,0,0,0,0
$GC,1037,-0.53,-194.6,188.9,-13.0,182,1046,0.00,1.05,0.00,0.000,4,0.000,0.046,2572,2305,3684,0,0,0,0,0,0
$GC,1122,-0.56,-194.6,199.3,-11.5,197,1130,0.00,1.05,0.00,0.000,6,0.000,0.042,2573,1612,3684,0,0,0,0,0,0
$GC,1453,-0.58,-194.6,234.7,-10.0,258,1462,0.00,1.08,0.00,0.000,4,0.000,0.047,2568,2305,3684,0,0,0,0,0,0
$GC,1510,-0.61,-194.6,239.9,-9.4,267,1518,0.00,1.08,0.00,0.000,6,0.000,0.043,2568,1604,3684,0,0,0,0,0,0
$GC,1844,-0.63,-194.6,275.0,-11.6,307,1848,0.00,1.08,0.00,0.000,4,0.000,0.046,2559,2304,3684,0,0,0,0,0,0
$GC,1972,-0.67,-194.6,290.1,-11.9,318,1976,0.00,1.05,0.00,0.000,6,0.000,0.043,2550,1615,3684,0,0,0,0,0,0
$GC,2303,-0.69,-194.6,329.9,-10.0,349,2307,0.00,1.05,0.00,0.000,4,0.000,0.047,2541,2306,3684,0,0,0,0,0,0
$GC,2376,-0.73,-194.6,336.5,-8.9,355,2384,0.08,1.05,0.00,0.000,6,0.050,0.043,2472,1613,3683,0,0,0,0,0,0
$GC,2702,-0.70,-194.6,380.6,-14.0,386,2706,0.17,1.10,0.00,0.000,4,0.154,0.047,2523,906,3682,0,0,0,0,0,0
$GC,2806,-0.71,-194.6,391.9,-10.8,395,2810,0.00,1.08,0.00,0.000,6,0.000,0.041,2520,1612,3681,0,0,0,0,0,0
$GC,3137,-0.73,-194.6,430.2,-11.7,426,3141,0.00,1.05,0.00,0.000,4,0.000,0.048,2516,2311,3679,0,0,0,0,0,0
$GC,3198,-0.75,-194.6,437.5,-11.5,431,3205,0.00,1.08,0.00,0.000,6,0.000,0.044,2516,1609,3679,0,0,0,0,0,0
$GC,3524,-0.77,-194.6,473.9,-10.3,462,3528,0.00,1.08,0.00,0.000,4,0.000,0.051,2519,2302,3677,0,0,0,0,0,0
$GC,3560,-0.79,-194.6,477.4,-10.3,465,3563,0.00,1.05,0.00,0.000,6,0.000,0.044,2517,1613,3677,0,0,0,0,0,0
$GC,3891,-0.80,-194.6,511.6,-10.6,496,3893,0.12,0.00,0.00,0.000,6,0.084,0.000,2462,1613,3675,0,0,0,0,0,0
$GC,4211,-0.76,-194.6,558.9,-14.8,526,4215,0.12,1.10,0.00,0.000,4,0.171,0.050,2497,907,3673,0,0,0,0,0,0
$GC,4249,-0.74,-194.6,564.8,-13.9,529,4256,0.00,1.08,0.00,0.000,6,0.000,0.044,2494,1605,3673,0,0,0,0,0,0
$GC,4586,-0.73,-194.6,608.7,-13.8,558,4589,0.00,1.08,0.00,0.000,4,0.000,0.048,2494,905,3669,0,0,0,0,0,0
$GC,4615,-0.73,-194.6,613.0,-13.6,559,4619,0.00,1.08,0.00,0.000,6,0.000,0.045,2489,1604,3669,0,0,0,0,0,0
$GC,4942,-0.72,-194.6,658.2,-13.3,575,4946,0.00,1.08,0.00,0.000,4,0.000,0.053,2484,2310,3666,0,0,0,0,0,0
$GC,4970,-0.71,-194.6,662.3,-13.5,576,4974,0.08,1.08,0.00,0.000,6,0.137,0.047,2510,1612,3666,0,0,0,0,0,0
$GC,5302,-0.72,-194.6,701.3,-12.0,592,5306,0.00,1.10,0.00,0.000,4,0.000,0.057,2506,2309,3665,0,0,0,0,0,0
$GC,5336,-0.73,-194.6,705.7,-10.9,593,5340,0.00,1.10,0.00,0.000,6,0.000,0.048,2506,1606,3664,0,0,0,0,0,0
$GC,5660,-0.74,-194.6,741.5,-11.1,609,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1606,3661,0,0,0,0,0,0
$GC,5967,-0.76,-194.6,774.4,-10.2,624,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1606,3659,0,0,0,0,0,0
$GC,6279,-0.77,-194.6,805.7,-10.0,639,6283,0.00,1.08,0.00,0.000,4,0.000,0.054,2506,916,3657,0,0,0,0,0,0
$GC,6348,-0.78,-194.6,813.7,-11.1,642,6352,0.00,1.10,0.00,0.000,6,0.000,0.049,2501,1614,3656,0,0,0,0,0,0
$GC,6682,-0.80,-194.6,849.5,-10.8,658,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1615,3654,0,0,0,0,0,0
$GC,6993,-0.81,-194.6,883.7,-11.5,673,6997,0.00,1.12,0.00,0.000,4,0.000,0.054,2501,908,3652,0,0,0,0,0,0
$GC,7032,-0.82,-194.6,889.0,-12.3,674,7040,0.00,1.10,0.00,0.000,6,0.000,0.050,2496,1605,3652,0,0,0,0,0,0
$GC,7351,-0.82,-194.6,926.8,-12.1,690,7355,0.00,1.10,0.00,0.000,4,0.000,0.055,2496,916,3650,0,0,0,0,0,0
$GC,7382,-0.82,-194.6,931.7,-13.2,691,7386,0.00,1.10,0.00,0.000,6,0.000,0.050,2491,1613,3650,0,0,0,0,0,0
$GC,7705,-0.82,-194.6,976.2,-14.4,707,7708,0.00,1.12,0.00,0.000,4,0.000,0.056,2491,909,3649,0,0,0,0,0,0
$GC,7790,-0.82,-194.6,989.0,-15.1,710,7798,0.00,1.12,0.00,0.000,6,0.000,0.052,2486,1611,3648,0,0,0,0,0,0
$STATE,7815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7815,begin apogee
$GC,7822,-0.11,0.0,993.1,15.3,712,7994,0.68,0.00,165.40,1.449,6,0.125,0.000,2700,1786,2884,0,0,0,0,0,0
$STATE,7995,end apogee,CONTROL_FINISHED_OK
$STATE,7995,begin climb
$GC,7998,0.65,194.6,1005.1,0.0,720,8190,0.75,1.25,182.98,1.391,4,0.070,0.056,2965,1080,2089,0,0,0,0,0,0
$GC,8231,0.68,239.9,991.2,10.3,731,8279,0.00,1.15,42.88,1.336,6,0.000,0.050,2965,1769,1906,0,0,0,0,0,0
$GC,8595,0.66,239.9,948.0,12.3,749,8599,0.00,1.10,0.00,0.000,4,0.000,0.060,2965,2483,1897,0,0,0,0,0,0
$GC,8667,0.65,239.9,939.4,12.6,752,8671,0.00,1.10,0.00,0.000,6,0.000,0.049,2969,1780,1897,0,0,0,0,0,0
$GC,9000,0.62,239.9,893.9,13.6,768,9003,0.00,1.10,0.00,0.000,4,0.000,0.058,2969,2483,1895,0,0,0,0,0,0
$GC,9041,0.61,239.9,888.4,13.7,769,9049,0.08,1.10,0.00,0.000,6,0.157,0.048,2949,1780,1895,0,0,0,0,0,0
$GC,9357,0.61,239.9,850.0,12.4,785,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1779,1893,0,0,0,0,0,0
$GC,9666,0.61,239.9,809.4,13.4,800,9670,0.00,1.12,0.00,0.000,4,0.000,0.056,2944,2491,1893,0,0,0,0,0,0
$GC,9714,0.61,239.9,803.2,13.9,802,9718,0.00,1.10,0.00,0.000,6,0.000,0.047,2947,1784,1893,0,0,0,0,0,0
$GC,10047,0.61,239.9,757.3,13.5,818,10050,0.00,1.10,0.00,0.000,4,0.000,0.051,2953,1065,1892,0,0,0,0,0,0
$GC,10143,0.61,239.9,744.5,13.2,822,10147,0.00,1.12,0.00,0.000,6,0.000,0.047,2949,1787,1891,0,0,0,0,0,0
$GC,10471,0.61,239.9,703.4,12.3,838,10474,0.00,1.08,0.00,0.000,4,0.000,0.055,2945,2484,1891,0,0,0,0,0,0
$GC,10526,0.61,245.5,696.4,12.0,840,10539,0.00,1.10,3.97,0.773,6,0.000,0.045,2947,1777,1883,0,0,0,0,0,0
$GC,10849,0.61,245.5,658.0,12.2,856,10853,0.00,1.10,0.00,0.000,4,0.000,0.054,2945,2487,1882,0,0,0,0,0,0
$GC,10918,0.66,272.3,649.8,11.1,859,10949,0.00,1.10,27.05,1.205,6,0.000,0.045,2948,1780,1773,0,0,0,0,0,0
$GC,11266,0.72,313.9,612.2,10.5,876,11311,0.00,1.17,39.47,1.184,4,0.000,0.052,2945,2495,1604,0,0,0,0,0,0
$GC,11352,0.81,363.3,603.1,10.1,879,11406,0.12,1.12,46.90,1.161,6,0.047,0.043,3025,1771,1401,0,0,0,0,0,0
$GC,11723,0.78,363.3,539.6,17.8,913,11727,0.00,1.05,0.00,0.000,4,0.000,0.050,3030,1078,1396,0,0,0,0,0,0
$GC,11786,0.74,363.3,528.3,17.7,918,11794,0.12,1.10,0.00,0.000,6,0.144,0.044,2989,1796,1396,0,0,0,0,0,0
$GC,12111,0.74,363.3,479.2,15.2,949,12115,0.00,1.02,0.00,0.000,4,0.000,0.053,2985,2472,1395,0,0,0,0,0,0
$GC,12231,0.76,363.3,462.3,14.0,959,12237,0.00,1.05,0.00,0.000,6,0.000,0.043,2988,1784,1394,0,0,0,0,0,0
$GC,12556,0.76,363.3,413.1,16.0,990,12560,0.00,1.08,0.00,0.000,4,0.000,0.048,2994,1072,1393,0,0,0,0,0,0
$GC,12597,0.76,363.3,406.7,15.9,993,12604,0.00,1.08,0.00,0.000,6,0.000,0.042,2993,1778,1393,0,0,0,0,0,0
$GC,12922,0.77,363.3,355.3,15.1,1024,12926,0.00,1.08,0.00,0.000,4,0.000,0.048,2997,1080,1393,0,0,0,0,0,0
$GC,12960,0.78,363.3,350.1,14.5,1027,12963,0.00,1.08,0.00,0.000,6,0.000,0.041,2997,1787,1393,0,0,0,0,0,0
$GC,13291,0.79,363.3,305.0,12.4,1058,13295,0.00,1.05,0.00,0.000,4,0.000,0.050,2997,2483,1393,0,0,0,0,0,0
$GC,13341,0.81,363.3,298.9,13.1,1062,13344,0.00,1.08,0.00,0.000,6,0.000,0.043,3000,1776,1393,0,0,0,0,0,0
$GC,13673,0.83,363.3,252.8,13.3,1093,13677,0.00,1.05,0.00,0.000,4,0.000,0.047,3005,1077,1393,0,0,0,0,0,0
$GC,13744,0.84,363.3,243.3,14.0,1103,13752,0.00,1.05,0.00,0.000,6,0.000,0.040,3002,1778,1393,0,0,0,0,0,0
$GC,14074,0.88,375.7,200.8,11.7,1164,14091,0.00,1.10,10.80,0.763,4,0.000,0.049,2997,2482,1352,0,0,0,0,0,0
$GC,14126,0.96,408.0,194.5,10.9,1172,14164,0.12,1.08,29.95,0.819,6,0.045,0.042,3076,1772,1220,0,0,0,0,0,0
$GC,14487,0.93,408.0,125.0,19.5,1237,14497,0.12,1.05,0.00,0.000,4,0.171,0.047,3048,1084,1216,0,0,0,0,0,0
$GC,14560,0.93,408.0,113.3,16.3,1249,14569,0.00,1.05,0.00,0.000,6,0.000,0.039,3045,1783,1217,0,0,0,0,0,0
$GC,14889,1.02,454.3,75.6,10.3,1310,14935,0.00,1.10,39.90,0.718,4,0.000,0.045,3044,2489,1030,0,0,0,0,0,0
$GC,14954,1.11,494.6,68.4,10.5,1319,15000,0.12,1.08,35.12,0.698,6,0.041,0.041,3133,1786,865,0,0,0,0,0,0
$GC,15318,1.09,494.6,9.1,16.3,1385,15328,0.12,1.08,0.00,0.000,4,0.161,0.047,3102,1082,861,0,0,0,0,0,0
$STATE,15360,end climb,SURFACE_DEPTH_REACHED
$STATE,15360,begin surface coast
$FINISH,1.3,1.016662
$STATE,15385,end surface coast,CONTROL_FINISHED_OK
$STATE,15385,begin surface
$SM_CCo,15465,0.00,0.000,0,0,859,496.73
$SM_GC,2.06,7.72,0.00,0.00,0.033,0.000,0.000,151,1607,859,-8.05,-0.08,496.73,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12229.71,311011,111147
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.91
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,23.90
$XPDR_PINGS,114
$24V_AH,22.4,114.842
$10V_AH,9.7,78.183
$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,20.075,73.800,624.425,0.000,0.000,23.601,26.143,190.241,28.500,0.000,33.841,3496.941,7811.968,667.821,3410.941,489.058,0.000,2027.768,0.000,3152.684,0.000,0.542,0.000
$DEVICE_MAMPS,215.730,71.910,1448.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.060,1430.557,1582.438,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,80236,1396
$CAP_FILE_SIZE,171101,0
$CFSIZE,260165632,105680896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263, 12.5,1
$GPS,311011,205126,2329.966,12231.481,38,99.0,57,-3.2