version: 66.09
glider: 166
mission: 6
dive: 470
start: 11 1 111 1 32 39
data:
$ID,166
$MISSION,6
$DIVE,470
$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,-24998.67
$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,48
$R_STBD_OVSHOOT,50
$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
$GPS1,011111,012456,2330.357,12231.505,54,2.4,73,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-67.6
$GPS2,011111,013212,2330.450,12231.535,34,2.0,39,-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,205.0,122493,-18.6,-12.222
$D_GRID,3420
$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,15,begin dive
$GC,17,-0.65,-194.6,0.0,0.0,0,108,0.00,0.00,-88.32,0.000,2,0.000,0.000,130,1590,2998,0,0,0,0,0,0
$GC,111,-0.65,-194.6,5.0,-4.3,12,142,9.40,1.02,-14.15,0.000,4,0.216,0.067,2529,913,3679,0,0,0,0,0,0
$GC,384,-0.57,-194.6,88.6,-23.7,61,393,0.10,1.02,0.00,0.000,6,0.149,0.039,2556,1596,3680,0,0,0,0,0,0
$GC,713,-0.55,-194.6,147.0,-17.6,122,722,0.00,1.05,0.00,0.000,4,0.000,0.045,2552,2310,3682,0,0,0,0,0,0
$GC,789,-0.55,-194.6,159.9,-16.5,135,798,0.08,1.05,0.00,0.000,6,0.138,0.041,2563,1613,3682,0,0,0,0,0,0
$GC,1120,-0.56,-194.6,202.4,-12.3,196,1128,0.00,1.05,0.00,0.000,4,0.000,0.046,2563,2309,3682,0,0,0,0,0,0
$GC,1219,-0.59,-194.6,213.1,-11.1,213,1227,0.00,1.05,0.00,0.000,6,0.000,0.042,2566,1612,3682,0,0,0,0,0,0
$GC,1549,-0.62,-194.6,252.3,-10.9,272,1553,0.00,1.05,0.00,0.000,4,0.000,0.047,2576,914,3682,0,0,0,0,0,0
$GC,1577,-0.64,-194.6,255.7,-10.5,274,1586,0.08,1.05,0.00,0.000,6,0.054,0.040,2507,1610,3682,0,0,0,0,0,0
$GC,1902,-0.60,-194.6,308.5,-16.4,305,1906,0.15,1.08,0.00,0.000,4,0.161,0.045,2545,2313,3682,0,0,0,0,0,0
$GC,1963,-0.61,-194.6,316.8,-12.1,310,1970,0.00,1.08,0.00,0.000,6,0.000,0.041,2546,1609,3682,0,0,0,0,0,0
$GC,2288,-0.61,-194.6,353.0,-10.9,341,2292,0.00,1.08,0.00,0.000,4,0.000,0.046,2541,2308,3681,0,0,0,0,0,0
$GC,2327,-0.62,-194.6,357.5,-11.1,344,2334,0.00,1.08,0.00,0.000,6,0.000,0.042,2541,1602,3682,0,0,0,0,0,0
$GC,2653,-0.62,-194.6,394.6,-11.5,375,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1602,3681,0,0,0,0,0,0
$GC,2973,-0.64,-194.6,430.9,-11.7,405,2977,0.00,1.05,0.00,0.000,4,0.000,0.047,2524,914,3679,0,0,0,0,0,0
$GC,3010,-0.65,-194.6,435.3,-12.0,408,3014,0.00,1.05,0.00,0.000,6,0.000,0.042,2516,1604,3679,0,0,0,0,0,0
$GC,3342,-0.67,-194.6,480.1,-12.8,439,3346,0.00,1.05,0.00,0.000,4,0.000,0.048,2511,2302,3676,0,0,0,0,0,0
$GC,3413,-0.70,-194.6,488.5,-11.6,445,3417,0.00,1.05,0.00,0.000,6,0.000,0.044,2512,1617,3676,0,0,0,0,0,0
$GC,3745,-0.71,-194.6,525.6,-11.0,476,3748,0.00,1.08,0.00,0.000,4,0.000,0.050,2518,2305,3675,0,0,0,0,0,0
$GC,3804,-0.73,-194.6,531.5,-10.4,481,3808,0.00,1.08,0.00,0.000,6,0.000,0.045,2515,1608,3675,0,0,0,0,0,0
$GC,4136,-0.75,-194.6,568.6,-12.0,512,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1608,3671,0,0,0,0,0,0
$GC,4467,-0.77,-194.6,608.5,-11.9,540,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1608,3669,0,0,0,0,0,0
$GC,4773,-0.79,-194.6,643.9,-11.4,555,4778,0.10,1.12,0.00,0.000,4,0.102,0.053,2465,2308,3666,0,0,0,0,0,0
$GC,4836,-0.76,-194.6,652.8,-14.8,557,4843,0.08,1.08,0.00,0.000,6,0.145,0.047,2489,1613,3665,0,0,0,0,0,0
$GC,5152,-0.76,-194.6,697.1,-13.8,573,5156,0.00,1.08,0.00,0.000,4,0.000,0.054,2487,2297,3663,0,0,0,0,0,0
$GC,5201,-0.76,-194.6,703.4,-13.6,575,5205,0.00,1.05,0.00,0.000,6,0.000,0.047,2487,1612,3662,0,0,0,0,0,0
$GC,5534,-0.76,-194.6,748.8,-13.5,591,5537,0.00,1.08,0.00,0.000,4,0.000,0.053,2487,915,3659,0,0,0,0,0,0
$GC,5618,-0.76,-194.6,760.7,-13.7,594,5626,0.00,1.08,0.00,0.000,6,0.000,0.046,2482,1608,3659,0,0,0,0,0,0
$GC,5936,-0.76,-194.6,803.2,-13.9,610,5940,0.00,1.08,0.00,0.000,4,0.000,0.055,2477,2309,3657,0,0,0,0,0,0
$GC,5963,-0.76,-194.6,807.5,-13.5,611,5968,0.00,1.08,0.00,0.000,6,0.000,0.047,2477,1612,3657,0,0,0,0,0,0
$GC,6294,-0.75,-194.6,854.1,-14.3,627,6298,0.00,1.08,0.00,0.000,4,0.000,0.054,2476,916,3654,0,0,0,0,0,0
$GC,6378,-0.74,-194.6,867.5,-15.5,630,6386,0.10,1.08,0.00,0.000,6,0.145,0.048,2503,1602,3653,0,0,0,0,0,0
$GC,6696,-0.76,-194.6,906.9,-12.1,646,6700,0.00,1.10,0.00,0.000,4,0.000,0.057,2501,2313,3651,0,0,0,0,0,0
$GC,6731,-0.78,-194.6,911.3,-12.1,647,6735,0.00,1.10,0.00,0.000,6,0.000,0.048,2500,1606,3651,0,0,0,0,0,0
$GC,7054,-0.80,-194.6,949.6,-11.8,663,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1606,3649,0,0,0,0,0,0
$GC,7365,-0.81,-194.6,986.3,-12.2,678,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1606,3647,0,0,0,0,0,0
$STATE,7403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7403,begin apogee
$GC,7409,-0.11,0.0,991.2,12.1,680,7579,0.62,0.00,164.52,1.449,6,0.122,0.000,2700,1778,2884,0,0,0,0,0,0
$STATE,7580,end apogee,CONTROL_FINISHED_OK
$STATE,7580,begin climb
$GC,7585,0.65,194.6,1000.0,0.0,688,7777,0.73,1.23,180.23,1.390,4,0.067,0.061,2959,2479,2089,0,0,0,0,0,0
$GC,7868,0.63,194.6,975.3,12.3,701,7872,0.00,1.10,0.00,0.000,6,0.000,0.050,2964,1789,2085,0,0,0,0,0,0
$GC,8200,0.60,194.6,932.9,12.7,717,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1789,2081,0,0,0,0,0,0
$GC,8512,0.58,194.6,893.9,12.7,732,8517,0.12,1.10,0.00,0.000,4,0.177,0.059,2928,2477,2078,0,0,0,0,0,0
$GC,8584,0.62,226.8,885.4,10.9,735,8617,0.00,1.10,28.77,1.331,6,0.000,0.048,2931,1769,1959,0,0,0,0,0,0
$GC,8927,0.65,252.5,847.9,11.1,751,8957,0.00,1.20,24.30,1.299,4,0.000,0.060,2930,2494,1853,0,0,0,0,0,0
$GC,8997,0.71,282.5,839.8,11.0,754,9037,0.08,1.12,30.15,1.292,6,0.054,0.048,2985,1779,1730,0,0,0,0,0,0
$GC,9344,0.69,282.5,786.3,15.9,771,9348,0.00,1.08,0.00,0.000,4,0.000,0.054,2990,1078,1725,0,0,0,0,0,0
$GC,9405,0.67,282.5,776.0,16.5,773,9412,0.08,1.10,0.00,0.000,6,0.148,0.047,2967,1787,1724,0,0,0,0,0,0
$GC,9723,0.67,282.5,733.4,12.6,789,9727,0.00,1.05,0.00,0.000,4,0.000,0.056,2964,2475,1723,0,0,0,0,0,0
$GC,9845,0.69,300.2,718.8,11.5,794,9865,0.00,1.08,16.40,1.202,6,0.000,0.046,2967,1777,1660,0,0,0,0,0,0
$GC,10191,0.69,300.2,677.4,12.5,811,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1777,1656,0,0,0,0,0,0
$GC,10496,0.69,300.2,637.5,13.3,826,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1777,1656,0,0,0,0,0,0
$GC,10809,0.69,300.2,594.9,14.1,842,10812,0.00,1.10,0.00,0.000,4,0.000,0.053,2964,2486,1655,0,0,0,0,0,0
$GC,10888,0.70,300.2,583.5,13.6,849,10892,0.00,1.10,0.00,0.000,6,0.000,0.046,2967,1779,1655,0,0,0,0,0,0
$GC,11220,0.70,300.2,538.6,13.8,880,11223,0.00,1.08,0.00,0.000,4,0.000,0.050,2972,1074,1654,0,0,0,0,0,0
$GC,11302,0.70,300.2,527.0,13.3,887,11310,0.00,1.10,0.00,0.000,6,0.000,0.043,2969,1790,1654,0,0,0,0,0,0
$GC,11631,0.72,300.2,484.3,13.1,918,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1790,1653,0,0,0,0,0,0
$GC,11958,0.73,300.2,440.4,12.8,949,11962,0.00,1.12,0.00,0.000,4,0.000,0.047,2972,1068,1653,0,0,0,0,0,0
$GC,11996,0.75,300.2,435.1,12.4,952,12003,0.00,1.10,0.00,0.000,6,0.000,0.043,2969,1779,1653,0,0,0,0,0,0
$GC,12322,0.87,377.8,400.4,9.0,983,12402,0.15,1.10,70.18,1.029,4,0.080,0.051,3047,2473,1342,0,0,0,0,0,0
$GC,12475,0.83,377.8,378.7,14.6,996,12479,0.10,1.08,0.00,0.000,6,0.155,0.043,3019,1782,1340,0,0,0,0,0,0
$GC,12807,0.83,377.8,332.9,15.1,1027,12811,0.00,1.08,0.00,0.000,4,0.000,0.047,3023,1070,1337,0,0,0,0,0,0
$GC,12858,0.83,377.8,324.4,16.0,1031,12866,0.00,1.08,0.00,0.000,6,0.000,0.041,3020,1775,1336,0,0,0,0,0,0
$GC,13183,0.83,377.8,272.5,15.9,1062,13187,0.00,1.05,0.00,0.000,4,0.000,0.050,3014,2474,1337,0,0,0,0,0,0
$GC,13286,0.83,377.8,257.3,14.2,1071,13290,0.00,1.05,0.00,0.000,6,0.000,0.041,3018,1782,1337,0,0,0,0,0,0
$GC,13612,0.85,387.3,212.9,11.8,1127,13629,0.00,1.08,8.77,0.735,4,0.000,0.043,3023,1077,1304,0,0,0,0,0,0
$GC,13699,0.85,387.3,202.0,12.5,1142,13707,0.00,1.08,0.00,0.000,6,0.000,0.039,3020,1790,1303,0,0,0,0,0,0
$GC,14028,0.87,387.3,162.9,12.8,1203,14037,0.00,1.10,0.00,0.000,4,0.000,0.044,3023,1068,1303,0,0,0,0,0,0
$GC,14120,0.89,387.3,151.3,12.4,1219,14129,0.00,1.08,0.00,0.000,6,0.000,0.037,3023,1789,1303,0,0,0,0,0,0
$GC,14450,0.96,413.8,111.6,11.1,1280,14481,0.00,0.00,24.50,0.734,6,0.000,0.000,3023,1790,1195,0,0,0,0,0,0
$GC,14805,1.21,556.6,77.4,6.2,1344,14934,0.25,1.10,119.82,0.710,4,0.053,0.040,3169,1074,611,0,0,0,0,0,0
$GC,15068,1.18,556.6,28.3,19.8,1386,15077,0.12,1.05,0.00,0.000,6,0.142,0.037,3129,1781,604,0,0,0,0,0,0
$STATE,15222,end climb,SURFACE_DEPTH_REACHED
$STATE,15222,begin surface coast
$FINISH,1.2,1.009349
$STATE,15244,end surface coast,CONTROL_FINISHED_OK
$STATE,15245,begin surface
$SM_CCo,15325,0.00,0.000,0,0,602,559.77
$SM_GC,2.06,7.75,0.00,0.00,0.037,0.000,0.000,130,1597,602,-8.05,-0.37,559.77,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12229.71,311011,202059
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.03
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.30
$XPDR_PINGS,124
$24V_AH,22.6,115.315
$10V_AH,9.7,78.515
$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,20.075,63.175,667.650,0.000,0.000,27.918,39.818,169.661,31.000,0.000,40.003,3503.066,7609.544,680.723,3472.752,479.051,0.000,2058.206,0.000,3202.240,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,67.320,1448.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,968.567,1451.623,1630.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,80140,1418
$CAP_FILE_SIZE,165792,0
$CFSIZE,260165632,105504768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.302, 12.7,1
$GPS,011111,054924,2330.663,12231.107,41,1.8,41,-3.2