version: 66.09
glider: 166
mission: 6
dive: 472
start: 11 1 111 10 35 31
data:
$ID,166
$MISSION,6
$DIVE,472
$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,-25001.188
$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,37
$R_STBD_OVSHOOT,57
$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
$GPS1,011111,102826,2331.102,12231.404,36,2.8,55,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-63.0
$GPS2,011111,103504,2331.233,12231.466,16,2.6,35,-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,205.9,122981,-18.6,-12.222
$D_GRID,3345
$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,-194.6,0.0,0.0,0,124,0.00,0.00,-104.07,0.000,2,0.000,0.000,148,1626,3162,0,0,0,0,0,0
$GC,127,-0.65,-194.6,6.3,-10.2,14,152,9.60,1.15,-9.80,0.000,4,0.220,0.064,2535,882,3680,0,0,0,0,0,0
$GC,361,-0.59,-194.6,77.8,-21.0,56,370,0.00,1.08,0.00,0.000,6,0.000,0.036,2530,1603,3682,0,0,0,0,0,0
$GC,694,-0.54,-194.6,135.0,-17.3,117,702,0.15,1.05,0.00,0.000,4,0.168,0.040,2564,2310,3683,0,0,0,0,0,0
$GC,929,-0.56,-194.6,164.4,-11.7,160,938,0.00,1.05,0.00,0.000,6,0.000,0.036,2562,1596,3684,0,0,0,0,0,0
$GC,1261,-0.59,-194.6,202.5,-10.8,221,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1596,3684,0,0,0,0,0,0
$GC,1587,-0.62,-194.6,235.4,-9.5,282,1595,0.00,1.05,0.00,0.000,4,0.000,0.039,2572,2307,3684,0,0,0,0,0,0
$GC,1672,-0.66,-194.6,242.9,-8.5,297,1680,0.10,1.02,0.00,0.000,6,0.042,0.036,2483,1609,3684,0,0,0,0,0,0
$GC,2003,-0.62,-194.6,292.9,-15.4,332,2007,0.25,1.08,0.00,0.000,4,0.149,0.037,2548,2310,3684,0,0,0,0,0,0
$GC,2083,-0.66,-194.6,300.8,-8.5,339,2087,0.00,1.02,0.00,0.000,6,0.000,0.037,2549,1613,3684,0,0,0,0,0,0
$GC,2415,-0.70,-194.6,330.0,-8.4,370,2418,0.00,1.02,0.00,0.000,4,0.000,0.041,2548,919,3683,0,0,0,0,0,0
$GC,2488,-0.74,-194.6,336.7,-8.8,376,2496,0.08,1.02,0.00,0.000,6,0.053,0.034,2482,1623,3682,0,0,0,0,0,0
$GC,2813,-0.72,-194.6,379.8,-12.8,407,2817,0.12,1.00,0.00,0.000,4,0.167,0.042,2512,2295,3680,0,0,0,0,0,0
$GC,2872,-0.73,-194.6,386.6,-10.8,412,2876,0.00,1.02,0.00,0.000,6,0.000,0.037,2513,1606,3680,0,0,0,0,0,0
$GC,3202,-0.73,-194.6,426.3,-13.2,443,3206,0.00,1.02,0.00,0.000,4,0.000,0.043,2510,2291,3679,0,0,0,0,0,0
$GC,3285,-0.75,-194.6,436.0,-11.7,450,3289,0.00,1.02,0.00,0.000,6,0.000,0.040,2510,1604,3678,0,0,0,0,0,0
$GC,3617,-0.76,-194.6,477.4,-11.6,481,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1604,3676,0,0,0,0,0,0
$GC,3939,-0.78,-194.6,514.5,-11.8,511,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1604,3674,0,0,0,0,0,0
$GC,4267,-0.79,-194.6,552.9,-11.4,542,4271,0.12,1.08,0.00,0.000,4,0.087,0.046,2457,2282,3672,0,0,0,0,0,0
$GC,4319,-0.76,-194.6,560.2,-14.6,546,4326,0.12,1.02,0.00,0.000,6,0.141,0.041,2498,1610,3671,0,0,0,0,0,0
$GC,4654,-0.76,-194.6,603.4,-12.3,577,4658,0.00,1.05,0.00,0.000,4,0.000,0.048,2494,2292,3669,0,0,0,0,0,0
$GC,4763,-0.76,-194.6,615.8,-11.1,581,4769,0.00,1.02,0.00,0.000,6,0.000,0.043,2494,1619,3667,0,0,0,0,0,0
$GC,5079,-0.76,-194.6,650.2,-10.7,597,5083,0.00,1.08,0.00,0.000,4,0.000,0.048,2494,911,3665,0,0,0,0,0,0
$GC,5205,-0.76,-194.6,664.1,-11.4,602,5209,0.00,1.05,0.00,0.000,6,0.000,0.044,2490,1592,3664,0,0,0,0,0,0
$GC,5527,-0.76,-194.6,702.1,-12.1,618,5530,0.00,1.05,0.00,0.000,4,0.000,0.050,2490,919,3662,0,0,0,0,0,0
$GC,5550,-0.76,-194.6,705.0,-12.1,619,5554,0.00,1.08,0.00,0.000,6,0.000,0.046,2485,1610,3662,0,0,0,0,0,0
$GC,5885,-0.76,-194.6,748.8,-13.7,635,5889,0.00,1.10,0.00,0.000,4,0.000,0.055,2478,2310,3660,0,0,0,0,0,0
$GC,5991,-0.76,-194.6,763.6,-13.4,639,5998,0.00,1.08,0.00,0.000,6,0.000,0.047,2479,1611,3659,0,0,0,0,0,0
$GC,6308,-0.74,-194.6,807.0,-13.7,655,6311,0.00,1.08,0.00,0.000,4,0.000,0.054,2479,914,3656,0,0,0,0,0,0
$GC,6341,-0.73,-194.6,811.9,-13.9,656,6345,0.10,1.08,0.00,0.000,6,0.148,0.050,2506,1596,3656,0,0,0,0,0,0
$GC,6667,-0.75,-194.6,847.4,-10.6,672,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1596,3654,0,0,0,0,0,0
$GC,6972,-0.77,-194.6,877.5,-9.5,687,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1596,3653,0,0,0,0,0,0
$GC,7281,-0.78,-194.6,906.2,-9.3,702,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1597,3651,0,0,0,0,0,0
$GC,7593,-0.80,-194.6,935.0,-9.0,717,7597,0.00,1.12,0.00,0.000,4,0.000,0.060,2502,2312,3649,0,0,0,0,0,0
$GC,7627,-0.83,-194.6,938.2,-8.8,718,7631,0.00,1.10,0.00,0.000,6,0.000,0.051,2502,1617,3649,0,0,0,0,0,0
$GC,7952,-0.85,-194.6,966.4,-8.6,734,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1616,3648,0,0,0,0,0,0
$STATE,8256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8256,begin apogee
$GC,8262,-0.11,0.0,990.3,7.5,749,8435,0.62,0.00,165.35,1.447,6,0.122,0.000,2701,1787,2884,0,0,0,0,0,0
$STATE,8436,end apogee,CONTROL_FINISHED_OK
$STATE,8436,begin climb
$GC,8439,0.65,194.6,990.8,0.0,757,8630,0.73,1.25,183.77,1.382,4,0.070,0.062,2956,2483,2089,0,0,0,0,0,0
$GC,8703,0.63,194.6,955.8,16.7,769,8707,0.00,1.15,0.00,0.000,6,0.000,0.052,2960,1779,2085,0,0,0,0,0,0
$GC,9031,0.61,194.6,904.7,15.3,785,9035,0.00,1.12,0.00,0.000,4,0.000,0.060,2960,2488,2080,0,0,0,0,0,0
$GC,9095,0.58,194.6,895.2,15.0,787,9103,0.08,1.12,0.00,0.000,6,0.160,0.051,2942,1777,2080,0,0,0,0,0,0
$GC,9410,0.58,194.6,854.0,12.6,803,9414,0.00,1.10,0.00,0.000,4,0.000,0.055,2945,1065,2079,0,0,0,0,0,0
$GC,9438,0.58,194.6,850.3,12.8,804,9442,0.00,1.12,0.00,0.000,6,0.000,0.050,2942,1780,2078,0,0,0,0,0,0
$GC,9766,0.58,194.6,809.9,12.3,820,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1780,2077,0,0,0,0,0,0
$GC,10075,0.59,198.3,772.8,12.1,835,10079,0.00,1.12,0.00,0.000,4,0.000,0.059,2942,2492,2075,0,0,0,0,0,0
$GC,10111,0.60,210.7,768.7,11.7,836,10130,0.00,1.12,13.77,1.216,6,0.000,0.048,2945,1773,2024,0,0,0,0,0,0
$GC,10454,0.63,233.6,728.8,11.3,853,10481,0.00,1.15,21.88,1.241,4,0.000,0.057,2942,2487,1930,0,0,0,0,0,0
$GC,10528,0.66,253.8,720.1,11.4,856,10553,0.00,1.10,20.12,1.209,6,0.000,0.048,2945,1783,1848,0,0,0,0,0,0
$GC,10872,0.69,282.7,680.5,11.0,873,10901,0.00,0.00,27.55,1.216,6,0.000,0.000,2945,1784,1730,0,0,0,0,0,0
$GC,11202,0.76,324.5,645.3,10.5,889,11247,0.12,1.15,39.12,1.203,4,0.090,0.051,3019,1075,1560,0,0,0,0,0,0
$GC,11316,0.72,324.5,627.7,16.1,894,11320,0.12,1.12,0.00,0.000,6,0.149,0.047,2981,1793,1557,0,0,0,0,0,0
$GC,11645,0.72,324.5,585.1,13.0,914,11649,0.00,1.05,0.00,0.000,4,0.000,0.055,2980,2483,1554,0,0,0,0,0,0
$GC,11714,0.72,324.5,575.0,13.6,920,11718,0.00,1.10,0.00,0.000,6,0.000,0.046,2984,1777,1554,0,0,0,0,0,0
$GC,12047,0.72,324.5,526.6,15.2,951,12050,0.00,1.08,0.00,0.000,4,0.000,0.050,2989,1076,1553,0,0,0,0,0,0
$GC,12092,0.72,324.5,519.5,15.0,955,12096,0.00,1.10,0.00,0.000,6,0.000,0.045,2985,1786,1553,0,0,0,0,0,0
$GC,12423,0.72,324.5,473.1,13.7,986,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1786,1553,0,0,0,0,0,0
$GC,12745,0.72,324.5,432.0,12.5,1016,12749,0.00,1.12,0.00,0.000,4,0.000,0.049,2989,1066,1552,0,0,0,0,0,0
$GC,12783,0.72,324.5,427.3,12.5,1019,12786,0.00,1.10,0.00,0.000,6,0.000,0.043,2986,1783,1551,0,0,0,0,0,0
$GC,13113,0.72,324.5,383.7,12.7,1050,13117,0.00,1.05,0.00,0.000,4,0.000,0.052,2981,2480,1551,0,0,0,0,0,0
$GC,13185,0.74,324.5,374.9,12.9,1056,13189,0.00,1.08,0.00,0.000,6,0.000,0.044,2984,1772,1551,0,0,0,0,0,0
$GC,13517,0.77,330.1,334.5,12.0,1087,13530,0.00,1.08,4.95,0.692,4,0.000,0.049,2989,1077,1538,0,0,0,0,0,0
$GC,13630,0.79,336.7,321.4,11.9,1096,13642,0.00,1.08,7.88,0.805,6,0.000,0.041,2986,1786,1511,0,0,0,0,0,0
$GC,13965,0.84,359.7,283.8,11.3,1127,13991,0.00,1.10,21.95,0.888,4,0.000,0.050,2982,2489,1416,0,0,0,0,0,0
$GC,14019,0.91,384.6,277.0,11.2,1131,14050,0.12,1.08,23.52,0.874,6,0.046,0.043,3059,1787,1315,0,0,0,0,0,0
$GC,14372,0.88,384.6,211.3,19.1,1182,14381,0.12,1.10,0.00,0.000,4,0.169,0.047,3031,1072,1312,0,0,0,0,0,0
$GC,14533,0.88,384.6,184.8,14.9,1211,14542,0.00,1.08,0.00,0.000,6,0.000,0.041,3028,1784,1312,0,0,0,0,0,0
$GC,14864,0.94,414.5,144.3,11.0,1272,14895,0.00,1.15,26.85,0.769,4,0.000,0.046,3031,1066,1193,0,0,0,0,0,0
$GC,14930,1.02,455.5,136.8,10.5,1282,14976,0.08,1.08,36.50,0.762,6,0.060,0.037,3084,1785,1025,0,0,0,0,0,0
$GC,15297,1.03,455.5,70.4,16.0,1348,15305,0.00,1.08,0.00,0.000,4,0.000,0.044,3090,1077,1022,0,0,0,0,0,0
$GC,15329,1.06,455.5,66.3,15.5,1352,15336,0.00,1.05,0.00,0.000,6,0.000,0.037,3090,1784,1021,0,0,0,0,0,0
$GC,15660,1.09,459.6,28.1,12.1,1413,15669,0.00,1.12,4.20,0.431,4,0.000,0.044,3093,1071,1010,0,0,0,0,0,0
$GC,15699,1.13,471.7,22.9,11.7,1419,15716,0.00,1.05,12.10,0.604,6,0.000,0.035,3091,1786,960,0,0,0,0,0,0
$STATE,15865,end climb,SURFACE_DEPTH_REACHED
$STATE,15865,begin surface coast
$FINISH,1.4,1.021270
$STATE,15898,end surface coast,CONTROL_FINISHED_OK
$STATE,15898,begin surface
$SM_CCo,15976,0.00,0.000,0,0,955,472.94
$SM_GC,2.24,7.62,0.00,0.00,0.034,0.000,0.000,119,1591,955,-8.04,-0.51,472.94,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12232.96,011111,050551
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.67
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.70
$XPDR_PINGS,118
$24V_AH,22.2,115.779
$10V_AH,9.7,78.846
$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,20.275,65.500,609.525,0.000,0.000,24.166,17.692,166.729,29.500,0.000,37.417,3640.277,8094.781,646.939,3482.020,493.000,0.000,2024.212,0.000,3254.384,0.000,0.540,0.000
$DEVICE_MAMPS,220.320,70.380,1446.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.477,1492.173,1645.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324660
$DATA_FILE_SIZE,80191,1455
$CAP_FILE_SIZE,170829,0
$CFSIZE,260165632,105324544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226, 21.1,1
$GPS,011111,150307,2330.883,12231.076,41,0.9,41,-3.2