version: 66.09
glider: 166
mission: 6
dive: 473
start: 11 1 111 15 9 52
data:
$ID,166
$MISSION,6
$DIVE,473
$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,-25002.441
$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,47
$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
$GPS1,011111,150307,2330.883,12231.076,41,0.9,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-66.7
$GPS2,011111,150925,2330.948,12231.085,9,1.0,14,-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,218.7,122172,-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,-194.6,0.0,0.0,0,107,0.00,0.00,-87.53,0.000,2,0.000,0.000,135,1592,3065,0,0,0,0,0,0
$GC,110,-0.65,-194.6,5.6,-7.6,12,142,9.55,1.05,-12.40,0.000,4,0.222,0.069,2526,899,3681,0,0,0,0,0,0
$GC,314,-0.55,-194.6,70.1,-29.2,48,323,0.12,1.05,0.00,0.000,6,0.151,0.037,2559,1600,3682,0,0,0,0,0,0
$GC,642,-0.54,-194.6,120.8,-14.9,109,650,0.00,1.05,0.00,0.000,4,0.000,0.042,2555,2315,3683,0,0,0,0,0,0
$GC,705,-0.54,-194.6,129.9,-13.9,119,713,0.00,1.05,0.00,0.000,6,0.000,0.038,2544,1606,3684,0,0,0,0,0,0
$GC,1037,-0.54,-194.6,178.0,-13.4,180,1045,0.00,1.05,0.00,0.000,4,0.000,0.043,2547,2306,3684,0,0,0,0,0,0
$GC,1053,-0.54,-194.6,180.3,-13.2,182,1063,0.08,1.05,0.00,0.000,6,0.137,0.041,2579,1606,3684,0,0,0,0,0,0
$GC,1386,-0.56,-194.6,217.6,-11.0,243,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1606,3685,0,0,0,0,0,0
$GC,1715,-0.60,-194.6,253.6,-11.1,302,1719,0.00,1.08,0.00,0.000,4,0.000,0.047,2577,2307,3684,0,0,0,0,0,0
$GC,1758,-0.63,-194.6,258.0,-10.5,305,1766,0.08,1.05,0.00,0.000,6,0.050,0.042,2504,1620,3685,0,0,0,0,0,0
$GC,2084,-0.59,-194.6,312.6,-17.4,336,2088,0.17,1.10,0.00,0.000,4,0.157,0.047,2557,915,3684,0,0,0,0,0,0
$GC,2158,-0.61,-194.6,322.5,-12.4,342,2166,0.00,1.05,0.00,0.000,6,0.000,0.041,2554,1607,3684,0,0,0,0,0,0
$GC,2484,-0.63,-194.6,357.4,-10.2,373,2488,0.00,1.05,0.00,0.000,4,0.000,0.047,2539,2309,3683,0,0,0,0,0,0
$GC,2604,-0.66,-194.6,369.1,-9.6,383,2611,0.00,1.08,0.00,0.000,6,0.000,0.043,2532,1610,3683,0,0,0,0,0,0
$GC,2932,-0.68,-194.6,406.3,-12.0,414,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1610,3682,0,0,0,0,0,0
$GC,3259,-0.70,-194.6,446.4,-12.9,445,3263,0.00,1.10,0.00,0.000,4,0.000,0.049,2525,2301,3680,0,0,0,0,0,0
$GC,3426,-0.74,-194.6,465.1,-10.0,459,3433,0.00,1.08,0.00,0.000,6,0.000,0.045,2528,1608,3679,0,0,0,0,0,0
$GC,3752,-0.77,-194.6,495.7,-8.8,490,3756,0.12,1.12,0.00,0.000,4,0.083,0.050,2468,2311,3677,0,0,0,0,0,0
$GC,3814,-0.74,-194.6,502.9,-12.5,495,3822,0.10,1.08,0.00,0.000,6,0.140,0.044,2501,1612,3677,0,0,0,0,0,0
$GC,4140,-0.74,-194.6,542.6,-12.0,526,4143,0.00,1.08,0.00,0.000,4,0.000,0.050,2501,916,3675,0,0,0,0,0,0
$GC,4203,-0.74,-194.6,550.3,-12.5,531,4210,0.00,1.08,0.00,0.000,6,0.000,0.043,2498,1616,3674,0,0,0,0,0,0
$GC,4529,-0.74,-194.6,590.5,-12.2,562,4532,0.00,1.05,0.00,0.000,4,0.000,0.052,2493,2304,3672,0,0,0,0,0,0
$GC,4570,-0.74,-194.6,595.4,-12.0,565,4577,0.00,1.08,0.00,0.000,6,0.000,0.047,2493,1612,3672,0,0,0,0,0,0
$GC,4898,-0.73,-194.6,637.9,-13.6,583,4901,0.00,1.08,0.00,0.000,4,0.000,0.054,2488,2297,3669,0,0,0,0,0,0
$GC,4925,-0.73,-194.6,641.9,-13.2,584,4929,0.00,1.08,0.00,0.000,6,0.000,0.047,2489,1604,3669,0,0,0,0,0,0
$GC,5255,-0.72,-194.6,687.0,-13.6,600,5259,0.00,1.08,0.00,0.000,4,0.000,0.050,2489,903,3666,0,0,0,0,0,0
$GC,5301,-0.70,-194.6,693.8,-13.7,602,5306,0.10,1.10,0.00,0.000,6,0.144,0.047,2515,1607,3666,0,0,0,0,0,0
$GC,5639,-0.72,-194.6,731.1,-10.9,618,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1607,3664,0,0,0,0,0,0
$GC,5944,-0.75,-194.6,763.8,-10.8,633,5948,0.00,1.10,0.00,0.000,4,0.000,0.055,2512,2317,3661,0,0,0,0,0,0
$GC,5983,-0.77,-194.6,768.3,-11.1,634,5991,0.00,1.10,0.00,0.000,6,0.000,0.048,2512,1615,3661,0,0,0,0,0,0
$GC,6302,-0.79,-194.6,803.8,-11.0,650,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1615,3658,0,0,0,0,0,0
$GC,6609,-0.81,-194.6,835.7,-10.0,665,6613,0.00,1.12,0.00,0.000,4,0.000,0.055,2512,899,3656,0,0,0,0,0,0
$GC,6666,-0.83,-194.6,841.6,-10.5,667,6670,0.00,1.12,0.00,0.000,6,0.000,0.048,2507,1610,3656,0,0,0,0,0,0
$GC,6989,-0.85,-194.6,876.5,-11.1,683,6993,0.10,1.10,0.00,0.000,4,0.101,0.057,2448,2304,3654,0,0,0,0,0,0
$GC,7037,-0.83,-194.6,882.5,-13.5,685,7041,0.00,1.10,0.00,0.000,6,0.000,0.050,2448,1603,3654,0,0,0,0,0,0
$GC,7370,-0.79,-194.6,932.0,-14.9,701,7374,0.15,1.10,0.00,0.000,4,0.169,0.054,2489,910,3651,0,0,0,0,0,0
$GC,7447,-0.79,-194.6,942.7,-13.0,704,7451,0.00,1.10,0.00,0.000,6,0.000,0.050,2487,1606,3651,0,0,0,0,0,0
$GC,7771,-0.79,-194.6,983.3,-12.5,720,7775,0.00,1.10,0.00,0.000,4,0.000,0.055,2486,913,3650,0,0,0,0,0,0
$GC,7816,-0.79,-194.6,989.5,-13.0,722,7820,0.00,1.10,0.00,0.000,6,0.000,0.050,2481,1608,3649,0,0,0,0,0,0
$STATE,7824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7824,begin apogee
$GC,7832,-0.11,0.0,990.9,13.0,722,8002,0.70,0.00,165.48,1.447,6,0.130,0.000,2699,1785,2884,0,0,0,0,0,0
$STATE,8003,end apogee,CONTROL_FINISHED_OK
$STATE,8003,begin climb
$GC,8006,0.65,194.6,999.1,0.0,730,8202,0.73,1.27,183.85,1.389,4,0.070,0.054,2960,1077,2089,0,0,0,0,0,0
$GC,8230,0.63,194.6,980.5,12.4,741,8234,0.00,1.17,0.00,0.000,6,0.000,0.049,2960,1773,2086,0,0,0,0,0,0
$GC,8561,0.60,194.6,936.9,13.7,757,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1773,2081,0,0,0,0,0,0
$GC,8871,0.58,194.6,893.0,14.2,772,8874,0.00,1.10,0.00,0.000,4,0.000,0.060,2960,2486,2079,0,0,0,0,0,0
$GC,8910,0.55,194.6,887.0,13.9,773,8917,0.12,1.10,0.00,0.000,6,0.149,0.050,2927,1785,2078,0,0,0,0,0,0
$GC,9228,0.56,201.6,849.6,11.9,789,9236,0.00,0.00,5.62,0.996,6,0.000,0.000,2927,1785,2062,0,0,0,0,0,0
$GC,9535,0.59,227.8,814.8,11.1,804,9563,0.00,0.00,25.65,1.297,6,0.000,0.000,2927,1784,1955,0,0,0,0,0,0
$GC,9868,0.67,278.3,780.5,10.1,820,9918,0.10,0.00,48.12,1.298,6,0.103,0.000,2980,1785,1748,0,0,0,0,0,0
$GC,10216,0.65,278.3,730.3,14.5,837,10220,0.00,1.10,0.00,0.000,4,0.000,0.056,2980,2483,1743,0,0,0,0,0,0
$GC,10255,0.63,278.3,724.0,14.9,838,10262,0.10,1.10,0.00,0.000,6,0.149,0.046,2953,1773,1743,0,0,0,0,0,0
$GC,10575,0.66,289.5,686.4,11.7,854,10589,0.00,1.08,10.75,1.115,4,0.000,0.049,2956,1066,1702,0,0,0,0,0,0
$GC,10621,0.69,305.1,680.6,11.6,856,10644,0.00,1.12,16.00,1.164,6,0.000,0.046,2953,1789,1640,0,0,0,0,0,0
$GC,10959,0.71,306.2,640.6,12.2,872,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1789,1636,0,0,0,0,0,0
$GC,11262,0.74,306.2,602.5,12.3,887,11265,0.00,1.10,0.00,0.000,4,0.000,0.049,2956,1080,1635,0,0,0,0,0,0
$GC,11292,0.77,312.9,598.9,11.9,888,11304,0.08,1.08,8.18,1.006,6,0.063,0.044,3005,1778,1607,0,0,0,0,0,0
$GC,11623,0.74,312.9,544.6,16.4,919,11627,0.00,1.08,0.00,0.000,4,0.000,0.054,3005,2485,1606,0,0,0,0,0,0
$GC,11687,0.72,312.9,534.2,16.2,924,11694,0.08,1.10,0.00,0.000,6,0.158,0.045,2986,1773,1606,0,0,0,0,0,0
$GC,12012,0.72,312.9,487.4,14.6,955,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1772,1605,0,0,0,0,0,0
$GC,12336,0.72,313.3,445.3,12.2,985,12340,0.00,1.10,0.00,0.000,4,0.000,0.053,2981,2479,1606,0,0,0,0,0,0
$GC,12410,0.73,317.5,435.6,12.0,991,12421,0.00,1.08,5.60,0.807,6,0.000,0.044,2984,1781,1589,0,0,0,0,0,0
$GC,12747,0.73,317.5,393.4,13.3,1023,12751,0.00,1.08,0.00,0.000,4,0.000,0.051,2983,2477,1588,0,0,0,0,0,0
$GC,12820,0.74,317.5,383.8,13.2,1029,12826,0.00,1.08,0.00,0.000,6,0.000,0.043,2986,1773,1588,0,0,0,0,0,0
$GC,13146,0.76,317.5,341.0,13.0,1060,13149,0.00,1.05,0.00,0.000,4,0.000,0.047,2992,1080,1587,0,0,0,0,0,0
$GC,13184,0.77,317.5,335.3,13.5,1063,13192,0.00,1.08,0.00,0.000,6,0.000,0.041,2988,1787,1587,0,0,0,0,0,0
$GC,13510,0.79,317.5,294.2,12.4,1094,13514,0.00,1.10,0.00,0.000,4,0.000,0.047,2992,1071,1587,0,0,0,0,0,0
$GC,13547,0.80,317.5,289.3,12.5,1097,13554,0.00,1.08,0.00,0.000,6,0.000,0.041,2988,1779,1586,0,0,0,0,0,0
$GC,13873,0.87,354.4,252.2,10.7,1128,13914,0.10,1.15,34.05,0.886,4,0.105,0.047,3054,1063,1438,0,0,0,0,0,0
$GC,13994,0.84,354.4,233.3,17.1,1146,14002,0.10,1.10,0.00,0.000,6,0.139,0.042,3022,1788,1436,0,0,0,0,0,0
$GC,14325,0.84,354.4,184.2,15.5,1207,14334,0.00,1.02,0.00,0.000,4,0.000,0.049,3017,2474,1436,0,0,0,0,0,0
$GC,14353,0.84,354.4,179.1,16.1,1211,14362,0.00,1.05,0.00,0.000,6,0.000,0.042,3020,1780,1436,0,0,0,0,0,0
$GC,14684,0.90,389.4,137.3,10.7,1272,14722,0.00,1.08,31.35,0.772,4,0.000,0.043,3026,1067,1296,0,0,0,0,0,0
$GC,14764,0.95,401.3,128.4,11.7,1284,14781,0.00,1.08,11.90,0.692,6,0.000,0.037,3022,1783,1248,0,0,0,0,0,0
$GC,15104,1.03,424.7,89.4,11.2,1346,15136,0.15,1.12,21.33,0.705,4,0.078,0.044,3112,1072,1151,0,0,0,0,0,0
$GC,15255,1.00,424.7,62.5,18.7,1372,15264,0.12,1.05,0.00,0.000,6,0.135,0.037,3067,1782,1150,0,0,0,0,0,0
$GC,15587,1.15,505.9,30.6,8.8,1433,15663,0.12,1.08,68.15,0.672,4,0.086,0.041,3142,1070,818,0,0,0,0,0,0
$STATE,15748,end climb,SURFACE_DEPTH_REACHED
$STATE,15748,begin surface coast
$FINISH,1.6,1.021971
$STATE,15766,end surface coast,CONTROL_FINISHED_OK
$STATE,15766,begin surface
$SM_CCo,15844,0.00,0.000,0,0,813,508.02
$SM_GC,2.09,7.82,0.00,0.00,0.037,0.000,0.000,138,1625,813,-8.03,0.42,508.02,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12229.71,011111,101053
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.43
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.50
$XPDR_PINGS,127
$24V_AH,22.3,116.008
$10V_AH,9.7,79.010
$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,20.900,69.525,636.025,0.000,0.000,27.975,17.063,164.491,31.750,0.000,15.502,3630.776,7932.667,717.673,3423.114,501.381,0.000,2063.159,0.000,3218.597,0.000,0.540,0.000
$DEVICE_MAMPS,221.850,70.380,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,998.266,1496.443,1689.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,83535,1461
$CAP_FILE_SIZE,172342,0
$CFSIZE,260165632,105226240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.279,  2.2,1
$GPS,011111,193507,2331.270,12229.540,30,1.0,30,-3.2