version: 66.09
glider: 166
mission: 6
dive: 474
start: 11 1 111 19 42 11
data:
$ID,166
$MISSION,6
$DIVE,474
$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,-25003.695
$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,38
$R_STBD_OVSHOOT,65
$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
$GPS1,011111,193507,2331.270,12229.540,30,1.0,30,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-67.0
$GPS2,011111,194144,2331.414,12229.548,14,1.0,14,-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,202.8,120160,-18.6,-12.222
$D_GRID,3222
$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,-194.6,0.0,0.0,0,111,0.00,0.00,-91.68,0.000,2,0.000,0.000,129,1625,2988,0,0,0,0,0,0
$GC,114,-0.65,-194.6,5.2,-5.4,12,145,9.62,1.12,-14.07,0.000,4,0.223,0.063,2545,896,3679,0,0,0,0,0,0
$GC,323,-0.60,-194.6,63.9,-18.8,49,331,0.00,1.05,0.00,0.000,6,0.000,0.037,2536,1597,3680,0,0,0,0,0,0
$GC,649,-0.56,-194.6,119.5,-16.1,110,659,0.10,1.08,0.00,0.000,4,0.188,0.042,2561,2312,3681,0,0,0,0,0,0
$GC,704,-0.56,-194.6,127.4,-12.8,118,713,0.00,1.08,0.00,0.000,6,0.000,0.038,2552,1594,3681,0,0,0,0,0,0
$GC,1032,-0.56,-194.6,170.4,-13.1,179,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1594,3682,0,0,0,0,0,0
$GC,1360,-0.56,-194.6,213.2,-13.0,240,1368,0.00,1.08,0.00,0.000,4,0.000,0.042,2560,2309,3682,0,0,0,0,0,0
$GC,1439,-0.58,-194.6,222.6,-11.0,254,1448,0.00,1.05,0.00,0.000,6,0.000,0.039,2562,1611,3682,0,0,0,0,0,0
$GC,1775,-0.60,-194.6,260.4,-10.6,307,1778,0.00,1.05,0.00,0.000,4,0.000,0.044,2557,2302,3682,0,0,0,0,0,0
$GC,1849,-0.62,-194.6,268.0,-10.1,313,1856,0.00,1.05,0.00,0.000,6,0.000,0.041,2558,1609,3682,0,0,0,0,0,0
$GC,2175,-0.64,-194.6,306.4,-11.1,344,2179,0.00,1.05,0.00,0.000,4,0.000,0.047,2556,911,3682,0,0,0,0,0,0
$GC,2257,-0.66,-194.6,315.3,-11.3,351,2262,0.00,1.05,0.00,0.000,6,0.000,0.041,2543,1604,3682,0,0,0,0,0,0
$GC,2591,-0.69,-194.6,351.1,-10.6,382,2595,0.00,1.05,0.00,0.000,4,0.000,0.047,2531,2306,3681,0,0,0,0,0,0
$GC,2627,-0.72,-194.6,354.8,-10.2,385,2630,0.00,1.05,0.00,0.000,6,0.000,0.042,2532,1614,3680,0,0,0,0,0,0
$GC,2960,-0.74,-194.6,390.7,-11.1,416,2964,0.00,1.10,0.00,0.000,4,0.000,0.050,2524,2306,3680,0,0,0,0,0,0
$GC,3068,-0.77,-194.6,402.2,-9.5,425,3074,0.00,1.08,0.00,0.000,6,0.000,0.044,2525,1607,3679,0,0,0,0,0,0
$GC,3396,-0.79,-194.6,432.9,-9.3,456,3403,0.12,0.00,0.00,0.000,6,0.083,0.000,2474,1607,3677,0,0,0,0,0,0
$GC,3722,-0.75,-194.6,481.6,-15.7,487,3726,0.00,1.08,0.00,0.000,4,0.000,0.050,2470,2298,3675,0,0,0,0,0,0
$GC,3752,-0.72,-194.6,486.1,-15.2,489,3759,0.10,1.05,0.00,0.000,6,0.141,0.044,2505,1613,3675,0,0,0,0,0,0
$GC,4077,-0.72,-194.6,529.4,-13.3,520,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1613,3674,0,0,0,0,0,0
$GC,4400,-0.72,-194.6,572.2,-13.1,550,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1612,3671,0,0,0,0,0,0
$GC,4722,-0.72,-194.6,612.2,-11.5,576,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1613,3668,0,0,0,0,0,0
$GC,5034,-0.72,-194.6,645.3,-10.3,591,5038,0.00,1.10,0.00,0.000,4,0.000,0.052,2505,911,3665,0,0,0,0,0,0
$GC,5103,-0.72,-194.6,652.5,-10.3,594,5107,0.00,1.08,0.00,0.000,6,0.000,0.047,2502,1598,3664,0,0,0,0,0,0
$GC,5436,-0.72,-194.6,683.3,-8.7,610,5440,0.00,1.10,0.00,0.000,4,0.000,0.054,2497,2312,3662,0,0,0,0,0,0
$GC,5516,-0.73,-194.6,690.1,-8.7,613,5519,0.00,1.08,0.00,0.000,6,0.000,0.047,2497,1618,3661,0,0,0,0,0,0
$GC,5837,-0.73,-194.6,722.8,-10.6,629,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1617,3659,0,0,0,0,0,0
$GC,6149,-0.73,-194.6,754.9,-10.1,644,6153,0.00,1.10,0.00,0.000,4,0.000,0.054,2497,915,3657,0,0,0,0,0,0
$GC,6195,-0.73,-194.6,760.1,-10.5,646,6199,0.00,1.10,0.00,0.000,6,0.000,0.049,2492,1610,3657,0,0,0,0,0,0
$GC,6528,-0.73,-194.6,794.3,-10.3,662,6531,0.00,1.15,0.00,0.000,4,0.000,0.052,2492,902,3654,0,0,0,0,0,0
$GC,6599,-0.73,-194.6,801.7,-10.7,665,6603,0.00,1.12,0.00,0.000,6,0.000,0.048,2487,1614,3654,0,0,0,0,0,0
$GC,6932,-0.73,-194.6,835.9,-10.2,681,6935,0.00,1.08,0.00,0.000,4,0.000,0.057,2482,2305,3652,0,0,0,0,0,0
$GC,6967,-0.73,-194.6,839.3,-9.5,682,6971,0.00,1.08,0.00,0.000,6,0.000,0.049,2482,1614,3652,0,0,0,0,0,0
$GC,7289,-0.73,-194.6,874.8,-11.5,698,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1614,3650,0,0,0,0,0,0
$GC,7598,-0.73,-194.6,911.9,-12.1,713,7602,0.00,1.10,0.00,0.000,4,0.000,0.056,2482,914,3649,0,0,0,0,0,0
$GC,7655,-0.73,-194.6,919.0,-12.4,715,7660,0.10,1.10,0.00,0.000,6,0.148,0.050,2508,1607,3648,0,0,0,0,0,0
$GC,7980,-0.75,-194.6,952.3,-10.4,731,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1607,3647,0,0,0,0,0,0
$GC,8289,-0.78,-194.6,983.1,-9.9,746,8293,0.00,1.12,0.00,0.000,4,0.000,0.056,2508,906,3645,0,0,0,0,0,0
$STATE,8355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8355,begin apogee
$GC,8362,-0.11,0.0,990.5,10.6,749,8534,0.62,0.00,164.98,1.450,6,0.124,0.000,2701,1778,2884,0,0,0,0,0,0
$STATE,8535,end apogee,CONTROL_FINISHED_OK
$STATE,8535,begin climb
$GC,8537,0.65,194.6,996.8,0.0,757,8729,0.73,1.25,183.62,1.391,4,0.070,0.059,2955,2484,2090,0,0,0,0,0,0
$GC,8758,0.63,194.6,977.8,12.9,767,8761,0.00,1.17,0.00,0.000,6,0.000,0.050,2960,1791,2088,0,0,0,0,0,0
$GC,9091,0.60,194.6,930.7,13.9,783,9095,0.00,1.12,0.00,0.000,4,0.000,0.055,2965,1063,2082,0,0,0,0,0,0
$GC,9127,0.58,194.6,925.5,14.3,784,9132,0.10,1.15,0.00,0.000,6,0.150,0.051,2935,1787,2081,0,0,0,0,0,0
$GC,9449,0.59,205.5,886.7,11.8,800,9461,0.00,0.00,9.70,1.180,6,0.000,0.000,2935,1787,2046,0,0,0,0,0,0
$GC,9761,0.60,212.6,849.1,11.9,815,9771,0.00,0.00,7.97,1.116,6,0.000,0.000,2935,1787,2017,0,0,0,0,0,0
$GC,10071,0.62,233.4,812.7,11.3,830,10095,0.00,1.12,20.27,1.275,4,0.000,0.058,2934,2486,1932,0,0,0,0,0,0
$GC,10148,0.66,249.2,803.4,11.6,833,10168,0.00,1.12,16.15,1.228,6,0.000,0.048,2937,1770,1868,0,0,0,0,0,0
$GC,10497,0.70,274.5,763.9,11.2,850,10524,0.10,0.00,24.77,1.261,6,0.103,0.000,2990,1770,1763,0,0,0,0,0,0
$GC,10830,0.67,274.5,714.8,14.9,866,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1770,1759,0,0,0,0,0,0
$GC,11135,0.65,274.5,667.3,15.6,881,11140,0.12,1.15,0.00,0.000,4,0.174,0.057,2954,2492,1758,0,0,0,0,0,0
$GC,11261,0.66,274.5,650.4,12.7,886,11264,0.00,1.10,0.00,0.000,6,0.000,0.046,2957,1785,1757,0,0,0,0,0,0
$GC,11582,0.66,274.5,606.8,13.5,902,11586,0.00,1.10,0.00,0.000,4,0.000,0.054,2955,2492,1757,0,0,0,0,0,0
$GC,11631,0.67,274.5,600.3,12.8,904,11635,0.00,1.10,0.00,0.000,6,0.000,0.046,2958,1776,1757,0,0,0,0,0,0
$GC,11957,0.67,274.5,560.6,12.2,934,11961,0.00,1.05,0.00,0.000,4,0.000,0.050,2963,1084,1756,0,0,0,0,0,0
$GC,11992,0.68,276.8,556.4,12.1,937,11996,0.00,1.08,0.00,0.000,6,0.000,0.043,2960,1785,1756,0,0,0,0,0,0
$GC,12324,0.71,290.0,517.3,11.7,968,12346,0.00,1.12,14.62,1.066,4,0.000,0.050,2963,1080,1700,0,0,0,0,0,0
$GC,12398,0.74,306.3,508.8,11.5,974,12419,0.00,1.08,16.65,1.063,6,0.000,0.043,2959,1779,1634,0,0,0,0,0,0
$GC,12746,0.84,367.9,473.4,9.6,1007,12808,0.15,1.12,56.58,1.090,4,0.083,0.054,3035,2477,1384,0,0,0,0,0,0
$GC,12868,0.81,367.9,454.0,16.8,1017,12872,0.10,1.08,0.00,0.000,6,0.153,0.044,3010,1784,1382,0,0,0,0,0,0
$GC,13200,0.81,367.9,405.1,14.9,1048,13204,0.00,1.08,0.00,0.000,4,0.000,0.047,3013,1070,1378,0,0,0,0,0,0
$GC,13259,0.81,367.9,395.8,15.3,1053,13262,0.00,1.08,0.00,0.000,6,0.000,0.043,3010,1773,1378,0,0,0,0,0,0
$GC,13589,0.81,367.9,341.3,17.2,1084,13593,0.00,1.08,0.00,0.000,4,0.000,0.051,3005,2482,1377,0,0,0,0,0,0
$GC,13697,0.81,367.9,323.6,16.5,1093,13704,0.00,1.08,0.00,0.000,6,0.000,0.044,3008,1779,1376,0,0,0,0,0,0
$GC,14026,0.81,367.9,276.9,13.3,1124,14030,0.00,1.05,0.00,0.000,4,0.000,0.047,3013,1080,1376,0,0,0,0,0,0
$GC,14116,0.82,367.9,263.7,14.0,1132,14120,0.00,1.08,0.00,0.000,6,0.000,0.041,3010,1786,1376,0,0,0,0,0,0
$GC,14443,0.83,367.9,221.2,12.3,1184,14451,0.00,1.05,0.00,0.000,4,0.000,0.050,3005,2481,1376,0,0,0,0,0,0
$GC,14496,0.85,367.9,214.4,12.5,1193,14504,0.00,1.08,0.00,0.000,6,0.000,0.042,3008,1774,1376,0,0,0,0,0,0
$GC,14826,0.88,367.9,172.0,12.6,1254,14835,0.00,1.05,0.00,0.000,4,0.000,0.047,3013,1074,1376,0,0,0,0,0,0
$GC,14918,0.90,367.9,159.9,13.3,1270,14927,0.00,1.08,0.00,0.000,6,0.000,0.039,3010,1790,1376,0,0,0,0,0,0
$GC,15246,1.00,417.6,122.8,10.1,1331,15298,0.17,1.12,43.12,0.767,4,0.073,0.041,3105,1069,1180,0,0,0,0,0,0
$GC,15359,0.97,417.6,103.4,18.6,1348,15368,0.12,1.08,0.00,0.000,6,0.144,0.038,3063,1785,1178,0,0,0,0,0,0
$GC,15691,1.06,472.0,62.2,9.9,1409,15746,0.00,1.10,46.47,0.707,4,0.000,0.043,3066,1083,957,0,0,0,0,0,0
$GC,15796,1.26,571.5,54.0,8.0,1424,15891,0.20,1.05,84.43,0.690,6,0.037,0.037,3178,1786,550,0,0,0,0,0,0
$STATE,16039,end climb,SURFACE_DEPTH_REACHED
$STATE,16040,begin surface coast
$FINISH,1.4,1.021948
$STATE,16051,end surface coast,CONTROL_FINISHED_OK
$STATE,16053,begin surface
$SM_CCo,16131,0.00,0.000,0,0,542,574.49
$SM_GC,2.13,8.00,0.00,0.00,0.041,0.000,0.000,138,1604,542,-8.05,-0.17,574.49,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12229.71,011111,151540
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.63
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,23.90
$XPDR_PINGS,117
$24V_AH,22.1,116.251
$10V_AH,9.7,79.175
$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,20.475,66.000,689.350,0.000,0.000,30.195,33.343,166.732,29.250,0.000,15.001,3632.964,8170.764,696.014,3517.077,494.463,0.000,2107.056,0.000,3289.175,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,67.320,1450.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.851,1500.568,1678.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83543,1466
$CAP_FILE_SIZE,171284,0
$CFSIZE,260165632,105140224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.331, 17.6,1
$GPS,021111,001206,2331.739,12229.562,25,2.0,25,-3.2