version: 66.09
glider: 166
mission: 6
dive: 476
start: 11 2 111 4 52 22
data:
$ID,166
$MISSION,6
$DIVE,476
$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,250
$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,250
$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,-25006.213
$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,52
$R_STBD_OVSHOOT,56
$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
$GPS1,021111,044506,2332.422,12229.644,25,1.3,25,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.9
$GPS2,021111,045155,2332.530,12229.658,14,1.4,31,-3.2
$SPEED_LIMITS,0.229,0.359
$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,202.0,121230,-17.7,-13.200
$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,-0.69,-243.3,0.0,0.0,0,107,0.00,0.00,-87.47,0.000,2,0.000,0.000,127,1590,3123,0,0,0,0,0,0
$GC,110,-0.69,-243.3,5.9,-9.6,12,141,9.40,1.00,-14.15,0.000,4,0.217,0.064,2515,904,3877,0,0,0,0,0,0
$GC,356,-0.62,-243.3,82.8,-20.0,56,365,0.10,1.05,0.00,0.000,6,0.151,0.037,2538,1604,3879,0,0,0,0,0,0
$GC,688,-0.58,-243.3,140.9,-17.6,117,696,0.00,1.02,0.00,0.000,4,0.000,0.041,2537,2306,3881,0,0,0,0,0,0
$GC,718,-0.56,-243.3,145.9,-15.5,121,726,0.10,1.02,0.00,0.000,6,0.133,0.037,2567,1612,3881,0,0,0,0,0,0
$GC,1048,-0.58,-243.3,184.1,-10.7,182,1056,0.00,1.05,0.00,0.000,4,0.000,0.043,2573,2306,3882,0,0,0,0,0,0
$GC,1145,-0.61,-243.3,193.5,-9.3,199,1154,0.00,1.02,0.00,0.000,6,0.000,0.039,2573,1623,3882,0,0,0,0,0,0
$GC,1475,-0.63,-243.3,230.2,-12.1,260,1483,0.00,1.02,0.00,0.000,4,0.000,0.044,2569,2301,3882,0,0,0,0,0,0
$GC,1607,-0.66,-243.3,246.0,-11.3,284,1616,0.08,1.05,0.00,0.000,6,0.049,0.041,2491,1608,3881,0,0,0,0,0,0
$GC,1942,-0.61,-243.3,310.3,-19.1,317,1946,0.22,1.08,0.00,0.000,4,0.151,0.044,2558,2297,3881,0,0,0,0,0,0
$GC,1998,-0.64,-243.3,317.9,-11.9,322,2002,0.00,1.02,0.00,0.000,6,0.000,0.041,2562,1619,3881,0,0,0,0,0,0
$GC,2330,-0.67,-243.3,350.5,-8.8,353,2333,0.00,1.05,0.00,0.000,4,0.000,0.047,2546,2303,3879,0,0,0,0,0,0
$GC,2391,-0.72,-243.3,355.9,-8.4,358,2398,0.05,1.05,0.00,0.000,6,0.061,0.043,2480,1608,3879,0,0,0,0,0,0
$GC,2716,-0.69,-243.3,402.0,-14.5,389,2721,0.15,1.10,0.00,0.000,4,0.157,0.049,2519,2301,3878,0,0,0,0,0,0
$GC,2789,-0.72,-243.3,410.0,-10.7,395,2793,0.00,1.05,0.00,0.000,6,0.000,0.044,2519,1609,3878,0,0,0,0,0,0
$GC,3121,-0.74,-243.3,448.9,-12.0,426,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1609,3876,0,0,0,0,0,0
$GC,3445,-0.76,-243.3,481.3,-10.1,456,3449,0.00,1.08,0.00,0.000,4,0.000,0.050,2523,2297,3874,0,0,0,0,0,0
$GC,3529,-0.80,-243.3,490.6,-9.8,463,3537,0.00,1.05,0.00,0.000,6,0.000,0.044,2525,1612,3874,0,0,0,0,0,0
$GC,3855,-0.82,-243.3,527.3,-11.6,494,3859,0.15,1.08,0.00,0.000,4,0.075,0.051,2450,2294,3871,0,0,0,0,0,0
$GC,3912,-0.78,-243.3,535.5,-15.2,499,3917,0.12,1.05,0.00,0.000,6,0.142,0.044,2490,1607,3870,0,0,0,0,0,0
$GC,4243,-0.77,-243.3,581.5,-13.2,530,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1607,3868,0,0,0,0,0,0
$GC,4557,-0.77,-243.3,622.5,-12.8,552,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1606,3866,0,0,0,0,0,0
$GC,4868,-0.77,-243.3,661.2,-12.7,567,4871,0.00,1.08,0.00,0.000,4,0.000,0.054,2488,2294,3862,0,0,0,0,0,0
$GC,5009,-0.77,-243.3,678.5,-11.6,573,5013,0.00,1.05,0.00,0.000,6,0.000,0.047,2488,1619,3862,0,0,0,0,0,0
$GC,5339,-0.77,-243.3,718.8,-12.2,589,5343,0.00,1.10,0.00,0.000,4,0.000,0.053,2488,910,3859,0,0,0,0,0,0
$GC,5378,-0.77,-243.3,724.4,-13.0,590,5384,0.00,1.08,0.00,0.000,6,0.000,0.047,2483,1601,3858,0,0,0,0,0,0
$GC,5696,-0.77,-243.3,764.2,-12.4,606,5700,0.00,1.10,0.00,0.000,4,0.000,0.057,2478,2310,3856,0,0,0,0,0,0
$GC,5752,-0.77,-243.3,771.4,-11.7,608,5756,0.00,1.10,0.00,0.000,6,0.000,0.047,2477,1602,3856,0,0,0,0,0,0
$GC,6075,-0.76,-243.3,811.4,-12.5,624,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1603,3853,0,0,0,0,0,0
$GC,6385,-0.76,-243.3,849.8,-12.2,639,6389,0.00,1.12,0.00,0.000,4,0.000,0.058,2472,2306,3850,0,0,0,0,0,0
$GC,6446,-0.76,-243.3,857.5,-12.1,641,6453,0.00,1.10,0.00,0.000,6,0.000,0.049,2472,1606,3850,0,0,0,0,0,0
$GC,6763,-0.75,-243.3,896.0,-12.3,657,6767,0.12,1.10,0.00,0.000,4,0.168,0.055,2507,919,3848,0,0,0,0,0,0
$GC,6824,-0.77,-243.3,902.3,-9.5,659,6831,0.00,1.10,0.00,0.000,6,0.000,0.050,2504,1613,3847,0,0,0,0,0,0
$GC,7140,-0.79,-243.3,933.6,-10.3,675,7144,0.00,1.08,0.00,0.000,4,0.000,0.058,2499,2300,3846,0,0,0,0,0,0
$GC,7211,-0.82,-243.3,940.6,-10.3,678,7215,0.00,1.08,0.00,0.000,6,0.000,0.050,2499,1610,3846,0,0,0,0,0,0
$GC,7544,-0.84,-243.3,979.0,-11.8,694,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1610,3844,0,0,0,0,0,0
$STATE,7644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7645,begin apogee
$GC,7653,-0.11,0.0,991.4,12.1,699,7868,0.62,0.00,207.60,1.438,6,0.120,0.000,2699,1784,2884,0,0,0,0,0,0
$STATE,7869,end apogee,CONTROL_FINISHED_OK
$STATE,7869,begin climb
$GC,7873,0.69,243.3,1005.0,0.0,709,8108,0.77,0.00,230.88,1.377,6,0.056,0.000,2975,1784,1891,0,0,0,0,0,0
$GC,8416,0.65,243.3,939.2,14.6,736,8420,0.00,1.10,0.00,0.000,4,0.000,0.061,2974,2481,1884,0,0,0,0,0,0
$GC,8457,0.62,243.3,933.3,14.3,737,8465,0.08,1.10,0.00,0.000,6,0.160,0.051,2954,1784,1883,0,0,0,0,0,0
$GC,8774,0.63,268.2,893.8,12.3,753,8803,0.00,1.17,23.30,1.304,4,0.000,0.060,2954,2491,1789,0,0,0,0,0,0
$GC,8841,0.65,284.3,885.5,12.6,756,8864,0.00,1.12,16.77,1.246,6,0.000,0.049,2956,1784,1724,0,0,0,0,0,0
$GC,9178,0.65,290.9,843.3,13.0,772,9189,0.00,1.15,7.43,1.078,4,0.000,0.054,2962,1065,1696,0,0,0,0,0,0
$GC,9214,0.66,300.6,837.9,12.8,773,9229,0.00,1.12,10.90,1.169,6,0.000,0.049,2959,1780,1658,0,0,0,0,0,0
$GC,9552,0.66,300.6,793.2,13.3,790,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1780,1656,0,0,0,0,0,0
$GC,9860,0.66,300.6,751.6,13.4,805,9864,0.00,1.10,0.00,0.000,4,0.000,0.058,2956,2483,1654,0,0,0,0,0,0
$GC,9931,0.68,311.0,742.5,12.8,808,9946,0.00,1.10,11.07,1.153,6,0.000,0.046,2959,1777,1615,0,0,0,0,0,0
$GC,10261,0.68,311.0,697.8,13.7,823,10264,0.00,1.08,0.00,0.000,4,0.000,0.050,2964,1071,1612,0,0,0,0,0,0
$GC,10335,0.68,311.0,687.2,13.8,826,10339,0.00,1.10,0.00,0.000,6,0.000,0.046,2961,1779,1612,0,0,0,0,0,0
$GC,10662,0.69,326.3,644.3,12.6,842,10683,0.00,0.00,15.50,1.151,6,0.000,0.000,2962,1779,1552,0,0,0,0,0,0
$GC,10994,0.71,335.3,602.3,12.9,858,11008,0.00,1.10,9.77,1.044,4,0.000,0.056,2957,2486,1515,0,0,0,0,0,0
$GC,11111,0.76,360.3,587.5,12.3,867,11140,0.00,1.10,24.33,1.144,6,0.000,0.045,2959,1777,1415,0,0,0,0,0,0
$GC,11458,0.78,361.1,543.1,13.2,900,11462,0.10,1.10,0.00,0.000,4,0.104,0.049,3025,1067,1411,0,0,0,0,0,0
$GC,11550,0.74,361.1,527.6,18.0,908,11554,0.10,1.10,0.00,0.000,6,0.146,0.046,2992,1783,1411,0,0,0,0,0,0
$GC,11881,0.74,361.1,477.7,14.3,939,11884,0.00,1.05,0.00,0.000,4,0.000,0.054,2992,2477,1411,0,0,0,0,0,0
$GC,11931,0.74,361.1,470.0,14.5,943,11938,0.00,1.08,0.00,0.000,6,0.000,0.044,2995,1777,1410,0,0,0,0,0,0
$GC,12257,0.74,361.1,422.1,14.1,974,12261,0.00,1.08,0.00,0.000,4,0.000,0.049,3000,1069,1410,0,0,0,0,0,0
$GC,12284,0.74,361.1,417.9,14.4,976,12291,0.00,1.08,0.00,0.000,6,0.000,0.043,2997,1772,1409,0,0,0,0,0,0
$GC,12610,0.77,390.2,375.5,12.1,1007,12640,0.00,0.00,27.65,1.000,6,0.000,0.000,2997,1772,1293,0,0,0,0,0,0
$GC,12961,0.79,390.2,331.0,14.9,1040,12965,0.00,1.08,0.00,0.000,4,0.000,0.047,3000,1071,1291,0,0,0,0,0,0
$GC,13012,0.80,390.2,322.9,15.0,1044,13019,0.00,1.08,0.00,0.000,6,0.000,0.040,2997,1784,1290,0,0,0,0,0,0
$GC,13342,0.83,400.0,275.6,12.8,1075,13354,0.00,0.00,10.00,0.813,6,0.000,0.000,2997,1784,1252,0,0,0,0,0,0
$GC,13676,0.92,449.1,236.4,11.4,1117,13729,0.12,1.12,43.67,0.869,4,0.088,0.046,3072,1076,1052,0,0,0,0,0,0
$GC,13788,0.89,449.1,216.3,18.9,1134,13797,0.12,1.05,0.00,0.000,6,0.138,0.040,3032,1776,1050,0,0,0,0,0,0
$GC,14123,0.90,449.1,168.0,14.6,1195,14131,0.00,1.02,0.00,0.000,4,0.000,0.047,3028,2466,1049,0,0,0,0,0,0
$GC,14160,0.91,449.1,162.3,13.5,1201,14168,0.00,1.05,0.00,0.000,6,0.000,0.041,3031,1776,1049,0,0,0,0,0,0
$GC,14492,0.94,449.1,116.6,13.9,1262,14501,0.00,1.05,0.00,0.000,4,0.000,0.045,3036,1072,1049,0,0,0,0,0,0
$GC,14654,1.03,494.0,96.7,11.6,1291,14701,0.10,1.05,38.50,0.734,6,0.054,0.037,3098,1785,868,0,0,0,0,0,0
$GC,15024,1.08,517.6,38.3,12.3,1357,15054,0.00,1.12,20.65,0.660,4,0.000,0.044,3104,1073,771,0,0,0,0,0,0
$GC,15146,1.11,521.6,23.4,13.1,1377,15155,0.00,1.05,4.57,0.453,6,0.000,0.035,3103,1785,756,0,0,0,0,0,0
$STATE,15306,end climb,SURFACE_DEPTH_REACHED
$STATE,15306,begin surface coast
$FINISH,1.3,1.008601
$STATE,15334,end surface coast,CONTROL_FINISHED_OK
$STATE,15334,begin surface
$SM_CCo,15414,0.00,0.000,0,0,752,522.73
$SM_GC,2.19,7.68,0.00,0.00,0.037,0.000,0.000,152,1594,752,-8.03,-0.45,522.73,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12229.71,021111,000043
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.71
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.10
$XPDR_PINGS,120
$24V_AH,22.1,116.736
$10V_AH,9.7,79.499
$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,20.200,62.975,702.600,0.000,0.000,29.932,20.482,174.854,30.000,0.000,31.956,3508.427,7698.648,763.863,3355.485,479.758,0.000,2071.223,0.000,3118.265,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,68.085,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,964.944,1444.219,1610.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80303,1411
$CAP_FILE_SIZE,165631,0
$CFSIZE,260165632,104968192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.357, 18.0,1
$GPS,021111,091036,2332.991,12229.398,41,0.9,41,-3.2