version: 66.09
glider: 166
mission: 6
dive: 477
start: 11 2 111 9 17 12
data:
$ID,166
$MISSION,6
$DIVE,477
$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,-25007.473
$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,58
$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
$GPS1,021111,091036,2332.991,12229.398,41,0.9,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.6
$GPS2,021111,091644,2333.157,12229.403,15,1.0,15,-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,201.5,121360,-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,-243.3,0.0,0.0,0,114,0.00,0.00,-94.93,0.000,2,0.000,0.000,148,1591,3025,0,0,0,0,0,0
$GC,117,-0.69,-243.3,5.5,-6.4,13,149,9.38,1.05,-16.77,0.000,4,0.220,0.068,2529,902,3879,0,0,0,0,0,0
$GC,306,-0.62,-243.3,63.4,-25.2,46,314,0.00,1.05,0.00,0.000,6,0.000,0.037,2526,1604,3881,0,0,0,0,0,0
$GC,632,-0.57,-243.3,132.0,-17.4,107,642,0.12,1.05,0.00,0.000,4,0.174,0.043,2555,2304,3882,0,0,0,0,0,0
$GC,665,-0.56,-243.3,137.3,-16.3,111,674,0.00,1.02,0.00,0.000,6,0.000,0.039,2555,1615,3883,0,0,0,0,0,0
$GC,995,-0.56,-243.3,182.3,-12.8,172,1003,0.00,1.05,0.00,0.000,4,0.000,0.047,2553,2301,3884,0,0,0,0,0,0
$GC,1090,-0.57,-243.3,193.2,-11.3,188,1099,0.00,1.02,0.00,0.000,6,0.000,0.042,2552,1620,3884,0,0,0,0,0,0
$GC,1416,-0.57,-243.3,236.6,-13.3,249,1424,0.00,1.05,0.00,0.000,4,0.000,0.047,2549,2296,3884,0,0,0,0,0,0
$GC,1508,-0.59,-243.3,247.7,-11.6,265,1516,0.00,1.02,0.00,0.000,6,0.000,0.041,2551,1614,3884,0,0,0,0,0,0
$GC,1840,-0.60,-243.3,289.8,-13.2,297,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1614,3883,0,0,0,0,0,0
$GC,2170,-0.62,-243.3,332.6,-12.2,328,2173,0.00,1.10,0.00,0.000,4,0.000,0.049,2533,2307,3882,0,0,0,0,0,0
$GC,2252,-0.65,-243.3,342.1,-11.0,335,2255,0.00,1.08,0.00,0.000,6,0.000,0.043,2535,1602,3882,0,0,0,0,0,0
$GC,2583,-0.67,-243.3,380.3,-11.5,366,2587,0.00,1.10,0.00,0.000,4,0.000,0.049,2524,2298,3880,0,0,0,0,0,0
$GC,2680,-0.69,-243.3,390.7,-10.8,374,2687,0.00,1.05,0.00,0.000,6,0.000,0.041,2523,1606,3880,0,0,0,0,0,0
$GC,3006,-0.71,-243.3,427.5,-10.9,405,3010,0.00,1.08,0.00,0.000,4,0.000,0.050,2517,2303,3878,0,0,0,0,0,0
$GC,3055,-0.74,-243.3,432.3,-10.3,409,3059,0.00,1.05,0.00,0.000,6,0.000,0.044,2518,1612,3878,0,0,0,0,0,0
$GC,3387,-0.76,-243.3,467.0,-10.8,440,3390,0.00,1.08,0.00,0.000,4,0.000,0.052,2522,2301,3876,0,0,0,0,0,0
$GC,3461,-0.80,-243.3,474.8,-10.2,446,3468,0.00,1.05,0.00,0.000,6,0.000,0.045,2520,1618,3876,0,0,0,0,0,0
$GC,3787,-0.82,-243.3,512.4,-11.7,477,3791,0.15,1.08,0.00,0.000,4,0.076,0.053,2447,2294,3873,0,0,0,0,0,0
$GC,3848,-0.78,-243.3,521.6,-17.3,482,3852,0.12,1.05,0.00,0.000,6,0.137,0.046,2488,1609,3873,0,0,0,0,0,0
$GC,4178,-0.77,-243.3,573.2,-15.3,513,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1609,3871,0,0,0,0,0,0
$GC,4495,-0.77,-243.3,617.8,-13.7,537,4499,0.00,1.08,0.00,0.000,4,0.000,0.055,2487,2291,3867,0,0,0,0,0,0
$GC,4602,-0.77,-243.3,631.3,-11.9,541,4608,0.00,1.05,0.00,0.000,6,0.000,0.047,2487,1610,3866,0,0,0,0,0,0
$GC,4920,-0.77,-243.3,670.7,-11.8,557,4924,0.00,1.10,0.00,0.000,4,0.000,0.054,2487,916,3864,0,0,0,0,0,0
$GC,5014,-0.77,-243.3,682.0,-11.2,561,5018,0.00,1.05,0.00,0.000,6,0.000,0.046,2482,1594,3864,0,0,0,0,0,0
$GC,5345,-0.76,-243.3,721.9,-12.5,577,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1594,3861,0,0,0,0,0,0
$GC,5651,-0.76,-243.3,762.3,-13.4,592,5655,0.00,1.10,0.00,0.000,4,0.000,0.057,2477,2299,3859,0,0,0,0,0,0
$GC,5735,-0.76,-243.3,773.5,-12.7,595,5743,0.00,1.08,0.00,0.000,6,0.000,0.048,2477,1611,3858,0,0,0,0,0,0
$GC,6054,-0.74,-243.3,814.6,-13.2,611,6058,0.00,1.10,0.00,0.000,4,0.000,0.055,2477,907,3856,0,0,0,0,0,0
$GC,6081,-0.73,-243.3,818.7,-13.1,612,6085,0.10,1.10,0.00,0.000,6,0.142,0.049,2504,1603,3855,0,0,0,0,0,0
$GC,6412,-0.75,-243.3,851.8,-9.6,628,6416,0.00,1.10,0.00,0.000,4,0.000,0.057,2501,2311,3853,0,0,0,0,0,0
$GC,6459,-0.78,-243.3,856.5,-9.2,630,6463,0.00,1.10,0.00,0.000,6,0.000,0.049,2501,1608,3853,0,0,0,0,0,0
$GC,6795,-0.79,-243.3,887.7,-9.3,646,6798,0.00,1.12,0.00,0.000,4,0.000,0.059,2496,2310,3851,0,0,0,0,0,0
$GC,6863,-0.82,-243.3,893.9,-8.7,649,6867,0.00,1.10,0.00,0.000,6,0.000,0.049,2496,1610,3851,0,0,0,0,0,0
$GC,7196,-0.83,-243.3,926.1,-10.0,665,7200,0.00,1.12,0.00,0.000,4,0.000,0.061,2491,2308,3848,0,0,0,0,0,0
$GC,7245,-0.85,-243.3,930.8,-9.7,667,7249,0.00,1.10,0.00,0.000,6,0.000,0.052,2491,1608,3848,0,0,0,0,0,0
$GC,7579,-0.86,-243.3,968.8,-12.1,683,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1609,3847,0,0,0,0,0,0
$STATE,7762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7762,begin apogee
$GC,7770,-0.11,0.0,991.6,12.2,692,7986,0.65,0.00,209.12,1.445,6,0.119,0.000,2699,1781,2883,0,0,0,0,0,0
$STATE,7987,end apogee,CONTROL_FINISHED_OK
$STATE,7987,begin climb
$GC,7993,0.69,243.3,1003.1,0.0,702,8235,0.75,0.00,232.62,1.381,6,0.054,0.000,2973,1781,1891,0,0,0,0,0,0
$GC,8545,0.66,243.3,931.4,15.8,729,8549,0.00,1.10,0.00,0.000,4,0.000,0.064,2973,2481,1884,0,0,0,0,0,0
$GC,8606,0.63,243.3,921.4,15.5,731,8614,0.00,1.10,0.00,0.000,6,0.000,0.052,2977,1784,1883,0,0,0,0,0,0
$GC,8922,0.59,243.3,873.5,15.2,747,8926,0.15,1.12,0.00,0.000,4,0.171,0.060,2933,2480,1882,0,0,0,0,0,0
$GC,8953,0.59,243.3,869.4,13.4,748,8957,0.00,1.10,0.00,0.000,6,0.000,0.050,2937,1782,1881,0,0,0,0,0,0
$GC,9281,0.63,272.2,829.3,12.1,764,9311,0.00,1.12,26.80,1.300,4,0.000,0.050,2942,1059,1773,0,0,0,0,0,0
$GC,9342,0.68,314.1,821.9,11.7,767,9389,0.00,1.15,41.55,1.302,6,0.000,0.050,2942,1780,1602,0,0,0,0,0,0
$GC,9717,0.73,337.7,775.8,12.3,785,9742,0.10,0.00,22.35,1.249,6,0.101,0.000,2997,1780,1507,0,0,0,0,0,0
$GC,10054,0.69,337.7,720.0,16.8,801,10057,0.00,1.10,0.00,0.000,4,0.000,0.060,2996,2480,1504,0,0,0,0,0,0
$GC,10126,0.67,337.7,706.9,15.8,804,10130,0.10,1.10,0.00,0.000,6,0.153,0.047,2969,1773,1503,0,0,0,0,0,0
$GC,10456,0.70,358.0,665.1,12.5,820,10481,0.00,1.12,19.55,1.186,4,0.000,0.053,2972,1071,1424,0,0,0,0,0,0
$GC,10515,0.75,398.3,657.7,11.7,822,10558,0.00,1.10,38.62,1.209,6,0.000,0.046,2970,1781,1259,0,0,0,0,0,0
$GC,10869,0.82,445.4,617.7,11.5,839,10915,0.12,0.00,43.17,1.182,6,0.090,0.000,3036,1781,1067,0,0,0,0,0,0
$GC,11229,0.78,445.4,546.8,21.0,868,11233,0.15,1.08,0.00,0.000,4,0.166,0.056,2992,2480,1064,0,0,0,0,0,0
$GC,11354,0.80,445.4,526.2,14.8,879,11358,0.00,1.08,0.00,0.000,6,0.000,0.044,2995,1782,1063,0,0,0,0,0,0
$GC,11685,0.80,445.4,470.5,16.3,910,11689,0.00,1.08,0.00,0.000,4,0.000,0.050,3000,1075,1062,0,0,0,0,0,0
$GC,11734,0.80,445.4,462.4,15.7,914,11741,0.00,1.08,0.00,0.000,6,0.000,0.041,2997,1782,1062,0,0,0,0,0,0
$GC,12062,0.80,445.4,412.4,14.5,945,12066,0.00,1.05,0.00,0.000,4,0.000,0.052,2992,2477,1062,0,0,0,0,0,0
$GC,12089,0.81,445.4,408.2,13.5,947,12097,0.00,1.08,0.00,0.000,6,0.000,0.042,2995,1779,1062,0,0,0,0,0,0
$GC,12417,0.82,445.4,363.0,14.4,978,12420,0.00,1.08,0.00,0.000,4,0.000,0.050,3001,1071,1062,0,0,0,0,0,0
$GC,12463,0.84,445.4,356.1,14.2,982,12467,0.00,1.08,0.00,0.000,6,0.000,0.041,2997,1779,1061,0,0,0,0,0,0
$GC,12797,0.89,473.3,314.0,12.2,1013,12828,0.10,1.15,24.75,0.938,4,0.106,0.049,3063,1065,953,0,0,0,0,0,0
$GC,12852,0.86,473.3,304.5,18.4,1018,12857,0.12,1.10,0.00,0.000,6,0.138,0.041,3023,1788,951,0,0,0,0,0,0
$GC,13187,0.87,473.3,253.7,14.8,1049,13191,0.00,1.10,0.00,0.000,4,0.000,0.047,3026,1071,949,0,0,0,0,0,0
$GC,13258,0.87,473.3,242.5,15.6,1060,13266,0.00,1.08,0.00,0.000,6,0.000,0.039,3024,1783,949,0,0,0,0,0,0
$GC,13588,0.89,473.3,194.8,15.7,1121,13596,0.00,1.10,0.00,0.000,4,0.000,0.046,3027,1066,948,0,0,0,0,0,0
$GC,13636,0.90,473.3,187.1,15.3,1129,13644,0.00,1.08,0.00,0.000,6,0.000,0.039,3024,1783,949,0,0,0,0,0,0
$GC,13967,0.99,521.7,143.1,11.4,1190,14014,0.12,1.15,42.17,0.786,4,0.089,0.045,3099,1065,756,0,0,0,0,0,0
$GC,14120,0.95,521.7,115.4,17.6,1215,14130,0.12,1.08,0.00,0.000,6,0.137,0.037,3059,1787,751,0,0,0,0,0,0
$GC,14457,1.15,632.5,78.1,9.2,1276,14539,0.15,1.15,71.75,0.701,4,0.076,0.044,3150,1066,454,0,0,0,0,1,0
$GC,14580,1.13,632.5,55.9,20.1,1293,14588,0.12,1.08,0.00,0.000,6,0.131,0.035,3110,1792,452,0,0,0,0,0,0
$GC,14911,1.16,632.5,8.2,13.3,1354,14919,0.00,1.10,0.00,0.000,4,0.000,0.044,3113,1066,441,0,0,0,0,0,0
$STATE,14952,end climb,SURFACE_DEPTH_REACHED
$STATE,14952,begin surface coast
$FINISH,1.4,0.999067
$STATE,14979,end surface coast,CONTROL_FINISHED_OK
$STATE,14979,begin surface
$SM_CCo,15060,0.00,0.000,0,0,437,600.25
$SM_GC,2.15,7.80,0.00,0.00,0.037,0.000,0.000,149,1619,437,-8.04,0.25,600.25,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12227.73,021111,040442
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.91
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.30
$XPDR_PINGS,121
$24V_AH,22.0,117.022
$10V_AH,9.7,79.655
$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,20.450,67.250,772.475,0.000,0.000,25.820,16.152,161.074,30.250,0.000,16.072,3397.287,7461.430,804.817,3277.712,472.601,0.000,2133.027,0.000,3077.543,0.000,0.539,0.000
$DEVICE_MAMPS,220.320,70.380,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.769,1398.854,1567.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,76856,1366
$CAP_FILE_SIZE,164677,0
$CFSIZE,260165632,104886272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.300, 26.6,1
$GPS,021111,132950,2332.828,12229.421,39,2.1,58,-3.2