version: 66.09
glider: 166
mission: 6
dive: 462
start: 10 30 111 13 7 1
data:
$ID,166
$MISSION,6
$DIVE,462
$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,-24988.506
$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,51
$R_STBD_OVSHOOT,60
$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
$GPS1,301011,125706,2329.121,12236.566,64,1.3,64,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-62.6
$GPS2,301011,130637,2329.218,12236.567,38,1.3,49,-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,216.1,129523,-18.6,-12.222
$D_GRID,3843
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.65,-194.6,0.0,0.0,0,105,0.00,0.00,-82.28,0.000,2,0.000,0.000,125,1589,2980,0,0,0,0,0,0
$GC,108,-0.65,-194.6,5.1,-4.7,11,140,9.57,1.08,-14.23,0.000,4,0.220,0.066,2526,2291,3679,0,0,0,0,0,0
$GC,276,-0.55,-194.6,57.8,-27.2,40,284,0.10,1.02,0.00,0.000,6,0.157,0.039,2565,1610,3680,0,0,0,0,0,0
$GC,602,-0.55,-194.6,117.9,-13.7,101,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1609,3681,0,0,0,0,0,0
$GC,934,-0.55,-194.6,162.4,-13.3,162,942,0.00,1.05,0.00,0.000,4,0.000,0.046,2555,2296,3682,0,0,0,0,0,0
$GC,1122,-0.57,-194.6,185.0,-11.1,196,1130,0.00,1.02,0.00,0.000,6,0.000,0.041,2552,1620,3682,0,0,0,0,0,0
$GC,1449,-0.57,-194.6,224.7,-12.3,257,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1621,3682,0,0,0,0,0,0
$GC,1785,-0.59,-194.6,265.2,-11.7,307,1788,0.00,1.08,0.00,0.000,4,0.000,0.046,2568,911,3682,0,0,0,0,0,0
$GC,1847,-0.61,-194.6,273.0,-12.1,312,1855,0.00,1.02,0.00,0.000,6,0.000,0.041,2564,1586,3682,0,0,0,0,0,0
$GC,2173,-0.63,-194.6,312.6,-11.4,343,2176,0.00,1.08,0.00,0.000,4,0.000,0.045,2557,2311,3682,0,0,0,0,0,0
$GC,2278,-0.66,-194.6,324.5,-12.0,352,2281,0.00,1.08,0.00,0.000,6,0.000,0.043,2552,1606,3681,0,0,0,0,0,0
$GC,2609,-0.68,-194.6,363.2,-10.1,383,2613,0.00,1.08,0.00,0.000,4,0.000,0.047,2536,2309,3680,0,0,0,0,0,0
$GC,2669,-0.71,-194.6,368.5,-8.9,388,2673,0.00,1.08,0.00,0.000,6,0.000,0.044,2536,1607,3679,0,0,0,0,0,0
$GC,3001,-0.74,-194.6,396.6,-9.2,419,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1607,3678,0,0,0,0,0,0
$GC,3324,-0.76,-194.6,431.9,-12.0,449,3328,0.12,1.12,0.00,0.000,4,0.082,0.050,2463,2314,3675,0,0,0,0,0,0
$GC,3339,-0.76,-194.6,434.6,-12.2,450,3346,0.10,1.08,0.00,0.000,6,0.135,0.043,2496,1610,3676,0,0,0,0,0,0
$GC,3665,-0.75,-194.6,478.7,-12.7,481,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1610,3674,0,0,0,0,0,0
$GC,3984,-0.75,-194.6,523.0,-14.0,511,3988,0.00,1.10,0.00,0.000,4,0.000,0.050,2510,914,3673,0,0,0,0,0,0
$GC,4055,-0.75,-194.6,532.5,-13.9,517,4059,0.00,1.08,0.00,0.000,6,0.000,0.044,2508,1611,3672,0,0,0,0,0,0
$GC,4386,-0.75,-194.6,574.6,-12.1,548,4390,0.00,1.10,0.00,0.000,4,0.000,0.048,2508,910,3669,0,0,0,0,0,0
$GC,4449,-0.75,-194.6,582.4,-12.2,553,4457,0.00,1.10,0.00,0.000,6,0.000,0.045,2503,1617,3668,0,0,0,0,0,0
$GC,4770,-0.75,-194.6,619.9,-11.8,576,4774,0.00,1.05,0.00,0.000,4,0.000,0.053,2498,2306,3666,0,0,0,0,0,0
$GC,4819,-0.75,-194.6,625.0,-11.2,578,4823,0.00,1.08,0.00,0.000,6,0.000,0.046,2498,1611,3666,0,0,0,0,0,0
$GC,5152,-0.75,-194.6,665.2,-12.0,594,5156,0.00,1.10,0.00,0.000,4,0.000,0.055,2493,2310,3663,0,0,0,0,0,0
$GC,5202,-0.75,-194.6,671.1,-11.3,596,5206,0.00,1.08,0.00,0.000,6,0.000,0.047,2493,1616,3663,0,0,0,0,0,0
$GC,5532,-0.75,-194.6,710.0,-11.7,612,5535,0.00,1.08,0.00,0.000,4,0.000,0.056,2488,2302,3660,0,0,0,0,0,0
$GC,5600,-0.75,-194.6,717.9,-10.8,615,5604,0.00,1.08,0.00,0.000,6,0.000,0.049,2488,1607,3659,0,0,0,0,0,0
$GC,5935,-0.75,-194.6,756.9,-11.9,631,5939,0.00,1.08,0.00,0.000,4,0.000,0.053,2488,908,3657,0,0,0,0,0,0
$GC,6007,-0.75,-194.6,766.7,-12.8,634,6011,0.00,1.10,0.00,0.000,6,0.000,0.047,2483,1613,3656,0,0,0,0,0,0
$GC,6335,-0.75,-194.6,808.6,-13.0,650,6339,0.00,1.08,0.00,0.000,4,0.000,0.057,2478,2308,3654,0,0,0,0,0,0
$GC,6387,-0.75,-194.6,815.1,-12.3,652,6391,0.00,1.08,0.00,0.000,6,0.000,0.048,2478,1614,3654,0,0,0,0,0,0
$GC,6715,-0.74,-194.6,858.2,-13.1,668,6718,0.00,1.10,0.00,0.000,4,0.000,0.054,2478,905,3651,0,0,0,0,0,0
$GC,6817,-0.73,-194.6,871.8,-13.6,672,6821,0.10,1.10,0.00,0.000,6,0.144,0.049,2505,1606,3651,0,0,0,0,0,0
$GC,7140,-0.74,-194.6,905.7,-10.1,688,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1605,3649,0,0,0,0,0,0
$GC,7450,-0.77,-194.6,938.4,-10.6,703,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1605,3647,0,0,0,0,0,0
$GC,7758,-0.79,-194.6,971.1,-10.4,718,7762,0.00,1.10,0.00,0.000,4,0.000,0.060,2501,2303,3645,0,0,0,0,0,0
$GC,7796,-0.81,-194.6,975.1,-9.8,719,7803,0.00,1.10,0.00,0.000,6,0.000,0.050,2501,1607,3645,0,0,0,0,0,0
$STATE,7945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7945,begin apogee
$GC,7953,-0.11,0.0,990.6,10.4,727,8124,0.62,0.00,164.75,1.446,6,0.121,0.000,2701,1780,2884,0,0,0,0,0,0
$STATE,8125,end apogee,CONTROL_FINISHED_OK
$STATE,8125,begin climb
$GC,8130,0.65,194.6,996.6,0.0,735,8322,0.73,1.23,179.82,1.387,4,0.071,0.063,2958,2482,2088,0,0,0,0,0,0
$GC,8373,0.63,194.6,972.6,14.0,746,8377,0.00,1.12,0.00,0.000,6,0.000,0.052,2963,1791,2085,0,0,0,0,0,0
$GC,8700,0.60,194.6,928.3,13.4,762,8704,0.00,1.10,0.00,0.000,4,0.000,0.062,2963,2482,2080,0,0,0,0,0,0
$GC,8781,0.58,194.6,917.8,13.0,765,8785,0.10,1.10,0.00,0.000,6,0.155,0.051,2937,1785,2080,0,0,0,0,0,0
$GC,9104,0.62,225.3,882.5,10.9,781,9135,0.00,1.17,27.45,1.324,4,0.000,0.054,2940,1063,1964,0,0,0,0,0,0
$GC,9165,0.65,251.2,875.6,11.1,784,9195,0.00,1.15,25.67,1.297,6,0.000,0.050,2940,1782,1858,0,0,0,0,0,0
$GC,9522,0.66,262.0,834.2,11.8,801,9536,0.00,1.05,10.77,1.180,4,0.000,0.057,2940,2486,1814,0,0,0,0,0,0
$GC,9566,0.70,278.2,828.6,11.5,803,9590,0.00,1.12,16.90,1.242,6,0.000,0.049,2944,1769,1748,0,0,0,0,0,0
$GC,9903,0.70,282.2,788.2,12.1,819,9912,0.00,1.15,4.55,0.862,4,0.000,0.058,2943,2486,1733,0,0,0,0,0,0
$GC,9952,0.72,282.2,781.3,12.4,821,9955,0.00,1.10,0.00,0.000,6,0.000,0.047,2948,1784,1733,0,0,0,0,0,0
$GC,10281,0.72,282.2,741.0,12.3,837,10285,0.00,1.08,0.00,0.000,4,0.000,0.050,2953,1077,1731,0,0,0,0,0,0
$GC,10372,0.73,282.2,729.3,12.7,841,10376,0.00,1.10,0.00,0.000,6,0.000,0.047,2952,1785,1731,0,0,0,0,0,0
$GC,10707,0.73,282.2,687.5,12.4,857,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1785,1730,0,0,0,0,0,0
$GC,11015,0.75,295.7,650.9,11.7,872,11037,0.00,1.10,14.00,1.146,4,0.000,0.055,2953,2483,1677,0,0,0,0,0,0
$GC,11079,0.77,303.3,643.2,11.9,874,11094,0.08,1.10,8.95,1.048,6,0.059,0.045,3007,1771,1647,0,0,0,0,0,0
$GC,11408,0.74,303.3,589.9,16.4,893,11411,0.00,1.10,0.00,0.000,4,0.000,0.054,3006,2477,1643,0,0,0,0,0,0
$GC,11559,0.72,303.3,566.2,15.9,906,11563,0.10,1.08,0.00,0.000,6,0.155,0.044,2980,1782,1643,0,0,0,0,0,0
$GC,11889,0.72,303.3,521.5,12.9,937,11893,0.00,1.08,0.00,0.000,4,0.000,0.049,2984,1074,1643,0,0,0,0,0,0
$GC,12017,0.72,303.3,505.0,13.3,948,12021,0.00,1.10,0.00,0.000,6,0.000,0.044,2981,1791,1642,0,0,0,0,0,0
$GC,12348,0.72,303.3,460.5,14.6,979,12351,0.00,1.10,0.00,0.000,4,0.000,0.047,2984,1076,1642,0,0,0,0,0,0
$GC,12388,0.72,303.3,454.4,15.4,982,12395,0.00,1.08,0.00,0.000,6,0.000,0.044,2981,1778,1642,0,0,0,0,0,0
$GC,12713,0.72,303.3,408.2,13.4,1013,12717,0.00,1.05,0.00,0.000,4,0.000,0.052,2977,2474,1642,0,0,0,0,0,0
$GC,12857,0.73,303.3,389.7,13.1,1025,12864,0.00,1.08,0.00,0.000,6,0.000,0.043,2981,1771,1641,0,0,0,0,0,0
$GC,13186,0.74,303.3,345.1,14.0,1056,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1771,1641,0,0,0,0,0,0
$GC,13514,0.76,303.3,302.0,12.3,1087,13517,0.00,1.05,0.00,0.000,4,0.000,0.047,2985,1074,1641,0,0,0,0,0,0
$GC,13577,0.78,303.9,293.9,12.2,1092,13585,0.00,1.08,0.00,0.000,6,0.000,0.041,2982,1785,1641,0,0,0,0,0,0
$GC,13904,0.82,325.3,255.4,11.3,1123,13930,0.00,1.10,20.70,0.867,4,0.000,0.049,2978,2486,1556,0,0,0,0,0,0
$GC,14017,0.94,384.7,244.6,9.7,1137,14078,0.15,1.08,54.00,0.874,6,0.042,0.042,3067,1779,1315,0,0,0,0,0,0
$GC,14403,0.90,384.7,176.9,18.2,1205,14411,0.12,1.08,0.00,0.000,4,0.174,0.047,3039,1075,1310,0,0,0,0,0,0
$GC,14467,0.90,384.7,166.7,14.8,1216,14475,0.00,1.05,0.00,0.000,6,0.000,0.038,3035,1779,1310,0,0,0,0,0,0
$GC,14798,0.92,384.7,121.9,13.4,1277,14805,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1779,1310,0,0,0,0,0,0
$GC,15123,1.09,492.0,84.2,7.7,1338,15222,0.17,1.10,90.18,0.728,4,0.072,0.042,3135,1082,876,0,0,0,0,0,0
$GC,15344,1.08,492.0,48.7,20.3,1373,15353,0.12,1.02,0.00,0.000,6,0.133,0.035,3094,1784,872,0,0,0,0,0,0
$STATE,15662,end climb,SURFACE_DEPTH_REACHED
$STATE,15664,begin surface coast
$FINISH,1.4,1.022114
$STATE,15687,end surface coast,CONTROL_FINISHED_OK
$STATE,15687,begin surface
$SM_CCo,15767,0.00,0.000,0,0,868,494.52
$SM_GC,2.03,7.65,0.00,0.00,0.037,0.000,0.000,149,1577,868,-8.03,-0.93,494.52,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12238.18,301011,080802
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.14
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.40
$XPDR_PINGS,126
$24V_AH,22.7,113.397
$10V_AH,9.8,77.198
$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,19.850,65.750,617.750,0.000,0.000,27.221,40.786,286.778,31.500,0.000,49.907,3587.403,7940.571,626.553,3626.145,535.076,0.000,2028.267,0.000,3273.145,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,68.085,1445.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,982.621,1470.188,1628.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324760
$DATA_FILE_SIZE,80326,1436
$CAP_FILE_SIZE,169058,0
$CFSIZE,260165632,106209280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.221,  1.2,1
$GPS,301011,173126,2329.104,12235.119,39,99.0,58,-3.2