version: 66.09
glider: 166
mission: 6
dive: 463
start: 10 30 111 17 40 42
data:
$ID,166
$MISSION,6
$DIVE,463
$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,-24989.766
$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,55
$R_STBD_OVSHOOT,61
$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
$GPS1,301011,173126,2329.104,12235.119,39,99.0,58,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-62.2
$GPS2,301011,174019,2329.287,12235.146,16,1.2,33,-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,211.2,127320,-18.6,-12.222
$D_GRID,3744
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.65,-194.6,0.0,0.0,0,117,0.00,0.00,-93.53,0.000,2,0.000,0.000,142,1578,3165,0,0,0,0,0,0
$GC,120,-0.65,-194.6,6.3,-10.0,13,145,9.38,1.02,-9.98,0.000,4,0.215,0.071,2543,915,3681,0,0,0,0,0,0
$GC,381,-0.55,-194.6,81.1,-24.3,60,389,0.00,1.02,0.00,0.000,6,0.000,0.039,2540,1593,3683,0,0,0,0,0,0
$GC,711,-0.51,-194.6,140.3,-17.5,121,719,0.15,1.10,0.00,0.000,4,0.160,0.047,2576,2311,3684,0,0,0,0,0,0
$GC,777,-0.52,-194.6,149.7,-12.7,132,785,0.00,1.05,0.00,0.000,6,0.000,0.041,2562,1623,3684,0,0,0,0,0,0
$GC,1104,-0.54,-194.6,196.0,-12.3,193,1112,0.00,1.08,0.00,0.000,4,0.000,0.045,2563,913,3685,0,0,0,0,0,0
$GC,1145,-0.56,-194.6,200.4,-11.7,199,1154,0.00,1.05,0.00,0.000,6,0.000,0.040,2561,1607,3685,0,0,0,0,0,0
$GC,1478,-0.58,-194.6,236.3,-11.5,260,1486,0.00,1.05,0.00,0.000,4,0.000,0.045,2567,2310,3685,0,0,0,0,0,0
$GC,1557,-0.61,-194.6,245.8,-11.2,274,1565,0.00,1.08,0.00,0.000,6,0.000,0.041,2572,1606,3685,0,0,0,0,0,0
$GC,1892,-0.64,-194.6,287.1,-12.1,308,1895,0.00,1.08,0.00,0.000,4,0.000,0.047,2567,2302,3685,0,0,0,0,0,0
$GC,1984,-0.67,-194.6,298.4,-11.6,316,1993,0.08,1.05,0.00,0.000,6,0.049,0.043,2478,1615,3685,0,0,0,0,0,0
$GC,2310,-0.63,-194.6,350.3,-14.6,347,2312,0.20,0.00,0.00,0.000,6,0.148,0.000,2536,1615,3684,0,0,0,0,0,0
$GC,2630,-0.66,-194.6,379.8,-9.9,377,2634,0.00,1.08,0.00,0.000,4,0.000,0.050,2532,2308,3683,0,0,0,0,0,0
$GC,2658,-0.69,-194.6,382.9,-10.1,379,2666,0.00,1.08,0.00,0.000,6,0.000,0.044,2533,1606,3683,0,0,0,0,0,0
$GC,2986,-0.71,-194.6,417.9,-10.7,410,2990,0.00,1.08,0.00,0.000,4,0.000,0.049,2529,2301,3680,0,0,0,0,0,0
$GC,3090,-0.74,-194.6,429.2,-10.7,419,3093,0.00,1.05,0.00,0.000,6,0.000,0.044,2533,1611,3680,0,0,0,0,0,0
$GC,3421,-0.77,-194.6,464.9,-10.3,450,3426,0.15,1.08,0.00,0.000,4,0.072,0.051,2462,919,3678,0,0,0,0,0,0
$GC,3501,-0.73,-194.6,477.0,-15.8,457,3505,0.15,1.05,0.00,0.000,6,0.143,0.043,2506,1605,3677,0,0,0,0,0,0
$GC,3832,-0.73,-194.6,515.5,-11.2,488,3835,0.00,1.08,0.00,0.000,4,0.000,0.052,2503,2311,3675,0,0,0,0,0,0
$GC,3859,-0.73,-194.6,518.8,-10.9,490,3866,0.00,1.08,0.00,0.000,6,0.000,0.046,2504,1611,3675,0,0,0,0,0,0
$GC,4184,-0.73,-194.6,555.4,-11.7,521,4188,0.00,1.08,0.00,0.000,4,0.000,0.053,2500,2301,3673,0,0,0,0,0,0
$GC,4220,-0.73,-194.6,559.2,-11.1,524,4224,0.00,1.08,0.00,0.000,6,0.000,0.047,2500,1607,3672,0,0,0,0,0,0
$GC,4551,-0.73,-194.6,599.0,-12.3,555,4554,0.00,1.10,0.00,0.000,4,0.000,0.055,2495,2306,3669,0,0,0,0,0,0
$GC,4634,-0.73,-194.6,609.6,-12.2,559,4642,0.00,1.08,0.00,0.000,6,0.000,0.049,2495,1610,3668,0,0,0,0,0,0
$GC,4951,-0.72,-194.6,652.1,-13.4,575,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1610,3665,0,0,0,0,0,0
$GC,5262,-0.72,-194.6,690.5,-11.6,590,5266,0.00,1.12,0.00,0.000,4,0.000,0.055,2495,903,3663,0,0,0,0,0,0
$GC,5330,-0.72,-194.6,699.1,-12.3,593,5333,0.00,1.10,0.00,0.000,6,0.000,0.048,2490,1605,3662,0,0,0,0,0,0
$GC,5665,-0.72,-194.6,739.3,-12.0,609,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1605,3660,0,0,0,0,0,0
$GC,5972,-0.72,-194.6,777.7,-12.8,624,5976,0.00,1.10,0.00,0.000,4,0.000,0.057,2485,2315,3658,0,0,0,0,0,0
$GC,5997,-0.72,-194.6,780.8,-13.2,625,6001,0.00,1.10,0.00,0.000,6,0.000,0.048,2485,1609,3657,0,0,0,0,0,0
$GC,6332,-0.72,-194.6,822.4,-12.7,641,6336,0.00,1.08,0.00,0.000,4,0.000,0.054,2485,913,3656,0,0,0,0,0,0
$GC,6437,-0.72,-194.6,836.9,-12.4,645,6445,0.10,1.10,0.00,0.000,6,0.143,0.048,2512,1616,3654,0,0,0,0,0,0
$GC,6757,-0.74,-194.6,871.3,-10.6,661,6760,0.00,1.08,0.00,0.000,4,0.000,0.060,2509,2306,3652,0,0,0,0,0,0
$GC,6796,-0.77,-194.6,875.9,-10.6,662,6802,0.00,1.10,0.00,0.000,6,0.000,0.050,2509,1605,3652,0,0,0,0,0,0
$GC,7112,-0.79,-194.6,909.1,-10.0,678,7116,0.00,1.12,0.00,0.000,4,0.000,0.060,2504,2310,3651,0,0,0,0,0,0
$GC,7176,-0.81,-194.6,915.1,-9.3,680,7183,0.00,1.10,0.00,0.000,6,0.000,0.050,2504,1608,3650,0,0,0,0,0,0
$GC,7493,-0.83,-194.6,945.8,-9.4,696,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1608,3649,0,0,0,0,0,0
$GC,7804,-0.85,-194.6,974.8,-9.4,711,7808,0.00,1.12,0.00,0.000,4,0.000,0.062,2499,2308,3647,0,0,0,0,0,0
$GC,7860,-0.87,-194.6,980.5,-9.2,713,7865,0.08,1.10,0.00,0.000,6,0.057,0.051,2444,1612,3646,0,0,0,0,0,0
$STATE,7952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7952,begin apogee
$GC,7958,-0.11,0.0,992.3,13.1,718,8132,0.85,0.00,165.43,1.445,6,0.138,0.000,2702,1785,2883,0,0,0,0,0,0
$STATE,8133,end apogee,CONTROL_FINISHED_OK
$STATE,8133,begin climb
$GC,8136,0.65,194.6,997.0,0.0,726,8322,0.73,0.00,181.25,1.385,6,0.069,0.000,2959,1785,2090,0,0,0,0,0,0
$GC,8635,0.63,194.6,937.6,13.7,749,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1785,2081,0,0,0,0,0,0
$GC,8945,0.60,194.6,898.6,12.5,764,8949,0.00,1.10,0.00,0.000,4,0.000,0.055,2965,1085,2078,0,0,0,0,0,0
$GC,8972,0.57,194.6,894.7,12.8,765,8976,0.10,1.10,0.00,0.000,6,0.147,0.052,2934,1779,2078,0,0,0,0,0,0
$GC,9299,0.65,256.8,863.0,9.6,781,9363,0.00,1.15,56.03,1.344,4,0.000,0.060,2934,2482,1836,0,0,0,0,0,0
$GC,9395,0.73,316.0,853.8,9.7,785,9458,0.10,1.12,57.65,1.311,6,0.050,0.048,2993,1777,1595,0,0,0,0,0,0
$GC,9786,0.70,316.0,792.4,16.0,804,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1777,1588,0,0,0,0,0,0
$GC,10095,0.67,316.0,742.6,16.2,819,10099,0.12,1.12,0.00,0.000,4,0.178,0.056,2958,2482,1586,0,0,0,0,0,0
$GC,10143,0.67,316.0,736.0,13.3,821,10147,0.00,1.10,0.00,0.000,6,0.000,0.047,2961,1777,1585,0,0,0,0,0,0
$GC,10477,0.67,316.0,692.5,13.5,837,10480,0.00,1.10,0.00,0.000,4,0.000,0.052,2967,1065,1584,0,0,0,0,0,0
$GC,10549,0.67,316.0,682.2,13.3,840,10553,0.00,1.12,0.00,0.000,6,0.000,0.047,2966,1783,1584,0,0,0,0,0,0
$GC,10878,0.67,316.0,636.1,14.2,856,10882,0.00,1.10,0.00,0.000,4,0.000,0.051,2970,1076,1583,0,0,0,0,0,0
$GC,10911,0.67,316.0,631.1,13.2,857,10915,0.00,1.10,0.00,0.000,6,0.000,0.044,2969,1788,1583,0,0,0,0,0,0
$GC,11238,0.67,316.0,584.6,15.3,877,11242,0.00,1.05,0.00,0.000,4,0.000,0.055,2969,2480,1583,0,0,0,0,0,0
$GC,11296,0.68,316.0,575.6,14.9,882,11299,0.00,1.10,0.00,0.000,6,0.000,0.045,2972,1769,1582,0,0,0,0,0,0
$GC,11629,0.68,316.0,525.9,14.3,913,11633,0.00,1.10,0.00,0.000,4,0.000,0.054,2970,2477,1582,0,0,0,0,0,0
$GC,11732,0.70,316.0,511.4,13.4,922,11735,0.00,1.08,0.00,0.000,6,0.000,0.044,2973,1781,1582,0,0,0,0,0,0
$GC,12066,0.73,343.1,471.3,11.1,953,12093,0.00,1.12,23.70,1.064,4,0.000,0.048,2978,1073,1485,0,0,0,0,0,0
$GC,12165,0.79,371.4,460.3,11.0,961,12199,0.00,1.10,27.23,1.046,6,0.000,0.043,2974,1788,1370,0,0,0,0,0,0
$GC,12517,0.81,371.4,418.6,12.7,994,12520,0.00,1.12,0.00,0.000,4,0.000,0.049,2978,1075,1366,0,0,0,0,0,0
$GC,12563,0.85,380.0,413.0,11.9,998,12577,0.10,1.08,8.70,0.892,6,0.056,0.041,3045,1785,1335,0,0,0,0,0,0
$GC,12894,0.80,380.0,351.5,19.0,1029,12899,0.15,1.05,0.00,0.000,4,0.162,0.051,3001,2468,1333,0,0,0,0,0,0
$GC,12929,0.80,380.0,345.8,15.4,1032,12932,0.00,1.05,0.00,0.000,6,0.000,0.043,3004,1784,1333,0,0,0,0,0,0
$GC,13260,0.82,380.0,300.7,13.5,1063,13264,0.00,1.08,0.00,0.000,4,0.000,0.049,3009,1075,1332,0,0,0,0,0,0
$GC,13316,0.82,380.0,292.8,14.2,1068,13320,0.00,1.05,0.00,0.000,6,0.000,0.040,3006,1772,1332,0,0,0,0,0,0
$GC,13642,0.83,380.0,247.1,13.8,1100,13651,0.00,1.05,0.00,0.000,4,0.000,0.048,3001,2474,1332,0,0,0,0,0,0
$GC,13748,0.86,380.0,232.6,14.2,1118,13756,0.00,1.08,0.00,0.000,6,0.000,0.043,3004,1769,1332,0,0,0,0,0,0
$GC,14079,0.88,380.0,187.7,13.4,1179,14087,0.00,1.05,0.00,0.000,4,0.000,0.047,3010,1068,1332,0,0,0,0,0,0
$GC,14133,0.91,380.0,179.9,13.4,1188,14141,0.00,1.08,0.00,0.000,6,0.000,0.038,3006,1786,1332,0,0,0,0,0,0
$GC,14465,0.97,399.0,140.4,11.4,1249,14489,0.15,1.12,18.48,0.750,4,0.078,0.044,3092,1074,1256,0,0,0,0,0,0
$GC,14556,0.92,399.0,125.7,17.6,1264,14565,0.15,1.05,0.00,0.000,6,0.147,0.039,3045,1780,1254,0,0,0,0,0,0
$GC,14889,0.94,399.0,84.0,13.6,1325,14896,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1780,1254,0,0,0,0,0,0
$GC,15217,1.18,540.1,50.9,6.3,1386,15347,0.22,1.12,118.00,0.690,4,0.059,0.043,3167,1076,679,0,0,0,0,0,0
$GC,15460,1.15,540.1,10.1,20.1,1424,15470,0.15,1.05,0.00,0.000,6,0.138,0.034,3117,1787,673,0,0,0,0,0,0
$STATE,15501,end climb,SURFACE_DEPTH_REACHED
$STATE,15501,begin surface coast
$FINISH,1.7,1.022058
$STATE,15519,end surface coast,CONTROL_FINISHED_OK
$STATE,15519,begin surface
$SM_CCo,15599,0.00,0.000,0,0,671,542.85
$SM_GC,2.08,7.78,0.00,0.00,0.037,0.000,0.000,137,1607,671,-8.05,-0.08,542.85,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12234.94,301011,121239
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.28
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.10
$XPDR_PINGS,122
$24V_AH,22.5,113.643
$10V_AH,9.8,77.362
$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,20.875,69.925,656.450,0.000,0.000,30.434,41.237,274.064,30.500,0.000,34.539,3567.424,7787.938,677.319,3532.508,544.555,0.000,2067.701,0.000,3223.183,0.000,0.541,0.000
$DEVICE_MAMPS,214.965,71.145,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.452,1469.884,1658.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324748
$DATA_FILE_SIZE,80154,1434
$CAP_FILE_SIZE,171042,0
$CFSIZE,260165632,106119168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.324, 22.7,1
$GPS,301011,220200,2329.566,12234.957,40,1.5,40,-3.2