version: 66.09
glider: 166
mission: 6
dive: 475
start: 11 2 111 0 19 27
data:
$ID,166
$MISSION,6
$DIVE,475
$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,-25004.953
$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,40
$R_STBD_OVSHOOT,52
$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
$GPS1,021111,001206,2331.739,12229.562,25,2.0,25,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.9
$GPS2,021111,001900,2331.886,12229.599,35,1.8,39,-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,202.5,120616,-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,-194.6,0.0,0.0,0,130,0.00,0.00,-110.47,0.000,2,0.000,0.000,125,1603,3242,0,0,0,0,0,0
$GC,133,-0.65,-194.6,6.7,-10.7,15,158,9.50,1.10,-8.18,0.000,4,0.218,0.070,2541,899,3681,0,0,0,0,0,0
$GC,372,-0.59,-194.6,81.9,-22.4,58,380,0.00,1.05,0.00,0.000,6,0.000,0.037,2535,1602,3683,0,0,0,0,0,0
$GC,701,-0.54,-194.6,144.1,-18.3,119,709,0.12,0.00,0.00,0.000,6,0.176,0.000,2566,1602,3684,0,0,0,0,0,0
$GC,1034,-0.54,-194.6,185.1,-11.3,180,1041,0.00,1.05,0.00,0.000,4,0.000,0.044,2557,2309,3685,0,0,0,0,0,0
$GC,1063,-0.55,-194.6,188.2,-11.0,184,1071,0.00,1.08,0.00,0.000,6,0.000,0.042,2563,1603,3685,0,0,0,0,0,0
$GC,1391,-0.55,-194.6,232.0,-12.8,245,1400,0.00,1.10,0.00,0.000,4,0.000,0.047,2561,2306,3685,0,0,0,0,0,0
$GC,1521,-0.58,-194.6,246.9,-11.4,268,1529,0.00,1.05,0.00,0.000,6,0.000,0.043,2562,1614,3685,0,0,0,0,0,0
$GC,1857,-0.60,-194.6,282.7,-10.3,301,1861,0.00,1.08,0.00,0.000,4,0.000,0.047,2556,2302,3685,0,0,0,0,0,0
$GC,1941,-0.62,-194.6,291.6,-10.9,308,1949,0.00,1.05,0.00,0.000,6,0.000,0.042,2553,1610,3684,0,0,0,0,0,0
$GC,2267,-0.65,-194.6,328.3,-10.9,339,2271,0.00,1.08,0.00,0.000,4,0.000,0.049,2550,916,3684,0,0,0,0,0,0
$GC,2331,-0.67,-194.6,335.6,-11.6,344,2337,0.00,1.05,0.00,0.000,6,0.000,0.041,2540,1607,3684,0,0,0,0,0,0
$GC,2659,-0.69,-194.6,372.8,-11.6,375,2663,0.00,1.05,0.00,0.000,4,0.000,0.047,2530,2311,3683,0,0,0,0,0,0
$GC,2731,-0.72,-194.6,380.9,-10.4,381,2739,0.00,1.08,0.00,0.000,6,0.000,0.043,2530,1604,3682,0,0,0,0,0,0
$GC,3060,-0.74,-194.6,416.3,-9.8,412,3063,0.00,1.10,0.00,0.000,4,0.000,0.049,2524,2304,3680,0,0,0,0,0,0
$GC,3095,-0.76,-194.6,419.9,-9.5,415,3099,0.00,1.05,0.00,0.000,6,0.000,0.044,2524,1615,3680,0,0,0,0,0,0
$GC,3429,-0.78,-194.6,447.6,-8.1,446,3433,0.00,1.08,0.00,0.000,4,0.000,0.049,2527,907,3679,0,0,0,0,0,0
$GC,3476,-0.80,-194.6,451.8,-8.6,450,3481,0.08,1.08,0.00,0.000,6,0.054,0.042,2466,1609,3678,0,0,0,0,0,0
$GC,3809,-0.77,-194.6,495.6,-14.1,481,3813,0.00,1.05,0.00,0.000,4,0.000,0.050,2473,2304,3675,0,0,0,0,0,0
$GC,3867,-0.74,-194.6,503.9,-13.4,486,3871,0.08,1.05,0.00,0.000,6,0.146,0.045,2501,1616,3675,0,0,0,0,0,0
$GC,4200,-0.74,-194.6,545.2,-12.8,517,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1616,3674,0,0,0,0,0,0
$GC,4518,-0.74,-194.6,586.2,-12.6,547,4521,0.00,1.08,0.00,0.000,4,0.000,0.050,2501,917,3671,0,0,0,0,0,0
$GC,4648,-0.74,-194.6,603.4,-13.1,557,4656,0.00,1.08,0.00,0.000,6,0.000,0.044,2498,1610,3670,0,0,0,0,0,0
$GC,4964,-0.74,-194.6,643.1,-12.8,573,4968,0.00,1.10,0.00,0.000,4,0.000,0.054,2493,2310,3667,0,0,0,0,0,0
$GC,5059,-0.74,-194.6,655.8,-13.1,577,5062,0.00,1.08,0.00,0.000,6,0.000,0.047,2493,1612,3666,0,0,0,0,0,0
$GC,5388,-0.74,-194.6,702.9,-15.0,593,5392,0.00,1.08,0.00,0.000,4,0.000,0.055,2488,2296,3665,0,0,0,0,0,0
$GC,5428,-0.74,-194.6,709.1,-13.9,594,5435,0.00,1.05,0.00,0.000,6,0.000,0.047,2488,1620,3664,0,0,0,0,0,0
$GC,5745,-0.74,-194.6,753.5,-14.2,610,5748,0.00,1.10,0.00,0.000,4,0.000,0.054,2488,908,3661,0,0,0,0,0,0
$GC,5819,-0.74,-194.6,764.0,-13.8,613,5823,0.00,1.10,0.00,0.000,6,0.000,0.048,2483,1610,3660,0,0,0,0,0,0
$GC,6146,-0.74,-194.6,806.8,-13.0,629,6150,0.00,1.12,0.00,0.000,4,0.000,0.054,2483,913,3659,0,0,0,0,0,0
$GC,6216,-0.74,-194.6,815.2,-12.6,632,6220,0.00,1.10,0.00,0.000,6,0.000,0.048,2478,1613,3658,0,0,0,0,0,0
$GC,6549,-0.74,-194.6,856.2,-12.2,648,6552,0.00,1.08,0.00,0.000,4,0.000,0.057,2473,2306,3656,0,0,0,0,0,0
$GC,6596,-0.74,-194.6,861.6,-11.8,650,6600,0.08,1.10,0.00,0.000,6,0.142,0.050,2498,1606,3655,0,0,0,0,0,0
$GC,6933,-0.75,-194.6,895.7,-10.1,666,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1606,3653,0,0,0,0,0,0
$GC,7238,-0.77,-194.6,925.3,-9.3,681,7241,0.00,1.10,0.00,0.000,4,0.000,0.056,2498,904,3652,0,0,0,0,0,0
$GC,7279,-0.78,-194.6,929.3,-9.7,682,7286,0.00,1.12,0.00,0.000,6,0.000,0.050,2495,1610,3651,0,0,0,0,0,0
$GC,7596,-0.79,-194.6,958.3,-9.1,698,7600,0.00,1.15,0.00,0.000,4,0.000,0.055,2495,907,3650,0,0,0,0,0,0
$GC,7665,-0.79,-194.6,964.9,-9.8,701,7669,0.00,1.12,0.00,0.000,6,0.000,0.050,2490,1613,3649,0,0,0,0,0,0
$STATE,7934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7934,begin apogee
$GC,7943,-0.11,0.0,990.4,9.4,714,8114,0.68,0.00,165.68,1.450,6,0.125,0.000,2701,1786,2884,0,0,0,0,0,0
$STATE,8115,end apogee,CONTROL_FINISHED_OK
$STATE,8115,begin climb
$GC,8120,0.65,194.6,993.5,0.0,722,8312,0.73,1.23,183.57,1.382,4,0.067,0.060,2957,2476,2089,0,0,0,0,0,0
$GC,8368,0.63,194.6,966.2,14.5,733,8372,0.00,1.15,0.00,0.000,6,0.000,0.050,2962,1784,2085,0,0,0,0,0,0
$GC,8690,0.61,194.6,918.7,14.8,749,8694,0.00,1.12,0.00,0.000,4,0.000,0.055,2967,1061,2081,0,0,0,0,0,0
$GC,8743,0.58,194.6,910.7,15.1,751,8748,0.10,1.15,0.00,0.000,6,0.149,0.051,2936,1783,2080,0,0,0,0,0,0
$GC,9070,0.58,194.6,869.8,12.2,767,9073,0.00,1.10,0.00,0.000,4,0.000,0.060,2934,2489,2078,0,0,0,0,0,0
$GC,9108,0.58,199.2,864.8,12.0,768,9117,0.00,1.12,3.47,0.702,6,0.000,0.048,2937,1773,2071,0,0,0,0,0,0
$GC,9427,0.59,205.6,826.6,12.0,784,9437,0.00,0.00,7.88,1.109,6,0.000,0.000,2937,1773,2045,0,0,0,0,0,0
$GC,9734,0.59,209.7,789.6,12.1,799,9743,0.00,1.12,4.90,0.903,4,0.000,0.057,2935,2480,2030,0,0,0,0,0,0
$GC,9818,0.61,219.1,779.5,11.8,802,9833,0.00,1.10,10.90,1.171,6,0.000,0.047,2937,1774,1989,0,0,0,0,0,0
$GC,10157,0.63,236.4,739.5,11.5,819,10180,0.00,1.05,16.73,1.224,4,0.000,0.049,2942,1074,1919,0,0,0,0,0,0
$GC,10238,0.65,251.1,730.3,11.6,822,10258,0.00,1.10,15.15,1.189,6,0.000,0.047,2943,1778,1859,0,0,0,0,0,0
$GC,10583,0.69,281.1,691.6,11.0,839,10615,0.00,1.15,28.25,1.227,4,0.000,0.057,2943,2492,1738,0,0,0,0,0,0
$GC,10658,0.75,311.0,683.3,11.0,842,10692,0.08,1.12,29.55,1.204,6,0.056,0.045,2999,1769,1616,0,0,0,0,0,0
$GC,11002,0.73,311.0,629.8,15.9,859,11006,0.00,1.10,0.00,0.000,4,0.000,0.055,2997,2475,1610,0,0,0,0,0,0
$GC,11103,0.71,311.0,613.5,15.3,863,11107,0.00,1.08,0.00,0.000,6,0.000,0.044,3000,1780,1609,0,0,0,0,0,0
$GC,11432,0.69,311.0,561.1,16.7,890,11436,0.12,1.10,0.00,0.000,4,0.179,0.050,2973,1070,1608,0,0,0,0,0,0
$GC,11477,0.70,311.0,554.2,14.1,894,11482,0.00,1.10,0.00,0.000,6,0.000,0.045,2970,1785,1608,0,0,0,0,0,0
$GC,11809,0.72,314.9,511.4,12.1,925,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1785,1607,0,0,0,0,0,0
$GC,12129,0.80,366.4,477.4,10.1,955,12186,0.10,1.12,49.83,1.095,4,0.106,0.046,3033,1068,1389,0,0,0,0,0,0
$GC,12255,0.78,366.4,458.2,15.6,966,12260,0.10,1.10,0.00,0.000,6,0.143,0.044,3001,1781,1386,0,0,0,0,0,0
$GC,12589,0.78,366.4,414.7,13.3,997,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1781,1383,0,0,0,0,0,0
$GC,12915,0.78,366.4,371.2,13.3,1028,12919,0.00,1.05,0.00,0.000,4,0.000,0.051,2997,2475,1383,0,0,0,0,0,0
$GC,12963,0.80,366.4,365.0,13.1,1032,12967,0.00,1.08,0.00,0.000,6,0.000,0.044,3000,1774,1382,0,0,0,0,0,0
$GC,13294,0.81,366.4,322.1,12.7,1063,13298,0.00,1.08,0.00,0.000,4,0.000,0.047,3005,1065,1382,0,0,0,0,0,0
$GC,13354,0.83,366.4,314.7,13.0,1068,13358,0.00,1.08,0.00,0.000,6,0.000,0.041,3002,1775,1382,0,0,0,0,0,0
$GC,13687,0.85,371.7,275.2,12.0,1099,13699,0.00,1.08,4.97,0.642,4,0.000,0.051,2997,2475,1368,0,0,0,0,0,0
$GC,13739,0.88,371.7,269.2,12.3,1103,13742,0.00,1.05,0.00,0.000,6,0.000,0.042,3000,1781,1368,0,0,0,0,0,0
$GC,14062,0.90,371.7,225.9,14.2,1150,14071,0.10,1.08,0.00,0.000,4,0.099,0.046,3068,1075,1368,0,0,0,0,0,0
$GC,14103,0.87,371.7,219.2,18.0,1156,14113,0.12,1.08,0.00,0.000,6,0.140,0.040,3029,1793,1368,0,0,0,0,0,0
$GC,14437,0.87,371.7,166.7,14.0,1217,14445,0.00,1.00,0.00,0.000,4,0.000,0.047,3024,2470,1368,0,0,0,0,0,0
$GC,14502,0.89,371.7,157.0,13.4,1228,14511,0.00,1.05,0.00,0.000,6,0.000,0.040,3027,1776,1368,0,0,0,0,0,0
$GC,14830,0.92,378.4,119.9,11.9,1289,14846,0.00,1.05,8.12,0.646,4,0.000,0.042,3032,1081,1340,0,0,0,0,0,0
$GC,14972,0.94,378.4,101.2,12.5,1314,14979,0.00,1.02,0.00,0.000,6,0.000,0.037,3029,1776,1340,0,0,0,0,0,0
$GC,15302,1.11,462.9,66.3,8.7,1375,15384,0.20,1.10,72.40,0.707,4,0.064,0.044,3141,1080,995,0,0,0,0,0,0
$GC,15493,1.09,462.9,37.3,15.1,1405,15502,0.12,1.05,0.00,0.000,6,0.136,0.037,3100,1789,992,0,0,0,0,0,0
$STATE,15762,end climb,SURFACE_DEPTH_REACHED
$STATE,15762,begin surface coast
$FINISH,1.3,1.013228
$STATE,15797,end surface coast,CONTROL_FINISHED_OK
$STATE,15797,begin surface
$SM_CCo,15875,0.00,0.000,0,0,989,464.84
$SM_GC,2.09,7.62,0.00,0.00,0.030,0.000,0.000,123,1593,989,-8.05,-0.48,464.84,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12221.24,011111,191957
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.45
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.60
$XPDR_PINGS,131
$24V_AH,22.2,116.476
$10V_AH,9.7,79.340
$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,19.925,72.225,601.400,0.000,0.000,24.244,24.779,168.197,32.750,0.000,40.588,3657.270,7890.179,652.510,3565.769,504.118,0.000,2067.584,0.000,3320.356,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,71.910,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,999.430,1495.330,1668.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324676
$DATA_FILE_SIZE,83614,1461
$CAP_FILE_SIZE,174555,0
$CFSIZE,260165632,105046016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.359, 15.9,1
$GPS,021111,044506,2332.422,12229.644,25,1.3,25,-3.2