version: 66.09
glider: 166
mission: 6
dive: 480
start: 11 2 111 22 0 52
data:
$ID,166
$MISSION,6
$DIVE,480
$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,230
$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,300
$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,-25011.246
$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,0.015
$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,38
$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
$GPS1,021111,215106,2333.672,12226.844,38,0.8,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-71.2
$GPS2,021111,220025,2333.867,12226.946,13,1.1,18,-3.2
$SPEED_LIMITS,0.249,0.400
$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,201.3,118256,-17.3,-14.348
$D_GRID,3200
$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,16,-0.74,-292.0,0.0,0.0,0,133,0.00,0.00,-113.57,0.000,2,0.000,0.000,131,1619,3139,0,0,0,0,0,0
$GC,136,-0.74,-292.0,6.2,-9.9,15,168,9.45,1.02,-15.15,0.000,4,0.220,0.063,2493,2306,3962,0,0,0,0,0,0
$GC,274,-0.59,-292.0,54.0,-27.7,38,282,0.15,1.08,0.00,0.000,6,0.151,0.038,2550,1586,3964,0,0,0,0,0,0
$GC,600,-0.55,-292.0,121.3,-17.0,99,608,0.00,1.08,0.00,0.000,4,0.000,0.040,2547,2305,3965,0,0,0,0,0,0
$GC,660,-0.55,-292.0,131.2,-15.6,109,670,0.08,1.02,0.00,0.000,6,0.132,0.036,2559,1607,3965,0,0,0,0,0,0
$GC,995,-0.58,-292.0,173.4,-11.7,170,1003,0.00,1.02,0.00,0.000,4,0.000,0.041,2562,2296,3966,0,0,0,0,0,0
$GC,1160,-0.63,-292.0,192.2,-11.6,199,1168,0.00,1.00,0.00,0.000,6,0.000,0.035,2564,1615,3966,0,0,0,0,0,0
$GC,1491,-0.68,-292.0,232.1,-11.1,260,1500,0.12,1.02,0.00,0.000,4,0.083,0.041,2490,2295,3965,0,0,0,0,0,0
$GC,1526,-0.63,-292.0,237.3,-13.0,265,1536,0.15,1.02,0.00,0.000,6,0.135,0.037,2538,1599,3965,0,0,0,0,0,0
$GC,1857,-0.63,-292.0,282.9,-14.0,303,1860,0.00,1.05,0.00,0.000,4,0.000,0.041,2535,2303,3965,0,0,0,0,0,0
$GC,1939,-0.66,-292.0,292.8,-11.1,310,1943,0.00,1.02,0.00,0.000,6,0.000,0.037,2535,1610,3965,0,0,0,0,0,0
$GC,2270,-0.66,-292.0,333.2,-13.1,341,2274,0.00,1.05,0.00,0.000,4,0.000,0.044,2527,2292,3964,0,0,0,0,0,0
$GC,2375,-0.69,-292.0,346.7,-13.1,350,2378,0.00,1.00,0.00,0.000,6,0.000,0.037,2525,1614,3964,0,0,0,0,0,0
$GC,2706,-0.69,-292.0,394.3,-13.7,381,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1614,3962,0,0,0,0,0,0
$GC,3029,-0.71,-292.0,434.8,-12.3,411,3032,0.00,1.02,0.00,0.000,4,0.000,0.044,2507,2292,3960,0,0,0,0,0,0
$GC,3143,-0.75,-292.0,448.1,-10.8,421,3147,0.00,1.02,0.00,0.000,6,0.000,0.038,2507,1603,3958,0,0,0,0,0,0
$GC,3475,-0.77,-292.0,483.1,-10.7,452,3478,0.00,1.05,0.00,0.000,4,0.000,0.047,2505,2292,3957,0,0,0,0,0,0
$GC,3534,-0.81,-292.0,488.7,-9.7,457,3538,0.00,1.02,0.00,0.000,6,0.000,0.040,2506,1606,3956,0,0,0,0,0,0
$GC,3866,-0.83,-292.0,528.6,-13.0,488,3870,0.12,1.08,0.00,0.000,4,0.086,0.047,2445,2294,3953,0,0,0,0,0,0
$GC,4019,-0.78,-292.0,554.9,-17.1,501,4027,0.12,1.02,0.00,0.000,6,0.140,0.043,2488,1622,3952,0,0,0,0,0,0
$GC,4348,-0.78,-292.0,604.2,-14.9,531,4351,0.00,1.02,0.00,0.000,4,0.000,0.052,2486,2286,3949,0,0,0,0,0,0
$GC,4428,-0.78,-292.0,616.0,-13.4,534,4432,0.00,1.05,0.00,0.000,6,0.000,0.047,2486,1606,3948,0,0,0,0,0,0
$GC,4751,-0.78,-292.0,661.2,-13.5,550,4754,0.00,1.08,0.00,0.000,4,0.000,0.054,2481,2293,3946,0,0,0,0,0,0
$GC,4784,-0.78,-292.0,665.9,-13.1,551,4787,0.00,1.05,0.00,0.000,6,0.000,0.047,2481,1613,3946,0,0,0,0,0,0
$GC,5108,-0.76,-292.0,706.7,-12.6,567,5112,0.00,1.05,0.00,0.000,4,0.000,0.057,2476,2282,3943,0,0,0,0,0,0
$GC,5154,-0.76,-292.0,712.6,-12.1,569,5158,0.00,1.05,0.00,0.000,6,0.000,0.050,2476,1611,3942,0,0,0,0,0,0
$GC,5490,-0.74,-292.0,753.5,-12.1,585,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1611,3940,0,0,0,0,0,0
$GC,5797,-0.73,-292.0,791.7,-12.8,600,5801,0.12,1.10,0.00,0.000,4,0.167,0.060,2506,2287,3937,0,0,0,0,0,0
$GC,5844,-0.77,-292.0,796.6,-10.5,602,5848,0.00,1.08,0.00,0.000,6,0.000,0.050,2506,1601,3938,0,0,0,0,0,0
$GC,6181,-0.80,-292.0,832.7,-11.1,618,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1601,3935,0,0,0,0,0,0
$GC,6487,-0.84,-292.0,868.0,-11.4,633,6491,0.00,1.08,0.00,0.000,4,0.000,0.060,2502,2275,3933,0,0,0,0,0,0
$GC,6596,-0.88,-292.0,879.3,-10.3,637,6604,0.08,1.05,0.00,0.000,6,0.059,0.051,2448,1605,3931,0,0,0,0,0,0
$GC,6912,-0.84,-292.0,926.7,-15.2,653,6915,0.00,1.08,0.00,0.000,4,0.000,0.055,2448,913,3929,0,0,0,0,0,0
$GC,6983,-0.80,-292.0,937.6,-16.1,656,6988,0.12,1.05,0.00,0.000,6,0.147,0.050,2482,1579,3928,0,0,0,0,0,0
$GC,7318,-0.80,-292.0,980.2,-12.4,672,7322,0.00,1.15,0.00,0.000,4,0.000,0.060,2478,2311,3927,0,0,0,0,0,0
$GC,7367,-0.82,-292.0,986.1,-12.2,674,7371,0.00,1.10,0.00,0.000,6,0.000,0.051,2478,1608,3926,0,0,0,0,0,0
$STATE,7408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7408,begin apogee
$GC,7414,-0.11,0.0,991.8,12.3,676,7647,0.70,0.00,224.30,1.436,6,0.122,0.000,2700,1784,2883,0,0,0,0,0,0
$STATE,7652,end apogee,CONTROL_FINISHED_OK
$STATE,7652,begin climb
$GC,7654,0.74,292.0,1005.1,0.0,687,7939,0.77,1.17,276.45,1.375,4,0.049,0.057,2991,2478,1693,0,0,0,0,0,0
$GC,7962,0.67,292.0,969.2,16.6,701,7966,0.10,1.17,0.00,0.000,6,0.155,0.049,2969,1789,1692,0,0,0,0,0,0
$GC,8287,0.63,295.6,923.3,14.2,717,8296,0.00,1.15,3.95,0.769,4,0.000,0.055,2972,1057,1678,0,0,0,0,0,0
$GC,8319,0.61,312.5,917.9,13.8,718,8341,0.00,1.15,17.77,1.263,6,0.000,0.050,2970,1783,1610,0,0,0,0,0,0
$GC,8662,0.57,312.5,869.9,14.4,735,8666,0.15,1.10,0.00,0.000,4,0.166,0.059,2926,2484,1606,0,0,0,0,0,0
$GC,8710,0.74,417.9,863.5,10.9,737,8821,0.12,1.10,98.43,1.336,6,0.045,0.048,2999,1774,1180,0,0,0,0,0,0
$GC,9125,0.68,417.9,786.7,19.1,757,9130,0.12,1.12,0.00,0.000,4,0.171,0.057,2964,2480,1175,0,0,0,0,0,0
$GC,9152,0.68,417.9,781.6,17.7,758,9156,0.00,1.08,0.00,0.000,6,0.000,0.046,2966,1781,1175,0,0,0,0,0,0
$GC,9482,0.68,417.9,733.0,14.8,774,9485,0.00,1.08,0.00,0.000,4,0.000,0.050,2972,1074,1173,0,0,0,0,0,0
$GC,9528,0.68,417.9,725.8,14.7,776,9531,0.00,1.10,0.00,0.000,6,0.000,0.046,2972,1781,1172,0,0,0,0,0,0
$GC,9863,0.69,424.3,677.8,14.1,792,9873,0.00,1.05,6.05,0.953,4,0.000,0.053,2971,2491,1153,0,0,0,0,0,0
$GC,9926,0.74,448.7,668.9,13.5,795,9956,0.00,1.10,23.98,1.197,6,0.000,0.047,2976,1781,1053,0,0,0,0,0,0
$GC,10279,0.77,464.0,620.0,13.8,812,10301,0.00,1.10,14.65,1.119,4,0.000,0.052,2981,1075,991,0,0,0,0,0,0
$GC,10375,0.80,464.0,605.8,14.7,816,10379,0.00,1.10,0.00,0.000,6,0.000,0.045,2978,1791,990,0,0,0,0,0,0
$GC,10701,0.83,470.5,557.8,14.1,845,10711,0.10,0.00,7.05,0.942,6,0.103,0.000,3037,1791,965,0,0,0,0,0,0
$GC,11031,0.77,470.5,492.6,20.3,876,11038,0.15,0.00,0.00,0.000,6,0.161,0.000,2997,1796,963,0,0,0,0,0,0
$GC,11358,0.80,497.6,444.6,13.5,907,11391,0.00,1.15,25.77,1.053,4,0.000,0.050,3001,1070,853,0,0,0,0,0,0
$GC,11446,0.85,521.0,432.7,13.6,914,11476,0.00,1.10,22.65,1.019,6,0.000,0.045,2998,1783,759,0,0,0,0,0,0
$GC,11795,0.96,573.1,385.7,12.6,947,11852,0.17,1.10,50.08,1.006,4,0.071,0.044,3089,1072,545,0,0,0,0,0,0
$GC,11910,0.88,573.1,360.2,23.9,957,11915,0.17,1.10,0.00,0.000,6,0.146,0.044,3033,1788,539,0,0,0,0,0,0
$GC,12241,0.90,573.1,303.9,16.1,988,12245,0.00,1.05,0.00,0.000,4,0.000,0.051,3031,2477,533,0,0,0,0,0,0
$GC,12277,0.94,573.1,298.3,16.1,991,12281,0.00,1.08,0.00,0.000,6,0.000,0.042,3034,1774,533,0,0,0,0,0,0
$GC,12604,0.97,573.1,244.5,15.9,1024,12612,0.00,1.05,0.00,0.000,4,0.000,0.048,3039,1078,532,0,0,0,0,0,0
$GC,12652,1.00,573.1,237.0,16.1,1032,12660,0.00,1.05,0.00,0.000,6,0.000,0.039,3039,1779,532,0,0,0,0,0,0
$GC,12982,1.04,573.1,184.1,15.7,1093,12991,0.12,1.08,0.00,0.000,4,0.084,0.046,3115,1080,530,0,0,0,0,0,0
$GC,13052,0.96,573.1,168.8,24.5,1104,13061,0.17,1.05,0.00,0.000,6,0.142,0.040,3059,1780,530,0,0,0,0,0,0
$GC,13385,1.09,659.1,116.1,11.5,1165,13432,0.12,1.10,26.58,0.683,4,0.090,0.043,3134,1072,455,0,0,0,0,2,0
$GC,13450,1.01,659.1,103.6,20.6,1174,13460,0.17,1.08,0.00,0.000,6,0.137,0.038,3078,1790,453,0,0,0,0,0,0
$GC,13784,1.27,788.7,62.3,10.1,1235,13792,0.20,1.10,0.00,0.000,4,0.060,0.041,3186,1075,445,0,0,0,0,0,0
$GC,13871,1.18,788.7,43.7,25.3,1250,13881,0.17,1.05,0.00,0.000,6,0.145,0.037,3130,1784,443,0,0,0,0,0,0
$STATE,14104,end climb,SURFACE_DEPTH_REACHED
$STATE,14104,begin surface coast
$FINISH,1.3,1.007923
$STATE,14121,end surface coast,CONTROL_FINISHED_OK
$STATE,14121,begin surface
$SM_CCo,14201,0.00,0.000,0,0,438,600.00
$SM_GC,2.16,7.85,0.00,0.00,0.039,0.000,0.000,126,1590,438,-8.06,-0.57,600.00,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12230.98,021111,171704
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,23.40
$XPDR_PINGS,116
$24V_AH,22.0,117.929
$10V_AH,9.8,80.114
$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,21.925,64.850,797.700,0.000,0.000,24.635,24.319,340.290,29.000,0.000,18.965,3242.868,6810.875,797.570,3335.312,557.148,0.000,2144.625,0.000,3017.488,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,65.025,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,885.585,1329.096,1496.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324736
$DATA_FILE_SIZE,73735,1296
$CAP_FILE_SIZE,165654,0
$CFSIZE,260165632,104628224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.387, 15.7,1
$GPS,031111,015854,2334.159,12226.500,24,1.5,42,-3.2