version: 66.09
glider: 166
mission: 6
dive: 482
start: 11 3 111 6 5 58
data:
$ID,166
$MISSION,6
$DIVE,482
$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,-25017.357
$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,2750
$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,46
$R_STBD_OVSHOOT,71
$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
$GPS1,031111,055925,2334.761,12226.366,37,1.2,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-71.1
$GPS2,031111,060531,2334.852,12226.364,15,1.4,15,-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,200.5,118266,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-292.0,0.0,0.0,0,135,0.00,0.00,-115.03,0.000,2,0.000,0.000,127,1636,3191,0,0,0,0,0,0
$GC,138,-0.74,-292.0,6.3,-10.1,16,170,9.40,1.10,-14.23,0.000,4,0.220,0.063,2513,907,3962,0,0,0,0,0,0
$GC,265,-0.59,-292.0,50.6,-26.4,37,274,0.15,1.02,0.00,0.000,6,0.153,0.035,2555,1601,3964,0,0,0,0,0,0
$GC,594,-0.55,-292.0,122.6,-15.6,98,602,0.00,1.02,0.00,0.000,4,0.000,0.040,2552,2308,3965,0,0,0,0,0,0
$GC,650,-0.52,-292.0,132.1,-16.5,107,658,0.10,1.02,0.00,0.000,6,0.135,0.036,2574,1604,3965,0,0,0,0,0,0
$GC,981,-0.57,-292.0,173.3,-11.3,168,989,0.00,1.02,0.00,0.000,4,0.000,0.039,2573,2298,3966,0,0,0,0,0,0
$GC,1124,-0.63,-292.0,186.9,-9.6,193,1132,0.00,1.00,0.00,0.000,6,0.000,0.034,2579,1607,3966,0,0,0,0,0,0
$GC,1454,-0.69,-292.0,221.3,-11.4,254,1463,0.17,1.05,0.00,0.000,4,0.065,0.039,2483,2304,3966,0,0,0,0,0,0
$GC,1498,-0.61,-292.0,228.8,-18.0,261,1506,0.20,1.02,0.00,0.000,6,0.134,0.036,2546,1606,3966,0,0,0,0,0,0
$GC,1831,-0.61,-292.0,277.9,-13.5,304,1834,0.00,1.02,0.00,0.000,4,0.000,0.039,2544,2302,3966,0,0,0,0,0,0
$GC,1982,-0.63,-292.0,295.7,-12.4,317,1986,0.00,1.02,0.00,0.000,6,0.000,0.035,2544,1604,3965,0,0,0,0,0,0
$GC,2314,-0.65,-292.0,339.0,-12.9,348,2317,0.00,1.05,0.00,0.000,4,0.000,0.040,2539,2301,3965,0,0,0,0,0,0
$GC,2422,-0.69,-292.0,351.6,-11.2,357,2429,0.00,1.02,0.00,0.000,6,0.000,0.035,2539,1611,3964,0,0,0,0,0,0
$GC,2748,-0.70,-292.0,389.3,-12.3,388,2752,0.00,1.02,0.00,0.000,4,0.000,0.041,2523,2295,3963,0,0,0,0,0,0
$GC,2832,-0.74,-292.0,398.8,-11.5,395,2835,0.00,1.02,0.00,0.000,6,0.000,0.036,2521,1605,3963,0,0,0,0,0,0
$GC,3163,-0.77,-292.0,440.4,-12.5,426,3167,0.00,1.05,0.00,0.000,4,0.000,0.043,2510,2296,3961,0,0,0,0,0,0
$GC,3270,-0.81,-292.0,452.1,-11.5,435,3274,0.00,1.02,0.00,0.000,6,0.000,0.036,2510,1604,3960,0,0,0,0,0,0
$GC,3602,-0.84,-292.0,492.1,-11.1,466,3605,0.00,1.05,0.00,0.000,4,0.000,0.043,2506,2298,3958,0,0,0,0,0,0
$GC,3688,-0.88,-292.0,501.0,-10.1,473,3695,0.08,1.02,0.00,0.000,6,0.051,0.037,2455,1607,3958,0,0,0,0,0,0
$GC,4016,-0.82,-292.0,555.2,-16.4,504,4020,0.00,1.02,0.00,0.000,4,0.000,0.041,2461,916,3955,0,0,0,0,0,0
$GC,4068,-0.75,-292.0,564.0,-16.5,508,4075,0.15,1.02,0.00,0.000,6,0.148,0.037,2503,1597,3955,0,0,0,0,0,0
$GC,4395,-0.75,-292.0,602.7,-10.9,538,4399,0.00,1.05,0.00,0.000,4,0.000,0.047,2499,2298,3952,0,0,0,0,0,0
$GC,4533,-0.77,-292.0,616.8,-10.0,544,4537,0.00,1.02,0.00,0.000,6,0.000,0.041,2500,1618,3951,0,0,0,0,0,0
$GC,4868,-0.77,-292.0,654.4,-11.8,560,4871,0.00,1.05,0.00,0.000,4,0.000,0.047,2495,2301,3948,0,0,0,0,0,0
$GC,4959,-0.79,-292.0,665.6,-12.0,564,4963,0.00,1.05,0.00,0.000,6,0.000,0.041,2495,1608,3947,0,0,0,0,0,0
$GC,5292,-0.79,-292.0,709.3,-13.2,580,5296,0.00,1.10,0.00,0.000,4,0.000,0.050,2490,2306,3944,0,0,0,0,0,0
$GC,5401,-0.81,-292.0,723.3,-12.6,584,5407,0.00,1.08,0.00,0.000,6,0.000,0.043,2490,1605,3943,0,0,0,0,0,0
$GC,5717,-0.81,-292.0,765.3,-13.1,600,5721,0.00,1.08,0.00,0.000,4,0.000,0.052,2485,2295,3940,0,0,0,0,0,0
$GC,5769,-0.81,-292.0,772.1,-12.9,602,5773,0.00,1.05,0.00,0.000,6,0.000,0.044,2486,1608,3939,0,0,0,0,0,0
$GC,6097,-0.81,-292.0,815.6,-13.1,618,6101,0.00,1.10,0.00,0.000,4,0.000,0.054,2480,2299,3938,0,0,0,0,0,0
$GC,6158,-0.81,-292.0,823.4,-12.2,620,6165,0.00,1.05,0.00,0.000,6,0.000,0.046,2480,1620,3937,0,0,0,0,0,0
$GC,6477,-0.81,-292.0,864.5,-12.9,636,6481,0.00,1.08,0.00,0.000,4,0.000,0.057,2475,2296,3935,0,0,0,0,0,0
$GC,6504,-0.81,-292.0,868.6,-12.8,637,6508,0.00,1.08,0.00,0.000,6,0.000,0.048,2475,1607,3935,0,0,0,0,0,0
$GC,6834,-0.81,-292.0,910.8,-13.0,653,6837,0.00,1.10,0.00,0.000,4,0.000,0.058,2470,2298,3932,0,0,0,0,0,0
$GC,6889,-0.81,-292.0,918.5,-12.8,655,6893,0.00,1.08,0.00,0.000,6,0.000,0.048,2470,1610,3932,0,0,0,0,0,0
$GC,7212,-0.79,-292.0,960.2,-12.8,671,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1610,3930,0,0,0,0,0,0
$STATE,7457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7457,begin apogee
$GC,7465,-0.11,0.0,991.4,12.8,683,7698,0.75,0.00,224.52,1.440,6,0.125,0.000,2706,1769,2883,0,0,0,0,0,0
$STATE,7702,end apogee,CONTROL_FINISHED_OK
$STATE,7703,begin climb
$GC,7705,0.74,292.0,1002.1,0.0,694,7991,0.80,1.20,276.85,1.372,4,0.055,0.057,2996,2475,1692,0,0,0,0,0,0
$GC,8102,0.68,292.0,945.3,18.3,712,8106,0.08,1.10,0.00,0.000,6,0.157,0.051,2978,1791,1689,0,0,0,0,0,0
$GC,8430,0.63,292.0,892.0,16.0,728,8434,0.00,1.10,0.00,0.000,4,0.000,0.054,2982,1079,1686,0,0,0,0,0,0
$GC,8457,0.58,292.0,887.2,15.6,729,8461,0.12,1.10,0.00,0.000,6,0.148,0.051,2939,1775,1686,0,0,0,0,0,0
$GC,8786,0.63,333.8,845.3,13.0,745,8827,0.00,0.00,39.05,1.311,6,0.000,0.000,2939,1775,1523,0,0,0,0,0,0
$GC,9134,0.72,388.4,800.7,12.5,762,9193,0.12,0.00,51.65,1.294,6,0.087,0.000,3000,1775,1299,0,0,0,0,0,0
$GC,9506,0.67,388.4,732.5,18.5,780,9510,0.12,1.10,0.00,0.000,4,0.170,0.057,2964,2481,1296,0,0,0,0,0,0
$GC,9567,0.72,417.2,722.2,13.4,782,9599,0.00,1.10,26.98,1.223,6,0.000,0.045,2967,1774,1182,0,0,0,0,0,0
$GC,9927,0.76,450.0,674.5,13.3,800,9959,0.00,0.00,30.45,1.203,6,0.000,0.000,2967,1774,1049,0,0,0,0,0,0
$GC,10256,0.78,450.0,628.4,15.2,816,10260,0.10,1.12,0.00,0.000,4,0.103,0.055,3028,2486,1045,0,0,0,0,0,0
$GC,10296,0.73,450.0,620.8,20.0,817,10307,0.12,1.10,0.00,0.000,6,0.143,0.047,2993,1778,1045,0,0,0,0,0,0
$GC,10618,0.73,450.0,563.9,16.6,842,10622,0.00,1.08,0.00,0.000,4,0.000,0.050,2996,1076,1044,0,0,0,0,0,0
$GC,10689,0.73,450.0,552.4,16.3,848,10693,0.00,1.10,0.00,0.000,6,0.000,0.044,2995,1790,1044,0,0,0,0,0,0
$GC,11020,0.73,450.0,497.7,16.3,879,11024,0.00,1.10,0.00,0.000,4,0.000,0.049,2998,1081,1044,0,0,0,0,0,0
$GC,11046,0.73,450.0,492.7,17.4,881,11053,0.00,1.08,0.00,0.000,6,0.000,0.043,2995,1780,1043,0,0,0,0,0,0
$GC,11372,0.73,450.0,440.4,15.3,912,11376,0.00,1.10,0.00,0.000,4,0.000,0.047,2999,1072,1043,0,0,0,0,0,0
$GC,11421,0.75,450.0,432.8,14.7,916,11428,0.00,1.10,0.00,0.000,6,0.000,0.042,2999,1786,1043,0,0,0,0,0,0
$GC,11749,0.81,498.6,388.5,12.7,947,11797,0.00,1.10,43.10,1.016,4,0.000,0.052,2999,2479,850,0,0,0,0,0,0
$GC,11843,0.90,535.2,376.0,13.1,955,11888,0.08,1.08,34.67,0.978,6,0.053,0.042,3057,1780,700,0,0,0,0,0,0
$GC,12206,0.85,535.2,294.8,24.4,989,12211,0.12,1.08,0.00,0.000,4,0.171,0.047,3029,1083,692,0,0,0,0,0,0
$GC,12268,0.85,535.2,282.5,17.9,994,12277,0.00,1.08,0.00,0.000,6,0.000,0.040,3026,1790,691,0,0,0,0,0,0
$GC,12598,0.89,542.1,234.8,14.1,1034,12608,0.00,1.15,6.18,0.684,4,0.000,0.046,3029,1069,672,0,0,0,0,0,0
$GC,12656,0.93,556.1,226.5,13.9,1043,12679,0.00,1.08,14.18,0.805,6,0.000,0.040,3029,1782,615,0,0,0,0,0,0
$GC,13003,1.03,586.5,181.0,13.3,1106,13042,0.15,1.10,29.48,0.804,4,0.075,0.043,3117,1081,491,0,0,0,0,0,0
$GC,13117,0.96,586.5,156.5,23.7,1124,13126,0.17,1.05,0.00,0.000,6,0.138,0.039,3061,1781,485,0,0,0,0,0,0
$GC,13449,1.03,606.2,106.1,13.7,1185,13466,0.00,1.12,11.50,0.678,4,0.000,0.045,3065,1072,454,0,0,0,0,0,0
$GC,13584,1.13,645.1,87.4,13.1,1208,13593,0.10,1.05,0.00,0.000,6,0.050,0.037,3138,1786,446,0,0,0,0,0,0
$GC,13918,1.13,645.1,29.8,16.2,1269,13926,0.00,1.08,0.00,0.000,4,0.000,0.045,3142,1082,441,0,0,0,0,0,0
$GC,14012,1.13,645.1,13.1,16.9,1286,14021,0.00,1.02,0.00,0.000,6,0.000,0.037,3140,1773,440,0,0,0,0,0,0
$STATE,14074,end climb,SURFACE_DEPTH_REACHED
$STATE,14074,begin surface coast
$FINISH,1.3,0.998130
$STATE,14093,end surface coast,CONTROL_FINISHED_OK
$STATE,14093,begin surface
$SM_CCo,14173,0.00,0.000,0,0,439,599.76
$SM_GC,2.05,7.75,0.00,0.00,0.032,0.000,0.000,136,1602,439,-8.05,-0.23,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12227.73,031111,020220
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.36
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.60
$XPDR_PINGS,120
$24V_AH,22.0,118.536
$10V_AH,9.7,80.411
$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,20.850,64.550,788.600,0.000,0.000,25.696,19.765,158.380,30.000,0.000,19.437,3235.410,6780.755,809.111,3226.624,475.213,0.000,2141.581,0.000,3022.078,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,68.850,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.447,1332.128,1524.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,73536,1300
$CAP_FILE_SIZE,160729,0
$CFSIZE,260165632,104472576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.406, 16.7,1
$GPS,031111,100331,2335.380,12225.903,41,1.1,41,-3.2