version: 66.09
glider: 166
mission: 6
dive: 485
start: 11 3 111 18 15 11
data:
$ID,166
$MISSION,6
$DIVE,485
$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,-25028.357
$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,48
$R_STBD_OVSHOOT,51
$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
$GPS1,031111,180807,2335.986,12224.559,39,1.3,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-67.3
$GPS2,031111,181444,2336.105,12224.549,14,1.3,14,-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,209.5,116757,-17.3,-14.348
$D_GRID,3291
$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,-0.74,-292.0,0.0,0.0,0,129,0.00,0.00,-109.55,0.000,2,0.000,0.000,135,1601,3028,0,0,0,0,0,0
$GC,132,-0.74,-292.0,5.3,-6.2,15,170,9.48,1.08,-18.45,0.000,4,0.224,0.069,2516,905,3964,0,0,0,0,0,0
$GC,347,-0.59,-292.0,73.1,-26.4,53,357,0.12,1.05,0.00,0.000,6,0.146,0.040,2549,1603,3965,0,0,0,0,0,0
$GC,676,-0.54,-292.0,134.4,-18.9,114,684,0.00,1.05,0.00,0.000,4,0.000,0.041,2545,2317,3966,0,0,0,0,0,0
$GC,760,-0.54,-292.0,148.1,-15.8,128,769,0.10,1.05,0.00,0.000,6,0.132,0.036,2569,1606,3966,0,0,0,0,0,0
$GC,1093,-0.59,-292.0,189.5,-10.4,189,1102,0.00,1.05,0.00,0.000,4,0.000,0.041,2568,2310,3966,0,0,0,0,0,0
$GC,1202,-0.66,-292.0,200.8,-10.1,208,1210,0.00,1.05,0.00,0.000,6,0.000,0.037,2568,1608,3966,0,0,0,0,0,0
$GC,1531,-0.71,-292.0,234.4,-11.0,269,1541,0.17,1.10,0.00,0.000,4,0.065,0.044,2480,2312,3966,0,0,0,0,0,0
$GC,1655,-0.63,-292.0,255.6,-16.8,288,1659,0.20,1.05,0.00,0.000,6,0.132,0.039,2543,1615,3966,0,0,0,0,0,0
$GC,1987,-0.63,-292.0,299.6,-13.3,319,1991,0.00,1.05,0.00,0.000,4,0.000,0.046,2543,2298,3966,0,0,0,0,0,0
$GC,2033,-0.66,-292.0,305.8,-12.8,323,2036,0.00,1.05,0.00,0.000,6,0.000,0.041,2544,1604,3966,0,0,0,0,0,0
$GC,2365,-0.68,-292.0,348.8,-12.9,354,2369,0.00,1.08,0.00,0.000,4,0.000,0.047,2539,2303,3966,0,0,0,0,0,0
$GC,2412,-0.72,-292.0,354.3,-11.7,358,2416,0.00,1.05,0.00,0.000,6,0.000,0.042,2539,1610,3965,0,0,0,0,0,0
$GC,2744,-0.74,-292.0,391.7,-9.7,389,2747,0.00,1.10,0.00,0.000,4,0.000,0.050,2519,2311,3964,0,0,0,0,0,0
$GC,2797,-0.78,-292.0,396.8,-9.4,393,2805,0.03,1.08,0.00,0.000,6,0.096,0.043,2469,1605,3964,0,0,0,0,0,0
$GC,3122,-0.73,-292.0,443.5,-15.7,424,3124,0.15,0.00,0.00,0.000,6,0.158,0.000,2510,1605,3962,0,0,0,0,0,0
$GC,3443,-0.76,-292.0,482.8,-12.2,454,3447,0.00,1.08,0.00,0.000,4,0.000,0.050,2508,2303,3960,0,0,0,0,0,0
$GC,3527,-0.80,-292.0,492.6,-10.8,461,3535,0.00,1.05,0.00,0.000,6,0.000,0.044,2509,1615,3959,0,0,0,0,0,0
$GC,3853,-0.83,-292.0,527.7,-10.7,492,3857,0.00,1.08,0.00,0.000,4,0.000,0.051,2513,2307,3956,0,0,0,0,0,0
$GC,3899,-0.87,-292.0,532.4,-10.4,496,3903,0.10,1.08,0.00,0.000,6,0.046,0.044,2445,1607,3956,0,0,0,0,0,0
$GC,4230,-0.79,-292.0,585.0,-16.3,527,4234,0.15,1.10,0.00,0.000,4,0.168,0.052,2488,2295,3953,0,0,0,0,0,0
$GC,4265,-0.76,-292.0,590.2,-14.6,530,4268,0.00,1.05,0.00,0.000,6,0.000,0.044,2487,1608,3953,0,0,0,0,0,0
$GC,4591,-0.74,-292.0,634.6,-13.8,549,4595,0.00,1.10,0.00,0.000,4,0.000,0.054,2482,2306,3950,0,0,0,0,0,0
$GC,4629,-0.74,-292.0,640.4,-13.6,550,4637,0.00,1.08,0.00,0.000,6,0.000,0.046,2482,1612,3950,0,0,0,0,0,0
$GC,4948,-0.73,-292.0,685.9,-14.9,566,4953,0.12,1.10,0.00,0.000,4,0.163,0.054,2513,2297,3947,0,0,0,0,0,0
$GC,4995,-0.77,-292.0,692.2,-12.7,568,4998,0.00,1.05,0.00,0.000,6,0.000,0.046,2513,1614,3946,0,0,0,0,0,0
$GC,5328,-0.80,-292.0,732.0,-11.9,584,5332,0.00,1.08,0.00,0.000,4,0.000,0.057,2508,2295,3944,0,0,0,0,0,0
$GC,5378,-0.84,-292.0,737.3,-11.2,586,5382,0.05,1.05,0.00,0.000,6,0.067,0.048,2462,1616,3943,0,0,0,0,0,0
$GC,5712,-0.80,-292.0,793.5,-17.5,602,5717,0.12,1.10,0.00,0.000,4,0.168,0.058,2492,2295,3941,0,0,0,0,0,0
$GC,5810,-0.82,-292.0,807.9,-13.5,606,5814,0.00,1.08,0.00,0.000,6,0.000,0.049,2491,1606,3939,0,0,0,0,0,0
$GC,6138,-0.82,-292.0,854.4,-14.1,622,6142,0.00,1.10,0.00,0.000,4,0.000,0.059,2487,2296,3938,0,0,0,0,0,0
$GC,6191,-0.84,-292.0,861.3,-13.2,624,6194,0.00,1.08,0.00,0.000,6,0.000,0.051,2487,1609,3938,0,0,0,0,0,0
$GC,6518,-0.84,-292.0,906.9,-14.2,640,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1609,3935,0,0,0,0,0,0
$GC,6828,-0.84,-292.0,948.2,-12.9,655,6831,0.00,1.12,0.00,0.000,4,0.000,0.061,2482,2296,3933,0,0,0,0,0,0
$GC,6863,-0.84,-292.0,952.6,-12.5,656,6867,0.00,1.08,0.00,0.000,6,0.000,0.052,2482,1618,3932,0,0,0,0,0,0
$STATE,7161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7162,begin apogee
$GC,7168,-0.11,0.0,991.6,12.9,671,7402,0.70,0.00,224.73,1.438,6,0.118,0.000,2707,1772,2883,0,0,0,0,0,0
$STATE,7404,end apogee,CONTROL_FINISHED_OK
$STATE,7404,begin climb
$GC,7406,0.74,292.0,1003.7,0.0,682,7691,0.77,1.25,275.58,1.369,4,0.050,0.054,3003,1078,1693,0,0,0,0,0,0
$GC,7755,0.67,292.0,954.2,19.4,698,7760,0.10,1.17,0.00,0.000,6,0.146,0.050,2973,1782,1689,0,0,0,0,0,0
$GC,8083,0.63,292.0,897.3,17.2,714,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1782,1686,0,0,0,0,0,0
$GC,8395,0.59,292.0,843.3,17.4,729,8399,0.12,1.12,0.00,0.000,4,0.181,0.053,2943,1072,1684,0,0,0,0,0,0
$GC,8449,0.59,292.0,833.9,15.1,731,8453,0.00,1.12,0.00,0.000,6,0.000,0.048,2942,1785,1684,0,0,0,0,0,0
$GC,8771,0.61,306.6,787.7,13.9,747,8794,0.00,1.17,13.65,1.206,4,0.000,0.052,2946,1063,1633,0,0,0,0,0,0
$GC,8826,0.64,331.1,780.1,13.5,749,8854,0.00,1.12,24.05,1.255,6,0.000,0.046,2947,1783,1534,0,0,0,0,0,0
$GC,9171,0.71,374.9,734.2,12.9,766,9218,0.00,1.15,41.58,1.256,4,0.000,0.049,2951,1071,1354,0,0,0,0,0,0
$GC,9255,0.81,432.1,723.5,12.5,769,9314,0.12,1.10,53.20,1.235,6,0.050,0.044,3026,1775,1121,0,0,0,0,0,0
$GC,9638,0.74,432.1,642.9,21.2,788,9642,0.12,1.10,0.00,0.000,4,0.167,0.055,2990,2486,1116,0,0,0,0,0,0
$GC,9699,0.74,432.1,631.1,16.0,790,9706,0.00,1.10,0.00,0.000,6,0.000,0.045,2993,1776,1116,0,0,0,0,0,0
$GC,10023,0.73,432.1,576.2,17.6,812,10027,0.00,1.08,0.00,0.000,4,0.000,0.050,2998,1068,1115,0,0,0,0,0,0
$GC,10058,0.73,432.1,569.5,17.2,815,10062,0.00,1.10,0.00,0.000,6,0.000,0.044,2997,1783,1115,0,0,0,0,0,0
$GC,10389,0.73,432.1,513.4,15.9,846,10393,0.00,1.05,0.00,0.000,4,0.000,0.054,2997,2474,1114,0,0,0,0,0,0
$GC,10460,0.73,432.1,502.4,16.0,852,10463,0.00,1.08,0.00,0.000,6,0.000,0.044,3001,1770,1114,0,0,0,0,0,0
$GC,10790,0.73,432.1,449.8,15.4,883,10794,0.00,1.05,0.00,0.000,4,0.000,0.049,3006,1078,1114,0,0,0,0,0,0
$GC,10873,0.73,432.1,437.2,15.6,890,10877,0.00,1.08,0.00,0.000,6,0.000,0.043,3003,1782,1113,0,0,0,0,0,0
$GC,11204,0.73,432.1,383.4,15.5,921,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1782,1113,0,0,0,0,0,0
$GC,11526,0.73,432.1,338.8,14.5,951,11530,0.00,1.10,0.00,0.000,4,0.000,0.048,3006,1074,1113,0,0,0,0,0,0
$GC,11605,0.73,432.1,326.8,14.4,958,11609,0.00,1.08,0.00,0.000,6,0.000,0.041,3003,1782,1113,0,0,0,0,0,0
$GC,11938,0.76,438.5,279.5,14.1,989,11951,0.00,1.08,5.53,0.695,4,0.000,0.044,3007,1066,1095,0,0,0,0,0,0
$GC,12025,0.82,467.2,267.5,13.4,996,12057,0.00,1.08,26.30,0.890,6,0.000,0.039,3007,1783,978,0,0,0,0,0,0
$GC,12380,0.91,495.3,220.3,13.4,1049,12411,0.10,1.12,25.12,0.837,4,0.097,0.046,3077,1075,863,0,0,0,0,0,0
$GC,12474,0.85,495.3,202.1,20.3,1064,12483,0.15,1.05,0.00,0.000,6,0.138,0.039,3029,1782,860,0,0,0,0,0,0
$GC,12807,0.94,536.1,154.9,13.0,1125,12854,0.00,1.08,36.60,0.787,4,0.000,0.047,3028,2470,696,0,0,0,0,0,0
$GC,12886,1.12,628.4,145.5,11.3,1136,12963,0.17,1.05,61.88,0.751,6,0.038,0.041,3132,1772,455,0,0,0,0,1,0
$GC,13288,1.12,628.4,57.2,15.8,1206,13296,0.00,1.02,0.00,0.000,4,0.000,0.044,3137,1084,448,0,0,0,0,0,0
$GC,13395,1.12,628.4,40.8,14.7,1225,13404,0.00,1.02,0.00,0.000,6,0.000,0.036,3136,1778,446,0,0,0,0,0,0
$STATE,13631,end climb,SURFACE_DEPTH_REACHED
$STATE,13631,begin surface coast
$FINISH,1.4,1.020943
$STATE,13649,end surface coast,CONTROL_FINISHED_OK
$STATE,13649,begin surface
$SM_CCo,13729,0.00,0.000,0,0,441,599.27
$SM_GC,2.13,7.85,0.00,0.00,0.038,0.000,0.000,138,1609,441,-8.05,-0.03,599.27,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12227.73,031111,141412
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.47
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.60
$XPDR_PINGS,108
$24V_AH,22.0,119.423
$10V_AH,9.8,80.855
$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,21.025,63.325,788.200,0.000,0.000,31.176,40.022,160.908,27.000,0.000,18.907,3144.607,6593.674,756.360,3155.621,460.708,0.000,2071.510,0.000,2924.984,0.000,0.540,0.000
$DEVICE_MAMPS,224.145,68.850,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,868.301,1303.436,1478.266,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,70226,1272
$CAP_FILE_SIZE,156232,0
$CFSIZE,260165632,104226816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.382, 15.0,1
$GPS,031111,220507,2336.635,12223.521,30,1.2,30,-3.2