version: 66.09
glider: 166
mission: 6
dive: 490
start: 11 4 111 14 25 38
data:
$ID,166
$MISSION,6
$DIVE,490
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,240
$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,-25048.986
$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,2760
$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,37
$R_STBD_OVSHOOT,54
$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
$GPS1,041111,141854,2343.580,12218.643,24,1.0,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.6
$GPS2,041111,142513,2343.687,12218.694,11,1.1,16,-3.2
$SPEED_LIMITS,0.249,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,2338.287,12208.485
$TGT_RADIUS,1852.000
$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,243.2,20000,-17.3,-14.348
$D_GRID,2297
$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,-292.0,0.0,0.0,0,134,0.00,0.00,-114.05,0.000,2,0.000,0.000,154,1594,3164,0,0,0,0,0,0
$GC,137,-0.74,-292.0,6.2,-9.7,16,167,9.52,1.08,-14.80,0.000,4,0.226,0.064,2511,886,3962,0,0,0,0,0,0
$GC,348,-0.65,-292.0,80.2,-23.9,54,357,0.12,1.08,0.00,0.000,6,0.149,0.034,2545,1609,3964,0,0,0,0,0,0
$GC,673,-0.60,-292.0,136.8,-17.0,115,681,0.00,1.02,0.00,0.000,4,0.000,0.039,2542,2308,3966,0,0,0,0,0,0
$GC,765,-0.57,-292.0,152.1,-16.4,131,774,0.12,1.08,0.00,0.000,6,0.135,0.034,2570,1585,3966,0,0,0,0,0,0
$GC,1091,-0.62,-292.0,193.7,-12.2,192,1099,0.00,1.08,0.00,0.000,4,0.000,0.039,2570,2303,3966,0,0,0,0,0,0
$GC,1233,-0.69,-292.0,209.0,-10.3,218,1241,0.00,1.02,0.00,0.000,6,0.000,0.035,2569,1609,3966,0,0,0,0,0,0
$GC,1558,-0.76,-292.0,241.9,-10.4,279,1567,0.17,1.08,0.00,0.000,4,0.065,0.039,2483,2311,3966,0,0,0,0,0,0
$GC,1650,-0.68,-292.0,257.2,-17.9,292,1654,0.15,1.05,0.00,0.000,6,0.132,0.035,2533,1597,3966,0,0,0,0,0,0
$GC,1980,-0.68,-292.0,304.3,-13.6,323,1984,0.00,1.05,0.00,0.000,4,0.000,0.039,2531,2303,3966,0,0,0,0,0,0
$GC,2109,-0.70,-292.0,320.2,-11.7,334,2113,0.00,1.02,0.00,0.000,6,0.000,0.036,2531,1609,3966,0,0,0,0,0,0
$GC,2440,-0.70,-292.0,362.8,-12.3,365,2444,0.00,1.02,0.00,0.000,4,0.000,0.041,2526,2296,3965,0,0,0,0,0,0
$GC,2478,-0.73,-292.0,366.8,-11.4,368,2482,0.00,1.02,0.00,0.000,6,0.000,0.036,2525,1602,3966,0,0,0,0,0,0
$GC,2809,-0.75,-292.0,406.1,-12.3,399,2813,0.00,1.05,0.00,0.000,4,0.000,0.041,2504,2300,3963,0,0,0,0,0,0
$GC,2905,-0.78,-292.0,416.6,-11.0,407,2909,0.00,1.02,0.00,0.000,6,0.000,0.037,2502,1609,3963,0,0,0,0,0,0
$GC,3236,-0.80,-292.0,455.9,-11.7,438,3240,0.00,1.05,0.00,0.000,4,0.000,0.044,2497,2301,3960,0,0,0,0,0,0
$GC,3354,-0.84,-292.0,468.7,-11.3,448,3358,0.00,1.02,0.00,0.000,6,0.000,0.038,2498,1614,3960,0,0,0,0,0,0
$GC,3688,-0.85,-292.0,513.0,-13.7,479,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1614,3958,0,0,0,0,0,0
$GC,4016,-0.88,-292.0,554.3,-11.7,510,4020,0.12,1.08,0.00,0.000,4,0.087,0.045,2443,2301,3954,0,0,0,0,0,0
$GC,4068,-0.81,-292.0,561.9,-15.4,514,4075,0.15,1.05,0.00,0.000,6,0.145,0.040,2491,1602,3954,0,0,0,0,0,0
$GC,4392,-0.81,-292.0,605.2,-12.5,543,4395,0.00,1.08,0.00,0.000,4,0.000,0.046,2488,2302,3951,0,0,0,0,0,0
$GC,4472,-0.81,-292.0,614.9,-11.7,546,4476,0.00,1.05,0.00,0.000,6,0.000,0.041,2488,1609,3950,0,0,0,0,0,0
$GC,4794,-0.81,-292.0,656.2,-12.7,562,4798,0.00,1.05,0.00,0.000,4,0.000,0.048,2483,2292,3948,0,0,0,0,0,0
$GC,4849,-0.81,-292.0,663.3,-12.7,564,4853,0.00,1.02,0.00,0.000,6,0.000,0.041,2483,1610,3947,0,0,0,0,0,0
$GC,5173,-0.81,-292.0,705.0,-12.9,580,5177,0.00,1.08,0.00,0.000,4,0.000,0.050,2478,2291,3945,0,0,0,0,0,0
$GC,5246,-0.81,-292.0,714.3,-11.6,583,5250,0.00,1.02,0.00,0.000,6,0.000,0.041,2478,1614,3945,0,0,0,0,0,0
$GC,5576,-0.79,-292.0,756.1,-13.3,599,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1613,3942,0,0,0,0,0,0
$GC,5883,-0.79,-292.0,797.9,-14.0,614,5887,0.00,1.05,0.00,0.000,4,0.000,0.054,2474,2286,3939,0,0,0,0,0,0
$GC,5989,-0.79,-292.0,812.5,-13.6,618,5996,0.08,1.05,0.00,0.000,6,0.138,0.045,2498,1606,3939,0,0,0,0,0,0
$GC,6309,-0.82,-292.0,851.2,-12.2,634,6313,0.00,1.08,0.00,0.000,4,0.000,0.056,2495,2290,3937,0,0,0,0,0,0
$GC,6401,-0.86,-292.0,862.5,-11.6,638,6405,0.00,1.05,0.00,0.000,6,0.000,0.047,2495,1614,3935,0,0,0,0,0,0
$GC,6737,-0.88,-292.0,901.6,-11.4,654,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1614,3934,0,0,0,0,0,0
$GC,7044,-0.90,-292.0,934.3,-10.2,669,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1614,3931,0,0,0,0,0,0
$GC,7355,-0.93,-292.0,964.2,-9.4,684,7359,0.00,1.08,0.00,0.000,4,0.000,0.060,2491,2287,3929,0,0,0,0,0,0
$GC,7402,-0.96,-292.0,968.4,-8.5,686,7407,0.08,1.05,0.00,0.000,6,0.057,0.050,2437,1619,3929,0,0,0,0,0,0
$STATE,7567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7567,begin apogee
$GC,7576,-0.11,0.0,990.5,13.8,694,7808,0.93,0.00,225.05,1.444,6,0.135,0.000,2718,1765,2884,0,0,0,0,0,0
$STATE,7813,end apogee,CONTROL_FINISHED_OK
$STATE,7813,begin climb
$GC,7815,0.74,292.0,997.0,0.0,705,8106,0.77,0.00,284.60,1.369,6,0.043,0.000,3012,1764,1693,0,0,0,0,0,0
$GC,8411,0.65,292.0,891.0,20.3,734,8413,0.15,0.00,0.00,0.000,6,0.172,0.000,2975,1765,1687,0,0,0,0,0,0
$GC,8718,0.61,292.0,841.9,14.9,749,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1765,1685,0,0,0,0,0,0
$GC,9027,0.57,292.0,795.7,14.6,764,9032,0.10,1.12,0.00,0.000,4,0.197,0.057,2945,2479,1684,0,0,0,0,0,0
$GC,9090,0.67,370.1,787.8,11.8,766,9166,0.00,1.10,71.80,1.305,6,0.000,0.047,2948,1773,1374,0,0,0,0,0,0
$GC,9491,0.76,424.3,739.4,12.6,786,9544,0.15,0.00,49.80,1.259,6,0.083,0.000,3027,1773,1154,0,0,0,0,0,0
$GC,9845,0.68,424.3,667.4,20.8,803,9849,0.17,1.12,0.00,0.000,4,0.163,0.056,2976,2475,1150,0,0,0,0,0,0
$GC,9883,0.68,424.3,659.6,16.4,804,9890,0.00,1.08,0.00,0.000,6,0.000,0.046,2979,1782,1149,0,0,0,0,0,0
$GC,10201,0.68,424.3,609.8,16.1,820,10205,0.00,1.10,0.00,0.000,4,0.000,0.052,2985,1065,1148,0,0,0,0,0,0
$GC,10262,0.68,424.3,599.4,16.0,822,10269,0.00,1.10,0.00,0.000,6,0.000,0.045,2981,1779,1148,0,0,0,0,0,0
$GC,10588,0.68,424.3,550.0,14.9,853,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1779,1147,0,0,0,0,0,0
$GC,10910,0.68,424.3,502.2,15.0,883,10914,0.00,1.10,0.00,0.000,4,0.000,0.050,2985,1074,1147,0,0,0,0,0,0
$GC,11003,0.68,424.3,487.9,15.2,891,11007,0.00,1.10,0.00,0.000,6,0.000,0.044,2981,1787,1147,0,0,0,0,0,0
$GC,11335,0.69,424.3,437.9,14.8,922,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1787,1147,0,0,0,0,0,0
$GC,11659,0.75,445.0,393.6,13.7,952,11682,0.00,1.17,18.40,0.995,4,0.000,0.049,2985,1060,1069,0,0,0,0,0,0
$GC,11771,0.83,483.6,378.0,13.1,961,11811,0.10,1.10,35.30,1.002,6,0.054,0.042,3051,1781,911,0,0,0,0,0,0
$GC,12129,0.77,483.6,306.4,19.8,995,12133,0.15,1.12,0.00,0.000,4,0.158,0.047,3015,1063,906,0,0,0,0,0,0
$GC,12158,0.75,483.6,301.2,17.8,997,12165,0.00,1.10,0.00,0.000,6,0.000,0.041,3012,1785,906,0,0,0,0,0,0
$GC,12484,0.84,526.8,257.8,12.9,1028,12531,0.00,1.15,38.40,0.900,4,0.000,0.048,3016,1063,735,0,0,0,0,0,0
$GC,12578,0.98,597.9,247.2,12.0,1037,12666,0.15,1.10,72.32,0.859,6,0.042,0.038,3104,1790,454,0,0,0,0,1,0
$GC,12987,0.92,597.9,151.9,22.6,1109,12995,0.17,1.05,0.00,0.000,4,0.157,0.049,3052,2475,451,0,0,0,0,0,0
$GC,13028,0.95,597.9,144.8,18.1,1115,13036,0.00,1.08,0.00,0.000,6,0.000,0.041,3055,1766,452,0,0,0,0,0,0
$GC,13354,1.07,650.1,101.9,12.6,1176,13362,0.15,1.05,0.00,0.000,4,0.076,0.046,3145,1081,449,0,0,0,0,0,0
$GC,13447,0.99,650.1,81.5,23.6,1193,13456,0.20,1.05,0.00,0.000,6,0.136,0.039,3081,1785,449,0,0,0,0,0,0
$GC,13773,1.32,823.7,44.2,8.6,1254,13782,0.25,1.10,0.00,0.000,4,0.053,0.042,3215,1075,447,0,0,0,0,0,0
$GC,13875,1.19,823.7,22.0,26.2,1272,13884,0.22,1.05,0.00,0.000,6,0.148,0.037,3150,1785,446,0,0,0,0,0,0
$STATE,13963,end climb,SURFACE_DEPTH_REACHED
$STATE,13963,begin surface coast
$FINISH,1.3,1.001778
$STATE,13983,end surface coast,CONTROL_FINISHED_OK
$STATE,13983,begin surface
$SM_CCo,14063,0.00,0.000,0,0,444,598.53
$SM_GC,2.10,7.85,0.00,0.00,0.034,0.000,0.000,127,1595,444,-8.09,-0.42,598.53,0,0,0,0,0,0
$IRIDIUM_FIX,2330.93,12221.77,041111,101037
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.11
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.70
$XPDR_PINGS,98
$24V_AH,21.7,120.923
$10V_AH,9.7,81.596
$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,22.050,53.975,795.675,0.000,0.000,28.872,17.751,161.837,24.500,0.000,20.741,3021.092,7017.889,816.062,3113.671,455.465,0.000,2079.281,0.000,2899.567,0.000,0.540,0.000
$DEVICE_MAMPS,225.675,71.145,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.174,1322.796,1470.628,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,73553,1291
$CAP_FILE_SIZE,152526,0
$CFSIZE,260165632,103804928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041111,182107,2345.261,12216.958,29,1.0,29,-3.2