version: 66.09
glider: 166
mission: 6
dive: 491
start: 11 4 111 18 27 38
data:
$ID,166
$MISSION,6
$DIVE,491
$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,225
$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,-25053.84
$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,47
$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
$GPS1,041111,182107,2345.261,12216.958,29,1.0,29,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-70.6
$GPS2,041111,182713,2345.380,12216.971,10,1.6,15,-3.2
$SPEED_LIMITS,0.249,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,2337.744,12208.636
$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,228.2,20000,-17.3,-14.348
$D_GRID,2296
$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,-113.82,0.000,2,0.000,0.000,138,1591,3133,0,0,0,0,0,0
$GC,137,-0.74,-292.0,6.1,-9.0,16,167,9.50,1.10,-15.48,0.000,4,0.224,0.067,2504,2304,3963,0,0,0,0,0,0
$GC,188,-0.40,-292.0,27.7,-42.0,23,197,0.38,1.05,0.00,0.000,6,0.161,0.039,2621,1603,3965,0,0,0,0,0,0
$GC,514,-0.47,-292.0,88.7,-11.0,84,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1604,3965,0,0,0,0,0,0
$GC,842,-0.56,-292.0,120.2,-8.8,145,851,0.12,1.05,0.00,0.000,4,0.082,0.041,2529,2293,3966,0,0,0,0,0,0
$GC,1023,-0.51,-292.0,150.2,-17.5,178,1032,0.22,1.02,0.00,0.000,6,0.124,0.037,2588,1608,3967,0,0,0,0,0,0
$GC,1344,-0.59,-292.0,184.0,-9.2,239,1352,0.00,1.05,0.00,0.000,4,0.000,0.045,2587,2288,3967,0,0,0,0,0,0
$GC,1437,-0.68,-292.0,191.8,-8.3,255,1446,0.10,1.02,0.00,0.000,6,0.042,0.040,2502,1612,3967,0,0,0,0,0,0
$GC,1763,-0.61,-292.0,247.1,-17.0,316,1772,0.20,1.05,0.00,0.000,4,0.148,0.042,2561,2289,3967,0,0,0,0,0,0
$GC,1813,-0.65,-292.0,254.5,-11.8,321,1817,0.00,1.02,0.00,0.000,6,0.000,0.040,2563,1615,3968,0,0,0,0,0,0
$GC,2145,-0.70,-292.0,291.8,-10.7,352,2149,0.00,1.05,0.00,0.000,4,0.000,0.046,2561,2294,3967,0,0,0,0,0,0
$GC,2234,-0.78,-292.0,300.3,-9.0,360,2238,0.12,1.02,0.00,0.000,6,0.037,0.041,2474,1614,3967,0,0,0,0,0,0
$GC,2565,-0.70,-292.0,353.1,-15.3,391,2569,0.20,1.08,0.00,0.000,4,0.153,0.043,2531,916,3967,0,0,0,0,0,0
$GC,2614,-0.72,-292.0,359.6,-11.6,395,2621,0.00,1.02,0.00,0.000,6,0.000,0.041,2529,1586,3967,0,0,0,0,0,0
$GC,2940,-0.74,-292.0,399.4,-13.3,426,2944,0.00,1.10,0.00,0.000,4,0.000,0.047,2522,2314,3966,0,0,0,0,0,0
$GC,3093,-0.77,-292.0,417.9,-12.3,439,3097,0.00,1.08,0.00,0.000,6,0.000,0.042,2518,1613,3965,0,0,0,0,0,0
$GC,3425,-0.80,-292.0,463.9,-13.1,470,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1613,3963,0,0,0,0,0,0
$GC,3747,-0.82,-292.0,504.5,-12.3,500,3751,0.00,1.10,0.00,0.000,4,0.000,0.051,2503,2309,3960,0,0,0,0,0,0
$GC,3843,-0.86,-292.0,516.6,-11.8,508,3849,0.00,1.08,0.00,0.000,6,0.000,0.044,2504,1615,3959,0,0,0,0,0,0
$GC,4169,-0.88,-292.0,557.6,-12.5,539,4173,0.12,1.12,0.00,0.000,4,0.083,0.054,2439,2313,3956,0,0,0,0,0,0
$GC,4248,-0.81,-292.0,570.5,-17.3,546,4252,0.17,1.10,0.00,0.000,6,0.138,0.045,2493,1604,3955,0,0,0,0,0,0
$GC,4586,-0.81,-292.0,613.1,-11.8,573,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1604,3953,0,0,0,0,0,0
$GC,4895,-0.81,-292.0,649.3,-11.8,588,4899,0.00,1.10,0.00,0.000,4,0.000,0.054,2497,2303,3950,0,0,0,0,0,0
$GC,4970,-0.83,-292.0,657.6,-10.9,591,4974,0.00,1.08,0.00,0.000,6,0.000,0.047,2497,1611,3949,0,0,0,0,0,0
$GC,5298,-0.83,-292.0,697.3,-12.1,607,5301,0.00,1.10,0.00,0.000,4,0.000,0.057,2492,2301,3947,0,0,0,0,0,0
$GC,5396,-0.85,-292.0,707.9,-10.7,611,5399,0.00,1.08,0.00,0.000,6,0.000,0.047,2492,1613,3946,0,0,0,0,0,0
$GC,5723,-0.85,-292.0,747.3,-12.4,627,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1613,3943,0,0,0,0,0,0
$GC,6035,-0.85,-292.0,787.8,-13.3,642,6038,0.00,1.10,0.00,0.000,4,0.000,0.058,2487,2303,3940,0,0,0,0,0,0
$GC,6096,-0.87,-292.0,796.2,-12.8,644,6103,0.00,1.10,0.00,0.000,6,0.000,0.049,2487,1602,3940,0,0,0,0,0,0
$GC,6412,-0.87,-292.0,836.5,-12.3,660,6416,0.00,1.12,0.00,0.000,4,0.000,0.058,2482,2306,3938,0,0,0,0,0,0
$GC,6506,-0.87,-292.0,846.6,-10.6,664,6510,0.00,1.10,0.00,0.000,6,0.000,0.050,2482,1605,3937,0,0,0,0,0,0
$GC,6839,-0.87,-292.0,886.3,-12.2,680,6843,0.00,1.12,0.00,0.000,4,0.000,0.060,2477,2307,3936,0,0,0,0,0,0
$GC,6914,-0.87,-292.0,894.8,-11.3,683,6918,0.00,1.10,0.00,0.000,6,0.000,0.050,2477,1607,3935,0,0,0,0,0,0
$GC,7241,-0.87,-292.0,935.2,-12.7,699,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1607,3933,0,0,0,0,0,0
$GC,7551,-0.87,-292.0,976.0,-13.4,714,7554,0.00,1.12,0.00,0.000,4,0.000,0.061,2472,2303,3931,0,0,0,0,0,0
$GC,7603,-0.87,-292.0,982.7,-12.9,716,7607,0.00,1.10,0.00,0.000,6,0.000,0.051,2472,1607,3930,0,0,0,0,0,0
$STATE,7659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7659,begin apogee
$GC,7665,-0.11,0.0,990.4,13.1,719,7898,0.77,0.00,225.52,1.442,6,0.125,0.000,2714,1780,2883,0,0,0,0,0,0
$STATE,7900,end apogee,CONTROL_FINISHED_OK
$STATE,7900,begin climb
$GC,7903,0.74,292.0,1001.9,0.0,730,8197,0.80,1.27,282.23,1.375,4,0.044,0.060,3014,2478,1693,0,0,0,0,0,0
$GC,8326,0.66,292.0,937.4,18.6,749,8334,0.12,1.12,0.00,0.000,6,0.155,0.050,2981,1788,1689,0,0,0,0,0,0
$GC,8643,0.61,292.0,885.6,16.7,765,8647,0.00,1.10,0.00,0.000,4,0.000,0.054,2985,1075,1686,0,0,0,0,0,0
$GC,8695,0.55,292.0,876.7,17.4,767,8700,0.12,1.12,0.00,0.000,6,0.148,0.049,2942,1790,1685,0,0,0,0,0,0
$GC,9022,0.57,308.0,830.5,13.8,783,9044,0.00,1.08,15.25,1.237,4,0.000,0.054,2940,2478,1627,0,0,0,0,0,0
$GC,9077,0.60,333.2,823.1,13.5,785,9107,0.00,1.10,25.25,1.273,6,0.000,0.047,2943,1771,1524,0,0,0,0,0,0
$GC,9424,0.64,364.2,776.5,13.3,802,9455,0.00,0.00,29.38,1.268,6,0.000,0.000,2943,1771,1399,0,0,0,0,0,0
$GC,9756,0.74,421.8,735.2,12.5,818,9814,0.15,1.12,53.40,1.264,4,0.082,0.053,3025,1075,1163,0,0,0,0,0,0
$GC,9876,0.68,421.8,711.1,20.7,822,9883,0.12,1.10,0.00,0.000,6,0.144,0.047,2985,1785,1161,0,0,0,0,0,0
$GC,10194,0.66,421.8,658.0,16.9,838,10198,0.00,1.05,0.00,0.000,4,0.000,0.055,2981,2474,1159,0,0,0,0,0,0
$GC,10244,0.66,421.8,649.0,16.2,840,10248,0.00,1.08,0.00,0.000,6,0.000,0.045,2984,1774,1159,0,0,0,0,0,0
$GC,10562,0.66,421.8,594.6,17.3,856,10565,0.00,1.08,0.00,0.000,4,0.000,0.051,2989,1072,1157,0,0,0,0,0,0
$GC,10613,0.66,421.8,585.8,17.0,860,10620,0.00,1.10,0.00,0.000,6,0.000,0.044,2986,1780,1157,0,0,0,0,0,0
$GC,10938,0.66,421.8,531.0,15.8,891,10942,0.00,1.12,0.00,0.000,4,0.000,0.051,2990,1075,1157,0,0,0,0,0,0
$GC,10979,0.66,421.8,524.4,16.3,894,10986,0.00,1.10,0.00,0.000,6,0.000,0.044,2986,1790,1157,0,0,0,0,0,0
$GC,11304,0.66,421.8,475.5,14.4,925,11308,0.00,1.05,0.00,0.000,4,0.000,0.053,2982,2475,1157,0,0,0,0,0,0
$GC,11341,0.67,429.3,470.5,14.1,928,11354,0.00,1.08,6.93,0.898,6,0.000,0.044,2985,1776,1133,0,0,0,0,0,0
$GC,11672,0.70,455.2,424.6,13.5,959,11705,0.00,1.12,24.30,1.040,4,0.000,0.050,2990,1073,1026,0,0,0,0,0,0
$GC,11778,0.76,477.1,411.2,13.6,968,11804,0.00,1.08,20.67,1.008,6,0.000,0.043,2987,1776,938,0,0,0,0,0,0
$GC,12133,0.87,528.7,365.7,12.6,1001,12189,0.15,1.10,47.62,1.003,4,0.079,0.045,3070,1072,726,0,0,0,0,0,0
$GC,12274,0.80,528.7,335.6,22.9,1013,12282,0.15,1.08,0.00,0.000,6,0.141,0.043,3022,1777,721,0,0,0,0,0,0
$GC,12600,0.84,541.3,285.1,13.9,1044,12617,0.00,1.12,10.93,0.843,4,0.000,0.047,3026,1069,676,0,0,0,0,0,0
$GC,12676,0.90,567.4,274.8,13.5,1050,12708,0.00,1.08,25.27,0.894,6,0.000,0.040,3025,1782,569,0,0,0,0,0,0
$GC,13021,1.01,613.3,229.6,12.8,1098,13068,0.17,1.08,34.83,0.819,4,0.068,0.043,3121,1066,453,0,0,0,0,1,0
$GC,13134,0.92,613.3,201.5,27.9,1116,13142,0.20,1.08,0.00,0.000,6,0.142,0.041,3058,1778,451,0,0,0,0,0,0
$GC,13464,0.96,613.3,144.6,14.8,1177,13472,0.00,1.08,0.00,0.000,4,0.000,0.047,3061,1073,446,0,0,0,0,0,0
$GC,13508,0.99,613.3,138.1,14.9,1184,13516,0.00,1.05,0.00,0.000,6,0.000,0.038,3061,1779,446,0,0,0,0,0,0
$GC,13837,1.06,627.4,91.2,13.9,1245,13846,0.12,1.10,0.00,0.000,4,0.083,0.047,3139,1076,443,0,0,0,0,0,0
$GC,13891,0.99,627.4,79.9,23.7,1254,13900,0.17,1.05,0.00,0.000,6,0.133,0.038,3083,1779,442,0,0,0,0,0,0
$GC,14213,1.29,778.0,40.2,9.4,1315,14222,0.25,1.10,0.00,0.000,4,0.053,0.042,3215,1068,439,0,0,0,0,0,0
$GC,14316,1.17,778.0,17.2,26.8,1333,14328,0.25,1.05,0.00,0.000,6,0.145,0.037,3141,1782,438,0,0,0,0,0,0
$STATE,14379,end climb,SURFACE_DEPTH_REACHED
$STATE,14379,begin surface coast
$FINISH,1.4,1.003987
$STATE,14398,end surface coast,CONTROL_FINISHED_OK
$STATE,14398,begin surface
$SM_CCo,14475,0.00,0.000,0,0,436,600.49
$SM_GC,2.13,7.85,0.00,0.00,0.036,0.000,0.000,136,1604,436,-8.10,-0.17,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2333.28,12218.53,041111,141425
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.60
$XPDR_PINGS,111
$24V_AH,21.7,121.226
$10V_AH,9.7,81.752
$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,22.575,65.725,801.575,0.000,0.000,24.652,21.077,155.627,27.750,0.000,19.711,3177.033,7000.316,797.155,3373.329,477.049,0.000,2195.681,0.000,3163.383,0.000,0.540,0.000
$DEVICE_MAMPS,224.145,70.380,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.086,1378.536,1610.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324660
$DATA_FILE_SIZE,76898,1347
$CAP_FILE_SIZE,167676,0
$CFSIZE,260165632,103702528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041111,223006,2346.422,12215.338,34,1.5,34,-3.2