version: 66.09
glider: 166
mission: 6
dive: 479
start: 11 2 111 17 52 16
data:
$ID,166
$MISSION,6
$DIVE,479
$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,-25009.988
$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,50
$R_STBD_OVSHOOT,56
$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
$GPS1,021111,174236,2332.919,12228.249,41,1.2,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-68.0
$GPS2,021111,175149,2333.064,12228.280,10,2.0,10,-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,217.0,119576,-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,17,-0.74,-292.0,0.0,0.0,0,129,0.00,0.00,-109.07,0.000,2,0.000,0.000,151,1594,2996,0,0,0,0,0,0
$GC,132,-0.74,-292.0,5.2,-5.7,15,171,9.50,1.10,-19.17,0.000,4,0.226,0.071,2486,2300,3964,0,0,0,0,0,0
$GC,348,-0.56,-292.0,77.9,-29.6,53,358,0.22,1.02,0.00,0.000,6,0.152,0.040,2553,1614,3965,0,0,0,0,0,0
$GC,678,-0.56,-292.0,134.3,-12.5,114,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1614,3966,0,0,0,0,0,0
$GC,1006,-0.56,-292.0,175.3,-12.2,175,1017,0.00,1.02,0.00,0.000,4,0.000,0.042,2551,2298,3967,0,0,0,0,0,0
$GC,1128,-0.59,-292.0,188.2,-9.8,196,1136,0.00,1.02,0.00,0.000,6,0.000,0.038,2551,1613,3967,0,0,0,0,0,0
$GC,1460,-0.62,-292.0,226.2,-11.8,257,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1613,3967,0,0,0,0,0,0
$GC,1785,-0.65,-292.0,261.4,-10.2,308,1788,0.00,1.05,0.00,0.000,4,0.000,0.047,2562,2293,3966,0,0,0,0,0,0
$GC,1845,-0.70,-292.0,267.2,-10.0,313,1849,0.10,1.02,0.00,0.000,6,0.044,0.040,2487,1618,3966,0,0,0,0,0,0
$GC,2177,-0.62,-292.0,326.5,-18.0,344,2182,0.20,1.10,0.00,0.000,4,0.156,0.043,2548,905,3966,0,0,0,0,0,0
$GC,2205,-0.60,-292.0,331.8,-17.3,346,2212,0.00,1.05,0.00,0.000,6,0.000,0.040,2545,1599,3965,0,0,0,0,0,0
$GC,2531,-0.63,-292.0,373.8,-13.1,377,2535,0.00,1.05,0.00,0.000,4,0.000,0.047,2535,2300,3965,0,0,0,0,0,0
$GC,2686,-0.67,-292.0,392.9,-11.7,390,2693,0.00,1.05,0.00,0.000,6,0.000,0.042,2531,1611,3964,0,0,0,0,0,0
$GC,3014,-0.70,-292.0,429.5,-10.0,421,3017,0.00,1.08,0.00,0.000,4,0.000,0.049,2518,2302,3962,0,0,0,0,0,0
$GC,3098,-0.75,-292.0,437.7,-8.7,428,3105,0.00,1.05,0.00,0.000,6,0.000,0.044,2518,1613,3962,0,0,0,0,0,0
$GC,3424,-0.78,-292.0,472.1,-10.8,459,3427,0.00,1.08,0.00,0.000,4,0.000,0.050,2512,2301,3959,0,0,0,0,0,0
$GC,3485,-0.83,-292.0,478.5,-10.1,464,3493,0.08,1.05,0.00,0.000,6,0.050,0.044,2460,1613,3959,0,0,0,0,0,0
$GC,3811,-0.77,-292.0,528.8,-16.2,495,3815,0.00,1.08,0.00,0.000,4,0.000,0.052,2462,2299,3956,0,0,0,0,0,0
$GC,3846,-0.72,-292.0,534.4,-15.9,498,3851,0.15,1.05,0.00,0.000,6,0.133,0.045,2511,1612,3956,0,0,0,0,0,0
$GC,4177,-0.72,-292.0,576.7,-11.7,529,4181,0.00,1.08,0.00,0.000,4,0.000,0.054,2508,2296,3953,0,0,0,0,0,0
$GC,4236,-0.74,-292.0,583.5,-11.5,534,4240,0.00,1.05,0.00,0.000,6,0.000,0.045,2508,1614,3952,0,0,0,0,0,0
$GC,4565,-0.74,-292.0,623.9,-13.2,556,4569,0.00,1.08,0.00,0.000,4,0.000,0.055,2504,2298,3949,0,0,0,0,0,0
$GC,4644,-0.77,-292.0,635.2,-13.6,559,4647,0.00,1.08,0.00,0.000,6,0.000,0.048,2504,1605,3948,0,0,0,0,0,0
$GC,4968,-0.77,-292.0,681.1,-14.1,575,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1605,3946,0,0,0,0,0,0
$GC,5275,-0.77,-292.0,719.5,-11.9,590,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1605,3943,0,0,0,0,0,0
$GC,5584,-0.79,-292.0,754.3,-11.0,605,5588,0.00,1.10,0.00,0.000,4,0.000,0.057,2499,2301,3940,0,0,0,0,0,0
$GC,5626,-0.81,-292.0,758.7,-10.9,606,5633,0.00,1.08,0.00,0.000,6,0.000,0.050,2499,1613,3940,0,0,0,0,0,0
$GC,5943,-0.81,-292.0,795.0,-11.6,622,5947,0.00,1.08,0.00,0.000,4,0.000,0.059,2494,2292,3938,0,0,0,0,0,0
$GC,6004,-0.84,-292.0,802.1,-10.8,624,6011,0.00,1.08,0.00,0.000,6,0.000,0.049,2494,1605,3937,0,0,0,0,0,0
$GC,6323,-0.84,-292.0,840.5,-12.7,640,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1605,3935,0,0,0,0,0,0
$GC,6630,-0.84,-292.0,878.7,-11.3,655,6634,0.00,1.10,0.00,0.000,4,0.000,0.059,2489,2295,3933,0,0,0,0,0,0
$GC,6688,-0.86,-292.0,885.4,-11.1,657,6692,0.00,1.08,0.00,0.000,6,0.000,0.048,2489,1605,3932,0,0,0,0,0,0
$GC,7010,-0.86,-292.0,925.8,-12.5,673,7014,0.00,1.10,0.00,0.000,4,0.000,0.060,2484,2292,3930,0,0,0,0,0,0
$GC,7071,-0.88,-292.0,933.6,-11.9,675,7078,0.00,1.08,0.00,0.000,6,0.000,0.051,2484,1610,3930,0,0,0,0,0,0
$GC,7390,-0.88,-292.0,972.6,-12.4,691,7394,0.00,1.12,0.00,0.000,4,0.000,0.063,2479,2294,3928,0,0,0,0,0,0
$GC,7463,-0.90,-292.0,981.7,-11.4,694,7466,0.00,1.08,0.00,0.000,6,0.000,0.052,2479,1612,3927,0,0,0,0,0,0
$STATE,7541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7541,begin apogee
$GC,7549,-0.11,0.0,991.3,12.4,698,7784,0.70,0.00,224.73,1.440,6,0.121,0.000,2702,1769,2882,0,0,0,0,0,0
$STATE,7788,end apogee,CONTROL_FINISHED_OK
$STATE,7788,begin climb
$GC,7791,0.74,292.0,1004.1,0.0,709,8073,0.77,0.00,277.05,1.372,6,0.050,0.000,2993,1769,1693,0,0,0,0,0,0
$GC,8369,0.67,292.0,921.3,16.7,737,8373,0.00,1.12,0.00,0.000,4,0.000,0.060,2993,2489,1687,0,0,0,0,0,0
$GC,8402,0.60,292.0,915.4,16.6,738,8407,0.17,1.12,0.00,0.000,6,0.149,0.051,2945,1776,1686,0,0,0,0,0,0
$GC,8727,0.67,342.1,874.0,12.7,754,8778,0.00,1.08,46.97,1.325,4,0.000,0.053,2948,1073,1488,0,0,0,0,0,0
$GC,8808,0.76,400.3,863.1,12.4,757,8869,0.10,1.12,55.60,1.300,6,0.057,0.049,3002,1778,1252,0,0,0,0,0,0
$GC,9188,0.70,400.3,791.8,19.4,776,9192,0.12,1.10,0.00,0.000,4,0.168,0.058,2966,2483,1247,0,0,0,0,0,0
$GC,9243,0.72,400.3,782.6,14.9,778,9246,0.00,1.10,0.00,0.000,6,0.000,0.047,2969,1773,1246,0,0,0,0,0,0
$GC,9567,0.72,400.3,732.2,15.7,794,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1773,1244,0,0,0,0,0,0
$GC,9874,0.72,401.8,687.1,14.3,809,9877,0.00,1.08,0.00,0.000,4,0.000,0.050,2975,1068,1244,0,0,0,0,0,0
$GC,9923,0.72,401.8,679.5,14.5,811,9927,0.00,1.10,0.00,0.000,6,0.000,0.045,2972,1784,1243,0,0,0,0,0,0
$GC,10253,0.72,401.8,631.6,15.1,827,10257,0.00,1.10,0.00,0.000,4,0.000,0.050,2975,1072,1242,0,0,0,0,0,0
$GC,10291,0.72,401.8,625.1,15.3,828,10298,0.00,1.10,0.00,0.000,6,0.000,0.044,2972,1783,1242,0,0,0,0,0,0
$GC,10616,0.74,401.8,576.5,15.5,851,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1783,1242,0,0,0,0,0,0
$GC,10944,0.77,414.0,529.1,13.9,882,10963,0.00,1.05,12.38,1.043,4,0.000,0.050,2970,2484,1196,0,0,0,0,0,0
$GC,11001,0.82,427.1,521.1,13.9,887,11024,0.08,1.10,13.62,1.040,6,0.055,0.044,3028,1769,1141,0,0,0,0,0,0
$GC,11344,0.76,427.1,454.9,19.5,919,11348,0.12,1.08,0.00,0.000,4,0.169,0.050,3000,1076,1140,0,0,0,0,0,0
$GC,11379,0.75,427.1,447.9,18.9,922,11383,0.00,1.08,0.00,0.000,6,0.000,0.043,2997,1779,1139,0,0,0,0,0,0
$GC,11712,0.75,427.1,395.2,15.7,953,11716,0.00,1.05,0.00,0.000,4,0.000,0.051,2992,2471,1138,0,0,0,0,0,0
$GC,11738,0.76,427.1,390.4,15.9,955,11745,0.00,1.05,0.00,0.000,6,0.000,0.042,2995,1783,1138,0,0,0,0,0,0
$GC,12064,0.78,437.2,343.2,14.0,986,12080,0.00,1.12,9.93,0.876,4,0.000,0.048,3000,1070,1101,0,0,0,0,0,0
$GC,12163,0.89,512.9,331.2,11.9,994,12236,0.00,1.08,68.10,0.970,6,0.000,0.041,2997,1781,792,0,0,0,0,0,0
$GC,12558,1.14,658.8,290.3,9.5,1031,12655,0.28,1.15,83.78,0.895,4,0.054,0.044,3140,1067,454,0,0,0,0,1,0
$GC,12696,1.02,658.8,253.2,31.9,1042,12700,0.20,1.10,0.00,0.000,6,0.145,0.042,3074,1780,453,0,0,0,0,0,0
$GC,13023,0.98,658.8,180.6,22.3,1102,13032,0.00,1.08,0.00,0.000,4,0.000,0.045,3078,1080,451,0,0,0,0,0,0
$GC,13040,0.94,658.8,175.9,22.4,1104,13049,0.00,1.08,0.00,0.000,6,0.000,0.038,3074,1793,450,0,0,0,0,0,0
$GC,13368,0.94,658.8,114.0,17.3,1165,13376,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1794,448,0,0,0,0,0,0
$GC,13699,1.15,745.8,71.2,11.5,1226,13708,0.12,1.12,0.00,0.000,4,0.084,0.046,3157,1072,447,0,0,0,0,0,0
$GC,13780,1.10,745.8,56.2,21.2,1240,13788,0.15,1.05,0.00,0.000,6,0.134,0.037,3108,1783,446,0,0,0,0,0,0
$GC,14109,1.27,834.6,12.6,11.4,1301,14118,0.12,1.10,0.00,0.000,4,0.084,0.046,3181,1075,444,0,0,0,0,0,0
$STATE,14161,end climb,SURFACE_DEPTH_REACHED
$STATE,14161,begin surface coast
$FINISH,1.4,0.998134
$STATE,14173,end surface coast,CONTROL_FINISHED_OK
$STATE,14173,begin surface
$SM_CCo,14253,0.00,0.000,0,0,443,599.02
$SM_GC,2.21,7.97,0.00,0.00,0.035,0.000,0.000,144,1619,443,-8.06,0.25,599.02,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12229.71,021111,131328
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.97
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.90
$XPDR_PINGS,106
$24V_AH,22.1,117.613
$10V_AH,9.8,79.961
$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,21.175,60.375,792.150,0.000,0.000,27.147,25.764,339.747,26.500,0.000,10.797,3241.162,6905.099,824.071,3289.057,532.228,0.000,2125.889,0.000,2975.494,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,71.145,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.636,1343.163,1511.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324768
$DATA_FILE_SIZE,73512,1312
$CAP_FILE_SIZE,158755,0
$CFSIZE,260165632,104726528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.356, 11.0,1
$GPS,021111,215106,2333.672,12226.844,38,0.8,38,-3.2