version: 66.09
glider: 166
mission: 6
dive: 486
start: 11 3 111 22 12 11
data:
$ID,166
$MISSION,6
$DIVE,486
$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,-25033.217
$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,42
$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
$GPS1,031111,220507,2336.635,12223.521,30,1.2,30,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-67.9
$GPS2,031111,221144,2336.780,12223.564,13,1.4,13,-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,200.6,115980,-17.3,-14.348
$D_GRID,3365
$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,-292.0,0.0,0.0,0,131,0.00,0.00,-110.82,0.000,2,0.000,0.000,130,1609,3038,0,0,0,0,0,0
$GC,134,-0.74,-292.0,5.6,-7.4,15,166,9.52,1.12,-17.67,0.000,4,0.225,0.067,2510,889,3963,0,0,0,0,0,0
$GC,312,-0.62,-292.0,65.3,-26.7,46,321,0.08,1.08,0.00,0.000,6,0.158,0.036,2539,1607,3964,0,0,0,0,0,0
$GC,639,-0.56,-292.0,132.5,-17.8,107,648,0.10,1.05,0.00,0.000,4,0.182,0.041,2555,2307,3966,0,0,0,0,0,0
$GC,670,-0.54,-292.0,137.8,-16.0,111,678,0.00,1.05,0.00,0.000,6,0.000,0.037,2552,1600,3966,0,0,0,0,0,0
$GC,998,-0.54,-292.0,178.1,-11.5,172,1006,0.00,1.05,0.00,0.000,4,0.000,0.041,2555,2302,3967,0,0,0,0,0,0
$GC,1073,-0.57,-292.0,186.0,-10.6,184,1081,0.00,1.02,0.00,0.000,6,0.000,0.037,2558,1610,3967,0,0,0,0,0,0
$GC,1403,-0.59,-292.0,227.4,-13.0,245,1412,0.00,1.05,0.00,0.000,4,0.000,0.042,2557,2308,3967,0,0,0,0,0,0
$GC,1569,-0.63,-292.0,247.0,-11.7,275,1577,0.00,1.05,0.00,0.000,6,0.000,0.037,2557,1608,3966,0,0,0,0,0,0
$GC,1903,-0.66,-292.0,288.0,-11.9,308,1907,0.00,1.05,0.00,0.000,4,0.000,0.043,2553,2296,3966,0,0,0,0,0,0
$GC,1961,-0.71,-292.0,294.3,-10.5,313,1965,0.00,1.02,0.00,0.000,6,0.000,0.037,2553,1607,3966,0,0,0,0,0,0
$GC,2293,-0.74,-292.0,328.4,-9.8,344,2296,0.00,1.05,0.00,0.000,4,0.000,0.042,2534,2301,3965,0,0,0,0,0,0
$GC,2366,-0.79,-292.0,335.4,-9.2,350,2373,0.10,1.02,0.00,0.000,6,0.046,0.037,2454,1612,3965,0,0,0,0,0,0
$GC,2691,-0.72,-292.0,390.2,-18.1,381,2696,0.22,1.08,0.00,0.000,4,0.149,0.041,2516,2301,3964,0,0,0,0,0,0
$GC,2737,-0.74,-292.0,397.0,-13.8,385,2741,0.00,1.02,0.00,0.000,6,0.000,0.039,2517,1618,3963,0,0,0,0,0,0
$GC,3069,-0.78,-292.0,438.0,-12.6,416,3072,0.00,1.05,0.00,0.000,4,0.000,0.046,2513,2294,3962,0,0,0,0,0,0
$GC,3132,-0.83,-292.0,446.1,-12.7,421,3140,0.00,1.05,0.00,0.000,6,0.000,0.041,2513,1604,3962,0,0,0,0,0,0
$GC,3458,-0.86,-292.0,489.3,-12.6,452,3460,0.12,0.00,0.00,0.000,6,0.083,0.000,2449,1605,3960,0,0,0,0,0,0
$GC,3778,-0.79,-292.0,544.4,-17.3,482,3782,0.12,1.10,0.00,0.000,4,0.170,0.051,2491,2294,3957,0,0,0,0,0,0
$GC,3918,-0.79,-292.0,563.6,-12.4,494,3925,0.00,1.05,0.00,0.000,6,0.000,0.045,2491,1616,3956,0,0,0,0,0,0
$GC,4243,-0.79,-292.0,605.5,-11.9,523,4246,0.00,1.08,0.00,0.000,4,0.000,0.054,2487,2295,3954,0,0,0,0,0,0
$GC,4371,-0.79,-292.0,619.7,-10.1,528,4378,0.00,1.08,0.00,0.000,6,0.000,0.047,2487,1604,3952,0,0,0,0,0,0
$GC,4690,-0.78,-292.0,657.0,-12.3,544,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1604,3950,0,0,0,0,0,0
$GC,4997,-0.78,-292.0,695.5,-12.5,559,5000,0.00,1.10,0.00,0.000,4,0.000,0.056,2482,2297,3947,0,0,0,0,0,0
$GC,5060,-0.78,-292.0,703.2,-12.0,561,5068,0.00,1.08,0.00,0.000,6,0.000,0.046,2482,1603,3947,0,0,0,0,0,0
$GC,5377,-0.76,-292.0,744.6,-12.9,577,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1603,3943,0,0,0,0,0,0
$GC,5686,-0.76,-292.0,784.4,-12.8,592,5689,0.00,1.10,0.00,0.000,4,0.000,0.057,2477,2293,3941,0,0,0,0,0,0
$GC,5727,-0.76,-292.0,789.5,-12.6,593,5735,0.00,1.05,0.00,0.000,6,0.000,0.047,2477,1616,3940,0,0,0,0,0,0
$GC,6043,-0.76,-292.0,830.4,-13.2,609,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1616,3939,0,0,0,0,0,0
$GC,6352,-0.76,-292.0,871.2,-12.9,624,6356,0.00,1.08,0.00,0.000,4,0.000,0.058,2472,2288,3936,0,0,0,0,0,0
$GC,6401,-0.76,-292.0,877.3,-13.1,626,6406,0.08,1.05,0.00,0.000,6,0.138,0.050,2498,1617,3936,0,0,0,0,0,0
$GC,6736,-0.78,-292.0,916.3,-11.8,642,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1617,3934,0,0,0,0,0,0
$GC,7046,-0.81,-292.0,952.0,-11.5,657,7050,0.00,1.08,0.00,0.000,4,0.000,0.060,2495,2288,3932,0,0,0,0,0,0
$GC,7147,-0.86,-292.0,963.1,-10.1,661,7150,0.00,1.08,0.00,0.000,6,0.000,0.050,2494,1608,3931,0,0,0,0,0,0
$STATE,7405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7405,begin apogee
$GC,7413,-0.11,0.0,991.8,10.8,674,7648,0.68,0.00,225.68,1.437,6,0.119,0.000,2710,1766,2883,0,0,0,0,0,0
$STATE,7653,end apogee,CONTROL_FINISHED_OK
$STATE,7653,begin climb
$GC,7655,0.74,292.0,1000.4,0.0,685,7945,0.77,1.33,279.42,1.367,4,0.047,0.058,2999,2482,1693,0,0,0,0,0,0
$GC,7984,0.67,292.0,953.8,18.6,700,7989,0.12,1.20,0.00,0.000,6,0.155,0.049,2970,1786,1690,0,0,0,0,0,0
$GC,8309,0.63,292.0,903.4,15.5,716,8312,0.00,1.10,0.00,0.000,4,0.000,0.059,2967,2474,1686,0,0,0,0,0,0
$GC,8338,0.59,292.0,898.5,15.5,717,8341,0.00,1.10,0.00,0.000,6,0.000,0.049,2970,1774,1686,0,0,0,0,0,0
$GC,8665,0.55,292.0,849.5,15.0,733,8669,0.15,1.10,0.00,0.000,4,0.172,0.052,2934,1068,1684,0,0,0,0,0,0
$GC,8713,0.65,358.1,843.6,12.2,735,8779,0.00,1.12,61.20,1.323,6,0.000,0.048,2934,1784,1424,0,0,0,0,0,0
$GC,9089,0.82,467.0,802.0,10.8,753,9194,0.22,1.20,99.93,1.295,4,0.061,0.053,3046,1070,980,0,0,0,0,0,0
$GC,9214,0.73,467.0,774.7,23.2,758,9222,0.17,1.12,0.00,0.000,6,0.145,0.047,2992,1775,977,0,0,0,0,0,0
$GC,9533,0.73,467.0,718.3,17.2,774,9537,0.00,1.08,0.00,0.000,4,0.000,0.056,2988,2479,974,0,0,0,0,0,0
$GC,9571,0.73,467.0,711.2,16.7,775,9578,0.00,1.08,0.00,0.000,6,0.000,0.045,2991,1777,973,0,0,0,0,0,0
$GC,9887,0.73,467.0,654.5,18.0,791,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1777,972,0,0,0,0,0,0
$GC,10199,0.73,467.0,601.1,16.5,806,10203,0.00,1.08,0.00,0.000,4,0.000,0.050,2996,1078,971,0,0,0,0,0,0
$GC,10245,0.73,467.0,593.2,16.1,809,10249,0.00,1.10,0.00,0.000,6,0.000,0.044,2995,1787,972,0,0,0,0,0,0
$GC,10575,0.73,467.0,541.2,16.2,840,10579,0.00,1.05,0.00,0.000,4,0.000,0.054,2994,2474,971,0,0,0,0,0,0
$GC,10615,0.73,467.0,534.8,15.9,843,10622,0.00,1.08,0.00,0.000,6,0.000,0.043,2998,1774,971,0,0,0,0,0,0
$GC,10941,0.73,467.0,482.3,15.2,874,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1774,970,0,0,0,0,0,0
$GC,11263,0.73,467.0,433.7,15.3,904,11266,0.00,1.05,0.00,0.000,4,0.000,0.048,3003,1083,970,0,0,0,0,0,0
$GC,11332,0.75,467.0,422.4,15.7,910,11336,0.00,1.08,0.00,0.000,6,0.000,0.043,3003,1781,970,0,0,0,0,0,0
$GC,11663,0.76,467.0,365.5,17.1,941,11667,0.00,1.10,0.00,0.000,4,0.000,0.048,3007,1073,970,0,0,0,0,0,0
$GC,11691,0.78,467.0,360.7,16.2,943,11697,0.00,1.10,0.00,0.000,6,0.000,0.041,3006,1788,970,0,0,0,0,0,0
$GC,12016,0.80,477.5,310.6,14.0,974,12029,0.00,1.15,8.90,0.834,4,0.000,0.048,3011,1072,937,0,0,0,0,0,0
$GC,12088,0.86,512.9,301.0,13.2,980,12127,0.00,1.08,33.28,0.930,6,0.000,0.041,3012,1785,791,0,0,0,0,0,0
$GC,12453,1.03,607.4,258.9,11.2,1014,12550,0.20,1.08,84.12,0.871,4,0.064,0.043,3116,1075,453,0,0,0,0,1,0
$GC,12616,0.94,607.4,220.8,25.4,1035,12624,0.17,1.08,0.00,0.000,6,0.144,0.041,3061,1785,452,0,0,0,0,0,0
$GC,12946,0.94,607.4,155.6,18.4,1096,12954,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1785,449,0,0,0,0,0,0
$GC,13274,1.06,656.0,103.1,12.7,1157,13283,0.00,1.08,0.00,0.000,4,0.000,0.045,3064,1081,447,0,0,0,0,0,0
$GC,13374,1.24,751.9,91.5,11.2,1174,13383,0.20,1.05,0.00,0.000,6,0.041,0.037,3170,1790,447,0,0,0,0,0,0
$GC,13710,1.16,751.9,17.5,21.3,1235,13719,0.17,1.02,0.00,0.000,4,0.164,0.046,3118,2462,443,0,0,0,0,0,0
$GC,13738,1.14,751.9,10.9,20.9,1239,13746,0.00,1.02,0.00,0.000,6,0.000,0.041,3121,1785,443,0,0,0,0,0,0
$STATE,13795,end climb,SURFACE_DEPTH_REACHED
$STATE,13795,begin surface coast
$FINISH,1.3,1.021983
$STATE,13818,end surface coast,CONTROL_FINISHED_OK
$STATE,13818,begin surface
$SM_CCo,13896,0.00,0.000,0,0,442,599.02
$SM_GC,2.16,7.82,0.00,0.00,0.037,0.000,0.000,135,1598,442,-8.05,-0.34,599.02,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12225.75,031111,181839
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.31
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.20
$XPDR_PINGS,107
$24V_AH,21.9,119.726
$10V_AH,9.8,80.999
$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,21.050,58.825,792.525,0.000,0.000,28.238,44.841,160.954,26.750,0.000,17.852,3096.678,6866.089,801.029,3064.999,453.498,0.000,2070.839,0.000,2833.865,0.000,0.539,0.000
$DEVICE_MAMPS,224.910,69.615,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,856.082,1283.701,1399.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70238,1253
$CAP_FILE_SIZE,151950,0
$CFSIZE,260165632,104144896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.394, 18.2,1
$GPS,041111,020506,2337.234,12223.286,40,1.2,40,-3.2