version: 66.09
glider: 166
mission: 6
dive: 487
start: 11 4 111 2 12 20
data:
$ID,166
$MISSION,6
$DIVE,487
$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,-25034.475
$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,45
$R_STBD_OVSHOOT,57
$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
$GPS1,041111,020506,2337.234,12223.286,40,1.2,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-70.0
$GPS2,041111,021155,2337.353,12223.363,10,1.2,15,-3.2
$SPEED_LIMITS,0.249,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,2331.954,12213.162
$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,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,-292.0,0.0,0.0,0,138,0.00,0.00,-118.30,0.000,2,0.000,0.000,126,1595,3262,0,0,0,0,0,0
$GC,141,-0.74,-292.0,6.4,-9.3,17,172,9.60,1.05,-12.68,0.000,4,0.226,0.062,2500,2299,3961,0,0,0,0,0,0
$GC,330,-0.62,-292.0,69.5,-21.3,51,339,0.17,1.02,0.00,0.000,6,0.136,0.038,2555,1607,3963,0,0,0,0,0,0
$GC,651,-0.60,-292.0,123.2,-16.6,112,659,0.00,1.05,0.00,0.000,4,0.000,0.044,2552,2301,3964,0,0,0,0,0,0
$GC,697,-0.60,-292.0,131.0,-15.3,119,705,0.00,1.02,0.00,0.000,6,0.000,0.040,2549,1617,3964,0,0,0,0,0,0
$GC,1022,-0.60,-292.0,177.0,-12.2,180,1030,0.00,1.02,0.00,0.000,4,0.000,0.046,2547,2293,3965,0,0,0,0,0,0
$GC,1109,-0.63,-292.0,186.8,-10.9,195,1117,0.00,1.02,0.00,0.000,6,0.000,0.041,2547,1616,3965,0,0,0,0,0,0
$GC,1436,-0.65,-292.0,226.7,-12.1,256,1444,0.00,1.02,0.00,0.000,4,0.000,0.047,2546,2293,3965,0,0,0,0,0,0
$GC,1608,-0.68,-292.0,246.2,-10.8,288,1616,0.00,1.02,0.00,0.000,6,0.000,0.041,2552,1614,3965,0,0,0,0,0,0
$GC,1941,-0.71,-292.0,282.7,-10.4,322,1945,0.00,1.02,0.00,0.000,4,0.000,0.047,2552,2287,3964,0,0,0,0,0,0
$GC,1999,-0.75,-292.0,288.3,-9.6,327,2003,0.00,1.02,0.00,0.000,6,0.000,0.041,2553,1607,3964,0,0,0,0,0,0
$GC,2331,-0.78,-292.0,323.9,-10.6,358,2335,0.12,1.08,0.00,0.000,4,0.083,0.048,2474,2292,3963,0,0,0,0,0,0
$GC,2399,-0.71,-292.0,334.7,-16.3,364,2403,0.17,1.02,0.00,0.000,6,0.132,0.041,2531,1613,3963,0,0,0,0,0,0
$GC,2729,-0.71,-292.0,382.1,-14.3,395,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1613,3962,0,0,0,0,0,0
$GC,3054,-0.73,-292.0,421.6,-11.6,425,3058,0.00,1.05,0.00,0.000,4,0.000,0.050,2514,2284,3960,0,0,0,0,0,0
$GC,3157,-0.77,-292.0,433.1,-10.4,434,3161,0.00,1.02,0.00,0.000,6,0.000,0.044,2512,1616,3959,0,0,0,0,0,0
$GC,3488,-0.80,-292.0,470.5,-11.8,465,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1616,3958,0,0,0,0,0,0
$GC,3809,-0.83,-292.0,508.1,-11.8,495,3812,0.00,1.05,0.00,0.000,4,0.000,0.051,2508,2286,3955,0,0,0,0,0,0
$GC,3895,-0.87,-292.0,518.2,-11.5,502,3902,0.08,1.05,0.00,0.000,6,0.053,0.044,2459,1604,3955,0,0,0,0,0,0
$GC,4221,-0.81,-292.0,573.3,-16.4,533,4225,0.12,1.10,0.00,0.000,4,0.168,0.052,2494,2292,3952,0,0,0,0,0,0
$GC,4350,-0.81,-292.0,589.0,-11.6,544,4353,0.00,1.05,0.00,0.000,6,0.000,0.044,2493,1605,3950,0,0,0,0,0,0
$GC,4686,-0.81,-292.0,630.3,-12.1,564,4690,0.00,1.08,0.00,0.000,4,0.000,0.054,2490,2293,3948,0,0,0,0,0,0
$GC,4747,-0.81,-292.0,638.1,-11.5,566,4754,0.00,1.05,0.00,0.000,6,0.000,0.045,2490,1607,3948,0,0,0,0,0,0
$GC,5064,-0.81,-292.0,679.8,-13.7,582,5067,0.00,1.08,0.00,0.000,4,0.000,0.055,2485,2289,3945,0,0,0,0,0,0
$GC,5105,-0.81,-292.0,685.3,-13.6,583,5111,0.00,1.05,0.00,0.000,6,0.000,0.046,2485,1609,3944,0,0,0,0,0,0
$GC,5421,-0.80,-292.0,729.6,-13.8,599,5425,0.00,1.08,0.00,0.000,4,0.000,0.057,2480,2288,3942,0,0,0,0,0,0
$GC,5471,-0.80,-292.0,736.8,-13.3,601,5475,0.00,1.05,0.00,0.000,6,0.000,0.048,2480,1613,3941,0,0,0,0,0,0
$GC,5802,-0.78,-292.0,782.2,-14.3,617,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1612,3938,0,0,0,0,0,0
$GC,6108,-0.78,-292.0,825.7,-14.1,632,6113,0.10,1.10,0.00,0.000,4,0.178,0.059,2502,2287,3937,0,0,0,0,0,0
$GC,6149,-0.81,-292.0,830.8,-12.2,633,6156,0.00,1.05,0.00,0.000,6,0.000,0.050,2502,1616,3936,0,0,0,0,0,0
$GC,6466,-0.83,-292.0,869.3,-12.3,649,6469,0.00,1.08,0.00,0.000,4,0.000,0.060,2497,2289,3934,0,0,0,0,0,0
$GC,6539,-0.87,-292.0,877.6,-12.0,652,6543,0.00,1.05,0.00,0.000,6,0.000,0.050,2497,1614,3933,0,0,0,0,0,0
$GC,6875,-0.89,-292.0,922.5,-13.3,668,6879,0.00,1.08,0.00,0.000,4,0.000,0.062,2492,2285,3931,0,0,0,0,0,0
$GC,6931,-0.92,-292.0,930.3,-13.1,670,6934,0.00,1.08,0.00,0.000,6,0.000,0.052,2493,1606,3931,0,0,0,0,0,0
$GC,7255,-0.92,-292.0,972.8,-12.7,686,7258,0.00,1.10,0.00,0.000,4,0.000,0.063,2488,2290,3929,0,0,0,0,0,0
$GC,7346,-0.95,-292.0,983.3,-10.6,690,7350,0.08,1.08,0.00,0.000,6,0.057,0.053,2434,1610,3927,0,0,0,0,0,0
$STATE,7409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7409,begin apogee
$GC,7417,-0.11,0.0,992.6,15.1,693,7649,0.93,0.00,224.90,1.433,6,0.137,0.000,2714,1758,2883,0,0,0,0,0,0
$STATE,7654,end apogee,CONTROL_FINISHED_OK
$STATE,7654,begin climb
$GC,7656,0.74,292.0,1000.0,0.0,704,7946,0.82,1.33,280.50,1.362,4,0.043,0.060,3023,2486,1693,0,0,0,0,0,0
$GC,7980,0.64,292.0,946.0,21.6,720,7984,0.20,1.20,0.00,0.000,6,0.156,0.051,2973,1790,1691,0,0,0,0,0,0
$GC,8314,0.60,292.0,888.1,16.4,736,8317,0.00,1.12,0.00,0.000,4,0.000,0.055,2977,1063,1688,0,0,0,0,0,0
$GC,8343,0.55,292.0,883.0,16.7,737,8348,0.10,1.12,0.00,0.000,6,0.150,0.050,2942,1773,1687,0,0,0,0,0,0
$GC,8670,0.60,331.5,839.1,13.0,753,8713,0.00,1.10,36.62,1.304,4,0.000,0.056,2941,2490,1533,0,0,0,0,0,0
$GC,8767,0.67,362.7,826.8,13.3,757,8802,0.00,1.12,30.62,1.271,6,0.000,0.049,2944,1773,1404,0,0,0,0,0,0
$GC,9119,0.75,407.0,779.7,12.9,774,9166,0.15,1.12,41.35,1.278,4,0.080,0.051,3027,1069,1223,0,0,0,0,0,0
$GC,9217,0.67,407.0,760.3,21.0,778,9221,0.12,1.15,0.00,0.000,6,0.147,0.049,2987,1796,1221,0,0,0,0,0,0
$GC,9538,0.65,407.0,706.7,16.2,794,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1796,1220,0,0,0,0,0,0
$GC,9850,0.63,407.0,657.0,16.3,809,9854,0.00,1.12,0.00,0.000,4,0.000,0.051,2990,1075,1218,0,0,0,0,0,0
$GC,9905,0.62,407.0,647.5,16.2,811,9909,0.00,1.10,0.00,0.000,6,0.000,0.044,2987,1783,1218,0,0,0,0,0,0
$GC,10227,0.62,407.0,598.3,14.9,827,10230,0.00,1.10,0.00,0.000,4,0.000,0.050,2991,1075,1217,0,0,0,0,0,0
$GC,10290,0.62,407.0,588.5,15.6,832,10296,0.00,1.08,0.00,0.000,6,0.000,0.044,2988,1772,1216,0,0,0,0,0,0
$GC,10615,0.62,407.0,538.2,15.4,863,10618,0.00,1.08,0.00,0.000,4,0.000,0.054,2984,2476,1216,0,0,0,0,0,0
$GC,10652,0.62,407.0,532.8,14.9,866,10655,0.00,1.08,0.00,0.000,6,0.000,0.044,2986,1775,1216,0,0,0,0,0,0
$GC,10983,0.63,418.9,483.7,14.0,897,10998,0.00,1.08,10.62,0.998,4,0.000,0.050,2992,1078,1176,0,0,0,0,0,0
$GC,11075,0.65,435.1,471.3,13.8,905,11098,0.00,1.08,16.25,1.035,6,0.000,0.043,2988,1785,1109,0,0,0,0,0,0
$GC,11419,0.70,456.4,422.0,13.6,937,11443,0.00,1.15,19.88,1.014,4,0.000,0.049,2992,1069,1023,0,0,0,0,0,0
$GC,11478,0.76,480.8,413.6,13.5,942,11505,0.00,1.08,22.90,1.002,6,0.000,0.042,2988,1775,924,0,0,0,0,0,0
$GC,11826,0.91,558.6,369.3,11.8,974,11903,0.17,1.15,72.12,0.995,4,0.071,0.047,3081,1068,604,0,0,0,0,0,0
$GC,11956,0.84,558.6,342.8,23.1,985,11960,0.15,1.10,0.00,0.000,6,0.143,0.042,3032,1786,599,0,0,0,0,0,0
$GC,12286,0.86,558.6,287.3,15.0,1016,12290,0.00,1.05,0.00,0.000,4,0.000,0.050,3031,2479,593,0,0,0,0,0,0
$GC,12324,0.91,571.4,282.4,13.9,1019,12339,0.00,1.08,11.05,0.822,6,0.000,0.042,3035,1771,553,0,0,0,0,0,0
$GC,12662,0.99,600.1,231.8,13.4,1062,12705,0.12,1.02,31.50,0.805,4,0.089,0.043,3108,1072,454,0,0,0,0,1,0
$GC,12800,0.91,600.1,200.3,24.3,1085,12809,0.15,1.08,0.00,0.000,6,0.145,0.040,3060,1789,451,0,0,0,0,0,0
$GC,13131,0.95,600.1,144.1,15.5,1146,13139,0.00,1.08,0.00,0.000,4,0.000,0.046,3063,1084,448,0,0,0,0,0,0
$GC,13161,0.97,600.1,139.5,15.3,1150,13169,0.00,1.02,0.00,0.000,6,0.000,0.037,3060,1777,448,0,0,0,0,0,0
$GC,13489,1.03,600.1,88.4,14.4,1211,13497,0.00,1.08,0.00,0.000,4,0.000,0.045,3064,1071,445,0,0,0,0,0,0
$GC,13585,1.13,641.2,75.4,13.0,1228,13593,0.15,1.05,0.00,0.000,6,0.047,0.037,3151,1785,443,0,0,0,0,0,0
$GC,13908,1.09,641.2,12.8,19.8,1289,13917,0.15,1.10,0.00,0.000,4,0.155,0.044,3113,1075,441,0,0,0,0,0,0
$STATE,13964,end climb,SURFACE_DEPTH_REACHED
$STATE,13964,begin surface coast
$FINISH,1.3,1.021663
$STATE,13987,end surface coast,CONTROL_FINISHED_OK
$STATE,13991,begin surface
$SM_CCo,14069,0.00,0.000,0,0,439,599.76
$SM_GC,2.27,7.78,0.00,0.00,0.034,0.000,0.000,153,1627,439,-8.08,0.51,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12225.75,031111,222239
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.31
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.30
$XPDR_PINGS,115
$24V_AH,21.9,120.027
$10V_AH,9.8,81.149
$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,21.450,66.700,798.325,0.000,0.000,27.861,20.913,183.069,28.750,0.000,16.081,3070.053,6877.869,809.236,3232.394,474.371,0.000,2118.469,0.000,2983.773,0.000,0.539,0.000
$DEVICE_MAMPS,226.440,73.440,1432.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.842,1335.429,1513.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73508,1303
$CAP_FILE_SIZE,161469,0
$CFSIZE,260165632,104054784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041111,060806,2339.405,12221.772,38,1.1,38,-3.2