version: 66.09
glider: 166
mission: 6
dive: 488
start: 11 4 111 6 15 2
data:
$ID,166
$MISSION,6
$DIVE,488
$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,-25039.318
$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,40
$R_STBD_OVSHOOT,72
$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
$GPS1,041111,060806,2339.405,12221.772,38,1.1,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-68.4
$GPS2,041111,061437,2339.579,12221.832,11,1.4,11,-3.2
$SPEED_LIMITS,0.249,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,2334.179,12211.629
$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,3328
$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,-113.97,0.000,2,0.000,0.000,132,1628,3132,0,0,0,0,0,0
$GC,137,-0.74,-292.0,5.7,-6.9,16,167,9.45,1.12,-15.80,0.000,4,0.220,0.067,2519,898,3963,0,0,0,0,0,0
$GC,359,-0.65,-292.0,74.9,-22.1,56,368,0.10,1.02,0.00,0.000,6,0.143,0.037,2548,1581,3965,0,0,0,0,0,0
$GC,685,-0.60,-292.0,130.3,-16.1,117,693,0.00,1.08,0.00,0.000,4,0.000,0.043,2545,2308,3966,0,0,0,0,0,0
$GC,759,-0.57,-292.0,142.3,-15.7,130,768,0.12,1.05,0.00,0.000,6,0.127,0.038,2572,1602,3967,0,0,0,0,0,0
$GC,1086,-0.62,-292.0,178.9,-10.6,191,1094,0.00,1.08,0.00,0.000,4,0.000,0.044,2571,2311,3967,0,0,0,0,0,0
$GC,1259,-0.69,-292.0,195.7,-9.1,223,1268,0.08,1.05,0.00,0.000,6,0.048,0.040,2508,1612,3967,0,0,0,0,0,0
$GC,1589,-0.62,-292.0,250.0,-17.6,284,1597,0.17,0.00,0.00,0.000,6,0.152,0.000,2557,1612,3967,0,0,0,0,0,0
$GC,1916,-0.65,-292.0,288.6,-11.6,315,1919,0.00,1.05,0.00,0.000,4,0.000,0.047,2555,2298,3967,0,0,0,0,0,0
$GC,2009,-0.70,-292.0,298.6,-10.0,323,2016,0.00,1.05,0.00,0.000,6,0.000,0.041,2556,1610,3966,0,0,0,0,0,0
$GC,2335,-0.75,-292.0,334.2,-10.0,354,2340,0.10,1.08,0.00,0.000,4,0.094,0.047,2486,2299,3966,0,0,0,0,0,0
$GC,2404,-0.70,-292.0,343.4,-14.6,360,2408,0.12,1.05,0.00,0.000,6,0.132,0.043,2528,1608,3965,0,0,0,0,0,0
$GC,2734,-0.70,-292.0,385.1,-11.9,391,2738,0.00,1.08,0.00,0.000,4,0.000,0.049,2522,2299,3964,0,0,0,0,0,0
$GC,2769,-0.70,-292.0,389.3,-11.8,394,2773,0.00,1.05,0.00,0.000,6,0.000,0.043,2522,1609,3964,0,0,0,0,0,0
$GC,3101,-0.70,-292.0,429.3,-13.3,425,3104,0.00,1.08,0.00,0.000,4,0.000,0.050,2505,2302,3962,0,0,0,0,0,0
$GC,3227,-0.73,-292.0,446.5,-14.2,436,3231,0.00,1.05,0.00,0.000,6,0.000,0.044,2504,1613,3961,0,0,0,0,0,0
$GC,3559,-0.75,-292.0,491.7,-12.9,467,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1613,3960,0,0,0,0,0,0
$GC,3881,-0.77,-292.0,534.1,-13.8,497,3885,0.00,1.10,0.00,0.000,4,0.000,0.051,2506,2304,3957,0,0,0,0,0,0
$GC,4042,-0.81,-292.0,554.3,-11.5,511,4046,0.00,1.08,0.00,0.000,6,0.000,0.046,2509,1616,3956,0,0,0,0,0,0
$GC,4373,-0.83,-292.0,591.6,-10.8,542,4377,0.00,1.08,0.00,0.000,4,0.000,0.054,2509,2299,3953,0,0,0,0,0,0
$GC,4465,-0.87,-292.0,600.8,-9.6,550,4469,0.00,1.08,0.00,0.000,6,0.000,0.045,2508,1605,3953,0,0,0,0,0,0
$GC,4801,-0.90,-292.0,637.5,-11.6,566,4805,0.12,1.12,0.00,0.000,4,0.086,0.053,2438,2300,3950,0,0,0,0,0,0
$GC,4856,-0.83,-292.0,646.4,-16.2,568,4860,0.15,1.08,0.00,0.000,6,0.140,0.045,2486,1608,3949,0,0,0,0,0,0
$GC,5181,-0.82,-292.0,690.3,-13.8,584,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1607,3947,0,0,0,0,0,0
$GC,5486,-0.82,-292.0,733.0,-13.7,599,5490,0.00,1.10,0.00,0.000,4,0.000,0.056,2482,2299,3944,0,0,0,0,0,0
$GC,5589,-0.82,-292.0,746.0,-12.2,603,5593,0.00,1.08,0.00,0.000,6,0.000,0.047,2483,1611,3942,0,0,0,0,0,0
$GC,5911,-0.82,-292.0,788.9,-13.7,619,5915,0.00,1.10,0.00,0.000,4,0.000,0.058,2477,2302,3940,0,0,0,0,0,0
$GC,5938,-0.82,-292.0,793.0,-13.9,620,5943,0.00,1.08,0.00,0.000,6,0.000,0.048,2477,1612,3939,0,0,0,0,0,0
$GC,6268,-0.82,-292.0,837.2,-13.3,636,6272,0.00,1.10,0.00,0.000,4,0.000,0.059,2472,2297,3938,0,0,0,0,0,0
$GC,6337,-0.82,-292.0,846.4,-13.0,639,6341,0.00,1.08,0.00,0.000,6,0.000,0.050,2472,1610,3937,0,0,0,0,0,0
$GC,6673,-0.80,-292.0,892.5,-13.8,655,6678,0.10,1.12,0.00,0.000,4,0.179,0.060,2494,2295,3935,0,0,0,0,0,0
$GC,6723,-0.83,-292.0,899.2,-11.8,657,6727,0.00,1.08,0.00,0.000,6,0.000,0.050,2495,1612,3935,0,0,0,0,0,0
$GC,7051,-0.85,-292.0,937.3,-11.3,673,7055,0.00,1.10,0.00,0.000,4,0.000,0.062,2490,2293,3932,0,0,0,0,0,0
$GC,7115,-0.88,-292.0,944.1,-10.7,675,7122,0.00,1.08,0.00,0.000,6,0.000,0.051,2490,1611,3932,0,0,0,0,0,0
$GC,7432,-0.90,-292.0,979.8,-11.4,691,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1610,3931,0,0,0,0,0,0
$STATE,7532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7532,begin apogee
$GC,7540,-0.11,0.0,991.8,11.7,696,7772,0.73,0.00,225.45,1.440,6,0.120,0.000,2720,1766,2883,0,0,0,0,0,0
$STATE,7776,end apogee,CONTROL_FINISHED_OK
$STATE,7776,begin climb
$GC,7779,0.74,292.0,1002.9,0.0,707,8066,0.80,0.00,282.33,1.374,6,0.044,0.000,3018,1766,1692,0,0,0,0,0,0
$GC,8365,0.64,292.0,912.4,18.8,736,8367,0.17,0.00,0.00,0.000,6,0.177,0.000,2973,1766,1686,0,0,0,0,0,0
$GC,8672,0.60,292.0,863.3,16.1,751,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1766,1685,0,0,0,0,0,0
$GC,8984,0.57,292.0,810.6,17.5,766,8989,0.12,1.10,0.00,0.000,4,0.187,0.053,2944,1069,1683,0,0,0,0,0,0
$GC,9017,0.57,292.0,804.5,15.7,767,9021,0.00,1.12,0.00,0.000,6,0.000,0.048,2945,1788,1683,0,0,0,0,0,0
$GC,9339,0.59,312.1,759.6,13.7,783,9360,0.00,0.00,18.98,1.240,6,0.000,0.000,2945,1788,1610,0,0,0,0,0,0
$GC,9671,0.62,334.9,714.6,13.6,799,9697,0.00,1.17,22.12,1.224,4,0.000,0.051,2949,1066,1517,0,0,0,0,0,0
$GC,9719,0.67,364.9,707.5,13.4,801,9753,0.00,1.12,29.02,1.224,6,0.000,0.045,2949,1784,1396,0,0,0,0,0,0
$GC,10067,0.71,373.0,659.2,14.1,818,10082,0.12,1.15,8.48,1.037,4,0.086,0.051,3022,1069,1363,0,0,0,0,0,0
$GC,10104,0.64,373.0,651.4,19.2,819,10111,0.15,1.10,0.00,0.000,6,0.147,0.047,2975,1780,1363,0,0,0,0,0,0
$GC,10422,0.64,373.0,600.6,15.7,835,10426,0.00,1.10,0.00,0.000,4,0.000,0.050,2979,1069,1361,0,0,0,0,0,0
$GC,10461,0.64,373.0,593.9,15.5,837,10468,0.00,1.10,0.00,0.000,6,0.000,0.044,2978,1778,1361,0,0,0,0,0,0
$GC,10789,0.65,381.5,545.8,14.1,868,10800,0.00,0.00,9.15,1.007,6,0.000,0.000,2978,1778,1328,0,0,0,0,0,0
$GC,11115,0.66,386.9,499.1,14.2,899,11127,0.00,1.08,6.45,0.893,4,0.000,0.046,2982,1069,1305,0,0,0,0,0,0
$GC,11154,0.68,405.0,494.0,13.8,902,11177,0.00,1.10,17.88,1.063,6,0.000,0.044,2978,1788,1232,0,0,0,0,0,0
$GC,11495,0.79,475.2,450.5,12.0,934,11565,0.10,1.17,62.72,1.076,4,0.106,0.049,3041,1071,944,0,0,0,0,0,0
$GC,11606,0.73,475.2,429.7,20.2,944,11611,0.12,1.10,0.00,0.000,6,0.139,0.043,3001,1785,942,0,0,0,0,0,0
$GC,11940,0.75,475.2,375.8,16.5,975,11946,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1786,939,0,0,0,0,0,0
$GC,12269,0.81,495.6,323.2,13.7,1006,12292,0.00,1.15,17.90,0.921,4,0.000,0.047,3004,1071,861,0,0,0,0,0,0
$GC,12400,1.00,610.1,308.8,10.6,1017,12515,0.20,1.08,100.53,0.922,6,0.041,0.041,3107,1785,454,0,0,0,0,1,0
$GC,12831,0.90,610.1,200.1,27.0,1074,12840,0.20,1.05,0.00,0.000,4,0.163,0.046,3048,2476,451,0,0,0,0,0,0
$GC,12964,0.94,610.1,177.1,15.4,1097,12972,0.00,1.08,0.00,0.000,6,0.000,0.042,3051,1773,450,0,0,0,0,0,0
$GC,13289,1.08,690.1,134.1,11.7,1158,13298,0.15,1.08,0.00,0.000,4,0.078,0.046,3140,1076,449,0,0,0,0,0,0
$GC,13387,0.99,690.1,114.2,22.3,1175,13396,0.17,1.05,0.00,0.000,6,0.139,0.039,3084,1779,449,0,0,0,0,0,0
$GC,13713,1.13,739.4,65.8,12.7,1236,13722,0.12,1.10,0.00,0.000,4,0.084,0.046,3165,1077,447,0,0,0,0,0,0
$GC,13753,1.12,739.4,59.5,16.2,1242,13762,0.12,1.05,0.00,0.000,6,0.134,0.037,3125,1789,447,0,0,0,0,0,0
$GC,14080,1.15,739.4,8.4,15.1,1303,14088,0.00,1.08,0.00,0.000,4,0.000,0.044,3121,1079,446,0,0,0,0,0,0
$STATE,14109,end climb,SURFACE_DEPTH_REACHED
$STATE,14109,begin surface coast
$FINISH,1.3,1.008661
$STATE,14131,end surface coast,CONTROL_FINISHED_OK
$STATE,14131,begin surface
$SM_CCo,14209,0.00,0.000,0,0,445,598.29
$SM_GC,2.10,7.88,0.00,0.00,0.035,0.000,0.000,131,1624,445,-8.11,0.37,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12220.52,041111,020234
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.90
$XPDR_PINGS,119
$24V_AH,21.8,120.328
$10V_AH,9.8,81.298
$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,21.700,56.450,801.000,0.000,0.000,27.866,39.253,161.998,29.750,0.000,15.437,3070.387,7068.139,824.504,3162.322,459.655,0.000,2091.554,0.000,2936.766,0.000,0.539,0.000
$DEVICE_MAMPS,220.320,71.910,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.276,1343.585,1488.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73506,1312
$CAP_FILE_SIZE,156028,0
$CFSIZE,260165632,103972864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041111,101306,2341.423,12220.232,36,1.2,36,-3.2