version: 66.09
glider: 166
mission: 6
dive: 489
start: 11 4 111 10 19 39
data:
$ID,166
$MISSION,6
$DIVE,489
$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,-25044.16
$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,68
$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
$GPS1,041111,101306,2341.423,12220.232,36,1.2,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-67.9
$GPS2,041111,101914,2341.567,12220.244,10,1.4,10,-3.2
$SPEED_LIMITS,0.249,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,2336.168,12210.038
$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,2992
$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,-292.0,0.0,0.0,0,133,0.00,0.00,-113.88,0.000,2,0.000,0.000,121,1624,3141,0,0,0,0,0,0
$GC,137,-0.74,-292.0,6.2,-10.2,16,167,9.52,1.12,-15.27,0.000,4,0.223,0.067,2524,898,3962,0,0,0,0,0,0
$GC,316,-0.60,-292.0,68.4,-28.5,48,325,0.12,1.02,0.00,0.000,6,0.143,0.034,2560,1595,3964,0,0,0,0,0,0
$GC,641,-0.57,-292.0,123.0,-17.6,109,649,0.00,1.02,0.00,0.000,4,0.000,0.041,2557,2302,3965,0,0,0,0,0,0
$GC,764,-0.57,-292.0,141.5,-13.1,131,773,0.10,1.02,0.00,0.000,6,0.126,0.035,2576,1595,3965,0,0,0,0,0,0
$GC,1093,-0.63,-292.0,178.7,-11.1,192,1101,0.00,1.05,0.00,0.000,4,0.000,0.038,2573,2304,3966,0,0,0,0,0,0
$GC,1262,-0.71,-292.0,195.9,-9.9,223,1271,0.10,1.00,0.00,0.000,6,0.041,0.035,2492,1612,3966,0,0,0,0,0,0
$GC,1597,-0.62,-292.0,258.5,-19.3,281,1601,0.20,1.05,0.00,0.000,4,0.150,0.036,2556,2305,3966,0,0,0,0,0,0
$GC,1635,-0.62,-292.0,264.8,-13.9,284,1643,0.00,1.02,0.00,0.000,6,0.000,0.035,2554,1610,3966,0,0,0,0,0,0
$GC,1960,-0.66,-292.0,302.7,-11.1,315,1964,0.00,1.05,0.00,0.000,4,0.000,0.040,2551,2304,3966,0,0,0,0,0,0
$GC,2093,-0.71,-292.0,316.4,-10.5,326,2100,0.00,1.02,0.00,0.000,6,0.000,0.036,2551,1609,3965,0,0,0,0,0,0
$GC,2419,-0.75,-292.0,350.0,-10.3,357,2424,0.10,1.08,0.00,0.000,4,0.096,0.041,2475,2308,3964,0,0,0,0,0,0
$GC,2457,-0.72,-292.0,354.5,-13.1,360,2461,0.17,1.02,0.00,0.000,6,0.129,0.037,2525,1610,3964,0,0,0,0,0,0
$GC,2788,-0.75,-292.0,390.3,-10.7,391,2792,0.00,1.05,0.00,0.000,4,0.000,0.043,2519,2296,3963,0,0,0,0,0,0
$GC,2886,-0.81,-292.0,400.6,-10.4,399,2892,0.00,1.02,0.00,0.000,6,0.000,0.037,2519,1605,3963,0,0,0,0,0,0
$GC,3211,-0.85,-292.0,433.7,-9.9,430,3215,0.00,1.05,0.00,0.000,4,0.000,0.043,2513,2299,3960,0,0,0,0,0,0
$GC,3294,-0.90,-292.0,441.5,-9.7,437,3299,0.10,1.02,0.00,0.000,6,0.045,0.037,2443,1606,3960,0,0,0,0,0,0
$GC,3627,-0.83,-292.0,499.5,-18.2,468,3634,0.12,0.00,0.00,0.000,6,0.172,0.000,2490,1603,3958,0,0,0,0,0,0
$GC,3952,-0.83,-292.0,550.4,-15.1,499,3956,0.00,1.02,0.00,0.000,4,0.000,0.043,2494,917,3955,0,0,0,0,0,0
$GC,3998,-0.83,-292.0,557.3,-14.8,503,4002,0.00,1.02,0.00,0.000,6,0.000,0.037,2490,1603,3955,0,0,0,0,0,0
$GC,4339,-0.83,-292.0,603.1,-12.8,534,4342,0.00,1.05,0.00,0.000,4,0.000,0.046,2485,2299,3951,0,0,0,0,0,0
$GC,4469,-0.83,-292.0,618.3,-11.2,539,4476,0.00,1.02,0.00,0.000,6,0.000,0.040,2485,1619,3950,0,0,0,0,0,0
$GC,4786,-0.83,-292.0,656.6,-12.2,555,4790,0.00,1.05,0.00,0.000,4,0.000,0.049,2480,2296,3948,0,0,0,0,0,0
$GC,4832,-0.83,-292.0,662.3,-12.3,557,4836,0.00,1.05,0.00,0.000,6,0.000,0.041,2481,1603,3947,0,0,0,0,0,0
$GC,5167,-0.81,-292.0,705.7,-13.1,573,5171,0.00,1.08,0.00,0.000,4,0.000,0.050,2476,2295,3945,0,0,0,0,0,0
$GC,5213,-0.81,-292.0,711.7,-12.4,575,5217,0.00,1.05,0.00,0.000,6,0.000,0.041,2475,1603,3944,0,0,0,0,0,0
$GC,5549,-0.78,-292.0,756.2,-13.9,591,5554,0.10,1.10,0.00,0.000,4,0.178,0.053,2498,2290,3941,0,0,0,0,0,0
$GC,5651,-0.82,-292.0,767.8,-10.7,595,5655,0.00,1.05,0.00,0.000,6,0.000,0.044,2498,1607,3939,0,0,0,0,0,0
$GC,5976,-0.84,-292.0,803.2,-11.0,611,5979,0.00,1.08,0.00,0.000,4,0.000,0.054,2494,2292,3938,0,0,0,0,0,0
$GC,6049,-0.87,-292.0,811.5,-11.0,614,6053,0.00,1.05,0.00,0.000,6,0.000,0.045,2493,1612,3937,0,0,0,0,0,0
$GC,6376,-0.87,-292.0,848.3,-11.6,630,6380,0.00,1.08,0.00,0.000,4,0.000,0.057,2489,2291,3935,0,0,0,0,0,0
$GC,6463,-0.89,-292.0,857.5,-10.6,633,6469,0.00,1.05,0.00,0.000,6,0.000,0.048,2489,1616,3934,0,0,0,0,0,0
$GC,6779,-0.89,-292.0,894.9,-12.1,649,6782,0.00,1.08,0.00,0.000,4,0.000,0.059,2484,2288,3932,0,0,0,0,0,0
$GC,6808,-0.89,-292.0,898.6,-12.2,650,6812,0.00,1.05,0.00,0.000,6,0.000,0.050,2484,1618,3932,0,0,0,0,0,0
$GC,7136,-0.89,-292.0,939.8,-12.5,666,7139,0.00,1.10,0.00,0.000,4,0.000,0.054,2484,914,3930,0,0,0,0,0,0
$GC,7182,-0.89,-292.0,945.6,-12.4,668,7186,0.00,1.08,0.00,0.000,6,0.000,0.050,2478,1590,3930,0,0,0,0,0,0
$GC,7517,-0.89,-292.0,986.0,-11.6,684,7521,0.00,1.12,0.00,0.000,4,0.000,0.060,2473,2304,3928,0,0,0,0,0,0
$STATE,7548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7548,begin apogee
$GC,7555,-0.11,0.0,990.2,11.2,685,7787,0.77,0.00,225.15,1.441,6,0.122,0.000,2718,1769,2883,0,0,0,0,0,0
$STATE,7789,end apogee,CONTROL_FINISHED_OK
$STATE,7790,begin climb
$GC,7792,0.74,292.0,998.0,0.0,696,8082,0.77,1.25,282.15,1.370,4,0.044,0.054,3017,1083,1692,0,0,0,0,0,0
$GC,8123,0.64,292.0,948.3,20.0,711,8131,0.15,1.20,0.00,0.000,6,0.151,0.049,2976,1772,1690,0,0,0,0,0,0
$GC,8440,0.59,292.0,896.0,16.2,727,8443,0.00,1.10,0.00,0.000,4,0.000,0.053,2979,1075,1687,0,0,0,0,0,0
$GC,8475,0.55,292.0,890.1,16.8,728,8479,0.10,1.12,0.00,0.000,6,0.151,0.049,2943,1791,1686,0,0,0,0,0,0
$GC,8798,0.55,292.0,844.2,14.5,744,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1791,1685,0,0,0,0,0,0
$GC,9107,0.55,292.0,798.4,14.6,759,9111,0.00,1.08,0.00,0.000,4,0.000,0.056,2939,2485,1684,0,0,0,0,0,0
$GC,9137,0.55,292.0,794.1,14.9,760,9140,0.00,1.10,0.00,0.000,6,0.000,0.045,2942,1780,1684,0,0,0,0,0,0
$GC,9464,0.56,301.0,747.4,14.1,776,9477,0.00,1.12,8.12,1.091,4,0.000,0.052,2947,1074,1656,0,0,0,0,0,0
$GC,9501,0.58,320.6,742.0,13.7,777,9529,0.00,1.10,20.38,1.232,6,0.000,0.045,2944,1783,1576,0,0,0,0,0,0
$GC,9843,0.65,364.8,696.9,12.9,794,9889,0.00,1.10,41.67,1.244,4,0.000,0.047,2947,1072,1395,0,0,0,0,0,0
$GC,9938,0.76,430.2,684.6,12.2,798,10006,0.15,1.10,60.33,1.226,6,0.050,0.045,3031,1777,1129,0,0,0,0,0,0
$GC,10329,0.68,430.2,601.7,21.4,817,10334,0.17,1.10,0.00,0.000,4,0.161,0.056,2979,2480,1124,0,0,0,0,0,0
$GC,10427,0.70,430.2,585.8,14.7,824,10433,0.00,1.08,0.00,0.000,6,0.000,0.044,2982,1783,1124,0,0,0,0,0,0
$GC,10752,0.70,430.2,537.8,14.8,855,10756,0.00,1.08,0.00,0.000,4,0.000,0.048,2987,1076,1123,0,0,0,0,0,0
$GC,10789,0.70,430.2,532.9,14.7,858,10792,0.00,1.08,0.00,0.000,6,0.000,0.044,2984,1777,1122,0,0,0,0,0,0
$GC,11120,0.74,460.5,486.5,13.3,889,11154,0.00,1.12,26.62,1.087,4,0.000,0.047,2988,1073,1005,0,0,0,0,0,0
$GC,11216,0.79,491.4,474.1,13.3,897,11250,0.00,1.08,29.15,1.068,6,0.000,0.044,2985,1775,879,0,0,0,0,0,0
$GC,11570,0.82,491.4,424.4,14.8,930,11574,0.12,1.10,0.00,0.000,4,0.089,0.049,3060,1070,872,0,0,0,0,0,0
$GC,11597,0.79,491.4,418.9,17.2,932,11604,0.12,1.10,0.00,0.000,6,0.144,0.044,3021,1790,872,0,0,0,0,0,0
$GC,11925,0.77,491.4,360.0,17.3,963,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1791,871,0,0,0,0,0,0
$GC,12252,0.77,491.4,303.8,16.3,994,12255,0.00,1.10,0.00,0.000,4,0.000,0.047,3024,1075,870,0,0,0,0,0,0
$GC,12314,0.77,491.4,293.0,16.7,999,12320,0.00,1.08,0.00,0.000,6,0.000,0.041,3021,1781,870,0,0,0,0,0,0
$GC,12640,0.79,491.4,242.9,14.6,1034,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1781,870,0,0,0,0,0,0
$GC,12964,0.85,512.2,198.3,13.7,1095,12987,0.00,1.15,18.33,0.816,4,0.000,0.047,3025,1063,793,0,0,0,0,0,0
$GC,13073,0.93,537.8,184.3,13.5,1113,13104,0.08,1.08,23.77,0.802,6,0.060,0.039,3076,1786,690,0,0,0,0,0,0
$GC,13421,0.89,537.8,115.6,20.1,1177,13430,0.12,1.10,0.00,0.000,4,0.164,0.045,3048,1070,683,0,0,0,0,0,0
$GC,13484,0.92,537.8,105.3,14.8,1188,13492,0.00,1.05,0.00,0.000,6,0.000,0.037,3045,1773,682,0,0,0,0,0,0
$GC,13809,1.23,708.6,70.4,8.7,1249,13874,0.28,1.05,56.55,0.721,4,0.051,0.041,3186,1069,454,0,0,0,0,0,0
$GC,13942,1.14,708.6,41.7,22.4,1270,13951,0.17,1.08,0.00,0.000,6,0.146,0.037,3128,1793,450,0,0,0,0,0,0
$STATE,14179,end climb,SURFACE_DEPTH_REACHED
$STATE,14179,begin surface coast
$FINISH,1.5,1.009948
$STATE,14196,end surface coast,CONTROL_FINISHED_OK
$STATE,14196,begin surface
$SM_CCo,14274,0.00,0.000,0,0,443,598.78
$SM_GC,2.17,7.82,0.00,0.00,0.035,0.000,0.000,138,1597,443,-8.09,-0.40,598.78,0,0,0,0,0,0
$IRIDIUM_FIX,2330.93,12223.76,041111,060636
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.60
$XPDR_PINGS,117
$24V_AH,21.7,120.624
$10V_AH,9.7,81.449
$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,21.500,66.650,792.225,0.000,0.000,28.391,19.374,158.953,29.250,0.000,14.906,3091.847,7035.750,765.573,3268.133,463.934,0.000,2135.686,0.000,3055.385,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,66.555,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.425,1347.987,1526.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73365,1317
$CAP_FILE_SIZE,163138,0
$CFSIZE,260165632,103882752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041111,141854,2343.580,12218.643,24,1.0,42,-3.2