version: 66.09
glider: 166
mission: 6
dive: 492
start: 11 4 111 22 37 31
data:
$ID,166
$MISSION,6
$DIVE,492
$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,225
$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,-25058.717
$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,37
$R_STBD_OVSHOOT,59
$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
$GPS1,041111,223006,2346.422,12215.338,34,1.5,34,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-69.7
$GPS2,041111,223706,2346.633,12215.407,16,1.3,32,-3.2
$SPEED_LIMITS,0.249,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,2338.997,12207.071
$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,228.2,20000,-17.3,-14.348
$D_GRID,2313
$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,-113.65,0.000,2,0.000,0.000,135,1603,3133,0,0,0,0,0,0
$GC,136,-0.74,-292.0,5.8,-7.8,16,167,9.50,1.10,-15.48,0.000,4,0.224,0.067,2527,886,3964,0,0,0,0,0,0
$GC,336,-0.63,-292.0,72.3,-24.8,52,345,0.08,1.08,0.00,0.000,6,0.155,0.035,2548,1610,3965,0,0,0,0,0,0
$GC,659,-0.59,-292.0,126.9,-15.2,113,667,0.00,1.00,0.00,0.000,4,0.000,0.041,2545,2299,3967,0,0,0,0,0,0
$GC,726,-0.56,-292.0,136.3,-13.8,124,735,0.12,1.02,0.00,0.000,6,0.128,0.034,2571,1589,3967,0,0,0,0,0,0
$GC,1051,-0.60,-292.0,171.6,-9.2,185,1059,0.00,1.05,0.00,0.000,4,0.000,0.041,2570,2299,3968,0,0,0,0,0,0
$GC,1194,-0.67,-292.0,187.0,-11.3,211,1203,0.00,1.00,0.00,0.000,6,0.000,0.036,2570,1615,3967,0,0,0,0,0,0
$GC,1520,-0.72,-292.0,229.1,-12.7,272,1528,0.15,1.05,0.00,0.000,4,0.070,0.041,2489,2311,3967,0,0,0,0,0,0
$GC,1617,-0.66,-292.0,247.0,-19.9,289,1626,0.17,1.02,0.00,0.000,6,0.132,0.036,2545,1607,3967,0,0,0,0,0,0
$GC,1954,-0.68,-292.0,290.1,-11.3,321,1958,0.00,1.05,0.00,0.000,4,0.000,0.043,2543,2299,3967,0,0,0,0,0,0
$GC,2004,-0.70,-292.0,295.7,-11.7,325,2007,0.00,1.02,0.00,0.000,6,0.000,0.037,2543,1606,3967,0,0,0,0,0,0
$GC,2335,-0.73,-292.0,335.5,-11.4,356,2339,0.00,1.05,0.00,0.000,4,0.000,0.044,2538,2299,3967,0,0,0,0,0,0
$GC,2407,-0.77,-292.0,343.4,-11.2,362,2411,0.00,1.02,0.00,0.000,6,0.000,0.037,2538,1610,3966,0,0,0,0,0,0
$GC,2738,-0.80,-292.0,385.5,-12.7,393,2743,0.05,1.05,0.00,0.000,4,0.168,0.044,2465,2300,3965,0,0,0,0,0,0
$GC,2836,-0.77,-292.0,399.6,-14.9,401,2843,0.12,1.02,0.00,0.000,6,0.132,0.038,2505,1608,3964,0,0,0,0,0,0
$GC,3162,-0.80,-292.0,440.5,-11.7,432,3166,0.00,1.05,0.00,0.000,4,0.000,0.047,2503,2295,3963,0,0,0,0,0,0
$GC,3239,-0.85,-292.0,448.5,-10.8,438,3246,0.00,1.02,0.00,0.000,6,0.000,0.039,2503,1609,3962,0,0,0,0,0,0
$GC,3567,-0.87,-292.0,483.6,-10.7,469,3571,0.00,1.05,0.00,0.000,4,0.000,0.048,2504,2295,3959,0,0,0,0,0,0
$GC,3695,-0.91,-292.0,496.9,-10.3,480,3699,0.08,1.02,0.00,0.000,6,0.052,0.041,2445,1614,3959,0,0,0,0,0,0
$GC,4025,-0.83,-292.0,551.4,-16.9,511,4027,0.12,0.00,0.00,0.000,6,0.174,0.000,2489,1613,3956,0,0,0,0,0,0
$GC,4343,-0.81,-292.0,594.9,-13.1,541,4347,0.00,1.08,0.00,0.000,4,0.000,0.054,2486,2292,3954,0,0,0,0,0,0
$GC,4464,-0.81,-292.0,609.1,-11.4,548,4467,0.00,1.05,0.00,0.000,6,0.000,0.046,2486,1615,3953,0,0,0,0,0,0
$GC,4791,-0.79,-292.0,652.0,-13.9,564,4795,0.00,1.08,0.00,0.000,4,0.000,0.056,2482,2294,3950,0,0,0,0,0,0
$GC,4894,-0.79,-292.0,665.9,-13.1,568,4898,0.00,1.05,0.00,0.000,6,0.000,0.047,2482,1617,3949,0,0,0,0,0,0
$GC,5216,-0.77,-292.0,713.4,-15.0,584,5220,0.00,1.08,0.00,0.000,4,0.000,0.057,2477,2294,3946,0,0,0,0,0,0
$GC,5280,-0.77,-292.0,722.7,-13.9,586,5287,0.08,1.08,0.00,0.000,6,0.138,0.048,2503,1608,3945,0,0,0,0,0,0
$GC,5598,-0.79,-292.0,761.9,-12.0,602,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1607,3943,0,0,0,0,0,0
$GC,5906,-0.81,-292.0,798.9,-12.2,617,5909,0.00,1.10,0.00,0.000,4,0.000,0.057,2500,2295,3940,0,0,0,0,0,0
$GC,6009,-0.85,-292.0,811.0,-11.6,621,6013,0.00,1.08,0.00,0.000,6,0.000,0.048,2500,1610,3939,0,0,0,0,0,0
$GC,6331,-0.87,-292.0,852.5,-12.8,637,6335,0.00,1.08,0.00,0.000,4,0.000,0.058,2495,2284,3937,0,0,0,0,0,0
$GC,6395,-0.90,-292.0,860.1,-11.7,639,6402,0.00,1.05,0.00,0.000,6,0.000,0.050,2495,1616,3937,0,0,0,0,0,0
$GC,6712,-0.92,-292.0,900.8,-12.9,655,6715,0.00,1.08,0.00,0.000,4,0.000,0.060,2490,2286,3935,0,0,0,0,0,0
$GC,6742,-0.94,-292.0,904.6,-12.8,656,6746,0.00,1.05,0.00,0.000,6,0.000,0.050,2490,1616,3934,0,0,0,0,0,0
$GC,7070,-0.94,-292.0,946.3,-12.6,672,7073,0.00,1.08,0.00,0.000,4,0.000,0.060,2485,2286,3932,0,0,0,0,0,0
$GC,7120,-0.96,-292.0,952.9,-12.8,674,7125,0.08,1.08,0.00,0.000,6,0.057,0.050,2434,1607,3932,0,0,0,0,0,0
$STATE,7341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7341,begin apogee
$GC,7350,-0.11,0.0,990.4,17.2,685,7581,0.93,0.00,225.60,1.443,6,0.137,0.000,2713,1767,2884,0,0,0,0,0,0
$STATE,7586,end apogee,CONTROL_FINISHED_OK
$STATE,7586,begin climb
$GC,7588,0.74,292.0,1003.8,0.0,696,7882,0.80,1.33,283.35,1.375,4,0.044,0.060,3012,2486,1692,0,0,0,0,0,0
$GC,7944,0.65,292.0,954.2,18.6,712,7951,0.15,1.20,0.00,0.000,6,0.152,0.050,2975,1786,1690,0,0,0,0,0,0
$GC,8262,0.60,292.0,903.3,16.2,728,8266,0.00,1.10,0.00,0.000,4,0.000,0.054,2979,1074,1686,0,0,0,0,0,0
$GC,8295,0.56,292.0,897.4,16.1,729,8300,0.10,1.12,0.00,0.000,6,0.148,0.050,2943,1786,1686,0,0,0,0,0,0
$GC,8619,0.60,328.9,855.1,13.1,745,8663,0.00,1.20,34.33,1.320,4,0.000,0.054,2947,1060,1542,0,0,0,0,0,0
$GC,8702,0.62,347.1,843.3,13.7,748,8724,0.00,1.12,18.30,1.244,6,0.000,0.048,2945,1778,1469,0,0,0,0,0,0
$GC,9039,0.65,355.0,796.9,14.1,764,9053,0.00,0.00,8.40,1.100,6,0.000,0.000,2946,1778,1436,0,0,0,0,0,0
$GC,9363,0.68,360.1,750.1,14.2,780,9374,0.10,1.15,6.43,1.004,4,0.099,0.052,3005,1065,1414,0,0,0,0,0,0
$GC,9438,0.63,360.1,736.4,19.8,783,9443,0.12,1.12,0.00,0.000,6,0.146,0.048,2966,1786,1414,0,0,0,0,0,0
$GC,9760,0.63,360.1,684.2,15.6,799,9764,0.00,1.08,0.00,0.000,4,0.000,0.055,2962,2482,1413,0,0,0,0,0,0
$GC,9787,0.63,360.1,679.8,15.3,800,9791,0.00,1.10,0.00,0.000,6,0.000,0.046,2965,1771,1413,0,0,0,0,0,0
$GC,10117,0.63,360.1,633.5,14.4,816,10120,0.00,1.08,0.00,0.000,4,0.000,0.051,2970,1068,1412,0,0,0,0,0,0
$GC,10150,0.63,360.1,627.9,14.7,817,10153,0.00,1.10,0.00,0.000,6,0.000,0.044,2967,1775,1411,0,0,0,0,0,0
$GC,10479,0.66,390.9,582.7,13.3,839,10513,0.00,1.15,29.30,1.170,4,0.000,0.050,2971,1071,1289,0,0,0,0,0,0
$GC,10548,0.68,399.5,572.6,14.1,845,10561,0.00,1.10,9.32,1.011,6,0.000,0.044,2970,1779,1255,0,0,0,0,0,0
$GC,10882,0.72,419.4,528.4,13.7,876,10905,0.00,1.15,19.05,1.092,4,0.000,0.052,2974,1069,1173,0,0,0,0,0,0
$GC,10980,0.74,424.4,514.1,14.2,884,10990,0.00,1.10,6.10,0.866,6,0.000,0.043,2973,1786,1153,0,0,0,0,0,0
$GC,11317,0.80,444.0,466.6,13.7,916,11339,0.12,0.00,18.88,1.046,6,0.086,0.000,3041,1786,1072,0,0,0,0,0,0
$GC,11658,0.72,444.0,398.2,20.4,948,11662,0.17,1.12,0.00,0.000,4,0.158,0.050,2997,1075,1069,0,0,0,0,0,0
$GC,11707,0.72,444.0,388.9,15.6,952,11714,0.00,1.08,0.00,0.000,6,0.000,0.043,2994,1783,1068,0,0,0,0,0,0
$GC,12034,0.78,466.6,342.4,13.6,983,12060,0.00,1.12,20.58,0.958,4,0.000,0.050,2997,1075,980,0,0,0,0,0,0
$GC,12137,0.82,475.3,328.5,14.1,992,12149,0.00,1.08,8.93,0.842,6,0.000,0.042,2994,1783,945,0,0,0,0,0,0
$GC,12469,0.97,553.0,285.9,11.8,1023,12549,0.22,1.15,70.65,0.929,4,0.060,0.047,3106,1070,626,0,0,0,0,0,0
$GC,12612,0.86,553.0,252.6,26.9,1035,12616,0.20,1.08,0.00,0.000,6,0.145,0.043,3043,1778,621,0,0,0,0,0,0
$GC,12935,0.92,579.1,200.9,13.5,1095,12965,0.00,1.05,23.20,0.821,4,0.000,0.044,3046,1069,520,0,0,0,0,0,0
$GC,12997,0.96,579.1,191.4,14.6,1104,13005,0.00,1.08,0.00,0.000,6,0.000,0.038,3046,1786,516,0,0,0,0,0,0
$GC,13324,0.99,579.1,143.7,15.3,1165,13333,0.10,1.10,0.00,0.000,4,0.099,0.047,3112,1066,512,0,0,0,0,0,0
$GC,13374,0.93,579.1,134.3,21.4,1173,13383,0.15,1.08,0.00,0.000,6,0.142,0.040,3065,1784,512,0,0,0,0,0,0
$GC,13702,0.98,579.1,78.6,15.2,1234,13710,0.00,1.08,0.00,0.000,4,0.000,0.045,3068,1075,511,0,0,0,0,0,0
$GC,13765,1.03,579.1,68.6,14.5,1245,13773,0.00,1.05,0.00,0.000,6,0.000,0.038,3068,1781,511,0,0,0,0,0,0
$GC,14089,1.40,784.0,34.6,7.6,1306,14120,0.35,1.12,20.38,0.601,4,0.045,0.044,3247,1066,454,0,0,0,0,1,0
$STATE,14211,end climb,SURFACE_DEPTH_REACHED
$STATE,14211,begin surface coast
$FINISH,1.5,0.998428
$STATE,14223,end surface coast,CONTROL_FINISHED_OK
$STATE,14223,begin surface
$SM_CCo,14302,0.00,0.000,0,0,445,598.29
$SM_GC,2.19,8.10,0.00,0.00,0.037,0.000,0.000,138,1637,445,-8.08,0.76,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2335.63,12214.55,041111,181837
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,23.30
$XPDR_PINGS,119
$24V_AH,21.7,121.525
$10V_AH,9.7,81.906
$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,22.175,67.125,802.775,0.000,0.000,30.782,39.800,162.268,29.750,0.000,36.653,3132.208,6961.743,801.821,3329.607,477.938,0.000,2149.928,0.000,3069.624,0.000,0.540,0.000
$DEVICE_MAMPS,224.145,69.615,1442.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,908.209,1361.283,1559.482,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73603,1329
$CAP_FILE_SIZE,166360,0
$CFSIZE,260165632,103624704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051111,023706,2347.657,12213.936,34,0.9,34,-3.2