version: 66.09
glider: 166
mission: 6
dive: 494
start: 11 5 111 6 51 44
data:
$ID,166
$MISSION,6
$DIVE,494
$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,215
$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,-25068.441
$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,44
$R_STBD_OVSHOOT,55
$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
$GPS1,051111,064506,2348.692,12212.681,31,0.9,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.9
$GPS2,051111,065119,2348.828,12212.757,11,1.3,16,-3.3
$SPEED_LIMITS,0.249,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,2339.982,12205.994
$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,218.3,20000,-17.3,-14.348
$D_GRID,2315
$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,-113.95,0.000,2,0.000,0.000,166,1595,3139,0,0,0,0,0,0
$GC,137,-0.74,-292.0,5.8,-6.8,16,167,9.38,1.08,-15.55,0.000,4,0.221,0.067,2512,898,3964,0,0,0,0,0,0
$GC,257,-0.58,-292.0,49.5,-29.5,36,266,0.17,1.05,0.00,0.000,6,0.148,0.038,2563,1595,3966,0,0,0,0,0,0
$GC,583,-0.56,-292.0,109.6,-15.2,97,591,0.00,1.05,0.00,0.000,4,0.000,0.042,2559,2309,3967,0,0,0,0,0,0
$GC,707,-0.56,-292.0,128.1,-14.3,119,715,0.08,1.05,0.00,0.000,6,0.132,0.037,2570,1599,3968,0,0,0,0,0,0
$GC,1035,-0.61,-292.0,167.9,-12.8,180,1043,0.00,1.08,0.00,0.000,4,0.000,0.042,2567,2314,3969,0,0,0,0,0,0
$GC,1182,-0.67,-292.0,185.0,-11.5,207,1190,0.00,1.05,0.00,0.000,6,0.000,0.036,2569,1604,3969,0,0,0,0,0,0
$GC,1507,-0.73,-292.0,221.1,-10.6,268,1516,0.15,1.08,0.00,0.000,4,0.072,0.041,2486,2308,3968,0,0,0,0,0,0
$GC,1605,-0.65,-292.0,237.0,-17.5,286,1614,0.17,1.02,0.00,0.000,6,0.135,0.037,2544,1609,3968,0,0,0,0,0,0
$GC,1939,-0.67,-292.0,280.2,-13.0,326,1942,0.00,1.05,0.00,0.000,4,0.000,0.044,2542,2300,3968,0,0,0,0,0,0
$GC,2015,-0.72,-292.0,289.9,-12.4,332,2023,0.00,1.02,0.00,0.000,6,0.000,0.037,2543,1611,3968,0,0,0,0,0,0
$GC,2340,-0.75,-292.0,332.5,-12.6,363,2344,0.00,1.05,0.00,0.000,4,0.000,0.045,2538,2299,3968,0,0,0,0,0,0
$GC,2423,-0.78,-292.0,341.8,-11.4,370,2427,0.00,1.02,0.00,0.000,6,0.000,0.040,2538,1618,3968,0,0,0,0,0,0
$GC,2755,-0.81,-292.0,379.0,-10.4,401,2759,0.10,1.08,0.00,0.000,4,0.097,0.047,2455,2305,3967,0,0,0,0,0,0
$GC,2792,-0.77,-292.0,383.5,-13.8,404,2796,0.17,1.05,0.00,0.000,6,0.133,0.043,2509,1616,3966,0,0,0,0,0,0
$GC,3123,-0.79,-292.0,420.0,-10.8,435,3126,0.00,1.08,0.00,0.000,4,0.000,0.050,2505,2308,3965,0,0,0,0,0,0
$GC,3194,-0.83,-292.0,426.5,-9.3,441,3198,0.00,1.08,0.00,0.000,6,0.000,0.044,2506,1605,3964,0,0,0,0,0,0
$GC,3526,-0.85,-292.0,463.3,-11.2,472,3529,0.00,1.08,0.00,0.000,4,0.000,0.051,2501,2294,3962,0,0,0,0,0,0
$GC,3588,-0.89,-292.0,469.7,-10.8,477,3592,0.00,1.05,0.00,0.000,6,0.000,0.044,2501,1609,3961,0,0,0,0,0,0
$GC,3920,-0.91,-292.0,510.1,-12.5,508,3924,0.15,1.10,0.00,0.000,4,0.076,0.053,2430,2296,3958,0,0,0,0,0,0
$GC,4038,-0.83,-292.0,528.9,-17.1,518,4042,0.17,1.05,0.00,0.000,6,0.146,0.044,2485,1610,3958,0,0,0,0,0,0
$GC,4369,-0.83,-292.0,576.7,-13.6,549,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1610,3955,0,0,0,0,0,0
$GC,4694,-0.83,-292.0,618.9,-12.6,573,4698,0.00,1.08,0.00,0.000,4,0.000,0.054,2488,2293,3952,0,0,0,0,0,0
$GC,4814,-0.83,-292.0,633.3,-11.9,578,4818,0.00,1.05,0.00,0.000,6,0.000,0.046,2488,1615,3951,0,0,0,0,0,0
$GC,5144,-0.83,-292.0,676.8,-13.2,594,5148,0.00,1.08,0.00,0.000,4,0.000,0.055,2483,2297,3949,0,0,0,0,0,0
$GC,5194,-0.83,-292.0,683.9,-12.9,596,5197,0.00,1.08,0.00,0.000,6,0.000,0.046,2483,1604,3948,0,0,0,0,0,0
$GC,5524,-0.83,-292.0,726.1,-12.6,612,5527,0.00,1.10,0.00,0.000,4,0.000,0.057,2478,2295,3946,0,0,0,0,0,0
$GC,5624,-0.83,-292.0,738.4,-11.7,616,5628,0.00,1.08,0.00,0.000,6,0.000,0.047,2478,1607,3945,0,0,0,0,0,0
$GC,5949,-0.82,-292.0,778.9,-12.7,632,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1607,3943,0,0,0,0,0,0
$GC,6255,-0.82,-292.0,818.4,-12.5,647,6259,0.00,1.10,0.00,0.000,4,0.000,0.057,2473,2294,3940,0,0,0,0,0,0
$GC,6294,-0.82,-292.0,823.5,-13.0,648,6301,0.00,1.08,0.00,0.000,6,0.000,0.047,2473,1605,3940,0,0,0,0,0,0
$GC,6613,-0.80,-292.0,864.3,-13.3,664,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1605,3938,0,0,0,0,0,0
$GC,6920,-0.80,-292.0,905.8,-13.7,679,6923,0.00,1.10,0.00,0.000,4,0.000,0.060,2468,2289,3936,0,0,0,0,0,0
$GC,6983,-0.80,-292.0,914.2,-13.3,681,6991,0.08,1.08,0.00,0.000,6,0.142,0.049,2493,1605,3935,0,0,0,0,0,0
$GC,7300,-0.83,-292.0,952.5,-12.0,697,7303,0.00,1.10,0.00,0.000,4,0.000,0.060,2491,2290,3933,0,0,0,0,0,0
$GC,7350,-0.86,-292.0,958.4,-11.2,699,7354,0.00,1.08,0.00,0.000,6,0.000,0.050,2490,1610,3933,0,0,0,0,0,0
$STATE,7634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7634,begin apogee
$GC,7643,-0.11,0.0,992.1,11.9,713,7876,0.73,0.00,226.45,1.443,6,0.119,0.000,2720,1769,2884,0,0,0,0,0,0
$STATE,7878,end apogee,CONTROL_FINISHED_OK
$STATE,7878,begin climb
$GC,7881,0.74,292.0,1003.8,0.0,724,8175,0.80,1.33,284.92,1.372,4,0.045,0.058,3016,2485,1693,0,0,0,0,0,0
$GC,8413,0.65,292.0,916.2,20.5,748,8418,0.15,1.10,0.00,0.000,6,0.158,0.051,2976,1787,1689,0,0,0,0,0,0
$GC,8734,0.60,292.0,863.0,16.1,764,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1787,1686,0,0,0,0,0,0
$GC,9046,0.55,292.0,814.0,16.0,779,9048,0.12,0.00,0.00,0.000,6,0.182,0.000,2943,1787,1684,0,0,0,0,0,0
$GC,9353,0.63,357.7,774.6,12.2,794,9419,0.00,1.17,60.60,1.306,4,0.000,0.052,2946,1067,1425,0,0,0,0,0,0
$GC,9455,0.78,453.8,762.1,11.2,798,9551,0.15,1.12,87.82,1.268,6,0.052,0.045,3029,1783,1033,0,0,0,0,0,0
$GC,9881,0.70,453.8,670.6,22.2,819,9885,0.15,1.10,0.00,0.000,4,0.166,0.057,2985,2487,1028,0,0,0,0,0,0
$GC,10022,0.72,453.8,646.5,15.2,825,10025,0.00,1.10,0.00,0.000,6,0.000,0.046,2988,1779,1026,0,0,0,0,0,0
$GC,10341,0.72,453.8,595.2,16.0,841,10345,0.00,1.08,0.00,0.000,4,0.000,0.049,2993,1075,1026,0,0,0,0,0,0
$GC,10365,0.72,453.8,591.0,15.9,843,10368,0.00,1.10,0.00,0.000,6,0.000,0.044,2993,1785,1025,0,0,0,0,0,0
$GC,10698,0.72,453.8,538.0,16.8,874,10701,0.00,1.12,0.00,0.000,4,0.000,0.050,2998,1063,1025,0,0,0,0,0,0
$GC,10747,0.72,453.8,528.7,17.7,878,10754,0.00,1.10,0.00,0.000,6,0.000,0.043,2997,1775,1025,0,0,0,0,0,0
$GC,11073,0.72,453.8,470.9,18.1,909,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1775,1025,0,0,0,0,0,0
$GC,11396,0.72,453.8,417.8,15.7,939,11399,0.00,1.10,0.00,0.000,4,0.000,0.049,3001,1068,1024,0,0,0,0,0,0
$GC,11435,0.72,453.8,410.5,16.3,942,11442,0.00,1.10,0.00,0.000,6,0.000,0.042,2997,1786,1024,0,0,0,0,0,0
$GC,11761,0.74,456.7,361.5,14.2,973,11765,0.00,1.10,0.00,0.000,4,0.000,0.047,3001,1075,1024,0,0,0,0,0,0
$GC,11789,0.77,466.6,357.4,14.0,975,11807,0.00,1.08,10.98,0.916,6,0.000,0.042,2998,1775,981,0,0,0,0,0,0
$GC,12125,0.91,545.1,315.3,11.8,1007,12202,0.15,1.15,72.10,0.965,4,0.076,0.048,3079,1068,659,0,0,0,0,0,0
$GC,12229,0.85,545.1,295.3,21.2,1016,12233,0.12,1.10,0.00,0.000,6,0.140,0.043,3039,1783,655,0,0,0,0,0,0
$GC,12558,0.85,545.1,241.8,14.7,1051,12565,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1784,648,0,0,0,0,0,0
$GC,12884,0.94,584.8,197.4,13.0,1112,12927,0.00,1.12,35.88,0.838,4,0.000,0.046,3042,1069,497,0,0,0,0,0,0
$GC,12970,1.01,602.8,186.2,13.8,1125,13001,0.10,1.08,17.48,0.698,6,0.053,0.039,3109,1785,454,0,0,0,0,1,0
$GC,13318,0.96,602.8,110.2,22.1,1189,13327,0.15,1.12,0.00,0.000,4,0.158,0.046,3073,1066,446,0,0,0,0,0,0
$GC,13361,0.96,602.8,101.4,19.3,1196,13369,0.00,1.08,0.00,0.000,6,0.000,0.038,3069,1783,446,0,0,0,0,0,0
$GC,13686,1.19,715.2,56.9,10.6,1257,13694,0.20,0.00,0.00,0.000,6,0.060,0.000,3175,1783,442,0,0,0,0,0,0
$STATE,13958,end climb,SURFACE_DEPTH_REACHED
$STATE,13958,begin surface coast
$FINISH,1.3,0.997782
$STATE,13969,end surface coast,CONTROL_FINISHED_OK
$STATE,13970,begin surface
$SM_CCo,14050,0.00,0.000,0,0,437,600.25
$SM_GC,2.16,8.00,0.00,0.00,0.037,0.000,0.000,128,1594,437,-8.10,-0.45,600.25,0,0,0,0,0,0
$IRIDIUM_FIX,2340.34,12212.56,051111,020243
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.33
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.00
$XPDR_PINGS,96
$24V_AH,21.5,122.127
$10V_AH,9.7,82.212
$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,21.450,57.000,796.225,0.000,0.000,28.515,16.140,159.185,24.000,0.000,21.078,3073.363,6850.000,760.633,3258.069,462.343,0.000,2102.284,0.000,3047.097,0.000,0.540,0.000
$DEVICE_MAMPS,221.085,69.615,1442.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.596,1343.902,1534.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73578,1311
$CAP_FILE_SIZE,156594,0
$CFSIZE,260165632,103460864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051111,104707,2349.052,12211.828,36,1.9,36,-3.2