version: 66.09
glider: 166
mission: 6
dive: 496
start: 11 5 111 14 57 38
data:
$ID,166
$MISSION,6
$DIVE,496
$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,-25078.143
$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,42
$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
$GPS1,051111,145054,2349.987,12210.300,37,1.5,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.7
$GPS2,051111,145713,2350.116,12210.353,12,1.6,17,-3.3
$SPEED_LIMITS,0.249,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,2341.270,12203.589
$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,2454
$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,-114.03,0.000,2,0.000,0.000,158,1592,3185,0,0,0,0,0,0
$GC,137,-0.74,-292.0,6.4,-10.0,16,167,9.48,1.00,-14.23,0.000,4,0.224,0.063,2507,896,3963,0,0,0,0,0,0
$GC,245,-0.58,-292.0,45.8,-29.3,34,253,0.20,1.05,0.00,0.000,6,0.143,0.037,2566,1596,3964,0,0,0,0,0,0
$GC,571,-0.58,-292.0,105.0,-15.2,95,579,0.00,1.05,0.00,0.000,4,0.000,0.040,2560,2314,3966,0,0,0,0,0,0
$GC,703,-0.59,-292.0,124.1,-14.1,118,711,0.00,1.05,0.00,0.000,6,0.000,0.034,2549,1601,3966,0,0,0,0,0,0
$GC,1026,-0.59,-292.0,171.6,-14.5,179,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1601,3966,0,0,0,0,0,0
$GC,1354,-0.62,-292.0,213.6,-13.4,240,1362,0.00,1.08,0.00,0.000,4,0.000,0.040,2546,2320,3966,0,0,0,0,0,0
$GC,1441,-0.67,-292.0,223.6,-10.4,255,1449,0.00,1.05,0.00,0.000,6,0.000,0.034,2551,1605,3966,0,0,0,0,0,0
$GC,1768,-0.71,-292.0,261.8,-11.6,307,1771,0.00,1.05,0.00,0.000,4,0.000,0.040,2552,2312,3966,0,0,0,0,0,0
$GC,1898,-0.77,-292.0,275.8,-9.8,318,1907,0.10,1.05,0.00,0.000,6,0.043,0.034,2476,1598,3966,0,0,0,0,0,0
$GC,2223,-0.68,-292.0,330.0,-17.3,349,2227,0.22,1.10,0.00,0.000,4,0.155,0.036,2537,2318,3965,0,0,0,0,0,0
$GC,2351,-0.72,-292.0,344.2,-9.5,360,2354,0.00,1.02,0.00,0.000,6,0.000,0.034,2537,1617,3965,0,0,0,0,0,0
$GC,2682,-0.75,-292.0,377.6,-10.4,391,2686,0.00,1.05,0.00,0.000,4,0.000,0.041,2532,2317,3964,0,0,0,0,0,0
$GC,2740,-0.80,-292.0,383.3,-9.8,396,2744,0.00,1.05,0.00,0.000,6,0.000,0.035,2529,1604,3964,0,0,0,0,0,0
$GC,3071,-0.84,-292.0,423.2,-13.0,427,3075,0.00,1.08,0.00,0.000,4,0.000,0.043,2509,2313,3961,0,0,0,0,0,0
$GC,3163,-0.89,-292.0,435.4,-13.3,435,3167,0.08,1.02,0.00,0.000,6,0.049,0.037,2445,1617,3961,0,0,0,0,0,0
$GC,3494,-0.82,-292.0,494.4,-17.2,466,3498,0.15,1.10,0.00,0.000,4,0.168,0.045,2488,2315,3958,0,0,0,0,0,0
$GC,3531,-0.82,-292.0,500.6,-14.8,469,3538,0.00,1.05,0.00,0.000,6,0.000,0.037,2489,1609,3958,0,0,0,0,0,0
$GC,3857,-0.82,-292.0,543.4,-12.4,500,3861,0.00,1.10,0.00,0.000,4,0.000,0.047,2498,2308,3956,0,0,0,0,0,0
$GC,3975,-0.82,-292.0,556.2,-10.1,510,3981,0.00,1.05,0.00,0.000,6,0.000,0.039,2498,1613,3954,0,0,0,0,0,0
$GC,4300,-0.82,-292.0,590.7,-11.3,541,4304,0.00,1.08,0.00,0.000,4,0.000,0.047,2493,2312,3951,0,0,0,0,0,0
$GC,4369,-0.82,-292.0,597.9,-10.5,547,4372,0.00,1.05,0.00,0.000,6,0.000,0.039,2493,1613,3951,0,0,0,0,0,0
$GC,4704,-0.82,-292.0,637.6,-12.4,564,4708,0.00,1.08,0.00,0.000,4,0.000,0.049,2489,2307,3948,0,0,0,0,0,0
$GC,4776,-0.82,-292.0,647.5,-13.3,567,4780,0.00,1.05,0.00,0.000,6,0.000,0.041,2488,1610,3947,0,0,0,0,0,0
$GC,5106,-0.82,-292.0,694.2,-14.7,583,5109,0.00,1.10,0.00,0.000,4,0.000,0.050,2483,2303,3945,0,0,0,0,0,0
$GC,5206,-0.82,-292.0,709.0,-13.8,587,5210,0.00,1.05,0.00,0.000,6,0.000,0.041,2483,1609,3944,0,0,0,0,0,0
$GC,5530,-0.82,-292.0,753.8,-13.4,603,5534,0.00,1.10,0.00,0.000,4,0.000,0.052,2478,2310,3942,0,0,0,0,0,0
$GC,5625,-0.82,-292.0,766.4,-12.8,607,5629,0.00,1.08,0.00,0.000,6,0.000,0.043,2478,1610,3940,0,0,0,0,0,0
$GC,5953,-0.82,-292.0,811.4,-13.9,623,5956,0.00,1.12,0.00,0.000,4,0.000,0.055,2473,2306,3939,0,0,0,0,0,0
$GC,6024,-0.82,-292.0,820.4,-12.6,626,6028,0.00,1.08,0.00,0.000,6,0.000,0.045,2473,1610,3939,0,0,0,0,0,0
$GC,6357,-0.81,-292.0,866.8,-13.8,642,6360,0.00,1.10,0.00,0.000,4,0.000,0.056,2468,2302,3936,0,0,0,0,0,0
$GC,6387,-0.81,-292.0,870.8,-13.3,643,6391,0.08,1.08,0.00,0.000,6,0.142,0.047,2493,1610,3936,0,0,0,0,0,0
$GC,6716,-0.83,-292.0,909.6,-11.6,659,6720,0.00,1.12,0.00,0.000,4,0.000,0.058,2490,2299,3934,0,0,0,0,0,0
$GC,6814,-0.86,-292.0,920.5,-10.9,663,6817,0.00,1.08,0.00,0.000,6,0.000,0.049,2490,1613,3933,0,0,0,0,0,0
$GC,7142,-0.88,-292.0,957.5,-11.4,679,7146,0.00,1.10,0.00,0.000,4,0.000,0.054,2489,913,3931,0,0,0,0,0,0
$GC,7188,-0.90,-292.0,962.9,-11.7,681,7192,0.00,1.10,0.00,0.000,6,0.000,0.051,2485,1601,3931,0,0,0,0,0,0
$STATE,7415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7416,begin apogee
$GC,7424,-0.11,0.0,990.7,12.1,692,7656,0.73,0.00,225.40,1.438,6,0.120,0.000,2713,1788,2884,0,0,0,0,0,0
$STATE,7660,end apogee,CONTROL_FINISHED_OK
$STATE,7660,begin climb
$GC,7663,0.74,292.0,1002.2,0.0,703,7958,0.80,1.33,285.23,1.369,4,0.044,0.054,3016,1084,1693,0,0,0,0,0,0
$GC,7982,0.64,292.0,959.8,18.5,718,7986,0.15,1.23,0.00,0.000,6,0.154,0.050,2974,1766,1690,0,0,0,0,0,0
$GC,8318,0.59,292.0,910.5,14.4,734,8322,0.00,1.08,0.00,0.000,4,0.000,0.054,2977,1083,1686,0,0,0,0,0,0
$GC,8351,0.56,306.8,905.0,13.9,735,8372,0.10,1.12,14.32,1.235,6,0.151,0.051,2943,1793,1633,0,0,0,0,0,0
$GC,8694,0.62,356.4,862.9,12.7,752,8743,0.00,0.00,47.08,1.335,6,0.000,0.000,2943,1793,1431,0,0,0,0,0,0
$GC,9044,0.66,369.5,815.4,13.9,769,9066,0.00,1.17,13.20,1.202,4,0.000,0.052,2946,1071,1377,0,0,0,0,0,0
$GC,9119,0.69,369.5,804.5,14.6,772,9124,0.08,1.10,0.00,0.000,6,0.063,0.047,2990,1774,1375,0,0,0,0,0,0
$GC,9446,0.65,369.5,739.9,20.1,788,9450,0.00,1.10,0.00,0.000,4,0.000,0.057,2990,2485,1374,0,0,0,0,0,0
$GC,9510,0.62,369.5,727.4,19.6,790,9517,0.12,1.10,0.00,0.000,6,0.145,0.047,2956,1780,1373,0,0,0,0,0,0
$GC,9826,0.64,369.5,678.7,14.9,806,9829,0.00,1.10,0.00,0.000,4,0.000,0.051,2959,1077,1373,0,0,0,0,0,0
$GC,9901,0.66,372.1,668.1,14.3,809,9905,0.00,1.10,0.00,0.000,6,0.000,0.045,2959,1782,1372,0,0,0,0,0,0
$GC,10228,0.71,400.1,623.4,13.4,825,10263,0.00,1.15,28.77,1.194,4,0.000,0.051,2962,1075,1251,0,0,0,0,0,0
$GC,10301,0.76,425.8,613.9,13.5,828,10332,0.10,1.10,24.40,1.155,6,0.056,0.044,3023,1786,1147,0,0,0,0,0,0
$GC,10657,0.70,425.8,543.3,19.6,858,10661,0.12,1.08,0.00,0.000,4,0.168,0.054,2987,2477,1144,0,0,0,0,0,0
$GC,10742,0.70,425.8,529.9,14.9,865,10749,0.00,1.08,0.00,0.000,6,0.000,0.044,2990,1776,1144,0,0,0,0,0,0
$GC,11067,0.70,425.8,481.2,14.9,896,11071,0.00,1.05,0.00,0.000,4,0.000,0.049,2995,1084,1143,0,0,0,0,0,0
$GC,11138,0.70,425.8,471.1,14.8,902,11141,0.00,1.08,0.00,0.000,6,0.000,0.044,2992,1783,1143,0,0,0,0,0,0
$GC,11469,0.71,430.6,423.0,14.2,933,11481,0.00,1.08,5.05,0.766,4,0.000,0.054,2987,2474,1127,0,0,0,0,0,0
$GC,11510,0.75,453.8,417.1,13.6,936,11539,0.00,1.08,22.05,1.024,6,0.000,0.043,2991,1772,1033,0,0,0,0,0,0
$GC,11859,0.77,453.8,369.4,14.4,969,11863,0.00,1.05,0.00,0.000,4,0.000,0.049,2996,1080,1030,0,0,0,0,0,0
$GC,11955,0.81,463.0,355.2,14.0,977,11973,0.00,1.08,9.15,0.874,6,0.000,0.041,2992,1783,995,0,0,0,0,0,0
$GC,12294,0.89,493.1,310.2,13.4,1009,12328,0.15,1.15,27.70,0.940,4,0.080,0.049,3075,1074,872,0,0,0,0,0,0
$GC,12388,0.81,493.1,290.8,22.6,1017,12393,0.15,1.08,0.00,0.000,6,0.143,0.042,3026,1779,869,0,0,0,0,0,0
$GC,12715,0.81,493.1,237.2,15.5,1055,12723,0.00,1.05,0.00,0.000,4,0.000,0.050,3022,2469,867,0,0,0,0,0,0
$GC,12743,0.81,493.1,233.2,15.3,1059,12751,0.00,1.05,0.00,0.000,6,0.000,0.043,3025,1784,867,0,0,0,0,0,0
$GC,13068,0.90,542.4,189.0,12.7,1120,13120,0.00,1.10,43.97,0.842,4,0.000,0.044,3030,1077,671,0,0,0,0,0,0
$GC,13260,1.04,606.2,164.4,12.2,1153,13334,0.15,1.08,55.60,0.783,6,0.047,0.038,3116,1794,454,0,0,0,0,1,0
$GC,13654,0.99,606.2,75.0,20.8,1223,13662,0.12,0.00,0.00,0.000,6,0.158,0.000,3084,1798,448,0,0,0,0,0,0
$GC,13974,1.27,746.6,40.8,9.7,1284,13983,0.22,1.12,0.00,0.000,4,0.056,0.041,3195,1070,443,0,0,0,0,0,0
$GC,14133,1.18,746.6,5.5,24.3,1313,14142,0.15,1.05,0.00,0.000,6,0.145,0.038,3146,1775,442,0,0,0,0,0,0
$STATE,14148,end climb,SURFACE_DEPTH_REACHED
$STATE,14148,begin surface coast
$FINISH,1.3,1.013146
$STATE,14162,end surface coast,CONTROL_FINISHED_OK
$STATE,14162,begin surface
$SM_CCo,14242,0.00,0.000,0,0,440,599.51
$SM_GC,2.16,7.88,0.00,0.00,0.036,0.000,0.000,134,1602,440,-8.10,-0.23,599.51,0,0,0,0,0,0
$IRIDIUM_FIX,2337.99,12212.56,051111,101042
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.30
$XPDR_PINGS,110
$24V_AH,21.5,122.726
$10V_AH,9.8,82.520
$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,21.325,67.775,801.925,0.000,0.000,29.706,18.133,160.727,27.500,0.000,21.598,3111.886,6905.201,785.840,3323.023,477.185,0.000,2177.440,0.000,3104.907,0.000,0.540,0.000
$DEVICE_MAMPS,224.145,69.615,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.295,1350.204,1539.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73539,1317
$CAP_FILE_SIZE,165166,0
$CFSIZE,260165632,103280640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051111,185606,2350.662,12208.956,27,1.0,27,-3.3