version: 66.09
glider: 166
mission: 6
dive: 497
start: 11 5 111 19 3 9
data:
$ID,166
$MISSION,6
$DIVE,497
$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,225
$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,-25083.029
$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,46
$R_STBD_OVSHOOT,54
$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
$GPS1,051111,185606,2350.662,12208.956,27,1.0,27,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.0
$GPS2,051111,190244,2350.768,12208.974,15,1.4,15,-3.3
$SPEED_LIMITS,0.249,0.351
$TGT_NAME,HEADING
$TGT_LATLONG,2341.922,12202.209
$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,-20.0,-14.348
$D_GRID,2486
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.71,-219.0,0.0,0.0,0,133,0.00,0.00,-113.57,0.000,2,0.000,0.000,135,1603,3145,0,0,0,0,0,0
$GC,136,-0.71,-219.0,6.4,-10.5,16,166,9.60,1.05,-11.93,0.000,4,0.227,0.066,2534,908,3778,0,0,0,0,0,0
$GC,228,-0.59,-219.0,39.4,-28.5,31,237,0.10,1.05,0.00,0.000,6,0.153,0.037,2561,1607,3779,0,0,0,0,0,0
$GC,555,-0.59,-219.0,106.7,-14.4,92,563,0.00,1.02,0.00,0.000,4,0.000,0.041,2556,2311,3780,0,0,0,0,0,0
$GC,642,-0.63,-219.0,119.2,-13.8,107,650,0.00,1.05,0.00,0.000,6,0.000,0.036,2545,1601,3780,0,0,0,0,0,0
$GC,967,-0.63,-219.0,164.6,-15.6,168,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1601,3781,0,0,0,0,0,0
$GC,1294,-0.66,-219.0,210.6,-12.3,229,1302,0.00,1.08,0.00,0.000,4,0.000,0.038,2539,2313,3781,0,0,0,0,0,0
$GC,1362,-0.72,-219.0,218.6,-12.1,240,1370,0.00,1.05,0.00,0.000,6,0.000,0.034,2542,1606,3781,0,0,0,0,0,0
$GC,1683,-0.76,-219.0,256.2,-11.6,296,1687,0.00,1.05,0.00,0.000,4,0.000,0.038,2547,2310,3781,0,0,0,0,0,0
$GC,1754,-0.82,-219.0,264.1,-11.6,302,1758,0.10,1.02,0.00,0.000,6,0.041,0.034,2473,1611,3781,0,0,0,0,0,0
$GC,2084,-0.76,-219.0,323.3,-17.5,333,2089,0.15,1.08,0.00,0.000,4,0.166,0.040,2511,2311,3781,0,0,0,0,0,0
$GC,2137,-0.78,-219.0,331.2,-14.4,337,2144,0.00,1.05,0.00,0.000,6,0.000,0.035,2511,1605,3781,0,0,0,0,0,0
$GC,2462,-0.78,-219.0,377.2,-13.4,368,2466,0.00,1.08,0.00,0.000,4,0.000,0.041,2507,2312,3781,0,0,0,0,0,0
$GC,2538,-0.80,-219.0,387.1,-13.1,374,2545,0.00,1.05,0.00,0.000,6,0.000,0.036,2506,1608,3780,0,0,0,0,0,0
$GC,2866,-0.80,-219.0,431.5,-12.8,405,2869,0.00,1.08,0.00,0.000,4,0.000,0.043,2484,2304,3779,0,0,0,0,0,0
$GC,2912,-0.82,-219.0,437.7,-12.6,409,2916,0.00,1.05,0.00,0.000,6,0.000,0.037,2483,1606,3778,0,0,0,0,0,0
$GC,3243,-0.82,-219.0,477.7,-12.3,440,3247,0.00,1.05,0.00,0.000,4,0.000,0.043,2480,2299,3777,0,0,0,0,0,0
$GC,3341,-0.85,-219.0,489.2,-12.1,448,3348,0.00,1.02,0.00,0.000,6,0.000,0.038,2482,1613,3776,0,0,0,0,0,0
$GC,3669,-0.85,-219.0,529.9,-12.8,479,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1613,3772,0,0,0,0,0,0
$GC,3996,-0.85,-219.0,571.5,-13.0,510,4000,0.00,1.08,0.00,0.000,4,0.000,0.047,2493,2301,3771,0,0,0,0,0,0
$GC,4105,-0.88,-219.0,585.5,-12.5,519,4112,0.00,1.05,0.00,0.000,6,0.000,0.041,2493,1614,3770,0,0,0,0,0,0
$GC,4424,-0.88,-219.0,628.3,-13.7,540,4428,0.00,1.08,0.00,0.000,4,0.000,0.048,2488,2303,3767,0,0,0,0,0,0
$GC,4458,-0.90,-219.0,632.9,-13.3,541,4461,0.00,1.05,0.00,0.000,6,0.000,0.041,2488,1613,3766,0,0,0,0,0,0
$GC,4782,-0.90,-219.0,676.2,-13.4,557,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1613,3764,0,0,0,0,0,0
$GC,5089,-0.92,-219.0,717.8,-13.3,572,5093,0.00,1.08,0.00,0.000,4,0.000,0.050,2483,2298,3762,0,0,0,0,0,0
$GC,5142,-0.95,-219.0,724.4,-12.7,574,5145,0.00,1.05,0.00,0.000,6,0.000,0.042,2483,1612,3761,0,0,0,0,0,0
$GC,5470,-0.97,-219.0,765.9,-12.2,590,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1612,3759,0,0,0,0,0,0
$GC,5779,-0.99,-219.0,803.3,-12.0,605,5783,0.12,1.12,0.00,0.000,4,0.091,0.053,2420,2297,3756,0,0,0,0,0,0
$GC,5819,-0.93,-219.0,809.1,-15.2,606,5827,0.10,1.08,0.00,0.000,6,0.158,0.044,2452,1606,3756,0,0,0,0,0,0
$GC,6136,-0.91,-219.0,851.9,-13.3,622,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1606,3755,0,0,0,0,0,0
$GC,6448,-0.90,-219.0,893.7,-13.5,637,6451,0.00,1.08,0.00,0.000,4,0.000,0.052,2454,918,3753,0,0,0,0,0,0
$GC,6509,-0.90,-219.0,902.6,-13.3,639,6516,0.00,1.08,0.00,0.000,6,0.000,0.048,2451,1597,3751,0,0,0,0,0,0
$GC,6828,-0.88,-219.0,946.2,-14.1,655,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1597,3749,0,0,0,0,0,0
$STATE,7132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7132,begin apogee
$GC,7138,-0.11,0.0,990.4,14.4,670,7330,0.88,0.00,185.82,1.450,6,0.135,0.000,2715,1778,2884,0,0,0,0,0,0
$STATE,7331,end apogee,CONTROL_FINISHED_OK
$STATE,7331,begin climb
$GC,7333,0.71,219.0,1000.9,0.0,679,7550,0.77,0.00,212.30,1.382,6,0.047,0.000,3002,1778,1991,0,0,0,0,0,0
$GC,7855,0.64,219.0,927.6,17.6,704,7859,0.15,1.12,0.00,0.000,4,0.180,0.060,2961,2478,1984,0,0,0,0,0,0
$GC,7926,0.64,219.0,915.5,14.5,707,7930,0.00,1.08,0.00,0.000,6,0.000,0.049,2964,1795,1983,0,0,0,0,0,0
$GC,8257,0.62,220.9,868.3,14.3,723,8260,0.00,1.12,0.00,0.000,4,0.000,0.054,2969,1069,1980,0,0,0,0,0,0
$GC,8284,0.59,222.0,863.7,14.3,724,8288,0.00,1.12,0.00,0.000,6,0.000,0.050,2966,1778,1979,0,0,0,0,0,0
$GC,8614,0.58,224.9,817.8,14.2,740,8621,0.00,0.00,4.47,0.871,6,0.000,0.000,2966,1778,1967,0,0,0,0,0,0
$GC,8921,0.58,244.5,775.4,13.5,755,8943,0.00,0.00,19.80,1.264,6,0.000,0.000,2966,1778,1887,0,0,0,0,0,0
$GC,9253,0.59,252.8,729.3,14.0,771,9264,0.00,0.00,8.75,1.102,6,0.000,0.000,2966,1778,1853,0,0,0,0,0,0
$GC,9562,0.60,259.9,684.3,14.0,786,9575,0.00,1.15,8.07,1.060,4,0.000,0.053,2969,1069,1824,0,0,0,0,0,0
$GC,9598,0.62,278.8,679.0,13.5,787,9626,0.00,1.12,19.30,1.194,6,0.000,0.046,2966,1791,1747,0,0,0,0,0,0
$GC,9940,0.63,287.0,632.5,14.0,804,9954,0.00,1.10,8.60,1.043,4,0.000,0.056,2961,2480,1714,0,0,0,0,0,0
$GC,9994,0.67,302.8,624.3,13.7,806,10014,0.00,1.10,16.27,1.140,6,0.000,0.046,2964,1770,1649,0,0,0,0,0,0
$GC,10330,0.73,334.2,581.1,13.0,829,10365,0.00,1.12,29.30,1.160,4,0.000,0.050,2969,1067,1521,0,0,0,0,0,0
$GC,10442,0.84,393.7,568.1,11.7,838,10503,0.15,1.10,54.33,1.154,6,0.052,0.044,3052,1778,1279,0,0,0,0,0,0
$GC,10823,0.77,393.7,484.3,23.8,874,10827,0.17,1.10,0.00,0.000,4,0.168,0.055,3001,2483,1274,0,0,0,0,0,0
$GC,10914,0.77,393.7,467.3,16.3,882,10917,0.00,1.08,0.00,0.000,6,0.000,0.044,3004,1785,1273,0,0,0,0,0,0
$GC,11247,0.77,393.7,412.8,16.4,913,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1785,1272,0,0,0,0,0,0
$GC,11565,0.79,393.7,360.7,15.5,943,11569,0.00,1.08,0.00,0.000,4,0.000,0.047,3010,1077,1272,0,0,0,0,0,0
$GC,11624,0.81,393.7,351.3,15.4,948,11628,0.00,1.10,0.00,0.000,6,0.000,0.043,3006,1793,1271,0,0,0,0,0,0
$GC,11956,0.84,393.7,301.8,15.0,979,11959,0.00,1.10,0.00,0.000,4,0.000,0.048,3010,1080,1272,0,0,0,0,0,0
$GC,12008,0.87,393.7,294.3,14.7,983,12014,0.00,1.08,0.00,0.000,6,0.000,0.042,3006,1779,1271,0,0,0,0,0,0
$GC,12333,1.00,461.0,251.3,11.4,1014,12397,0.20,1.15,57.33,0.910,4,0.067,0.047,3103,1069,1003,0,0,0,0,0,0
$GC,12436,0.92,461.0,232.0,22.4,1028,12445,0.12,1.10,0.00,0.000,6,0.157,0.042,3061,1790,1000,0,0,0,0,0,0
$GC,12762,0.92,461.0,173.2,17.2,1089,12770,0.00,1.02,0.00,0.000,4,0.000,0.050,3057,2472,999,0,0,0,0,0,0
$GC,12809,0.92,461.0,164.7,16.6,1097,12817,0.00,1.05,0.00,0.000,6,0.000,0.041,3060,1777,999,0,0,0,0,0,0
$GC,13138,0.93,461.0,108.3,16.1,1158,13146,0.00,1.05,0.00,0.000,4,0.000,0.045,3065,1078,998,0,0,0,0,0,0
$GC,13206,0.96,461.0,97.7,15.0,1169,13214,0.00,1.05,0.00,0.000,6,0.000,0.037,3062,1780,998,0,0,0,0,0,0
$GC,13530,1.16,556.1,56.8,10.2,1230,13616,0.20,1.12,80.05,0.719,4,0.066,0.044,3164,1078,616,0,0,0,0,0,0
$GC,13760,1.13,556.1,13.3,19.9,1269,13769,0.12,1.05,0.00,0.000,6,0.144,0.037,3123,1785,608,0,0,0,0,0,0
$STATE,13820,end climb,SURFACE_DEPTH_REACHED
$STATE,13820,begin surface coast
$FINISH,1.3,1.000380
$STATE,13841,end surface coast,CONTROL_FINISHED_OK
$STATE,13841,begin surface
$SM_CCo,13919,0.00,0.000,0,0,605,558.79
$SM_GC,2.28,7.75,0.00,0.00,0.035,0.000,0.000,138,1598,605,-8.08,-0.34,558.79,0,0,0,0,0,0
$IRIDIUM_FIX,2342.70,12210.56,051111,141426
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.62
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,23.10
$XPDR_PINGS,115
$24V_AH,21.8,122.984
$10V_AH,9.7,82.665
$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,20.700,54.375,704.400,0.000,0.000,27.633,41.152,160.409,28.750,0.000,19.748,2984.448,7071.841,718.948,3080.462,442.966,0.000,1959.812,0.000,2854.481,0.000,0.539,0.000
$DEVICE_MAMPS,227.205,69.615,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.743,1314.039,1498.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73516,1283
$CAP_FILE_SIZE,150637,0
$CFSIZE,260165632,103211008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051111,225625,2350.971,12207.878,40,1.2,40,-3.3