version: 66.09
glider: 166
mission: 6
dive: 498
start: 11 5 111 23 3 15
data:
$ID,166
$MISSION,6
$DIVE,498
$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,-25087.893
$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,45
$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
$GPS1,051111,225625,2350.971,12207.878,40,1.2,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.5
$GPS2,051111,230250,2351.135,12207.883,14,1.3,14,-3.3
$SPEED_LIMITS,0.249,0.351
$TGT_NAME,HEADING
$TGT_LATLONG,2342.289,12201.118
$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,2673
$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,-219.0,0.0,0.0,0,126,0.00,0.00,-106.68,0.000,2,0.000,0.000,172,1596,3189,0,0,0,0,0,0
$GC,129,-0.71,-219.0,6.4,-9.7,15,159,9.50,1.05,-10.98,0.000,4,0.226,0.069,2525,899,3780,0,0,0,0,0,0
$GC,397,-0.61,-219.0,85.2,-21.2,64,406,0.12,1.05,0.00,0.000,6,0.145,0.035,2560,1606,3782,0,0,0,0,0,0
$GC,727,-0.63,-219.0,130.6,-12.1,125,735,0.00,1.02,0.00,0.000,4,0.000,0.040,2557,2312,3783,0,0,0,0,0,0
$GC,830,-0.67,-219.0,141.8,-10.5,143,838,0.00,1.05,0.00,0.000,6,0.000,0.036,2541,1599,3784,0,0,0,0,0,0
$GC,1154,-0.69,-219.0,185.0,-13.6,204,1162,0.00,1.05,0.00,0.000,4,0.000,0.038,2538,2307,3784,0,0,0,0,0,0
$GC,1206,-0.73,-219.0,192.6,-13.9,213,1214,0.00,1.02,0.00,0.000,6,0.000,0.035,2539,1608,3784,0,0,0,0,0,0
$GC,1533,-0.76,-219.0,233.5,-12.3,274,1541,0.00,1.05,0.00,0.000,4,0.000,0.040,2544,2309,3784,0,0,0,0,0,0
$GC,1606,-0.82,-219.0,242.2,-10.8,287,1614,0.10,1.02,0.00,0.000,6,0.042,0.035,2471,1608,3784,0,0,0,0,0,0
$GC,1934,-0.74,-219.0,301.6,-19.2,322,1936,0.17,0.00,0.00,0.000,6,0.163,0.000,2520,1605,3784,0,0,0,0,0,0
$GC,2255,-0.76,-219.0,345.4,-13.2,352,2258,0.00,1.05,0.00,0.000,4,0.000,0.041,2517,2297,3784,0,0,0,0,0,0
$GC,2358,-0.79,-219.0,359.3,-12.7,361,2361,0.00,1.02,0.00,0.000,6,0.000,0.035,2516,1608,3784,0,0,0,0,0,0
$GC,2689,-0.81,-219.0,404.9,-13.8,392,2693,0.00,1.05,0.00,0.000,4,0.000,0.042,2498,2298,3783,0,0,0,0,0,0
$GC,2736,-0.84,-219.0,411.1,-13.0,396,2740,0.00,1.02,0.00,0.000,6,0.000,0.036,2496,1607,3783,0,0,0,0,0,0
$GC,3067,-0.86,-219.0,454.5,-13.2,427,3071,0.00,1.05,0.00,0.000,4,0.000,0.043,2487,2298,3779,0,0,0,0,0,0
$GC,3125,-0.90,-219.0,461.7,-11.8,432,3129,0.00,1.02,0.00,0.000,6,0.000,0.037,2487,1610,3780,0,0,0,0,0,0
$GC,3457,-0.92,-219.0,502.0,-12.1,463,3460,0.00,1.08,0.00,0.000,4,0.000,0.047,2486,2298,3778,0,0,0,0,0,0
$GC,3537,-0.96,-219.0,511.3,-11.4,470,3541,0.08,1.02,0.00,0.000,6,0.053,0.039,2429,1613,3777,0,0,0,0,0,0
$GC,3867,-0.88,-219.0,568.9,-17.5,501,3869,0.15,0.00,0.00,0.000,6,0.175,0.000,2473,1611,3775,0,0,0,0,0,0
$GC,4198,-0.88,-219.0,614.1,-13.2,527,4201,0.00,1.08,0.00,0.000,4,0.000,0.049,2479,2294,3773,0,0,0,0,0,0
$GC,4244,-0.88,-219.0,620.7,-13.0,529,4247,0.00,1.02,0.00,0.000,6,0.000,0.041,2479,1617,3772,0,0,0,0,0,0
$GC,4577,-0.88,-219.0,665.8,-13.9,545,4580,0.00,1.08,0.00,0.000,4,0.000,0.044,2479,909,3769,0,0,0,0,0,0
$GC,4612,-0.88,-219.0,670.7,-14.3,546,4616,0.00,1.08,0.00,0.000,6,0.000,0.041,2474,1609,3769,0,0,0,0,0,0
$GC,4933,-0.88,-219.0,714.8,-13.5,562,4937,0.00,1.05,0.00,0.000,4,0.000,0.050,2469,2298,3767,0,0,0,0,0,0
$GC,5006,-0.88,-219.0,724.9,-13.6,565,5009,0.00,1.05,0.00,0.000,6,0.000,0.041,2469,1607,3766,0,0,0,0,0,0
$GC,5336,-0.88,-219.0,770.6,-14.0,581,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1607,3763,0,0,0,0,0,0
$GC,5643,-0.88,-219.0,812.0,-13.0,596,5646,0.00,1.08,0.00,0.000,4,0.000,0.050,2469,915,3761,0,0,0,0,0,0
$GC,5718,-0.88,-219.0,821.9,-13.3,599,5722,0.00,1.08,0.00,0.000,6,0.000,0.047,2464,1599,3761,0,0,0,0,0,0
$GC,6045,-0.88,-219.0,865.4,-13.4,615,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1599,3758,0,0,0,0,0,0
$GC,6354,-0.88,-219.0,905.5,-13.0,630,6358,0.00,1.10,0.00,0.000,4,0.000,0.052,2464,911,3756,0,0,0,0,0,0
$GC,6384,-0.88,-219.0,909.4,-13.4,631,6388,0.00,1.10,0.00,0.000,6,0.000,0.050,2459,1603,3756,0,0,0,0,0,0
$GC,6712,-0.88,-219.0,954.0,-13.7,647,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1603,3753,0,0,0,0,0,0
$STATE,6977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6977,begin apogee
$GC,6986,-0.11,0.0,990.3,13.7,660,7178,0.85,0.00,186.88,1.457,6,0.130,0.000,2718,1787,2884,0,0,0,0,0,0
$STATE,7179,end apogee,CONTROL_FINISHED_OK
$STATE,7179,begin climb
$GC,7184,0.71,219.0,999.0,0.0,669,7401,0.75,0.00,212.68,1.382,6,0.045,0.000,3001,1787,1991,0,0,0,0,0,0
$GC,7717,0.64,219.0,920.9,17.4,694,7719,0.12,0.00,0.00,0.000,6,0.179,0.000,2971,1787,1983,0,0,0,0,0,0
$GC,8021,0.61,219.0,874.2,14.5,709,8025,0.00,1.08,0.00,0.000,4,0.000,0.060,2967,2476,1981,0,0,0,0,0,0
$GC,8086,0.60,223.1,865.0,14.2,711,8093,0.00,1.08,0.00,0.000,6,0.000,0.050,2970,1794,1981,0,0,0,0,0,0
$GC,8402,0.58,234.3,821.0,13.9,727,8424,0.00,1.17,13.27,1.231,4,0.000,0.054,2975,1064,1927,0,0,0,0,0,0
$GC,8453,0.56,236.5,813.5,14.3,729,8457,0.08,1.12,0.00,0.000,6,0.164,0.049,2948,1775,1925,0,0,0,0,0,0
$GC,8782,0.63,290.5,774.5,12.0,745,8839,0.00,1.17,52.75,1.312,4,0.000,0.054,2951,1072,1699,0,0,0,0,0,0
$GC,8880,0.72,340.5,762.5,12.2,748,8932,0.10,1.12,47.12,1.272,6,0.062,0.047,3005,1780,1494,0,0,0,0,0,0
$GC,9260,0.69,340.5,693.1,18.6,767,9264,0.00,1.10,0.00,0.000,4,0.000,0.057,3006,2482,1488,0,0,0,0,0,0
$GC,9336,0.66,340.5,679.0,18.4,770,9340,0.10,1.10,0.00,0.000,6,0.159,0.047,2981,1777,1487,0,0,0,0,0,0
$GC,9662,0.66,340.5,627.2,15.2,786,9666,0.00,1.08,0.00,0.000,4,0.000,0.053,2984,1078,1485,0,0,0,0,0,0
$GC,9700,0.66,340.5,621.2,15.1,787,9707,0.00,1.10,0.00,0.000,6,0.000,0.045,2981,1785,1485,0,0,0,0,0,0
$GC,10025,0.68,340.5,573.1,14.9,811,10029,0.00,1.08,0.00,0.000,4,0.000,0.056,2981,2480,1485,0,0,0,0,0,0
$GC,10064,0.70,340.5,566.4,14.7,814,10071,0.00,1.08,0.00,0.000,6,0.000,0.045,2984,1788,1484,0,0,0,0,0,0
$GC,10390,0.72,340.5,517.7,15.0,845,10393,0.00,1.10,0.00,0.000,4,0.000,0.050,2989,1077,1484,0,0,0,0,0,0
$GC,10440,0.73,340.5,509.7,15.4,849,10447,0.00,1.10,0.00,0.000,6,0.000,0.044,2986,1783,1483,0,0,0,0,0,0
$GC,10766,0.76,340.5,460.4,14.7,880,10769,0.00,1.08,0.00,0.000,4,0.000,0.054,2981,2483,1483,0,0,0,0,0,0
$GC,10789,0.79,340.5,456.8,14.8,882,10793,0.00,1.10,0.00,0.000,6,0.000,0.045,2984,1769,1483,0,0,0,0,0,0
$GC,11121,0.83,347.0,408.9,14.1,913,11134,0.12,1.08,4.95,0.751,4,0.090,0.046,3063,1074,1468,0,0,0,0,0,0
$GC,11173,0.75,347.0,398.6,20.9,917,11180,0.17,1.10,0.00,0.000,6,0.152,0.044,3009,1789,1469,0,0,0,0,0,0
$GC,11498,0.75,347.0,344.5,16.4,948,11502,0.00,1.05,0.00,0.000,4,0.000,0.051,3008,2479,1469,0,0,0,0,0,0
$GC,11544,0.75,347.0,337.2,15.6,952,11548,0.00,1.08,0.00,0.000,6,0.000,0.042,3011,1783,1469,0,0,0,0,0,0
$GC,11876,0.75,347.0,285.1,15.7,983,11879,0.00,1.08,0.00,0.000,4,0.000,0.047,3017,1077,1469,0,0,0,0,0,0
$GC,11954,0.75,347.0,273.1,14.4,990,11958,0.00,1.08,0.00,0.000,6,0.000,0.041,3013,1775,1468,0,0,0,0,0,0
$GC,12279,0.82,382.9,227.5,12.8,1036,12318,0.00,1.10,33.33,0.878,4,0.000,0.044,3017,1080,1321,0,0,0,0,0,0
$GC,12386,0.90,418.5,214.0,12.8,1053,12424,0.08,1.08,31.65,0.849,6,0.063,0.041,3068,1788,1178,0,0,0,0,0,0
$GC,12744,0.87,418.5,149.0,18.3,1118,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1789,1175,0,0,0,0,0,0
$GC,13069,0.87,418.5,94.7,15.7,1179,13077,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1791,1175,0,0,0,0,0,0
$GC,13395,1.00,485.8,54.0,11.4,1240,13459,0.00,1.12,56.17,0.711,4,0.000,0.042,3073,1073,901,0,0,0,0,0,0
$GC,13599,1.20,564.4,33.3,10.9,1275,13671,0.17,1.05,67.10,0.681,6,0.038,0.037,3174,1778,582,0,0,0,0,0,0
$STATE,13749,end climb,SURFACE_DEPTH_REACHED
$STATE,13749,begin surface coast
$FINISH,1.4,1.000250
$STATE,13761,end surface coast,CONTROL_FINISHED_OK
$STATE,13761,begin surface
$SM_CCo,13842,0.00,0.000,0,0,574,566.64
$SM_GC,2.09,7.95,0.00,0.00,0.037,0.000,0.000,131,1589,574,-8.11,-0.59,566.64,0,0,0,0,0,0
$IRIDIUM_FIX,2340.34,12207.31,051111,181837
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.50
$XPDR_PINGS,96
$24V_AH,21.7,123.239
$10V_AH,9.8,82.815
$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,20.625,56.350,705.900,0.000,0.000,23.337,26.840,165.713,24.000,0.000,18.651,3033.521,6876.246,680.314,3161.740,459.154,0.000,1957.891,0.000,2946.809,0.000,0.539,0.000
$DEVICE_MAMPS,225.675,69.615,1456.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.275,1335.877,1577.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73434,1302
$CAP_FILE_SIZE,152193,0
$CFSIZE,260165632,103124992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061111,025507,2351.392,12206.820,33,0.9,33,-3.3