version: 66.09
glider: 166
mission: 6
dive: 186
start: 9 7 111 20 58 55
data:
$ID,166
$MISSION,6
$DIVE,186
$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,280
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-24632.891
$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,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,41
$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,3
$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
$GPS1,070911,205154,2116.630,12409.692,58,1.9,75,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-74.0
$GPS2,070911,205831,2116.499,12409.754,14,1.7,31,-2.8
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,316.0,342576,-16.1,-11.786
$D_GRID,5000
$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,16,-0.76,-243.3,0.0,0.0,0,114,0.00,0.00,-95.25,0.000,2,0.000,0.000,154,1487,3018,0,0,0,0,0,0
$GC,117,-0.76,-243.3,5.3,-8.0,13,149,9.07,2.22,-16.45,0.000,4,0.218,0.053,2477,2913,3880,0,0,0,0,0,0
$GC,275,-0.76,-243.3,67.5,-34.8,40,283,0.00,2.12,0.00,0.000,6,0.000,0.033,2474,1514,3882,0,0,0,0,0,0
$GC,600,-0.76,-243.3,165.1,-28.6,101,608,0.00,2.00,0.00,0.000,4,0.000,0.039,2466,195,3884,0,0,0,0,0,0
$GC,650,-0.76,-243.3,180.0,-29.3,109,659,0.10,1.98,0.00,0.000,6,0.158,0.032,2489,1505,3884,0,0,0,0,0,0
$GC,983,-0.76,-243.3,257.9,-22.7,168,987,0.00,2.10,0.00,0.000,4,0.000,0.042,2482,2911,3885,0,0,0,0,0,0
$GC,1026,-0.76,-243.3,267.9,-22.1,171,1036,0.00,2.12,0.00,0.000,6,0.000,0.033,2482,1504,3886,0,0,0,0,0,0
$GC,1351,-0.76,-243.3,333.3,-19.1,202,1355,0.00,2.12,0.00,0.000,4,0.000,0.042,2481,2914,3886,0,0,0,0,0,0
$GC,1380,-0.76,-243.3,338.6,-18.8,204,1384,0.00,2.12,0.00,0.000,6,0.000,0.033,2486,1485,3885,0,0,0,0,0,0
$GC,1705,-0.76,-243.3,398.3,-17.5,234,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1484,3884,0,0,0,0,0,0
$GC,2025,-0.76,-243.3,454.1,-17.1,264,2029,0.00,2.15,0.00,0.000,4,0.000,0.045,2480,2903,3883,0,0,0,0,0,0
$GC,2060,-0.76,-243.3,460.3,-17.1,266,2067,0.00,2.10,0.00,0.000,6,0.000,0.034,2479,1493,3883,0,0,0,0,0,0
$GC,2385,-0.76,-243.3,521.6,-18.8,297,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1493,3880,0,0,0,0,0,0
$GC,2707,-0.76,-243.3,578.5,-17.1,327,2711,0.00,2.20,0.00,0.000,4,0.000,0.050,2470,2905,3878,0,0,0,0,0,0
$GC,2747,-0.76,-243.3,585.9,-16.7,330,2751,0.10,2.12,0.00,0.000,6,0.171,0.037,2495,1493,3877,0,0,0,0,0,0
$GC,3079,-0.76,-243.3,632.9,-13.6,350,3083,0.00,2.17,0.00,0.000,4,0.000,0.051,2487,2908,3874,0,0,0,0,0,0
$GC,3117,-0.76,-243.3,638.3,-12.6,351,3125,0.00,2.12,0.00,0.000,6,0.000,0.039,2487,1503,3873,0,0,0,0,0,0
$GC,3433,-0.76,-243.3,679.3,-12.5,367,3437,0.00,2.17,0.00,0.000,4,0.000,0.054,2477,2901,3870,0,0,0,0,0,0
$GC,3462,-0.76,-243.3,682.7,-11.6,368,3466,0.00,2.12,0.00,0.000,6,0.000,0.041,2476,1500,3869,0,0,0,0,0,0
$GC,3777,-0.76,-243.3,725.6,-13.8,383,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1500,3866,0,0,0,0,0,0
$GC,4087,-0.76,-243.3,768.9,-13.9,398,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1499,3864,0,0,0,0,0,0
$GC,4398,-0.76,-243.3,810.2,-13.0,413,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1499,3860,0,0,0,0,0,0
$GC,4706,-0.76,-243.3,847.7,-11.9,428,4710,0.00,2.22,0.00,0.000,4,0.000,0.067,2466,2898,3858,0,0,0,0,0,0
$GC,4738,-0.76,-243.3,851.7,-11.6,429,4743,0.12,2.15,0.00,0.000,6,0.161,0.044,2501,1504,3857,0,0,0,0,0,0
$GC,5057,-0.76,-243.3,883.3,-9.9,444,5061,0.00,2.20,0.00,0.000,4,0.000,0.062,2493,2894,3855,0,0,0,0,0,0
$GC,5104,-0.76,-243.3,888.0,-9.6,446,5108,0.00,2.15,0.00,0.000,6,0.000,0.046,2492,1500,3854,0,0,0,0,0,0
$GC,5434,-0.76,-243.3,923.7,-10.9,462,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1500,3851,0,0,0,0,0,0
$GC,5741,-0.76,-243.3,957.2,-10.9,477,5745,0.00,2.25,0.00,0.000,4,0.000,0.063,2482,2899,3849,0,0,0,0,0,0
$GC,5779,-0.76,-243.3,961.6,-10.8,478,5786,0.00,2.17,0.00,0.000,6,0.000,0.047,2482,1493,3848,0,0,0,0,0,0
$STATE,6031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6031,begin apogee
$GC,6039,-0.14,0.0,991.6,12.1,491,6247,0.65,0.00,203.38,1.439,6,0.122,0.000,2693,1836,2884,0,0,0,0,0,0
$STATE,6248,end apogee,CONTROL_FINISHED_OK
$STATE,6248,begin climb
$GC,6253,0.76,243.3,1000.7,0.0,500,6489,0.82,2.50,221.82,1.372,4,0.056,0.065,2994,3258,1891,0,0,0,0,0,0
$GC,6514,0.76,243.3,965.4,20.3,512,6518,0.00,2.33,0.00,0.000,6,0.000,0.045,3003,1853,1889,0,0,0,0,0,0
$GC,6841,0.76,243.3,897.4,20.5,528,6845,0.00,2.25,0.00,0.000,4,0.000,0.062,2995,3254,1883,0,0,0,0,0,0
$GC,6914,0.76,243.3,882.7,18.8,531,6919,0.00,2.17,0.00,0.000,6,0.000,0.045,3004,1844,1883,0,0,0,0,0,0
$GC,7236,0.76,243.3,825.1,17.1,547,7240,0.00,2.25,0.00,0.000,4,0.000,0.061,2996,3260,1881,0,0,0,0,0,0
$GC,7337,0.76,243.3,808.4,16.2,551,7345,0.00,2.17,0.00,0.000,6,0.000,0.044,3004,1847,1881,0,0,0,0,0,0
$GC,7653,0.76,243.3,752.8,18.3,567,7657,0.00,2.22,0.00,0.000,4,0.000,0.060,3004,3262,1879,0,0,0,0,0,0
$GC,7691,0.76,243.3,745.3,18.8,568,7698,0.00,2.17,0.00,0.000,6,0.000,0.043,3014,1840,1879,0,0,0,0,0,0
$GC,8009,0.76,243.3,680.7,20.8,584,8013,0.00,2.25,0.00,0.000,4,0.000,0.057,3006,3267,1878,0,0,0,0,0,0
$GC,8087,0.76,243.3,663.9,20.1,587,8095,0.00,2.17,0.00,0.000,6,0.000,0.041,3015,1840,1878,0,0,0,0,0,0
$GC,8403,0.76,243.3,601.1,19.5,603,8407,0.00,2.22,0.00,0.000,4,0.000,0.057,3007,3263,1877,0,0,0,0,0,0
$GC,8451,0.76,243.3,592.1,19.8,606,8455,0.00,2.17,0.00,0.000,6,0.000,0.041,3015,1842,1877,0,0,0,0,0,0
$GC,8776,0.76,243.3,529.0,19.4,636,8780,0.00,2.22,0.00,0.000,4,0.000,0.056,3007,3262,1876,0,0,0,0,0,0
$GC,8830,0.76,243.3,519.0,18.8,640,8834,0.00,2.15,0.00,0.000,6,0.000,0.041,3016,1849,1876,0,0,0,0,0,0
$GC,9155,0.76,243.3,454.8,19.8,670,9159,0.00,2.20,0.00,0.000,4,0.000,0.054,3014,3257,1875,0,0,0,0,0,0
$GC,9224,0.76,243.3,441.7,18.8,675,9232,0.12,2.15,0.00,0.000,6,0.192,0.039,2993,1840,1875,0,0,0,0,0,0
$GC,9549,0.76,243.3,388.0,15.3,706,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1840,1875,0,0,0,0,0,0
$GC,9871,0.76,243.3,341.3,15.3,736,9876,0.00,2.20,0.00,0.000,4,0.000,0.050,2983,3264,1875,0,0,0,0,0,0
$GC,9916,0.76,243.3,333.4,15.2,739,9924,0.00,2.12,0.00,0.000,6,0.000,0.038,2991,1848,1875,0,0,0,0,0,0
$GC,10241,0.76,243.3,284.9,15.3,770,10245,0.00,2.17,0.00,0.000,4,0.000,0.049,2983,3261,1875,0,0,0,0,0,0
$GC,10339,0.76,243.3,269.8,15.3,778,10347,0.00,2.15,0.00,0.000,6,0.000,0.037,2990,1849,1875,0,0,0,0,0,0
$GC,10665,0.76,243.3,224.3,12.9,826,10673,0.00,2.17,0.00,0.000,4,0.000,0.047,2998,442,1875,0,0,0,0,0,0
$GC,10693,0.76,243.3,220.8,13.1,830,10701,0.00,2.15,0.00,0.000,6,0.000,0.036,2991,1859,1875,0,0,0,0,0,0
$GC,11021,0.79,264.2,181.6,11.1,891,11045,0.00,2.20,17.67,0.781,4,0.000,0.050,2993,3256,1806,0,0,0,0,0,0
$GC,11152,0.82,290.7,166.7,10.9,913,11183,0.00,2.15,24.65,0.778,6,0.000,0.036,3003,1849,1697,0,0,0,0,0,0
$GC,11502,0.84,311.8,127.0,11.1,977,11526,0.00,2.22,19.33,0.726,4,0.000,0.046,3014,446,1611,0,0,0,0,0,0
$GC,11615,0.84,311.8,113.3,12.4,996,11623,0.00,2.15,0.00,0.000,6,0.000,0.034,3014,1844,1610,0,0,0,0,0,0
$GC,11941,0.93,378.6,77.4,9.6,1057,12008,0.00,2.22,56.53,0.704,4,0.000,0.046,3014,3245,1339,0,0,0,0,0,0
$GC,12051,1.02,454.3,67.0,9.3,1073,12122,0.10,2.15,62.83,0.684,6,0.046,0.033,3093,1853,1031,0,0,0,0,0,0
$GC,12446,1.02,454.3,8.5,14.4,1142,12454,0.00,2.17,0.00,0.000,4,0.000,0.044,3104,445,1028,0,0,0,0,0,0
$STATE,12481,end climb,SURFACE_DEPTH_REACHED
$STATE,12481,begin surface coast
$FINISH,1.9,1.021573
$STATE,12488,end surface coast,CONTROL_FINISHED_OK
$STATE,12488,begin surface
$SM_CCo,12569,0.00,0.000,0,0,1025,456.01
$SM_GC,1.85,7.70,0.00,0.00,0.033,0.000,0.000,153,1534,1025,-8.06,0.96,456.01,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12410.26,070911,171722
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.57
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.10
$XPDR_PINGS,72
$24V_AH,22.9,42.751
$10V_AH,10.1,31.550
$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,18.800,113.175,606.200,0.000,0.000,31.089,16.134,178.148,18.000,0.000,31.948,2811.543,6292.334,627.442,2848.090,374.665,0.000,1776.032,0.000,2609.944,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,66.555,1438.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,783.125,1176.283,1389.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330204
$DATA_FILE_SIZE,67020,1149
$CAP_FILE_SIZE,132218,0
$CFSIZE,260165632,131010560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.312,131.4,1
$GPS,080911,002937,2116.411,12409.521,37,1.1,37,-2.8