version: 66.09
glider: 166
mission: 6
dive: 187
start: 9 8 111 0 36 46
data:
$ID,166
$MISSION,6
$DIVE,187
$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,260
$T_MISSION,290
$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,1
$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,-24634.148
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$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,40
$R_STBD_OVSHOOT,57
$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
$GPS1,080911,002937,2116.411,12409.521,37,1.1,37,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-74.2
$GPS2,080911,003624,2116.261,12409.585,41,1.7,41,-2.8
$SPEED_LIMITS,0.220,0.354
$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,308.3,342597,-17.2,-12.692
$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,17,-0.68,-243.3,0.0,0.0,0,105,0.00,0.00,-85.38,0.000,2,0.000,0.000,153,1535,3101,0,0,0,0,0,0
$GC,108,-0.68,-243.3,5.9,-10.2,12,138,9.35,2.08,-14.30,0.000,4,0.225,0.052,2504,2904,3878,0,0,0,0,0,0
$GC,323,-0.60,-243.3,78.4,-23.1,51,332,0.17,2.12,0.00,0.000,6,0.146,0.033,2540,1497,3881,0,0,0,0,0,0
$GC,642,-0.56,-243.3,148.1,-21.4,112,650,0.00,2.12,0.00,0.000,4,0.000,0.041,2531,2887,3883,0,0,0,0,0,0
$GC,668,-0.52,-243.3,152.9,-20.2,115,677,0.12,2.10,0.00,0.000,6,0.129,0.033,2574,1493,3883,0,0,0,0,0,0
$GC,992,-0.53,-243.3,198.9,-12.2,176,1002,0.00,2.12,0.00,0.000,4,0.000,0.041,2566,2893,3884,0,0,0,0,0,0
$GC,1043,-0.57,-243.3,204.4,-10.8,184,1051,0.00,2.10,0.00,0.000,6,0.000,0.033,2566,1494,3884,0,0,0,0,0,0
$GC,1364,-0.58,-243.3,245.0,-13.5,245,1372,0.00,2.12,0.00,0.000,4,0.000,0.041,2557,2891,3884,0,0,0,0,0,0
$GC,1455,-0.63,-243.3,255.9,-10.4,256,1458,0.00,2.08,0.00,0.000,6,0.000,0.032,2558,1490,3884,0,0,0,0,0,0
$GC,1787,-0.65,-243.3,300.7,-12.9,287,1791,0.00,2.12,0.00,0.000,4,0.000,0.041,2550,2894,3883,0,0,0,0,0,0
$GC,1856,-0.70,-243.3,308.9,-11.2,293,1860,0.12,2.08,0.00,0.000,6,0.080,0.033,2487,1498,3882,0,0,0,0,0,0
$GC,2181,-0.63,-243.3,375.0,-20.7,323,2186,0.17,2.12,0.00,0.000,4,0.161,0.044,2529,2891,3881,0,0,0,0,0,0
$GC,2214,-0.60,-243.3,381.0,-16.6,325,2221,0.00,2.08,0.00,0.000,6,0.000,0.034,2529,1494,3881,0,0,0,0,0,0
$GC,2539,-0.59,-243.3,425.4,-13.2,356,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1494,3881,0,0,0,0,0,0
$GC,2859,-0.59,-243.3,468.7,-13.4,386,2863,0.00,2.15,0.00,0.000,4,0.000,0.047,2519,2897,3879,0,0,0,0,0,0
$GC,2935,-0.61,-243.3,477.5,-11.6,392,2939,0.00,2.10,0.00,0.000,6,0.000,0.037,2519,1506,3878,0,0,0,0,0,0
$GC,3260,-0.61,-243.3,524.6,-14.7,422,3264,0.10,2.03,0.00,0.000,4,0.173,0.048,2550,208,3876,0,0,0,0,0,0
$GC,3290,-0.63,-243.3,528.6,-13.9,424,3296,0.00,1.95,0.00,0.000,6,0.000,0.040,2543,1489,3876,0,0,0,0,0,0
$GC,3616,-0.65,-243.3,568.7,-12.2,455,3620,0.00,2.15,0.00,0.000,4,0.000,0.050,2532,2909,3873,0,0,0,0,0,0
$GC,3692,-0.69,-243.3,576.9,-10.4,461,3696,0.00,2.12,0.00,0.000,6,0.000,0.037,2532,1501,3873,0,0,0,0,0,0
$GC,4026,-0.71,-243.3,614.3,-10.8,486,4030,0.00,2.20,0.00,0.000,4,0.000,0.051,2522,2910,3870,0,0,0,0,0,0
$GC,4051,-0.73,-243.3,616.9,-10.4,487,4055,0.00,2.15,0.00,0.000,6,0.000,0.039,2522,1499,3870,0,0,0,0,0,0
$GC,4373,-0.75,-243.3,651.4,-10.4,503,4377,0.00,2.20,0.00,0.000,4,0.000,0.053,2511,2903,3867,0,0,0,0,0,0
$GC,4406,-0.77,-243.3,654.7,-10.3,504,4413,0.00,2.15,0.00,0.000,6,0.000,0.040,2511,1494,3867,0,0,0,0,0,0
$GC,4724,-0.77,-243.3,689.6,-10.8,520,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1494,3864,0,0,0,0,0,0
$GC,5031,-0.77,-243.3,723.8,-11.0,535,5035,0.00,2.20,0.00,0.000,4,0.000,0.056,2500,2906,3861,0,0,0,0,0,0
$GC,5089,-0.79,-243.3,729.8,-10.4,537,5093,0.00,2.15,0.00,0.000,6,0.000,0.043,2501,1505,3861,0,0,0,0,0,0
$GC,5405,-0.79,-243.3,767.1,-11.9,552,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1505,3858,0,0,0,0,0,0
$GC,5715,-0.79,-243.3,804.9,-12.6,567,5719,0.00,2.22,0.00,0.000,4,0.000,0.064,2484,2901,3855,0,0,0,0,0,0
$GC,5738,-0.79,-243.3,807.8,-12.8,568,5742,0.00,2.17,0.00,0.000,6,0.000,0.045,2483,1488,3855,0,0,0,0,0,0
$GC,6059,-0.79,-243.3,852.6,-14.4,584,6063,0.00,2.22,0.00,0.000,4,0.000,0.067,2468,2898,3853,0,0,0,0,0,0
$GC,6091,-0.79,-243.3,857.4,-14.3,585,6095,0.00,2.15,0.00,0.000,6,0.000,0.046,2467,1500,3853,0,0,0,0,0,0
$GC,6415,-0.79,-243.3,904.6,-14.5,601,6419,0.00,2.22,0.00,0.000,4,0.000,0.061,2457,2900,3851,0,0,0,0,0,0
$GC,6454,-0.79,-243.3,910.5,-14.4,603,6459,0.12,2.17,0.00,0.000,6,0.161,0.046,2490,1494,3850,0,0,0,0,0,0
$GC,6785,-0.81,-243.3,951.8,-12.7,619,6789,0.00,2.22,0.00,0.000,4,0.000,0.063,2484,2897,3848,0,0,0,0,0,0
$GC,6817,-0.84,-243.3,956.6,-12.8,620,6821,0.00,2.17,0.00,0.000,6,0.000,0.047,2484,1493,3848,0,0,0,0,0,0
$STATE,7069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7069,begin apogee
$GC,7077,-0.11,0.0,990.7,13.3,632,7287,0.68,0.00,203.45,1.441,6,0.118,0.000,2708,1853,2884,0,0,0,0,0,0
$STATE,7288,end apogee,CONTROL_FINISHED_OK
$STATE,7288,begin climb
$GC,7293,0.68,243.3,1003.8,0.0,642,7529,0.70,2.47,221.70,1.380,4,0.042,0.065,2991,3257,1892,0,0,0,0,0,0
$GC,7608,0.61,243.3,959.7,18.9,656,7613,0.22,2.28,0.00,0.000,6,0.176,0.046,2945,1848,1888,0,0,0,0,0,0
$GC,7924,0.57,243.3,909.3,15.9,671,7928,0.00,2.25,0.00,0.000,4,0.000,0.060,2940,3261,1884,0,0,0,0,0,0
$GC,7964,0.55,243.3,903.0,15.7,672,7971,0.00,2.20,0.00,0.000,6,0.000,0.044,2948,1842,1883,0,0,0,0,0,0
$GC,8280,0.51,243.3,851.0,16.9,688,8285,0.15,2.25,0.00,0.000,4,0.174,0.060,2899,3264,1881,0,0,0,0,0,0
$GC,8332,0.53,243.3,843.5,13.2,690,8336,0.00,2.17,0.00,0.000,6,0.000,0.043,2907,1845,1880,0,0,0,0,0,0
$GC,8650,0.54,250.4,803.8,12.4,705,8661,0.00,2.17,6.07,1.021,4,0.000,0.053,2918,438,1862,0,0,0,0,0,0
$GC,8671,0.54,250.4,800.4,13.1,706,8676,0.00,2.20,0.00,0.000,6,0.000,0.042,2918,1859,1862,0,0,0,0,0,0
$GC,9001,0.54,250.4,757.1,13.2,722,9005,0.00,2.20,0.00,0.000,4,0.000,0.060,2917,3272,1861,0,0,0,0,0,0
$GC,9061,0.55,250.4,748.6,13.3,724,9068,0.00,2.17,0.00,0.000,6,0.000,0.041,2925,1840,1860,0,0,0,0,0,0
$GC,9377,0.55,250.4,705.8,13.1,740,9381,0.00,2.22,0.00,0.000,4,0.000,0.054,2925,3268,1860,0,0,0,0,0,0
$GC,9423,0.55,250.4,699.8,12.7,742,9427,0.00,2.15,0.00,0.000,6,0.000,0.040,2935,1851,1860,0,0,0,0,0,0
$GC,9752,0.58,286.9,660.5,11.4,758,9790,0.00,0.00,35.17,1.233,6,0.000,0.000,2935,1851,1713,0,0,0,0,0,0
$GC,10101,0.58,286.9,617.6,13.1,775,10105,0.00,2.22,0.00,0.000,4,0.000,0.054,2935,3267,1710,0,0,0,0,0,0
$GC,10127,0.58,286.9,613.5,13.4,776,10131,0.00,2.17,0.00,0.000,6,0.000,0.040,2944,1844,1709,0,0,0,0,0,0
$GC,10453,0.57,286.9,568.9,13.0,802,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1844,1709,0,0,0,0,0,0
$GC,10773,0.55,286.9,529.1,13.4,832,10777,0.00,2.22,0.00,0.000,4,0.000,0.054,2944,3273,1708,0,0,0,0,0,0
$GC,10794,0.55,286.9,525.1,14.7,833,10801,0.00,2.15,0.00,0.000,6,0.000,0.039,2954,1851,1708,0,0,0,0,0,0
$GC,11120,0.54,286.9,477.3,15.4,864,11125,0.12,2.22,0.00,0.000,4,0.174,0.051,2912,3272,1708,0,0,0,0,0,0
$GC,11153,0.57,286.9,472.5,13.7,866,11159,0.00,2.15,0.00,0.000,6,0.000,0.037,2919,1846,1708,0,0,0,0,0,0
$GC,11478,0.67,347.3,435.7,10.6,897,11543,0.12,2.30,53.42,1.063,4,0.089,0.049,2994,433,1467,0,0,0,0,0,0
$GC,11559,0.65,347.3,424.2,15.6,904,11564,0.15,2.25,0.00,0.000,6,0.153,0.038,2955,1875,1466,0,0,0,0,0,0
$GC,11885,0.66,351.5,382.1,12.5,934,11897,0.00,2.15,5.07,0.721,4,0.000,0.053,2945,3254,1450,0,0,0,0,0,0
$GC,11958,0.75,384.9,373.6,11.5,940,11994,0.00,2.15,30.40,0.974,6,0.000,0.038,2952,1843,1313,0,0,0,0,0,0
$GC,12323,0.81,420.2,329.3,11.5,974,12357,0.15,0.00,31.45,0.932,6,0.076,0.000,3034,1843,1169,0,0,0,0,0,0
$GC,12676,0.76,420.2,256.4,20.3,1007,12678,0.15,0.00,0.00,0.000,6,0.160,0.000,2994,1843,1167,0,0,0,0,0,0
$GC,12988,0.76,420.2,203.3,16.4,1063,12996,0.00,2.20,0.00,0.000,4,0.000,0.050,2988,3245,1166,0,0,0,0,0,0
$GC,13009,0.76,420.2,199.8,16.6,1066,13017,0.00,2.15,0.00,0.000,6,0.000,0.037,3000,1840,1165,0,0,0,0,0,0
$GC,13334,0.79,427.6,155.8,12.4,1127,13350,0.00,2.17,7.12,0.649,4,0.000,0.047,3011,445,1139,0,0,0,0,0,0
$GC,13431,0.89,469.8,143.8,11.2,1144,13477,0.00,2.12,36.10,0.768,6,0.000,0.035,3011,1843,968,0,0,0,0,0,0
$GC,13791,1.09,591.4,105.2,8.4,1210,13907,0.22,2.30,100.78,0.725,4,0.057,0.047,3121,3252,468,0,0,0,0,0,0
$GC,13936,1.09,591.4,77.9,19.6,1231,13944,0.10,2.20,0.00,0.000,6,0.133,0.034,3097,1845,464,0,0,0,0,0,0
$GC,14258,1.11,591.4,27.6,14.7,1292,14266,0.00,2.17,0.00,0.000,4,0.000,0.044,3106,440,459,0,0,0,0,0,0
$GC,14320,1.18,599.7,18.5,12.4,1303,14329,0.00,2.15,3.92,0.395,6,0.000,0.034,3106,1856,454,0,0,0,0,0,0
$STATE,14428,end climb,SURFACE_DEPTH_REACHED
$STATE,14428,begin surface coast
$FINISH,1.1,1.001533
$STATE,14448,end surface coast,CONTROL_FINISHED_OK
$STATE,14448,begin surface
$SM_CCo,14526,0.00,0.000,0,0,450,597.06
$SM_GC,1.90,7.68,0.00,0.00,0.034,0.000,0.000,148,1488,450,-8.06,-0.34,597.06,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12410.26,070911,202012
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.49
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.30
$XPDR_PINGS,82
$24V_AH,22.9,43.012
$10V_AH,10.1,31.701
$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,20.625,135.725,734.675,0.000,0.000,27.362,41.452,160.150,20.500,0.000,42.177,3097.366,7443.006,735.344,3212.755,432.023,0.000,2050.062,0.000,2955.848,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,66.555,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.244,1358.176,1513.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76895,1326
$CAP_FILE_SIZE,163041,0
$CFSIZE,260165632,130895872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080911,044027,2116.508,12409.174,37,3.4,56,-2.8