version: 66.09
glider: 166
mission: 6
dive: 188
start: 9 8 111 4 47 26
data:
$ID,166
$MISSION,6
$DIVE,188
$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,-24635.406
$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,47
$R_STBD_OVSHOOT,42
$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
$GPS1,080911,044027,2116.508,12409.174,37,3.4,56,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-71.8
$GPS2,080911,044704,2116.461,12409.179,14,2.1,33,-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,308.3,341818,-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,-243.3,0.0,0.0,0,126,0.00,0.00,-106.97,0.000,2,0.000,0.000,140,1488,2998,0,0,0,0,0,0
$GC,129,-0.68,-243.3,5.1,-6.3,15,166,9.43,2.22,-17.17,0.000,4,0.226,0.054,2506,2910,3880,0,0,0,0,0,0
$GC,247,-0.59,-243.3,45.5,-28.2,34,255,0.15,2.17,0.00,0.000,6,0.148,0.035,2546,1504,3882,0,0,0,0,0,0
$GC,573,-0.53,-243.3,126.3,-18.7,95,581,0.00,2.00,0.00,0.000,4,0.000,0.041,2543,199,3883,0,0,0,0,0,0
$GC,623,-0.50,-243.3,136.5,-18.3,103,632,0.12,1.98,0.00,0.000,6,0.126,0.033,2578,1502,3883,0,0,0,0,0,0
$GC,948,-0.50,-243.3,185.6,-17.0,164,956,0.00,2.12,0.00,0.000,4,0.000,0.041,2569,2907,3883,0,0,0,0,0,0
$GC,1019,-0.55,-243.3,194.9,-12.0,176,1027,0.00,2.12,0.00,0.000,6,0.000,0.031,2569,1494,3884,0,0,0,0,0,0
$GC,1345,-0.56,-243.3,239.9,-13.5,237,1353,0.00,2.17,0.00,0.000,4,0.000,0.041,2559,2910,3884,0,0,0,0,0,0
$GC,1439,-0.61,-243.3,250.5,-9.6,254,1448,0.00,2.12,0.00,0.000,6,0.000,0.032,2560,1493,3883,0,0,0,0,0,0
$GC,1768,-0.61,-243.3,291.6,-13.1,285,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1493,3882,0,0,0,0,0,0
$GC,2095,-0.64,-243.3,331.8,-10.8,316,2100,0.12,2.15,0.00,0.000,4,0.082,0.042,2490,2908,3881,0,0,0,0,0,0
$GC,2208,-0.60,-243.3,350.3,-17.8,325,2212,0.20,2.10,0.00,0.000,6,0.149,0.034,2551,1496,3880,0,0,0,0,0,0
$GC,2533,-0.60,-243.3,395.3,-12.6,355,2537,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,2905,3879,0,0,0,0,0,0
$GC,2591,-0.62,-243.3,401.3,-10.5,359,2598,0.00,2.10,0.00,0.000,6,0.000,0.034,2543,1504,3879,0,0,0,0,0,0
$GC,2917,-0.62,-243.3,439.5,-10.9,390,2921,0.00,2.15,0.00,0.000,4,0.000,0.045,2533,2905,3877,0,0,0,0,0,0
$GC,2948,-0.62,-243.3,442.7,-10.7,392,2952,0.00,2.10,0.00,0.000,6,0.000,0.035,2533,1500,3877,0,0,0,0,0,0
$GC,3273,-0.62,-243.3,484.8,-14.0,422,3277,0.00,2.17,0.00,0.000,4,0.000,0.048,2522,2906,3875,0,0,0,0,0,0
$GC,3315,-0.64,-243.3,490.3,-13.5,425,3319,0.00,2.12,0.00,0.000,6,0.000,0.036,2522,1490,3874,0,0,0,0,0,0
$GC,3640,-0.64,-243.3,537.2,-13.4,455,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1488,3872,0,0,0,0,0,0
$GC,3964,-0.64,-243.3,578.7,-12.4,485,3968,0.00,2.17,0.00,0.000,4,0.000,0.049,2512,2902,3869,0,0,0,0,0,0
$GC,3992,-0.64,-243.3,582.7,-12.2,487,3997,0.00,2.12,0.00,0.000,6,0.000,0.038,2512,1502,3869,0,0,0,0,0,0
$GC,4321,-0.64,-243.3,621.9,-11.6,509,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1502,3867,0,0,0,0,0,0
$GC,4627,-0.64,-243.3,659.2,-12.7,524,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1502,3863,0,0,0,0,0,0
$GC,4937,-0.64,-243.3,696.7,-12.1,539,4940,0.00,2.03,0.00,0.000,4,0.000,0.054,2512,199,3861,0,0,0,0,0,0
$GC,4966,-0.64,-243.3,700.3,-11.8,540,4971,0.12,1.98,0.00,0.000,6,0.156,0.041,2538,1494,3860,0,0,0,0,0,0
$GC,5289,-0.68,-243.3,728.5,-8.5,556,5293,0.00,2.17,0.00,0.000,4,0.000,0.054,2530,2908,3857,0,0,0,0,0,0
$GC,5392,-0.73,-243.3,736.6,-7.9,560,5396,0.00,2.15,0.00,0.000,6,0.000,0.041,2530,1493,3856,0,0,0,0,0,0
$GC,5708,-0.76,-243.3,766.9,-10.0,575,5712,0.00,2.20,0.00,0.000,4,0.000,0.055,2519,2906,3854,0,0,0,0,0,0
$GC,5759,-0.81,-243.3,771.9,-9.5,577,5763,0.10,2.12,0.00,0.000,6,0.100,0.041,2457,1496,3854,0,0,0,0,0,0
$GC,6082,-0.78,-243.3,822.1,-16.1,593,6086,0.12,2.03,0.00,0.000,4,0.175,0.055,2497,202,3851,0,0,0,0,0,0
$GC,6125,-0.78,-243.3,829.0,-14.1,595,6129,0.00,2.03,0.00,0.000,6,0.000,0.042,2489,1504,3851,0,0,0,0,0,0
$GC,6455,-0.78,-243.3,871.5,-12.6,611,6459,0.00,2.17,0.00,0.000,4,0.000,0.057,2478,2907,3848,0,0,0,0,0,0
$GC,6487,-0.78,-243.3,876.0,-12.2,612,6494,0.00,2.15,0.00,0.000,6,0.000,0.043,2478,1497,3848,0,0,0,0,0,0
$GC,6804,-0.76,-243.3,916.6,-13.2,628,6807,0.00,2.00,0.00,0.000,4,0.000,0.057,2478,208,3846,0,0,0,0,0,0
$GC,6844,-0.76,-243.3,922.3,-14.6,629,6852,0.10,2.03,0.00,0.000,6,0.180,0.051,2494,1504,3845,0,0,0,0,0,0
$GC,7162,-0.76,-243.3,960.0,-11.8,645,7166,0.00,2.20,0.00,0.000,4,0.000,0.057,2486,2916,3843,0,0,0,0,0,0
$GC,7208,-0.78,-243.3,965.2,-11.4,647,7213,0.00,2.17,0.00,0.000,6,0.000,0.044,2486,1495,3843,0,0,0,0,0,0
$STATE,7424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7425,begin apogee
$GC,7431,-0.11,0.0,991.0,11.9,658,7642,0.68,0.00,202.55,1.441,6,0.124,0.000,2703,1864,2882,0,0,0,0,0,0
$STATE,7643,end apogee,CONTROL_FINISHED_OK
$STATE,7643,begin climb
$GC,7645,0.68,243.3,998.9,0.0,668,7879,0.73,2.42,221.80,1.378,4,0.047,0.061,2978,3248,1891,0,0,0,0,0,0
$GC,8003,0.62,243.3,943.1,19.8,684,8008,0.17,2.22,0.00,0.000,6,0.184,0.044,2945,1852,1885,0,0,0,0,0,0
$GC,8321,0.57,243.3,889.8,16.8,699,8325,0.00,2.22,0.00,0.000,4,0.000,0.060,2944,3257,1882,0,0,0,0,0,0
$GC,8381,0.55,243.3,879.3,15.3,701,8388,0.00,2.20,0.00,0.000,6,0.000,0.043,2952,1834,1881,0,0,0,0,0,0
$GC,8700,0.50,243.3,826.0,17.5,717,8705,0.17,2.22,0.00,0.000,4,0.168,0.059,2902,3249,1880,0,0,0,0,0,0
$GC,8739,0.50,243.3,819.7,14.0,719,8743,0.00,2.12,0.00,0.000,6,0.000,0.042,2910,1851,1880,0,0,0,0,0,0
$GC,9074,0.50,246.7,777.2,12.6,735,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1851,1878,0,0,0,0,0,0
$GC,9382,0.54,280.2,741.1,11.5,750,9424,0.00,2.33,32.70,1.274,4,0.000,0.057,2910,3252,1741,0,0,0,0,0,0
$GC,9441,0.63,336.2,734.2,10.7,752,9499,0.00,2.20,52.65,1.258,6,0.000,0.041,2918,1848,1513,0,0,0,0,0,0
$GC,9816,0.65,336.2,686.6,13.0,771,9821,0.10,2.28,0.00,0.000,4,0.103,0.057,2971,3252,1506,0,0,0,0,0,0
$GC,9837,0.65,336.2,683.0,13.5,772,9841,0.00,2.17,0.00,0.000,6,0.000,0.039,2982,1844,1506,0,0,0,0,0,0
$GC,10167,0.61,336.2,616.3,20.5,788,10172,0.15,2.22,0.00,0.000,4,0.178,0.054,2940,3252,1504,0,0,0,0,0,0
$GC,10211,0.62,336.2,607.9,16.2,790,10215,0.00,2.15,0.00,0.000,6,0.000,0.040,2949,1844,1504,0,0,0,0,0,0
$GC,10540,0.62,336.2,556.3,15.6,818,10544,0.00,2.22,0.00,0.000,4,0.000,0.054,2948,3259,1503,0,0,0,0,0,0
$GC,10569,0.62,336.2,551.5,16.6,820,10573,0.00,2.15,0.00,0.000,6,0.000,0.040,2956,1847,1503,0,0,0,0,0,0
$GC,10894,0.61,336.2,501.1,15.7,850,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1848,1502,0,0,0,0,0,0
$GC,11214,0.61,336.2,456.0,14.4,880,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1848,1502,0,0,0,0,0,0
$GC,11534,0.62,343.2,414.7,12.4,910,11547,0.00,2.17,5.55,0.797,4,0.000,0.050,2957,3252,1485,0,0,0,0,0,0
$GC,11595,0.66,354.4,406.6,12.3,915,11612,0.00,2.12,12.00,0.957,6,0.000,0.037,2965,1848,1439,0,0,0,0,0,0
$GC,11931,0.66,354.4,359.8,14.2,946,11935,0.00,2.17,0.00,0.000,4,0.000,0.047,2975,436,1437,0,0,0,0,0,0
$GC,11952,0.66,354.4,356.7,13.9,947,11959,0.00,2.17,0.00,0.000,6,0.000,0.037,2976,1871,1435,0,0,0,0,0,0
$GC,12277,0.66,354.4,308.7,14.4,978,12281,0.00,2.12,0.00,0.000,4,0.000,0.051,2974,3254,1435,0,0,0,0,0,0
$GC,12332,0.69,354.4,300.4,14.1,982,12339,0.00,2.12,0.00,0.000,6,0.000,0.037,2982,1845,1435,0,0,0,0,0,0
$GC,12659,0.69,354.4,254.3,13.6,1013,12663,0.00,2.12,0.00,0.000,4,0.000,0.047,2990,443,1435,0,0,0,0,0,0
$GC,12722,0.74,380.3,246.7,11.8,1020,12753,0.00,2.15,23.42,0.861,6,0.000,0.037,2989,1856,1332,0,0,0,0,0,0
$GC,13069,0.84,444.4,206.8,10.4,1084,13129,0.00,2.30,54.45,0.833,4,0.000,0.048,2992,3257,1072,0,0,0,0,0,0
$GC,13162,0.95,497.1,196.7,10.8,1097,13214,0.10,2.22,45.28,0.802,6,0.044,0.035,3072,1841,855,0,0,0,0,0,0
$GC,13528,0.92,497.1,122.1,19.7,1164,13537,0.12,2.22,0.00,0.000,4,0.164,0.045,3049,438,850,0,0,0,0,0,0
$GC,13573,0.95,497.1,115.0,16.8,1171,13581,0.00,2.15,0.00,0.000,6,0.000,0.034,3049,1843,849,0,0,0,0,0,0
$GC,13897,1.05,551.2,71.3,10.8,1232,13946,0.00,0.00,44.35,0.699,6,0.000,0.000,3049,1845,633,0,0,0,0,0,0
$GC,14258,1.26,659.0,38.0,8.9,1299,14302,0.25,2.25,38.03,0.653,4,0.055,0.042,3193,443,453,0,0,0,0,0,0
$GC,14343,1.23,659.0,21.4,22.3,1312,14351,0.15,2.17,0.00,0.000,6,0.130,0.034,3143,1862,448,0,0,0,0,0,0
$STATE,14436,end climb,SURFACE_DEPTH_REACHED
$STATE,14437,begin surface coast
$FINISH,1.1,1.004775
$STATE,14457,end surface coast,CONTROL_FINISHED_OK
$STATE,14457,begin surface
$SM_CCo,14535,0.00,0.000,0,0,445,598.29
$SM_GC,1.88,7.80,0.00,0.00,0.031,0.000,0.000,153,1479,445,-8.06,-0.59,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12408.35,080911,000049
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.41
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,25.10
$XPDR_PINGS,74
$24V_AH,22.9,43.272
$10V_AH,10.1,31.853
$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,20.900,130.475,732.775,0.000,0.000,23.222,21.387,169.326,18.500,0.000,35.267,3111.703,7404.058,724.696,3241.445,431.374,0.000,2071.269,0.000,2999.081,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,61.200,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.438,1363.863,1537.041,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330188
$DATA_FILE_SIZE,76732,1332
$CAP_FILE_SIZE,162815,0
$CFSIZE,260165632,130809856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080911,085106,2117.258,12408.745,42,1.2,47,-2.8