version: 66.09
glider: 166
mission: 6
dive: 190
start: 9 8 111 13 8 29
data:
$ID,166
$MISSION,6
$DIVE,190
$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,-24637.924
$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,44
$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
$GPS1,080911,130127,2118.038,12409.145,31,99.0,50,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-71.9
$GPS2,080911,130807,2117.989,12409.275,39,1.5,39,-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,307.9,340318,-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,-107.03,0.000,2,0.000,0.000,154,1496,3142,0,0,0,0,0,0
$GC,129,-0.68,-243.3,6.2,-10.6,15,160,9.38,2.17,-13.30,0.000,4,0.226,0.054,2505,2915,3879,0,0,0,0,0,0
$GC,305,-0.59,-243.3,69.3,-28.7,46,313,0.17,2.17,0.00,0.000,6,0.146,0.035,2547,1503,3881,0,0,0,0,0,0
$GC,626,-0.53,-243.3,145.1,-20.3,107,634,0.00,2.00,0.00,0.000,4,0.000,0.042,2546,198,3882,0,0,0,0,0,0
$GC,687,-0.50,-243.3,157.1,-18.8,117,696,0.12,1.98,0.00,0.000,6,0.132,0.031,2580,1513,3882,0,0,0,0,0,0
$GC,1009,-0.52,-243.3,201.9,-13.9,178,1017,0.00,2.10,0.00,0.000,4,0.000,0.041,2571,2907,3883,0,0,0,0,0,0
$GC,1119,-0.57,-243.3,214.6,-10.5,198,1127,0.00,2.12,0.00,0.000,6,0.000,0.032,2571,1491,3883,0,0,0,0,0,0
$GC,1441,-0.60,-243.3,253.8,-11.0,256,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1492,3882,0,0,0,0,0,0
$GC,1770,-0.63,-243.3,288.4,-10.2,287,1774,0.00,2.10,0.00,0.000,4,0.000,0.041,2565,2900,3882,0,0,0,0,0,0
$GC,1847,-0.70,-243.3,295.5,-8.6,293,1851,0.12,2.08,0.00,0.000,6,0.080,0.032,2481,1499,3882,0,0,0,0,0,0
$GC,2172,-0.63,-243.3,359.5,-20.6,323,2176,0.15,1.95,0.00,0.000,4,0.168,0.041,2543,211,3881,0,0,0,0,0,0
$GC,2198,-0.57,-243.3,364.4,-20.5,325,2202,0.00,1.92,0.00,0.000,6,0.000,0.035,2537,1500,3881,0,0,0,0,0,0
$GC,2529,-0.56,-243.3,410.6,-13.6,356,2533,0.00,2.10,0.00,0.000,4,0.000,0.044,2527,2910,3879,0,0,0,0,0,0
$GC,2605,-0.59,-243.3,419.4,-11.1,362,2609,0.00,2.10,0.00,0.000,6,0.000,0.034,2527,1506,3879,0,0,0,0,0,0
$GC,2931,-0.57,-243.3,463.8,-14.8,392,2935,0.12,2.15,0.00,0.000,4,0.164,0.045,2553,2903,3877,0,0,0,0,0,0
$GC,2965,-0.60,-243.3,468.3,-13.1,394,2972,0.00,2.10,0.00,0.000,6,0.000,0.034,2553,1496,3877,0,0,0,0,0,0
$GC,3293,-0.63,-243.3,507.7,-11.6,425,3297,0.00,2.15,0.00,0.000,4,0.000,0.046,2543,2904,3874,0,0,0,0,0,0
$GC,3348,-0.69,-243.3,514.2,-10.9,429,3355,0.00,2.12,0.00,0.000,6,0.000,0.035,2543,1493,3874,0,0,0,0,0,0
$GC,3676,-0.71,-243.3,551.4,-10.6,460,3680,0.00,2.17,0.00,0.000,4,0.000,0.048,2533,2909,3872,0,0,0,0,0,0
$GC,3748,-0.76,-243.3,559.0,-9.6,466,3755,0.00,2.15,0.00,0.000,6,0.000,0.037,2533,1490,3871,0,0,0,0,0,0
$GC,4076,-0.78,-243.3,593.2,-10.0,497,4081,0.10,2.20,0.00,0.000,4,0.099,0.050,2464,2900,3869,0,0,0,0,0,0
$GC,4109,-0.77,-243.3,597.6,-11.8,499,4116,0.12,2.12,0.00,0.000,6,0.165,0.038,2498,1494,3868,0,0,0,0,0,0
$GC,4430,-0.75,-243.3,639.0,-12.7,516,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1494,3865,0,0,0,0,0,0
$GC,4735,-0.75,-243.3,676.4,-12.0,531,4739,0.00,2.20,0.00,0.000,4,0.000,0.055,2489,2903,3862,0,0,0,0,0,0
$GC,4768,-0.75,-243.3,680.5,-11.7,532,4775,0.00,2.12,0.00,0.000,6,0.000,0.041,2489,1505,3862,0,0,0,0,0,0
$GC,5087,-0.74,-243.3,721.4,-13.2,548,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1505,3860,0,0,0,0,0,0
$GC,5394,-0.74,-243.3,763.6,-13.8,563,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1505,3857,0,0,0,0,0,0
$GC,5703,-0.74,-243.3,803.6,-12.6,578,5707,0.00,2.17,0.00,0.000,4,0.000,0.058,2474,2898,3855,0,0,0,0,0,0
$GC,5721,-0.74,-243.3,805.8,-12.6,578,5729,0.10,2.15,0.00,0.000,6,0.168,0.044,2500,1494,3855,0,0,0,0,0,0
$GC,6038,-0.76,-243.3,839.6,-10.6,594,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1494,3852,0,0,0,0,0,0
$GC,6347,-0.77,-243.3,874.3,-11.5,609,6351,0.00,2.22,0.00,0.000,4,0.000,0.060,2486,2906,3850,0,0,0,0,0,0
$GC,6400,-0.80,-243.3,880.2,-11.4,611,6404,0.00,2.17,0.00,0.000,6,0.000,0.045,2487,1493,3849,0,0,0,0,0,0
$GC,6721,-0.80,-243.3,920.3,-12.3,627,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1493,3847,0,0,0,0,0,0
$GC,7033,-0.80,-243.3,958.3,-12.4,642,7037,0.00,2.22,0.00,0.000,4,0.000,0.060,2474,2903,3845,0,0,0,0,0,0
$GC,7057,-0.81,-243.3,961.2,-12.2,643,7061,0.00,2.17,0.00,0.000,6,0.000,0.046,2474,1493,3844,0,0,0,0,0,0
$STATE,7299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7299,begin apogee
$GC,7307,-0.11,0.0,991.6,12.3,655,7518,0.70,0.00,203.02,1.435,6,0.124,0.000,2703,1840,2883,0,0,0,0,0,0
$STATE,7519,end apogee,CONTROL_FINISHED_OK
$STATE,7519,begin climb
$GC,7523,0.68,243.3,1000.4,0.0,665,7757,0.70,2.53,221.75,1.371,4,0.042,0.064,2981,3255,1891,0,0,0,0,0,0
$GC,7864,0.62,243.3,950.2,19.2,680,7872,0.20,2.25,0.00,0.000,6,0.177,0.045,2945,1851,1887,0,0,0,0,0,0
$GC,8181,0.58,243.3,900.9,15.7,696,8185,0.00,2.22,0.00,0.000,4,0.000,0.061,2943,3260,1883,0,0,0,0,0,0
$GC,8216,0.55,243.3,895.5,15.3,697,8222,0.00,2.20,0.00,0.000,6,0.000,0.044,2952,1838,1882,0,0,0,0,0,0
$GC,8532,0.51,243.3,846.4,15.8,713,8537,0.15,2.25,0.00,0.000,4,0.171,0.066,2903,3263,1881,0,0,0,0,0,0
$GC,8597,0.57,275.4,838.3,11.6,716,8632,0.00,2.17,29.25,1.295,6,0.000,0.043,2911,1843,1760,0,0,0,0,0,0
$GC,8950,0.61,311.5,797.5,11.4,733,8993,0.00,2.30,33.80,1.278,4,0.000,0.054,2921,441,1613,0,0,0,0,0,0
$GC,9020,0.68,350.6,789.7,11.3,736,9064,0.12,2.22,36.97,1.258,6,0.087,0.042,2983,1846,1454,0,0,0,0,0,0
$GC,9372,0.63,350.6,719.5,20.6,753,9376,0.12,2.22,0.00,0.000,4,0.183,0.059,2949,3257,1448,0,0,0,0,0,0
$GC,9522,0.63,350.6,695.0,14.7,759,9531,0.00,2.17,0.00,0.000,6,0.000,0.041,2957,1851,1447,0,0,0,0,0,0
$GC,9839,0.61,350.6,640.1,17.4,775,9843,0.00,2.20,0.00,0.000,4,0.000,0.057,2956,3257,1446,0,0,0,0,0,0
$GC,9857,0.58,350.6,636.7,17.3,775,9864,0.12,2.15,0.00,0.000,6,0.177,0.041,2933,1847,1446,0,0,0,0,0,0
$GC,10175,0.61,363.0,595.0,12.3,792,10193,0.00,0.00,11.02,1.074,6,0.000,0.000,2933,1847,1404,0,0,0,0,0,0
$GC,10512,0.68,398.1,555.2,11.5,824,10550,0.00,2.30,32.40,1.139,4,0.000,0.054,2930,3267,1260,0,0,0,0,0,0
$GC,10587,0.80,457.3,546.7,10.6,830,10646,0.17,2.22,53.22,1.124,6,0.066,0.039,3031,1847,1019,0,0,0,0,0,0
$GC,10966,0.75,457.3,458.8,23.5,865,10971,0.15,2.25,0.00,0.000,4,0.164,0.056,2990,3264,1013,0,0,0,0,0,0
$GC,11001,0.73,457.3,451.9,19.3,867,11008,0.00,2.17,0.00,0.000,6,0.000,0.038,2997,1847,1013,0,0,0,0,0,0
$GC,11326,0.71,457.3,393.9,18.1,898,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1847,1012,0,0,0,0,0,0
$GC,11648,0.71,457.3,337.7,18.0,928,11652,0.00,2.15,0.00,0.000,4,0.000,0.048,3001,442,1011,0,0,0,0,0,0
$GC,11670,0.71,457.3,333.2,17.9,929,11677,0.00,2.15,0.00,0.000,6,0.000,0.037,3001,1853,1011,0,0,0,0,0,0
$GC,11995,0.71,457.3,273.1,18.0,960,11999,0.00,2.17,0.00,0.000,4,0.000,0.052,3003,3266,1011,0,0,0,0,0,0
$GC,12046,0.75,457.3,264.2,16.2,964,12050,0.00,2.15,0.00,0.000,6,0.000,0.036,3016,1835,1011,0,0,0,0,0,0
$GC,12367,0.75,457.3,216.0,13.8,1016,12375,0.00,2.15,0.00,0.000,4,0.000,0.047,3028,448,1011,0,0,0,0,0,0
$GC,12395,0.76,457.3,212.4,13.8,1020,12404,0.10,2.15,0.00,0.000,6,0.112,0.035,2993,1859,1010,0,0,0,0,0,0
$GC,12723,0.90,536.0,177.3,9.9,1081,12796,0.12,2.17,64.43,0.804,4,0.085,0.047,3062,3255,696,0,0,0,0,0,0
$GC,12828,0.90,536.0,160.5,17.6,1095,12836,0.10,2.17,0.00,0.000,6,0.131,0.034,3037,1853,693,0,0,0,0,0,0
$GC,13155,0.93,536.0,111.4,14.5,1156,13164,0.00,2.17,0.00,0.000,4,0.000,0.044,3046,443,691,0,0,0,0,0,0
$GC,13248,1.05,579.2,99.3,11.2,1173,13293,0.08,2.15,37.15,0.713,6,0.051,0.032,3121,1867,520,0,0,0,0,0,0
$GC,13610,1.05,579.2,28.0,17.8,1239,13618,0.12,2.12,0.00,0.000,4,0.152,0.045,3076,3245,512,0,0,0,0,0,0
$GC,13639,1.08,579.2,23.1,17.2,1243,13647,0.00,2.12,0.00,0.000,6,0.000,0.033,3085,1847,511,0,0,0,0,0,0
$STATE,13802,end climb,SURFACE_DEPTH_REACHED
$STATE,13802,begin surface coast
$FINISH,1.2,0.997334
$STATE,13825,end surface coast,CONTROL_FINISHED_OK
$STATE,13825,begin surface
$SM_CCo,13905,0.00,0.000,0,0,510,582.34
$SM_GC,1.98,7.55,0.00,0.00,0.029,0.000,0.000,150,1485,510,-8.05,-0.45,582.34,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12408.35,080911,080824
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.80
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.00
$XPDR_PINGS,79
$24V_AH,22.9,43.808
$10V_AH,10.1,32.143
$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,20.925,122.175,723.025,0.000,0.000,30.111,17.064,164.744,19.750,0.000,40.651,2984.576,7003.963,743.500,3133.700,421.892,0.000,2022.632,0.000,2891.564,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,65.790,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,870.191,1308.662,1504.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330184
$DATA_FILE_SIZE,73479,1278
$CAP_FILE_SIZE,157548,0
$CFSIZE,260165632,130654208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080911,170156,2118.075,12409.892,63,1.9,64,-2.8