version: 66.09
glider: 166
mission: 6
dive: 192
start: 9 8 111 21 18 7
data:
$ID,166
$MISSION,6
$DIVE,192
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,270
$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,-24640.441
$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,69
$R_STBD_OVSHOOT,51
$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
$GPS1,080911,210936,2117.734,12409.876,60,1.7,65,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.3
$GPS2,080911,211743,2117.610,12409.988,31,1.8,37,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2117.610,12358.397
$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,272.8,20000,-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,-85.28,0.000,2,0.000,0.000,151,1468,2946,0,0,0,0,0,0
$GC,108,-0.68,-243.3,5.1,-6.2,12,145,9.32,1.92,-18.58,0.000,4,0.223,0.053,2511,223,3878,0,0,0,0,0,0
$GC,259,-0.59,-243.3,53.9,-27.2,38,267,0.15,1.92,0.00,0.000,6,0.151,0.033,2549,1493,3879,0,0,0,0,0,0
$GC,585,-0.52,-243.3,135.6,-22.0,99,593,0.00,2.12,0.00,0.000,4,0.000,0.042,2540,2898,3881,0,0,0,0,0,0
$GC,679,-0.51,-243.3,153.7,-17.1,116,690,0.12,2.08,0.00,0.000,6,0.125,0.032,2577,1514,3881,0,0,0,0,0,0
$GC,1009,-0.51,-243.3,204.3,-14.3,177,1017,0.00,2.12,0.00,0.000,4,0.000,0.041,2569,2910,3882,0,0,0,0,0,0
$GC,1042,-0.53,-243.3,209.0,-13.5,182,1051,0.00,2.10,0.00,0.000,6,0.000,0.031,2569,1502,3882,0,0,0,0,0,0
$GC,1372,-0.54,-243.3,252.9,-12.8,242,1376,0.00,2.12,0.00,0.000,4,0.000,0.041,2558,2906,3882,0,0,0,0,0,0
$GC,1436,-0.59,-243.3,260.4,-11.1,247,1440,0.00,2.08,0.00,0.000,6,0.000,0.031,2559,1497,3882,0,0,0,0,0,0
$GC,1765,-0.61,-243.3,300.9,-10.9,277,1769,0.00,2.10,0.00,0.000,4,0.000,0.041,2550,2912,3881,0,0,0,0,0,0
$GC,1834,-0.65,-243.3,307.8,-8.9,283,1838,0.00,2.10,0.00,0.000,6,0.000,0.032,2552,1491,3881,0,0,0,0,0,0
$GC,2166,-0.67,-243.3,340.5,-10.0,314,2170,0.00,2.15,0.00,0.000,4,0.000,0.041,2550,2908,3880,0,0,0,0,0,0
$GC,2244,-0.72,-243.3,347.5,-8.6,320,2252,0.12,2.08,0.00,0.000,6,0.081,0.032,2483,1500,3880,0,0,0,0,0,0
$GC,2570,-0.65,-243.3,414.5,-21.0,351,2575,0.17,2.15,0.00,0.000,4,0.164,0.044,2524,2904,3878,0,0,0,0,0,0
$GC,2599,-0.62,-243.3,420.2,-19.5,353,2603,0.00,2.08,0.00,0.000,6,0.000,0.034,2524,1503,3878,0,0,0,0,0,0
$GC,2924,-0.60,-243.3,470.2,-15.1,383,2928,0.00,2.15,0.00,0.000,4,0.000,0.047,2514,2903,3876,0,0,0,0,0,0
$GC,2957,-0.60,-243.3,475.4,-14.9,385,2965,0.12,2.12,0.00,0.000,6,0.151,0.035,2549,1501,3876,0,0,0,0,0,0
$GC,3283,-0.63,-243.3,514.7,-12.0,416,3287,0.00,2.20,0.00,0.000,4,0.000,0.049,2541,2907,3874,0,0,0,0,0,0
$GC,3324,-0.67,-243.3,519.3,-11.2,419,3328,0.00,2.12,0.00,0.000,6,0.000,0.036,2541,1490,3873,0,0,0,0,0,0
$GC,3650,-0.69,-243.3,556.9,-11.3,449,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1488,3871,0,0,0,0,0,0
$GC,3972,-0.72,-243.3,589.6,-9.9,479,3976,0.00,2.20,0.00,0.000,4,0.000,0.051,2531,2907,3868,0,0,0,0,0,0
$GC,4059,-0.77,-243.3,597.9,-8.7,486,4064,0.10,2.12,0.00,0.000,6,0.096,0.039,2470,1501,3867,0,0,0,0,0,0
$GC,4377,-0.73,-243.3,648.1,-16.1,502,4379,0.12,0.00,0.00,0.000,6,0.173,0.000,2504,1501,3864,0,0,0,0,0,0
$GC,4687,-0.73,-243.3,688.4,-12.9,517,4691,0.00,2.00,0.00,0.000,4,0.000,0.054,2503,204,3861,0,0,0,0,0,0
$GC,4710,-0.73,-243.3,691.8,-12.5,518,4714,0.00,1.98,0.00,0.000,6,0.000,0.042,2496,1496,3861,0,0,0,0,0,0
$GC,5043,-0.73,-243.3,736.4,-13.2,534,5047,0.00,2.17,0.00,0.000,4,0.000,0.056,2486,2907,3858,0,0,0,0,0,0
$GC,5108,-0.75,-243.3,743.7,-11.0,537,5112,0.00,2.15,0.00,0.000,6,0.000,0.042,2486,1491,3857,0,0,0,0,0,0
$GC,5435,-0.73,-243.3,782.7,-11.4,553,5439,0.00,2.22,0.00,0.000,4,0.000,0.056,2475,2915,3854,0,0,0,0,0,0
$GC,5466,-0.73,-243.3,786.1,-11.4,554,5471,0.12,2.17,0.00,0.000,6,0.160,0.043,2509,1488,3854,0,0,0,0,0,0
$GC,5784,-0.75,-243.3,818.9,-10.9,569,5788,0.00,2.20,0.00,0.000,4,0.000,0.057,2501,2907,3852,0,0,0,0,0,0
$GC,5806,-0.77,-243.3,821.6,-10.9,570,5810,0.00,2.15,0.00,0.000,6,0.000,0.043,2501,1496,3851,0,0,0,0,0,0
$GC,6130,-0.77,-243.3,861.1,-12.7,586,6134,0.00,2.22,0.00,0.000,4,0.000,0.059,2491,2914,3849,0,0,0,0,0,0
$GC,6181,-0.79,-243.3,867.9,-12.5,588,6185,0.00,2.17,0.00,0.000,6,0.000,0.044,2491,1499,3849,0,0,0,0,0,0
$GC,6504,-0.79,-243.3,912.4,-14.1,604,6508,0.00,2.22,0.00,0.000,4,0.000,0.060,2481,2906,3846,0,0,0,0,0,0
$GC,6530,-0.79,-243.3,916.7,-14.1,605,6534,0.00,2.17,0.00,0.000,6,0.000,0.044,2481,1491,3845,0,0,0,0,0,0
$GC,6852,-0.79,-243.3,963.1,-14.4,621,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1491,3844,0,0,0,0,0,0
$STATE,7056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7056,begin apogee
$GC,7064,-0.11,0.0,991.9,13.8,631,7275,0.70,0.00,202.93,1.444,6,0.126,0.000,2704,1851,2883,0,0,0,0,0,0
$STATE,7275,end apogee,CONTROL_FINISHED_OK
$STATE,7275,begin climb
$GC,7280,0.68,243.3,1003.3,0.0,641,7512,0.75,2.50,222.50,1.380,4,0.048,0.063,2981,3247,1892,0,0,0,0,0,0
$GC,7548,0.62,243.3,971.1,18.3,654,7553,0.17,2.30,0.00,0.000,6,0.180,0.045,2950,1852,1890,0,0,0,0,0,0
$GC,7871,0.58,243.3,920.7,15.7,670,7875,0.00,2.25,0.00,0.000,4,0.000,0.061,2948,3256,1884,0,0,0,0,0,0
$GC,7894,0.54,243.3,916.5,15.8,671,7899,0.12,2.17,0.00,0.000,6,0.179,0.044,2925,1842,1883,0,0,0,0,0,0
$GC,8223,0.53,243.3,868.5,15.1,687,8227,0.00,2.22,0.00,0.000,4,0.000,0.058,2922,3252,1882,0,0,0,0,0,0
$GC,8264,0.53,243.3,862.0,14.9,689,8268,0.00,2.15,0.00,0.000,6,0.000,0.042,2930,1848,1881,0,0,0,0,0,0
$GC,8593,0.51,243.3,811.5,15.3,705,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1848,1880,0,0,0,0,0,0
$GC,8900,0.49,243.3,764.9,14.9,720,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1848,1879,0,0,0,0,0,0
$GC,9212,0.47,243.3,721.8,13.6,735,9217,0.12,2.22,0.00,0.000,4,0.174,0.055,2889,3265,1877,0,0,0,0,0,0
$GC,9245,0.50,247.5,717.3,12.5,736,9252,0.00,2.17,0.00,0.000,6,0.000,0.040,2898,1836,1877,0,0,0,0,0,0
$GC,9561,0.59,308.4,685.0,10.6,752,9627,0.10,2.38,58.95,1.264,4,0.103,0.055,2951,3256,1626,0,0,0,0,0,0
$GC,9640,0.57,308.4,673.4,15.2,755,9648,0.12,2.22,0.00,0.000,6,0.176,0.040,2931,1850,1626,0,0,0,0,0,0
$GC,9956,0.57,308.4,629.5,13.7,771,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1851,1622,0,0,0,0,0,0
$GC,10270,0.58,308.4,587.5,12.7,790,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1851,1621,0,0,0,0,0,0
$GC,10588,0.64,342.3,548.7,11.5,820,10625,0.00,0.00,30.30,1.151,6,0.000,0.000,2931,1850,1487,0,0,0,0,0,0
$GC,10944,0.69,359.2,506.5,12.1,854,10968,0.10,2.22,16.27,1.064,4,0.100,0.049,2994,443,1418,0,0,0,0,0,0
$GC,11010,0.68,359.2,495.8,17.5,859,11017,0.12,2.20,0.00,0.000,6,0.158,0.040,2962,1864,1417,0,0,0,0,0,0
$GC,11335,0.68,359.2,446.3,15.0,890,11339,0.00,2.15,0.00,0.000,4,0.000,0.055,2960,3257,1416,0,0,0,0,0,0
$GC,11426,0.71,359.2,433.5,13.3,897,11433,0.00,2.15,0.00,0.000,6,0.000,0.039,2969,1846,1416,0,0,0,0,0,0
$GC,11751,0.71,359.2,387.7,13.7,928,11755,0.00,2.15,0.00,0.000,4,0.000,0.050,2979,444,1416,0,0,0,0,0,0
$GC,11793,0.72,359.2,382.2,13.5,931,11797,0.00,2.15,0.00,0.000,6,0.000,0.039,2980,1854,1414,0,0,0,0,0,0
$GC,12118,0.72,359.2,333.6,15.3,961,12122,0.00,2.15,0.00,0.000,4,0.000,0.053,2979,3257,1414,0,0,0,0,0,0
$GC,12198,0.73,359.2,322.1,13.9,967,12205,0.00,2.12,0.00,0.000,6,0.000,0.037,2986,1848,1414,0,0,0,0,0,0
$GC,12523,0.73,359.2,275.0,14.5,998,12527,0.00,2.15,0.00,0.000,4,0.000,0.047,2993,433,1414,0,0,0,0,0,0
$GC,12589,0.76,359.2,266.3,13.5,1003,12593,0.00,2.15,0.00,0.000,6,0.000,0.037,2993,1866,1414,0,0,0,0,0,0
$GC,12916,0.76,359.2,220.0,13.9,1053,12924,0.00,2.12,0.00,0.000,4,0.000,0.050,2995,3248,1414,0,0,0,0,0,0
$GC,12957,0.76,359.2,214.2,13.8,1060,12965,0.00,2.12,0.00,0.000,6,0.000,0.036,3006,1839,1414,0,0,0,0,0,0
$GC,13281,0.76,359.2,169.2,13.9,1121,13289,0.00,2.12,0.00,0.000,4,0.000,0.046,3017,448,1414,0,0,0,0,0,0
$GC,13363,0.77,359.2,158.0,12.7,1136,13371,0.00,2.12,0.00,0.000,6,0.000,0.034,3018,1850,1414,0,0,0,0,0,0
$GC,13684,0.77,359.2,113.8,12.7,1197,13692,0.00,2.17,0.00,0.000,4,0.000,0.048,3017,3254,1414,0,0,0,0,0,0
$GC,13738,0.82,372.1,107.2,12.2,1206,13762,0.00,2.12,12.68,0.687,6,0.000,0.034,3028,1839,1366,0,0,0,0,0,0
$GC,14075,0.95,457.1,71.5,9.7,1269,14153,0.00,2.15,70.50,0.706,4,0.000,0.044,3038,449,1018,0,0,0,0,0,0
$GC,14179,1.13,552.7,61.4,9.3,1284,14265,0.15,2.17,78.57,0.679,6,0.037,0.032,3139,1859,629,0,0,0,0,0,0
$STATE,14471,end climb,SURFACE_DEPTH_REACHED
$STATE,14471,begin surface coast
$FINISH,1.2,1.021208
$STATE,14483,end surface coast,CONTROL_FINISHED_OK
$STATE,14483,begin surface
$SM_CCo,14562,0.00,0.000,0,0,618,555.60
$SM_GC,1.95,7.88,0.00,0.00,0.036,0.000,0.000,154,1505,618,-8.04,0.11,555.60,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12411.56,080911,171718
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.00
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.90
$XPDR_PINGS,79
$24V_AH,22.9,44.311
$10V_AH,10.1,32.445
$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,20.725,130.350,692.700,0.000,0.000,30.561,46.638,220.836,19.750,0.000,40.613,3128.234,7487.514,720.388,3268.490,427.915,0.000,2004.888,0.000,2939.944,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,63.495,1444.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.221,1371.040,1519.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,76824,1337
$CAP_FILE_SIZE,161167,0
$CFSIZE,260165632,130473984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090911,012227,2116.294,12408.987,40,99.0,59,-2.8