version: 66.09
glider: 166
mission: 6
dive: 195
start: 9 9 111 9 49 14
data:
$ID,166
$MISSION,6
$DIVE,195
$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,-24644.223
$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,63
$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
$GPS1,090911,094107,2114.625,12406.762,52,1.3,52,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-72.0
$GPS2,090911,094852,2114.536,12406.854,18,99.0,37,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2114.536,12355.268
$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,-243.3,0.0,0.0,0,119,0.00,0.00,-99.55,0.000,2,0.000,0.000,154,1531,2940,0,0,0,0,0,0
$GC,122,-0.68,-243.3,5.2,-7.6,14,159,9.30,2.05,-18.45,0.000,4,0.223,0.055,2521,204,3880,0,0,0,0,0,0
$GC,334,-0.57,-243.3,76.3,-30.4,52,343,0.15,1.95,0.00,0.000,6,0.142,0.034,2555,1486,3881,0,0,0,0,0,0
$GC,655,-0.51,-243.3,147.4,-19.2,113,663,0.00,2.17,0.00,0.000,4,0.000,0.041,2544,2912,3883,0,0,0,0,0,0
$GC,716,-0.51,-243.3,157.4,-14.2,123,725,0.10,2.12,0.00,0.000,6,0.122,0.032,2572,1496,3883,0,0,0,0,0,0
$GC,1039,-0.51,-243.3,201.1,-12.9,184,1047,0.00,2.12,0.00,0.000,4,0.000,0.041,2564,2898,3884,0,0,0,0,0,0
$GC,1130,-0.56,-243.3,211.2,-10.1,200,1139,0.00,2.10,0.00,0.000,6,0.000,0.032,2564,1494,3883,0,0,0,0,0,0
$GC,1455,-0.57,-243.3,251.4,-12.6,260,1459,0.00,2.12,0.00,0.000,4,0.000,0.041,2555,2907,3883,0,0,0,0,0,0
$GC,1518,-0.62,-243.3,258.7,-10.8,265,1522,0.00,2.10,0.00,0.000,6,0.000,0.032,2555,1487,3883,0,0,0,0,0,0
$GC,1843,-0.62,-243.3,306.2,-14.8,295,1847,0.00,2.15,0.00,0.000,4,0.000,0.041,2547,2910,3881,0,0,0,0,0,0
$GC,1888,-0.66,-243.3,312.0,-12.7,298,1894,0.00,2.10,0.00,0.000,6,0.000,0.033,2552,1501,3881,0,0,0,0,0,0
$GC,2213,-0.66,-243.3,354.9,-12.5,329,2217,0.00,2.17,0.00,0.000,4,0.000,0.044,2553,2906,3880,0,0,0,0,0,0
$GC,2269,-0.69,-243.3,361.6,-11.3,333,2276,0.00,2.10,0.00,0.000,6,0.000,0.034,2553,1503,3880,0,0,0,0,0,0
$GC,2595,-0.69,-243.3,404.0,-13.9,364,2599,0.00,2.12,0.00,0.000,4,0.000,0.044,2544,2909,3877,0,0,0,0,0,0
$GC,2629,-0.71,-243.3,409.0,-13.8,366,2635,0.00,2.10,0.00,0.000,6,0.000,0.034,2543,1500,3877,0,0,0,0,0,0
$GC,2955,-0.71,-243.3,453.8,-13.6,397,2959,0.00,2.12,0.00,0.000,4,0.000,0.047,2533,2906,3876,0,0,0,0,0,0
$GC,3045,-0.74,-243.3,465.2,-11.3,404,3052,0.00,2.10,0.00,0.000,6,0.000,0.035,2533,1501,3875,0,0,0,0,0,0
$GC,3370,-0.73,-243.3,507.8,-13.9,435,3374,0.00,2.15,0.00,0.000,4,0.000,0.049,2523,2903,3873,0,0,0,0,0,0
$GC,3399,-0.73,-243.3,511.8,-13.6,437,3403,0.00,2.10,0.00,0.000,6,0.000,0.037,2523,1504,3873,0,0,0,0,0,0
$GC,3725,-0.73,-243.3,553.6,-12.6,467,3729,0.00,2.15,0.00,0.000,4,0.000,0.051,2513,2901,3871,0,0,0,0,0,0
$GC,3746,-0.73,-243.3,556.6,-12.4,468,3753,0.00,2.12,0.00,0.000,6,0.000,0.037,2513,1490,3871,0,0,0,0,0,0
$GC,4074,-0.73,-243.3,597.9,-12.2,499,4078,0.00,2.17,0.00,0.000,4,0.000,0.050,2502,2905,3868,0,0,0,0,0,0
$GC,4101,-0.73,-243.3,601.4,-11.8,501,4104,0.00,2.12,0.00,0.000,6,0.000,0.038,2502,1495,3868,0,0,0,0,0,0
$GC,4428,-0.71,-243.3,641.7,-12.8,517,4432,0.00,2.20,0.00,0.000,4,0.000,0.054,2492,2909,3865,0,0,0,0,0,0
$GC,4452,-0.71,-243.3,644.6,-12.4,518,4456,0.00,2.12,0.00,0.000,6,0.000,0.040,2492,1500,3864,0,0,0,0,0,0
$GC,4779,-0.70,-243.3,690.1,-14.1,534,4783,0.00,2.20,0.00,0.000,4,0.000,0.055,2481,2908,3861,0,0,0,0,0,0
$GC,4811,-0.70,-243.3,694.9,-13.8,535,4819,0.12,2.15,0.00,0.000,6,0.158,0.041,2516,1489,3861,0,0,0,0,0,0
$GC,5130,-0.72,-243.3,732.1,-11.7,551,5134,0.00,2.17,0.00,0.000,4,0.000,0.054,2507,2899,3858,0,0,0,0,0,0
$GC,5198,-0.75,-243.3,740.1,-11.0,554,5202,0.00,2.12,0.00,0.000,6,0.000,0.042,2507,1500,3857,0,0,0,0,0,0
$GC,5528,-0.75,-243.3,780.1,-12.2,570,5532,0.00,2.22,0.00,0.000,4,0.000,0.057,2494,2903,3855,0,0,0,0,0,0
$GC,5551,-0.75,-243.3,783.2,-11.9,571,5555,0.00,2.15,0.00,0.000,6,0.000,0.043,2496,1490,3855,0,0,0,0,0,0
$GC,5878,-0.75,-243.3,823.6,-12.3,587,5882,0.00,2.22,0.00,0.000,4,0.000,0.057,2481,2906,3852,0,0,0,0,0,0
$GC,5924,-0.76,-243.3,828.9,-11.7,589,5928,0.00,2.15,0.00,0.000,6,0.000,0.044,2480,1501,3852,0,0,0,0,0,0
$GC,6245,-0.76,-243.3,871.2,-13.2,605,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1502,3849,0,0,0,0,0,0
$GC,6556,-0.76,-243.3,911.3,-13.2,620,6560,0.00,2.22,0.00,0.000,4,0.000,0.066,2464,2904,3846,0,0,0,0,0,0
$GC,6583,-0.76,-243.3,915.5,-13.6,621,6588,0.12,2.15,0.00,0.000,6,0.158,0.045,2499,1505,3846,0,0,0,0,0,0
$GC,6912,-0.79,-243.3,954.6,-12.0,637,6917,0.00,2.20,0.00,0.000,4,0.000,0.061,2490,2897,3844,0,0,0,0,0,0
$GC,6955,-0.82,-243.3,959.6,-12.0,639,6959,0.00,2.17,0.00,0.000,6,0.000,0.047,2490,1490,3843,0,0,0,0,0,0
$STATE,7218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7218,begin apogee
$GC,7224,-0.11,0.0,992.3,12.0,652,7435,0.65,0.00,202.73,1.432,6,0.112,0.000,2707,1853,2884,0,0,0,0,0,0
$STATE,7436,end apogee,CONTROL_FINISHED_OK
$STATE,7436,begin climb
$GC,7439,0.68,243.3,1003.3,0.0,662,7672,0.70,2.47,220.98,1.375,4,0.041,0.057,3006,437,1892,0,0,0,0,0,0
$GC,7780,0.61,243.3,953.0,19.2,677,7788,0.22,2.28,0.00,0.000,6,0.163,0.047,2946,1850,1886,0,0,0,0,0,0
$GC,8097,0.57,243.3,903.9,15.2,693,8101,0.00,2.22,0.00,0.000,4,0.000,0.060,2942,3263,1884,0,0,0,0,0,0
$GC,8183,0.55,243.3,890.6,15.1,697,8187,0.00,2.20,0.00,0.000,6,0.000,0.044,2950,1836,1883,0,0,0,0,0,0
$GC,8512,0.51,243.3,839.4,15.7,713,8514,0.15,0.00,0.00,0.000,6,0.174,0.000,2911,1836,1882,0,0,0,0,0,0
$GC,8819,0.54,268.5,801.5,11.8,728,8849,0.00,2.35,22.80,1.276,4,0.000,0.057,2906,3257,1789,0,0,0,0,0,0
$GC,8887,0.59,289.2,793.4,12.0,731,8913,0.00,2.20,20.77,1.244,6,0.000,0.041,2914,1842,1704,0,0,0,0,0,0
$GC,9234,0.59,289.2,748.8,12.9,748,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1842,1700,0,0,0,0,0,0
$GC,9547,0.62,306.8,710.4,12.1,763,9569,0.00,2.33,16.80,1.206,4,0.000,0.057,2914,3261,1632,0,0,0,0,0,0
$GC,9603,0.70,342.0,703.3,11.5,765,9644,0.12,2.20,33.42,1.228,6,0.083,0.041,2986,1842,1488,0,0,0,0,0,0
$GC,9967,0.64,342.0,635.4,18.3,783,9971,0.12,2.28,0.00,0.000,4,0.180,0.056,2946,3263,1484,0,0,0,0,0,0
$GC,10006,0.64,342.0,628.9,15.1,785,10011,0.00,2.17,0.00,0.000,6,0.000,0.040,2954,1847,1484,0,0,0,0,0,0
$GC,10330,0.63,342.0,583.0,15.2,805,10334,0.00,2.15,0.00,0.000,4,0.000,0.050,2965,436,1483,0,0,0,0,0,0
$GC,10351,0.63,342.0,578.9,15.3,806,10358,0.00,2.17,0.00,0.000,6,0.000,0.040,2965,1866,1481,0,0,0,0,0,0
$GC,10677,0.61,342.0,520.4,18.5,837,10681,0.00,2.15,0.00,0.000,4,0.000,0.056,2964,3258,1481,0,0,0,0,0,0
$GC,10754,0.61,342.0,506.6,16.3,843,10762,0.12,2.15,0.00,0.000,6,0.174,0.039,2943,1836,1481,0,0,0,0,0,0
$GC,11080,0.62,342.0,463.2,13.1,874,11084,0.00,2.10,0.00,0.000,4,0.000,0.050,2952,446,1481,0,0,0,0,0,0
$GC,11147,0.69,370.9,454.6,11.7,879,11179,0.00,2.12,25.52,1.063,6,0.000,0.040,2948,1852,1370,0,0,0,0,0,0
$GC,11505,0.76,403.6,412.1,11.5,913,11540,0.12,2.28,29.42,1.019,4,0.086,0.054,3012,3252,1237,0,0,0,0,0,0
$GC,11566,0.72,403.6,401.8,18.9,918,11571,0.17,2.17,0.00,0.000,6,0.161,0.038,2975,1846,1237,0,0,0,0,0,0
$GC,11891,0.72,403.6,353.3,14.9,948,11895,0.00,2.17,0.00,0.000,4,0.000,0.048,2977,433,1235,0,0,0,0,0,0
$GC,11947,0.74,403.6,345.8,13.6,952,11951,0.00,2.15,0.00,0.000,6,0.000,0.037,2976,1849,1234,0,0,0,0,0,0
$GC,12272,0.74,403.6,293.6,15.7,982,12276,0.00,2.17,0.00,0.000,4,0.000,0.052,2976,3250,1234,0,0,0,0,0,0
$GC,12336,0.78,403.6,284.3,14.7,987,12341,0.00,2.12,0.00,0.000,6,0.000,0.036,2984,1836,1234,0,0,0,0,0,0
$GC,12661,0.78,403.6,236.8,13.3,1026,12669,0.00,2.12,0.00,0.000,4,0.000,0.047,2996,450,1234,0,0,0,0,0,0
$GC,12712,0.82,420.2,230.7,12.1,1034,12736,0.00,2.12,15.20,0.814,6,0.000,0.035,2998,1844,1170,0,0,0,0,0,0
$GC,13053,0.83,420.2,183.8,14.0,1097,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1844,1169,0,0,0,0,0,0
$GC,13375,0.88,423.7,143.6,12.6,1158,13385,0.00,2.20,4.65,0.531,4,0.000,0.047,3002,3258,1155,0,0,0,0,0,0
$GC,13409,0.97,458.5,139.4,11.5,1163,13446,0.10,2.12,30.25,0.755,6,0.044,0.034,3086,1851,1013,0,0,0,0,0,0
$GC,13762,0.95,458.5,77.2,15.6,1228,13771,0.12,2.17,0.00,0.000,4,0.158,0.045,3061,446,1010,0,0,0,0,0,0
$GC,13786,0.95,458.5,73.9,15.1,1231,13794,0.00,2.15,0.00,0.000,6,0.000,0.034,3058,1858,1009,0,0,0,0,0,0
$GC,14109,1.03,493.2,37.4,11.5,1292,14146,0.00,2.17,29.08,0.651,4,0.000,0.043,3066,439,871,0,0,0,0,0,0
$GC,14165,1.12,531.4,30.8,11.4,1300,14209,0.08,2.15,32.25,0.641,6,0.050,0.031,3138,1859,715,0,0,0,0,0,0
$STATE,14323,end climb,SURFACE_DEPTH_REACHED
$STATE,14323,begin surface coast
$FINISH,1.1,0.998779
$STATE,14340,end surface coast,CONTROL_FINISHED_OK
$STATE,14340,begin surface
$SM_CCo,14417,0.00,0.000,0,0,711,533.04
$SM_GC,2.09,7.88,0.00,0.00,0.037,0.000,0.000,153,1494,711,-8.04,-0.17,533.04,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12410.26,090911,050519
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.66
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.80
$XPDR_PINGS,78
$24V_AH,22.9,45.088
$10V_AH,10.0,32.896
$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,20.375,144.000,683.875,0.000,0.000,31.294,37.545,205.427,19.500,0.000,39.710,3136.409,7241.011,708.059,3344.556,434.500,0.000,2048.658,0.000,3031.683,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,65.790,1432.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.786,1361.508,1552.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76836,1330
$CAP_FILE_SIZE,166890,0
$CFSIZE,260165632,130215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090911,135057,2114.182,12406.300,28,99.0,47,-2.8