version: 66.09
glider: 166
mission: 6
dive: 197
start: 9 9 111 18 14 41
data:
$ID,166
$MISSION,6
$DIVE,197
$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,-24646.742
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,090911,180727,2113.019,12406.536,36,2.2,55,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-73.0
$GPS2,090911,181419,2112.958,12406.666,15,1.9,32,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2112.958,12355.082
$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,-99.47,0.000,2,0.000,0.000,154,1490,2909,0,0,0,0,0,0
$GC,122,-0.68,-243.3,5.1,-6.3,14,159,9.20,2.20,-18.98,0.000,4,0.220,0.052,2508,2912,3878,0,0,0,0,0,0
$GC,293,-0.60,-243.3,62.6,-28.2,44,301,0.17,2.15,0.00,0.000,6,0.142,0.033,2548,1491,3879,0,0,0,0,0,0
$GC,613,-0.54,-243.3,141.2,-21.1,105,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1491,3880,0,0,0,0,0,0
$GC,941,-0.50,-243.3,202.6,-16.0,166,950,0.12,2.20,0.00,0.000,4,0.165,0.041,2575,2909,3881,0,0,0,0,0,0
$GC,1117,-0.55,-243.3,220.5,-8.9,198,1125,0.00,2.12,0.00,0.000,6,0.000,0.031,2573,1497,3882,0,0,0,0,0,0
$GC,1451,-0.57,-243.3,256.2,-11.3,255,1455,0.00,2.12,0.00,0.000,4,0.000,0.040,2564,2912,3881,0,0,0,0,0,0
$GC,1496,-0.61,-243.3,261.5,-10.3,258,1504,0.00,2.12,0.00,0.000,6,0.000,0.032,2565,1498,3881,0,0,0,0,0,0
$GC,1825,-0.63,-243.3,300.1,-11.8,289,1830,0.12,2.15,0.00,0.000,4,0.082,0.041,2493,2915,3880,0,0,0,0,0,0
$GC,1938,-0.60,-243.3,319.1,-16.2,298,1946,0.17,2.12,0.00,0.000,6,0.145,0.034,2547,1496,3880,0,0,0,0,0,0
$GC,2264,-0.58,-243.3,368.7,-13.9,329,2268,0.00,2.17,0.00,0.000,4,0.000,0.044,2539,2920,3878,0,0,0,0,0,0
$GC,2307,-0.58,-243.3,374.5,-12.6,332,2314,0.00,2.12,0.00,0.000,6,0.000,0.034,2539,1496,3878,0,0,0,0,0,0
$GC,2633,-0.56,-243.3,424.0,-15.0,363,2637,0.00,2.17,0.00,0.000,4,0.000,0.044,2529,2911,3876,0,0,0,0,0,0
$GC,2665,-0.56,-243.3,428.6,-13.2,365,2673,0.12,2.12,0.00,0.000,6,0.147,0.034,2564,1499,3876,0,0,0,0,0,0
$GC,2993,-0.59,-243.3,461.8,-10.2,396,2997,0.00,2.17,0.00,0.000,4,0.000,0.046,2556,2918,3874,0,0,0,0,0,0
$GC,3034,-0.64,-243.3,466.0,-9.6,399,3038,0.00,2.12,0.00,0.000,6,0.000,0.035,2556,1498,3874,0,0,0,0,0,0
$GC,3360,-0.67,-243.3,498.8,-9.9,429,3364,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,2907,3872,0,0,0,0,0,0
$GC,3474,-0.72,-243.3,509.2,-8.6,438,3481,0.00,2.10,0.00,0.000,6,0.000,0.036,2546,1502,3871,0,0,0,0,0,0
$GC,3800,-0.75,-243.3,542.9,-9.9,469,3802,0.12,0.00,0.00,0.000,6,0.081,0.000,2474,1502,3869,0,0,0,0,0,0
$GC,4118,-0.70,-243.3,595.5,-16.9,499,4122,0.15,2.17,0.00,0.000,4,0.162,0.053,2507,2906,3866,0,0,0,0,0,0
$GC,4154,-0.70,-243.3,600.6,-14.3,502,4158,0.00,2.12,0.00,0.000,6,0.000,0.040,2508,1499,3866,0,0,0,0,0,0
$GC,4475,-0.70,-243.3,643.5,-13.0,518,4479,0.00,2.20,0.00,0.000,4,0.000,0.054,2497,2911,3863,0,0,0,0,0,0
$GC,4527,-0.72,-243.3,649.5,-11.5,520,4531,0.00,2.15,0.00,0.000,6,0.000,0.041,2497,1493,3862,0,0,0,0,0,0
$GC,4843,-0.72,-243.3,692.9,-13.2,535,4846,0.00,2.00,0.00,0.000,4,0.000,0.054,2498,189,3859,0,0,0,0,0,0
$GC,4876,-0.71,-243.3,697.6,-13.9,536,4879,0.00,2.00,0.00,0.000,6,0.000,0.041,2488,1501,3859,0,0,0,0,0,0
$GC,5200,-0.70,-243.3,737.8,-12.2,552,5205,0.12,2.17,0.00,0.000,4,0.168,0.054,2508,2904,3856,0,0,0,0,0,0
$GC,5291,-0.74,-243.3,746.2,-8.0,556,5295,0.00,2.12,0.00,0.000,6,0.000,0.041,2510,1500,3855,0,0,0,0,0,0
$GC,5615,-0.75,-243.3,775.9,-9.1,572,5619,0.00,2.20,0.00,0.000,4,0.000,0.057,2493,2904,3852,0,0,0,0,0,0
$GC,5638,-0.76,-243.3,778.2,-9.2,573,5642,0.00,2.15,0.00,0.000,6,0.000,0.042,2496,1491,3852,0,0,0,0,0,0
$GC,5966,-0.76,-243.3,812.7,-11.0,589,5970,0.00,2.20,0.00,0.000,4,0.000,0.055,2482,2904,3850,0,0,0,0,0,0
$GC,6012,-0.78,-243.3,817.7,-11.0,591,6016,0.00,2.15,0.00,0.000,6,0.000,0.042,2483,1493,3849,0,0,0,0,0,0
$GC,6334,-0.78,-243.3,858.3,-12.7,607,6338,0.00,2.22,0.00,0.000,4,0.000,0.057,2469,2905,3846,0,0,0,0,0,0
$GC,6364,-0.78,-243.3,861.7,-12.5,608,6368,0.00,2.15,0.00,0.000,6,0.000,0.042,2469,1500,3846,0,0,0,0,0,0
$GC,6680,-0.78,-243.3,903.5,-12.9,623,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1499,3844,0,0,0,0,0,0
$GC,6990,-0.78,-243.3,943.1,-12.7,638,6994,0.00,2.22,0.00,0.000,4,0.000,0.060,2460,2907,3842,0,0,0,0,0,0
$GC,7018,-0.78,-243.3,946.6,-12.7,639,7023,0.12,2.17,0.00,0.000,6,0.157,0.044,2494,1491,3841,0,0,0,0,0,0
$GC,7336,-0.80,-243.3,979.7,-10.2,654,7340,0.00,2.22,0.00,0.000,4,0.000,0.057,2485,2912,3840,0,0,0,0,0,0
$GC,7389,-0.83,-243.3,984.9,-10.0,656,7393,0.00,2.17,0.00,0.000,6,0.000,0.044,2486,1498,3839,0,0,0,0,0,0
$STATE,7440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7440,begin apogee
$GC,7446,-0.11,0.0,990.5,10.5,659,7657,0.65,0.00,202.27,1.440,6,0.114,0.000,2705,1850,2883,0,0,0,0,0,0
$STATE,7658,end apogee,CONTROL_FINISHED_OK
$STATE,7658,begin climb
$GC,7662,0.68,243.3,997.7,0.0,669,7888,0.73,0.00,221.98,1.375,6,0.040,0.000,2995,1850,1892,0,0,0,0,0,0
$GC,8189,0.60,243.3,903.4,20.9,695,8194,0.22,2.22,0.00,0.000,4,0.173,0.058,2926,3261,1884,0,0,0,0,0,0
$GC,8266,0.60,243.3,890.1,14.3,698,8273,0.00,2.17,0.00,0.000,6,0.000,0.042,2934,1848,1883,0,0,0,0,0,0
$GC,8585,0.57,243.3,842.3,15.0,714,8589,0.00,2.17,0.00,0.000,4,0.000,0.053,2944,438,1881,0,0,0,0,0,0
$GC,8601,0.55,243.3,839.4,14.9,714,8607,0.00,2.17,0.00,0.000,6,0.000,0.044,2945,1857,1881,0,0,0,0,0,0
$GC,8917,0.52,243.3,790.2,15.6,730,8922,0.12,2.17,0.00,0.000,4,0.173,0.060,2907,3258,1879,0,0,0,0,0,0
$GC,9010,0.55,257.6,778.7,12.2,734,9032,0.00,2.15,12.60,1.196,6,0.000,0.042,2915,1837,1833,0,0,0,0,0,0
$GC,9344,0.59,287.3,739.3,11.7,750,9379,0.00,2.25,28.85,1.258,4,0.000,0.053,2925,448,1711,0,0,0,0,0,0
$GC,9392,0.64,328.6,733.3,11.2,752,9438,0.00,2.20,39.20,1.245,6,0.000,0.040,2925,1840,1543,0,0,0,0,0,0
$GC,9760,0.64,328.6,685.0,13.8,770,9764,0.00,2.22,0.00,0.000,4,0.000,0.058,2925,3261,1538,0,0,0,0,0,0
$GC,9862,0.67,328.6,671.0,13.3,774,9869,0.00,2.17,0.00,0.000,6,0.000,0.041,2935,1843,1538,0,0,0,0,0,0
$GC,10178,0.67,328.6,624.7,14.8,790,10182,0.00,2.15,0.00,0.000,4,0.000,0.053,2946,445,1537,0,0,0,0,0,0
$GC,10205,0.67,328.6,620.5,14.4,791,10209,0.00,2.17,0.00,0.000,6,0.000,0.042,2946,1864,1535,0,0,0,0,0,0
$GC,10530,0.67,328.6,574.1,14.8,814,10534,0.00,2.15,0.00,0.000,4,0.000,0.057,2946,3252,1535,0,0,0,0,0,0
$GC,10605,0.69,328.6,563.2,13.6,820,10609,0.00,2.15,0.00,0.000,6,0.000,0.041,2955,1836,1535,0,0,0,0,0,0
$GC,10930,0.68,328.6,513.7,15.6,850,10934,0.00,2.15,0.00,0.000,4,0.000,0.051,2966,434,1535,0,0,0,0,0,0
$GC,10985,0.68,328.6,505.2,14.5,854,10992,0.00,2.17,0.00,0.000,6,0.000,0.041,2965,1863,1533,0,0,0,0,0,0
$GC,11312,0.67,328.6,455.1,14.7,885,11316,0.00,2.15,0.00,0.000,4,0.000,0.055,2965,3261,1533,0,0,0,0,0,0
$GC,11374,0.67,328.6,445.3,15.1,890,11378,0.00,2.15,0.00,0.000,6,0.000,0.040,2975,1836,1533,0,0,0,0,0,0
$GC,11700,0.65,328.6,391.3,16.2,920,11704,0.00,2.10,0.00,0.000,4,0.000,0.050,2984,445,1533,0,0,0,0,0,0
$GC,11774,0.65,328.6,380.0,14.3,926,11778,0.00,2.12,0.00,0.000,6,0.000,0.040,2980,1854,1532,0,0,0,0,0,0
$GC,12099,0.62,328.6,329.7,16.1,956,12104,0.12,2.15,0.00,0.000,4,0.168,0.053,2943,3254,1532,0,0,0,0,0,0
$GC,12179,0.72,368.1,319.4,11.3,962,12219,0.00,2.12,33.40,0.953,6,0.000,0.037,2950,1836,1383,0,0,0,0,0,0
$GC,12537,0.82,428.7,278.6,10.6,996,12597,0.17,2.25,52.62,0.905,4,0.067,0.047,3059,448,1134,0,0,0,0,0,0
$GC,12644,0.79,428.7,258.4,20.7,1005,12649,0.20,2.17,0.00,0.000,6,0.142,0.037,3002,1851,1133,0,0,0,0,0,0
$GC,12971,0.79,428.7,209.3,15.9,1060,12979,0.00,2.17,0.00,0.000,4,0.000,0.050,3003,3253,1132,0,0,0,0,0,0
$GC,13028,0.83,428.7,201.1,13.5,1070,13036,0.00,2.15,0.00,0.000,6,0.000,0.036,3014,1845,1131,0,0,0,0,0,0
$GC,13349,0.83,428.7,153.8,16.7,1131,13357,0.00,2.15,0.00,0.000,4,0.000,0.047,3024,444,1131,0,0,0,0,0,0
$GC,13383,0.85,428.7,148.8,16.2,1136,13391,0.00,2.12,0.00,0.000,6,0.000,0.034,3025,1840,1130,0,0,0,0,0,0
$GC,13707,0.94,481.6,106.5,10.8,1197,13758,0.00,2.20,43.90,0.734,4,0.000,0.044,3025,3266,917,0,0,0,0,0,0
$GC,13772,1.09,561.5,99.4,9.9,1206,13848,0.12,2.17,66.57,0.715,6,0.039,0.034,3125,1848,592,0,0,0,0,0,0
$GC,14165,1.07,561.5,21.8,18.9,1276,14174,0.12,2.15,0.00,0.000,4,0.156,0.044,3100,447,584,0,0,0,0,0,0
$GC,14213,1.11,561.5,13.8,14.4,1284,14221,0.00,2.12,0.00,0.000,6,0.000,0.032,3097,1851,584,0,0,0,0,0,0
$STATE,14295,end climb,SURFACE_DEPTH_REACHED
$STATE,14295,begin surface coast
$FINISH,1.1,0.999493
$STATE,14318,end surface coast,CONTROL_FINISHED_OK
$STATE,14318,begin surface
$SM_CCo,14398,0.00,0.000,0,0,583,564.44
$SM_GC,1.93,7.68,0.00,0.00,0.036,0.000,0.000,150,1494,583,-8.05,-0.17,564.44,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12403.84,090911,131321
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.79
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.20
$XPDR_PINGS,70
$24V_AH,23.0,45.604
$10V_AH,10.0,33.197
$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,20.600,143.600,701.400,0.000,0.000,29.402,40.814,166.670,17.500,0.000,33.241,3082.712,7310.392,757.624,3210.889,430.980,0.000,2060.771,0.000,2951.464,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,59.670,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.451,1333.268,1470.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330232
$DATA_FILE_SIZE,73629,1303
$CAP_FILE_SIZE,164912,0
$CFSIZE,260165632,130043904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090911,221621,2111.927,12405.713,44,99.0,63,-2.8