version: 66.09
glider: 166
mission: 6
dive: 206
start: 9 11 111 7 8 35
data:
$ID,166
$MISSION,6
$DIVE,206
$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,-24658.072
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,110911,070137,2105.975,12357.448,33,1.0,33,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.7
$GPS2,110911,070813,2105.946,12357.471,10,1.3,15,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2105.946,12345.896
$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,272.7,20000,-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,-243.3,0.0,0.0,0,126,0.00,0.00,-106.82,0.000,2,0.000,0.000,149,1493,3137,0,0,0,0,0,0
$GC,129,-0.68,-243.3,6.2,-10.6,15,160,9.32,2.15,-13.27,0.000,4,0.223,0.050,2510,2916,3878,0,0,0,0,0,0
$GC,283,-0.60,-243.3,64.0,-25.8,42,292,0.15,2.12,0.00,0.000,6,0.138,0.034,2545,1510,3881,0,0,0,0,0,0
$GC,610,-0.53,-243.3,147.5,-20.5,103,619,0.10,2.00,0.00,0.000,4,0.180,0.040,2572,196,3882,0,0,0,0,0,0
$GC,687,-0.54,-243.3,159.1,-14.1,116,695,0.00,1.95,0.00,0.000,6,0.000,0.032,2564,1501,3882,0,0,0,0,0,0
$GC,1014,-0.52,-243.3,212.1,-16.1,177,1022,0.00,2.10,0.00,0.000,4,0.000,0.042,2554,2897,3882,0,0,0,0,0,0
$GC,1157,-0.56,-243.3,229.3,-11.5,203,1164,0.00,2.10,0.00,0.000,6,0.000,0.033,2554,1496,3882,0,0,0,0,0,0
$GC,1484,-0.56,-243.3,279.8,-14.9,246,1488,0.00,2.12,0.00,0.000,4,0.000,0.043,2544,2907,3882,0,0,0,0,0,0
$GC,1535,-0.59,-243.3,286.8,-12.5,250,1539,0.00,2.10,0.00,0.000,6,0.000,0.033,2544,1489,3881,0,0,0,0,0,0
$GC,1860,-0.59,-243.3,335.4,-15.2,280,1864,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,2906,3881,0,0,0,0,0,0
$GC,1926,-0.62,-243.3,344.6,-12.9,285,1933,0.00,2.10,0.00,0.000,6,0.000,0.034,2535,1499,3881,0,0,0,0,0,0
$GC,2251,-0.62,-243.3,390.5,-13.4,316,2255,0.00,2.12,0.00,0.000,4,0.000,0.047,2543,2898,3880,0,0,0,0,0,0
$GC,2315,-0.65,-243.3,398.1,-11.4,321,2319,0.00,2.10,0.00,0.000,6,0.000,0.036,2544,1497,3879,0,0,0,0,0,0
$GC,2640,-0.65,-243.3,441.2,-12.8,351,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1497,3877,0,0,0,0,0,0
$GC,2961,-0.66,-243.3,477.2,-11.3,381,2965,0.00,2.15,0.00,0.000,4,0.000,0.050,2535,2896,3876,0,0,0,0,0,0
$GC,3027,-0.70,-243.3,484.1,-10.2,386,3031,0.00,2.10,0.00,0.000,6,0.000,0.039,2535,1497,3875,0,0,0,0,0,0
$GC,3358,-0.71,-243.3,524.3,-11.9,417,3362,0.00,2.15,0.00,0.000,4,0.000,0.052,2524,2894,3873,0,0,0,0,0,0
$GC,3429,-0.74,-243.3,531.9,-10.5,423,3433,0.00,2.12,0.00,0.000,6,0.000,0.041,2525,1493,3872,0,0,0,0,0,0
$GC,3755,-0.74,-243.3,573.5,-11.9,453,3759,0.00,2.17,0.00,0.000,4,0.000,0.053,2514,2897,3869,0,0,0,0,0,0
$GC,3835,-0.77,-243.3,581.5,-9.4,459,3842,0.00,2.12,0.00,0.000,6,0.000,0.041,2514,1498,3869,0,0,0,0,0,0
$GC,4158,-0.77,-243.3,617.1,-11.4,483,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1497,3866,0,0,0,0,0,0
$GC,4468,-0.77,-243.3,649.7,-10.5,498,4472,0.00,2.17,0.00,0.000,4,0.000,0.055,2504,2895,3863,0,0,0,0,0,0
$GC,4518,-0.80,-243.3,655.1,-9.9,500,4522,0.00,2.12,0.00,0.000,6,0.000,0.042,2504,1490,3862,0,0,0,0,0,0
$GC,4839,-0.80,-243.3,693.1,-12.5,516,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1490,3859,0,0,0,0,0,0
$GC,5150,-0.80,-243.3,732.7,-12.6,531,5154,0.00,2.20,0.00,0.000,4,0.000,0.058,2494,2893,3856,0,0,0,0,0,0
$GC,5195,-0.81,-243.3,738.7,-12.4,533,5199,0.00,2.12,0.00,0.000,6,0.000,0.044,2494,1490,3856,0,0,0,0,0,0
$GC,5519,-0.81,-243.3,781.2,-12.9,549,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1490,3854,0,0,0,0,0,0
$GC,5826,-0.81,-243.3,823.9,-13.8,564,5830,0.00,2.22,0.00,0.000,4,0.000,0.060,2479,2903,3851,0,0,0,0,0,0
$GC,5865,-0.81,-243.3,829.2,-13.6,566,5870,0.00,2.15,0.00,0.000,6,0.000,0.045,2479,1502,3850,0,0,0,0,0,0
$GC,6194,-0.81,-243.3,875.8,-14.0,582,6198,0.00,2.03,0.00,0.000,4,0.000,0.063,2475,199,3848,0,0,0,0,0,0
$GC,6250,-0.81,-243.3,884.3,-14.2,584,6254,0.00,2.00,0.00,0.000,6,0.000,0.044,2462,1487,3847,0,0,0,0,0,0
$GC,6572,-0.80,-243.3,930.5,-14.3,600,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1487,3845,0,0,0,0,0,0
$GC,6883,-0.79,-243.3,973.6,-13.6,615,6888,0.10,2.22,0.00,0.000,4,0.184,0.060,2477,2912,3843,0,0,0,0,0,0
$GC,6930,-0.82,-243.3,979.3,-11.4,617,6934,0.00,2.17,0.00,0.000,6,0.000,0.045,2477,1494,3842,0,0,0,0,0,0
$STATE,7028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7028,begin apogee
$GC,7036,-0.11,0.0,990.6,11.3,622,7246,0.68,0.00,202.30,1.438,6,0.118,0.000,2702,1859,2883,0,0,0,0,0,0
$STATE,7247,end apogee,CONTROL_FINISHED_OK
$STATE,7247,begin climb
$GC,7251,0.68,243.3,998.2,0.0,632,7486,0.70,2.42,220.77,1.374,4,0.043,0.060,2979,3255,1891,0,0,0,0,0,0
$GC,7581,0.62,243.3,946.8,19.9,647,7586,0.17,2.22,0.00,0.000,6,0.178,0.044,2949,1852,1886,0,0,0,0,0,0
$GC,7910,0.58,243.3,893.5,15.8,663,7914,0.00,2.20,0.00,0.000,4,0.000,0.055,2956,430,1883,0,0,0,0,0,0
$GC,7933,0.55,243.3,889.6,15.7,664,7938,0.12,2.22,0.00,0.000,6,0.164,0.046,2920,1857,1882,0,0,0,0,0,0
$GC,8254,0.55,243.3,846.5,13.1,680,8258,0.00,2.17,0.00,0.000,4,0.000,0.063,2919,3254,1881,0,0,0,0,0,0
$GC,8289,0.55,243.3,841.8,13.3,681,8293,0.00,2.15,0.00,0.000,6,0.000,0.043,2930,1832,1880,0,0,0,0,0,0
$GC,8610,0.53,243.3,798.4,13.1,697,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1832,1879,0,0,0,0,0,0
$GC,8920,0.53,256.7,759.5,12.2,712,8941,0.00,2.25,11.73,1.181,4,0.000,0.056,2931,3258,1836,0,0,0,0,0,0
$GC,8971,0.54,267.3,753.0,12.3,714,8989,0.00,2.15,11.52,1.162,6,0.000,0.041,2941,1850,1794,0,0,0,0,0,0
$GC,9299,0.53,267.3,707.6,14.7,730,9303,0.00,2.20,0.00,0.000,4,0.000,0.052,2949,438,1790,0,0,0,0,0,0
$GC,9324,0.52,267.3,704.0,15.2,731,9329,0.15,2.17,0.00,0.000,6,0.153,0.041,2910,1851,1790,0,0,0,0,0,0
$GC,9653,0.55,279.7,663.0,12.3,747,9675,0.00,2.28,12.55,1.147,4,0.000,0.057,2909,3270,1743,0,0,0,0,0,0
$GC,9748,0.63,313.6,651.9,11.5,751,9791,0.10,2.17,32.53,1.207,6,0.096,0.039,2970,1848,1605,0,0,0,0,0,0
$GC,10101,0.60,313.6,592.3,17.5,770,10103,0.12,0.00,0.00,0.000,6,0.174,0.000,2940,1848,1601,0,0,0,0,0,0
$GC,10421,0.60,313.6,546.9,13.9,800,10425,0.00,2.15,0.00,0.000,4,0.000,0.050,2943,442,1600,0,0,0,0,0,0
$GC,10442,0.60,313.6,543.5,14.4,801,10449,0.00,2.15,0.00,0.000,6,0.000,0.039,2941,1852,1598,0,0,0,0,0,0
$GC,10767,0.60,313.6,497.2,14.2,832,10771,0.00,2.17,0.00,0.000,4,0.000,0.056,2939,3258,1598,0,0,0,0,0,0
$GC,10830,0.63,313.6,488.6,13.2,837,10834,0.00,2.15,0.00,0.000,6,0.000,0.038,2947,1836,1598,0,0,0,0,0,0
$GC,11157,0.63,313.6,444.8,13.2,867,11161,0.00,2.12,0.00,0.000,4,0.000,0.049,2957,444,1598,0,0,0,0,0,0
$GC,11201,0.64,313.6,438.4,14.1,870,11208,0.00,2.15,0.00,0.000,6,0.000,0.038,2957,1863,1596,0,0,0,0,0,0
$GC,11526,0.65,321.1,395.0,12.4,901,11539,0.00,2.20,6.93,0.839,4,0.000,0.053,2957,3258,1574,0,0,0,0,0,0
$GC,11587,0.66,321.1,387.5,12.9,906,11591,0.00,2.12,0.00,0.000,6,0.000,0.037,2966,1848,1574,0,0,0,0,0,0
$GC,11914,0.66,321.1,339.9,14.5,936,11918,0.00,2.15,0.00,0.000,4,0.000,0.047,2977,435,1574,0,0,0,0,0,0
$GC,11969,0.66,321.2,332.1,12.7,940,11976,0.00,2.15,0.00,0.000,6,0.000,0.037,2979,1859,1573,0,0,0,0,0,0
$GC,12296,0.65,321.2,289.6,12.8,971,12300,0.00,2.12,0.00,0.000,4,0.000,0.050,2979,3255,1573,0,0,0,0,0,0
$GC,12336,0.65,323.4,284.4,12.6,974,12340,0.12,2.12,0.00,0.000,6,0.163,0.036,2955,1838,1573,0,0,0,0,0,0
$GC,12661,0.75,383.3,251.6,10.6,1004,12721,0.10,2.25,54.25,0.878,4,0.103,0.047,3031,439,1320,0,0,0,0,0,0
$GC,12792,0.75,383.3,230.5,16.6,1024,12801,0.10,2.20,0.00,0.000,6,0.124,0.035,2994,1855,1318,0,0,0,0,0,0
$GC,13123,0.78,392.9,186.8,12.4,1085,13141,0.00,2.17,9.35,0.705,4,0.000,0.049,2991,3248,1282,0,0,0,0,0,0
$GC,13160,0.84,421.4,181.9,11.7,1090,13196,0.00,2.15,25.48,0.780,6,0.000,0.034,2999,1840,1164,0,0,0,0,0,0
$GC,13511,0.94,468.8,140.4,11.0,1155,13562,0.12,2.22,39.72,0.753,4,0.082,0.044,3085,438,970,0,0,0,0,0,0
$GC,13649,0.94,468.8,116.0,17.0,1178,13658,0.10,2.17,0.00,0.000,6,0.128,0.032,3052,1855,969,0,0,0,0,0,0
$GC,13979,0.95,468.8,66.2,13.6,1239,13986,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1856,968,0,0,0,0,0,0
$GC,14299,1.13,566.6,30.6,9.3,1300,14384,0.15,0.00,79.50,0.657,6,0.073,0.000,3141,1859,570,0,0,0,0,0,0
$STATE,14450,end climb,SURFACE_DEPTH_REACHED
$STATE,14450,begin surface coast
$FINISH,1.1,0.997492
$STATE,14467,end surface coast,CONTROL_FINISHED_OK
$STATE,14467,begin surface
$SM_CCo,14546,0.00,0.000,0,0,564,569.10
$SM_GC,1.93,7.82,0.00,0.00,0.036,0.000,0.000,133,1479,564,-8.04,-0.59,569.10,0,0,0,0,0,0
$IRIDIUM_FIX,2057.14,12359.34,110911,020232
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.06
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.60
$XPDR_PINGS,76
$24V_AH,23.0,47.926
$10V_AH,10.1,34.502
$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,20.250,126.075,706.625,0.000,0.000,31.519,38.296,164.929,19.000,0.000,16.541,3103.848,7470.508,706.812,3207.134,434.942,0.000,2039.449,0.000,2968.049,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,63.495,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.160,1359.091,1488.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76797,1327
$CAP_FILE_SIZE,161229,0
$CFSIZE,260165632,129273856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110911,111207,2105.670,12356.158,28,1.2,28,-2.7