version: 66.09
glider: 166
mission: 6
dive: 207
start: 9 11 111 11 19 54
data:
$ID,166
$MISSION,6
$DIVE,207
$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,-24659.33
$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,52
$R_STBD_OVSHOOT,38
$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
$GPS1,110911,111207,2105.670,12356.158,28,1.2,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-71.3
$GPS2,110911,111932,2105.633,12356.146,34,1.7,34,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2105.633,12344.571
$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,-243.3,0.0,0.0,0,119,0.00,0.00,-99.43,0.000,2,0.000,0.000,128,1476,2946,0,0,0,0,0,0
$GC,122,-0.68,-243.3,5.4,-8.2,14,159,9.40,2.20,-17.92,0.000,4,0.226,0.054,2506,2907,3880,0,0,0,0,0,0
$GC,261,-0.60,-243.3,52.1,-24.3,38,270,0.12,2.10,0.00,0.000,6,0.147,0.033,2543,1512,3881,0,0,0,0,0,0
$GC,587,-0.52,-243.3,136.6,-24.0,99,596,0.12,2.15,0.00,0.000,4,0.174,0.040,2568,2912,3882,0,0,0,0,0,0
$GC,631,-0.52,-243.3,145.5,-16.7,106,639,0.00,2.12,0.00,0.000,6,0.000,0.031,2571,1498,3882,0,0,0,0,0,0
$GC,956,-0.52,-243.3,196.8,-13.6,167,964,0.00,2.15,0.00,0.000,4,0.000,0.041,2562,2912,3883,0,0,0,0,0,0
$GC,1019,-0.55,-243.3,203.6,-11.6,177,1027,0.00,2.12,0.00,0.000,6,0.000,0.031,2562,1492,3883,0,0,0,0,0,0
$GC,1342,-0.55,-243.3,250.5,-13.0,238,1346,0.00,2.15,0.00,0.000,4,0.000,0.041,2552,2910,3882,0,0,0,0,0,0
$GC,1429,-0.60,-243.3,260.7,-11.0,245,1433,0.00,2.08,0.00,0.000,6,0.000,0.032,2553,1494,3882,0,0,0,0,0,0
$GC,1761,-0.60,-243.3,306.9,-13.8,276,1765,0.00,2.12,0.00,0.000,4,0.000,0.042,2548,2910,3882,0,0,0,0,0,0
$GC,1805,-0.63,-243.3,313.3,-13.7,279,1812,0.00,2.10,0.00,0.000,6,0.000,0.033,2549,1494,3882,0,0,0,0,0,0
$GC,2130,-0.63,-243.3,358.3,-13.5,310,2134,0.00,2.15,0.00,0.000,4,0.000,0.044,2550,2917,3880,0,0,0,0,0,0
$GC,2182,-0.67,-243.3,364.7,-12.0,314,2188,0.00,2.12,0.00,0.000,6,0.000,0.034,2551,1491,3880,0,0,0,0,0,0
$GC,2507,-0.67,-243.3,411.9,-15.2,345,2511,0.00,2.17,0.00,0.000,4,0.000,0.046,2537,2915,3878,0,0,0,0,0,0
$GC,2598,-0.70,-243.3,422.8,-11.4,352,2606,0.00,2.10,0.00,0.000,6,0.000,0.034,2538,1504,3877,0,0,0,0,0,0
$GC,2923,-0.70,-243.3,466.7,-13.7,383,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1504,3876,0,0,0,0,0,0
$GC,3246,-0.72,-243.3,508.6,-12.4,413,3250,0.00,2.17,0.00,0.000,4,0.000,0.050,2529,2912,3873,0,0,0,0,0,0
$GC,3299,-0.76,-243.3,514.8,-10.9,417,3303,0.00,2.12,0.00,0.000,6,0.000,0.038,2530,1502,3873,0,0,0,0,0,0
$GC,3624,-0.78,-243.3,552.5,-11.1,447,3629,0.10,2.20,0.00,0.000,4,0.099,0.051,2464,2909,3871,0,0,0,0,0,0
$GC,3676,-0.76,-243.3,559.7,-14.8,451,3681,0.12,2.12,0.00,0.000,6,0.162,0.040,2498,1496,3870,0,0,0,0,0,0
$GC,4016,-0.74,-243.3,606.2,-13.4,481,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1496,3868,0,0,0,0,0,0
$GC,4325,-0.74,-243.3,647.6,-13.9,496,4329,0.00,2.17,0.00,0.000,4,0.000,0.055,2490,2902,3864,0,0,0,0,0,0
$GC,4388,-0.75,-243.3,655.9,-13.1,498,4395,0.00,2.15,0.00,0.000,6,0.000,0.042,2489,1493,3864,0,0,0,0,0,0
$GC,4704,-0.74,-243.3,702.2,-14.5,514,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1493,3861,0,0,0,0,0,0
$GC,5017,-0.73,-243.3,745.9,-14.0,529,5021,0.00,2.20,0.00,0.000,4,0.000,0.057,2479,2903,3858,0,0,0,0,0,0
$GC,5072,-0.74,-243.3,753.9,-12.9,531,5079,0.12,2.15,0.00,0.000,6,0.156,0.043,2507,1491,3857,0,0,0,0,0,0
$GC,5391,-0.76,-243.3,789.7,-11.4,547,5395,0.00,2.20,0.00,0.000,4,0.000,0.057,2498,2908,3855,0,0,0,0,0,0
$GC,5419,-0.78,-243.3,793.4,-11.7,548,5423,0.00,2.15,0.00,0.000,6,0.000,0.042,2497,1494,3854,0,0,0,0,0,0
$GC,5741,-0.80,-243.3,831.7,-11.9,564,5745,0.00,2.20,0.00,0.000,4,0.000,0.058,2492,2901,3852,0,0,0,0,0,0
$GC,5776,-0.82,-243.3,835.7,-11.4,565,5783,0.00,2.12,0.00,0.000,6,0.000,0.042,2491,1500,3851,0,0,0,0,0,0
$GC,6092,-0.82,-243.3,873.6,-11.9,581,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1500,3849,0,0,0,0,0,0
$GC,6401,-0.82,-243.3,909.5,-11.4,596,6405,0.00,2.22,0.00,0.000,4,0.000,0.060,2483,2901,3846,0,0,0,0,0,0
$GC,6437,-0.83,-243.3,913.3,-11.0,597,6444,0.00,2.15,0.00,0.000,6,0.000,0.044,2484,1502,3846,0,0,0,0,0,0
$GC,6753,-0.83,-243.3,949.8,-11.5,613,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1501,3844,0,0,0,0,0,0
$GC,7064,-0.83,-243.3,984.7,-11.2,628,7068,0.00,2.20,0.00,0.000,4,0.000,0.060,2476,2905,3842,0,0,0,0,0,0
$GC,7092,-0.83,-243.3,988.2,-11.2,629,7096,0.00,2.17,0.00,0.000,6,0.000,0.044,2475,1491,3842,0,0,0,0,0,0
$STATE,7128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7128,begin apogee
$GC,7134,-0.11,0.0,992.4,11.8,631,7346,0.70,0.00,202.77,1.444,6,0.123,0.000,2702,1860,2882,0,0,0,0,0,0
$STATE,7346,end apogee,CONTROL_FINISHED_OK
$STATE,7346,begin climb
$GC,7349,0.68,243.3,1000.4,0.0,641,7578,0.75,2.45,220.60,1.376,4,0.054,0.057,2983,437,1892,0,0,0,0,0,0
$GC,7592,0.61,243.3,971.1,17.8,653,7598,0.15,2.35,0.00,0.000,6,0.165,0.045,2946,1845,1889,0,0,0,0,0,0
$GC,7923,0.58,243.3,920.2,14.8,669,7927,0.00,2.20,0.00,0.000,4,0.000,0.060,2945,3258,1885,0,0,0,0,0,0
$GC,7984,0.56,243.3,910.4,14.2,671,7991,0.00,2.17,0.00,0.000,6,0.000,0.043,2953,1845,1883,0,0,0,0,0,0
$GC,8303,0.52,243.3,862.5,15.4,687,8305,0.15,0.00,0.00,0.000,6,0.175,0.000,2914,1845,1882,0,0,0,0,0,0
$GC,8611,0.59,302.6,827.9,10.6,702,8675,0.00,2.30,53.88,1.322,4,0.000,0.053,2922,448,1650,0,0,0,0,0,0
$GC,8718,0.68,358.5,816.4,10.7,706,8776,0.12,2.22,52.38,1.287,6,0.085,0.041,2986,1856,1421,0,0,0,0,0,0
$GC,9093,0.64,358.5,745.5,18.9,725,9098,0.12,2.20,0.00,0.000,4,0.179,0.058,2951,3266,1416,0,0,0,0,0,0
$GC,9180,0.65,358.5,732.4,13.9,729,9184,0.00,2.17,0.00,0.000,6,0.000,0.041,2959,1843,1415,0,0,0,0,0,0
$GC,9507,0.64,358.5,679.9,16.2,745,9511,0.00,2.15,0.00,0.000,4,0.000,0.052,2970,439,1414,0,0,0,0,0,0
$GC,9541,0.64,358.5,674.4,15.5,746,9548,0.00,2.17,0.00,0.000,6,0.000,0.041,2969,1862,1413,0,0,0,0,0,0
$GC,9857,0.61,358.5,622.5,17.1,762,9861,0.00,2.15,0.00,0.000,4,0.000,0.060,2970,3251,1412,0,0,0,0,0,0
$GC,9950,0.61,358.5,608.0,14.9,766,9955,0.12,2.10,0.00,0.000,6,0.171,0.039,2946,1850,1412,0,0,0,0,0,0
$GC,10279,0.61,358.5,561.1,14.3,794,10283,0.00,2.15,0.00,0.000,4,0.000,0.050,2955,443,1412,0,0,0,0,0,0
$GC,10312,0.63,358.5,556.4,13.7,796,10319,0.00,2.15,0.00,0.000,6,0.000,0.040,2955,1853,1411,0,0,0,0,0,0
$GC,10638,0.63,358.5,509.2,14.7,827,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1853,1411,0,0,0,0,0,0
$GC,10960,0.64,358.5,465.7,13.1,857,10964,0.00,2.17,0.00,0.000,4,0.000,0.050,2959,440,1411,0,0,0,0,0,0
$GC,11012,0.68,368.1,458.6,12.4,861,11025,0.00,2.15,7.95,0.916,6,0.000,0.040,2957,1853,1383,0,0,0,0,0,0
$GC,11342,0.68,368.1,414.4,14.0,892,11346,0.00,2.17,0.00,0.000,4,0.000,0.054,2955,3267,1382,0,0,0,0,0,0
$GC,11396,0.71,368.1,407.4,13.4,896,11400,0.00,2.15,0.00,0.000,6,0.000,0.038,2964,1839,1382,0,0,0,0,0,0
$GC,11721,0.71,368.1,359.0,14.2,926,11725,0.00,2.15,0.00,0.000,4,0.000,0.049,2976,439,1382,0,0,0,0,0,0
$GC,11784,0.73,368.1,350.6,13.1,931,11788,0.00,2.15,0.00,0.000,6,0.000,0.037,2976,1854,1382,0,0,0,0,0,0
$GC,12109,0.73,368.1,302.1,14.2,961,12113,0.00,2.17,0.00,0.000,4,0.000,0.051,2978,3268,1382,0,0,0,0,0,0
$GC,12174,0.77,375.2,293.2,12.4,966,12187,0.00,2.17,8.18,0.777,6,0.000,0.037,2989,1843,1354,0,0,0,0,0,0
$GC,12507,0.77,375.2,245.0,13.6,1000,12515,0.00,2.17,0.00,0.000,4,0.000,0.047,3004,440,1354,0,0,0,0,0,0
$GC,12601,0.80,380.9,232.5,12.5,1017,12616,0.00,2.15,6.68,0.685,6,0.000,0.036,3005,1850,1331,0,0,0,0,0,0
$GC,12932,0.80,380.9,185.5,14.5,1079,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1850,1331,0,0,0,0,0,0
$GC,13253,0.81,389.8,141.7,12.4,1140,13269,0.00,2.22,10.05,0.682,4,0.000,0.045,3015,444,1293,0,0,0,0,0,0
$GC,13323,0.89,429.6,133.8,11.3,1151,13367,0.00,2.15,34.05,0.748,6,0.000,0.034,3015,1854,1132,0,0,0,0,0,0
$GC,13681,0.96,459.5,90.4,11.6,1217,13718,0.12,2.25,26.05,0.695,4,0.083,0.044,3099,440,1008,0,0,0,0,0,0
$GC,13754,0.94,459.5,78.5,18.6,1228,13762,0.15,2.17,0.00,0.000,6,0.126,0.034,3050,1853,1007,0,0,0,0,0,0
$GC,14076,1.14,577.7,41.2,8.6,1289,14185,0.17,2.33,96.40,0.662,4,0.066,0.044,3156,434,524,0,0,0,0,0,0
$GC,14195,1.11,577.7,19.4,20.3,1305,14204,0.15,2.20,0.00,0.000,6,0.125,0.032,3106,1845,522,0,0,0,0,0,0
$STATE,14294,end climb,SURFACE_DEPTH_REACHED
$STATE,14294,begin surface coast
$FINISH,1.2,1.008613
$STATE,14314,end surface coast,CONTROL_FINISHED_OK
$STATE,14314,begin surface
$SM_CCo,14392,0.00,0.000,0,0,517,580.63
$SM_GC,1.99,7.72,0.00,0.00,0.034,0.000,0.000,142,1473,517,-8.04,-0.76,580.63,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,12359.34,110911,070701
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.98
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.50
$XPDR_PINGS,70
$24V_AH,22.9,48.185
$10V_AH,10.0,34.653
$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,20.450,131.575,718.975,0.000,0.000,29.399,19.758,204.406,17.500,0.000,35.151,3098.637,7281.295,726.379,3284.356,429.574,0.000,2064.031,0.000,2992.245,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,60.435,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,902.855,1357.033,1531.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76752,1326
$CAP_FILE_SIZE,162476,0
$CFSIZE,260165632,129191936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110911,152121,2105.560,12355.147,37,2.1,56,-2.7