version: 66.09
glider: 166
mission: 6
dive: 208
start: 9 11 111 15 32 28
data:
$ID,166
$MISSION,6
$DIVE,208
$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,-24660.588
$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,62
$R_STBD_OVSHOOT,35
$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
$GPS1,110911,152121,2105.560,12355.147,37,2.1,56,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.4
$GPS2,110911,153206,2105.552,12355.230,37,1.6,37,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2105.552,12343.656
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.68,-243.3,0.0,0.0,0,126,0.00,0.00,-104.20,0.000,2,0.000,0.000,127,1471,3046,0,0,0,0,0,0
$GC,129,-0.68,-243.3,5.6,-8.6,15,160,9.43,2.28,-15.40,0.000,4,0.226,0.054,2511,2914,3880,0,0,0,0,0,0
$GC,300,-0.58,-243.3,67.0,-28.5,45,308,0.15,2.15,0.00,0.000,6,0.140,0.034,2555,1515,3882,0,0,0,0,0,0
$GC,622,-0.54,-243.3,142.7,-19.9,106,630,0.00,2.00,0.00,0.000,4,0.000,0.039,2558,195,3883,0,0,0,0,0,0
$GC,698,-0.54,-243.3,157.1,-16.7,119,706,0.00,1.98,0.00,0.000,6,0.000,0.031,2550,1514,3883,0,0,0,0,0,0
$GC,1024,-0.51,-243.3,216.9,-18.1,180,1033,0.10,2.12,0.00,0.000,4,0.182,0.042,2567,2901,3883,0,0,0,0,0,0
$GC,1129,-0.55,-243.3,229.9,-10.5,199,1137,0.00,2.12,0.00,0.000,6,0.000,0.033,2570,1491,3883,0,0,0,0,0,0
$GC,1457,-0.57,-243.3,272.7,-12.6,244,1461,0.00,2.15,0.00,0.000,4,0.000,0.043,2561,2907,3882,0,0,0,0,0,0
$GC,1502,-0.61,-243.3,278.0,-11.5,247,1509,0.00,2.10,0.00,0.000,6,0.000,0.033,2561,1496,3881,0,0,0,0,0,0
$GC,1828,-0.63,-243.3,318.8,-12.8,278,1832,0.00,2.15,0.00,0.000,4,0.000,0.044,2555,2897,3881,0,0,0,0,0,0
$GC,1932,-0.67,-243.3,331.0,-11.5,287,1936,0.00,2.10,0.00,0.000,6,0.000,0.034,2556,1493,3881,0,0,0,0,0,0
$GC,2258,-0.69,-243.3,377.0,-13.8,317,2262,0.15,2.15,0.00,0.000,4,0.073,0.046,2479,2897,3879,0,0,0,0,0,0
$GC,2303,-0.65,-243.3,384.6,-17.9,320,2311,0.17,2.10,0.00,0.000,6,0.150,0.037,2532,1503,3878,0,0,0,0,0,0
$GC,2629,-0.64,-243.3,436.1,-15.7,351,2633,0.00,2.10,0.00,0.000,4,0.000,0.047,2524,2897,3877,0,0,0,0,0,0
$GC,2689,-0.65,-243.3,444.4,-14.1,356,2692,0.00,2.10,0.00,0.000,6,0.000,0.037,2524,1500,3877,0,0,0,0,0,0
$GC,3014,-0.63,-243.3,492.2,-13.5,386,3018,0.00,2.17,0.00,0.000,4,0.000,0.050,2516,2893,3875,0,0,0,0,0,0
$GC,3056,-0.63,-243.3,497.4,-12.9,389,3060,0.00,2.10,0.00,0.000,6,0.000,0.039,2516,1503,3874,0,0,0,0,0,0
$GC,3381,-0.62,-243.3,541.6,-13.7,419,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1502,3872,0,0,0,0,0,0
$GC,3703,-0.62,-243.3,584.0,-13.3,449,3707,0.00,2.00,0.00,0.000,4,0.000,0.051,2516,201,3869,0,0,0,0,0,0
$GC,3730,-0.62,-243.3,588.8,-14.4,451,3738,0.12,1.95,0.00,0.000,6,0.153,0.039,2542,1492,3870,0,0,0,0,0,0
$GC,4054,-0.66,-243.3,623.0,-10.7,472,4058,0.00,2.15,0.00,0.000,4,0.000,0.050,2534,2916,3867,0,0,0,0,0,0
$GC,4155,-0.71,-243.3,633.7,-9.7,476,4161,0.00,2.15,0.00,0.000,6,0.000,0.040,2533,1493,3866,0,0,0,0,0,0
$GC,4473,-0.74,-243.3,667.9,-10.8,492,4477,0.00,2.20,0.00,0.000,4,0.000,0.052,2524,2915,3862,0,0,0,0,0,0
$GC,4546,-0.79,-243.3,675.6,-9.8,495,4550,0.00,2.12,0.00,0.000,6,0.000,0.041,2524,1502,3862,0,0,0,0,0,0
$GC,4865,-0.81,-243.3,709.5,-10.7,510,4869,0.12,2.20,0.00,0.000,4,0.086,0.054,2448,2904,3859,0,0,0,0,0,0
$GC,4905,-0.78,-243.3,714.9,-14.0,512,4909,0.15,2.15,0.00,0.000,6,0.164,0.041,2488,1491,3858,0,0,0,0,0,0
$GC,5231,-0.78,-243.3,758.2,-13.1,528,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1491,3855,0,0,0,0,0,0
$GC,5543,-0.78,-243.3,797.4,-12.6,543,5547,0.00,2.22,0.00,0.000,4,0.000,0.057,2480,2903,3853,0,0,0,0,0,0
$GC,5582,-0.78,-243.3,802.7,-12.7,545,5586,0.00,2.15,0.00,0.000,6,0.000,0.042,2480,1499,3852,0,0,0,0,0,0
$GC,5912,-0.77,-243.3,844.7,-12.5,561,5916,0.00,2.03,0.00,0.000,4,0.000,0.056,2472,196,3849,0,0,0,0,0,0
$GC,5958,-0.76,-243.3,851.0,-13.4,563,5963,0.15,2.00,0.00,0.000,6,0.160,0.043,2502,1501,3849,0,0,0,0,0,0
$GC,6287,-0.78,-243.3,880.1,-8.3,579,6291,0.00,2.17,0.00,0.000,4,0.000,0.057,2492,2903,3846,0,0,0,0,0,0
$GC,6340,-0.82,-243.3,884.2,-7.7,581,6343,0.00,2.15,0.00,0.000,6,0.000,0.042,2494,1496,3845,0,0,0,0,0,0
$GC,6656,-0.83,-243.3,913.6,-9.7,596,6660,0.00,2.20,0.00,0.000,4,0.000,0.057,2481,2907,3843,0,0,0,0,0,0
$GC,6685,-0.85,-243.3,916.5,-9.7,597,6689,0.00,2.15,0.00,0.000,6,0.000,0.042,2480,1499,3843,0,0,0,0,0,0
$GC,7007,-0.85,-243.3,950.8,-10.7,613,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1499,3841,0,0,0,0,0,0
$GC,7317,-0.86,-243.3,984.6,-11.1,628,7321,0.00,2.22,0.00,0.000,4,0.000,0.060,2469,2906,3839,0,0,0,0,0,0
$GC,7352,-0.88,-243.3,988.4,-11.0,629,7358,0.00,2.15,0.00,0.000,6,0.000,0.044,2469,1500,3838,0,0,0,0,0,0
$STATE,7378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7378,begin apogee
$GC,7384,-0.11,0.0,991.5,11.0,631,7596,0.70,0.00,202.15,1.434,6,0.121,0.000,2701,1858,2883,0,0,0,0,0,0
$STATE,7597,end apogee,CONTROL_FINISHED_OK
$STATE,7597,begin climb
$GC,7599,0.68,243.3,999.9,0.0,641,7832,0.73,2.42,220.80,1.368,4,0.045,0.060,2981,3247,1892,0,0,0,0,0,0
$GC,7901,0.62,243.3,956.0,20.0,655,7906,0.17,2.25,0.00,0.000,6,0.177,0.043,2949,1846,1888,0,0,0,0,0,0
$GC,8232,0.58,243.3,900.4,16.3,671,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1846,1884,0,0,0,0,0,0
$GC,8538,0.54,243.3,851.6,15.9,686,8543,0.10,2.22,0.00,0.000,4,0.190,0.057,2921,3249,1882,0,0,0,0,0,0
$GC,8586,0.54,243.3,845.1,13.7,688,8590,0.00,2.15,0.00,0.000,6,0.000,0.041,2930,1844,1881,0,0,0,0,0,0
$GC,8913,0.53,243.3,799.2,14.1,704,8917,0.00,2.17,0.00,0.000,4,0.000,0.053,2941,437,1880,0,0,0,0,0,0
$GC,8947,0.51,243.3,794.1,14.8,705,8955,0.12,2.17,0.00,0.000,6,0.161,0.043,2908,1853,1879,0,0,0,0,0,0
$GC,9263,0.55,280.5,756.4,11.4,721,9307,0.00,2.28,33.35,1.274,4,0.000,0.059,2910,3248,1739,0,0,0,0,0,0
$GC,9383,0.64,324.1,743.1,11.2,726,9430,0.10,2.17,41.33,1.251,6,0.095,0.041,2972,1844,1562,0,0,0,0,0,0
$GC,9747,0.61,324.1,677.8,18.9,744,9749,0.12,0.00,0.00,0.000,6,0.175,0.000,2941,1844,1556,0,0,0,0,0,0
$GC,10058,0.61,324.1,632.1,14.3,759,10062,0.00,2.22,0.00,0.000,4,0.000,0.057,2935,3254,1555,0,0,0,0,0,0
$GC,10098,0.63,324.1,626.3,14.0,761,10102,0.00,2.15,0.00,0.000,6,0.000,0.041,2945,1840,1555,0,0,0,0,0,0
$GC,10423,0.63,324.1,581.1,14.4,782,10427,0.00,2.22,0.00,0.000,4,0.000,0.056,2944,3262,1553,0,0,0,0,0,0
$GC,10444,0.63,324.1,577.1,13.9,783,10451,0.00,2.17,0.00,0.000,6,0.000,0.041,2952,1846,1554,0,0,0,0,0,0
$GC,10770,0.63,324.1,532.9,14.1,814,10774,0.00,2.15,0.00,0.000,4,0.000,0.051,2960,442,1553,0,0,0,0,0,0
$GC,10840,0.63,324.1,523.7,13.3,820,10844,0.00,2.15,0.00,0.000,6,0.000,0.041,2960,1851,1552,0,0,0,0,0,0
$GC,11165,0.61,324.1,474.9,15.8,850,11169,0.00,2.17,0.00,0.000,4,0.000,0.055,2960,3255,1552,0,0,0,0,0,0
$GC,11234,0.62,324.1,464.2,15.2,855,11241,0.00,2.10,0.00,0.000,6,0.000,0.039,2969,1851,1552,0,0,0,0,0,0
$GC,11560,0.60,324.1,413.4,15.6,886,11564,0.00,2.17,0.00,0.000,4,0.000,0.053,2969,3255,1551,0,0,0,0,0,0
$GC,11591,0.59,324.1,408.7,15.8,888,11596,0.15,2.12,0.00,0.000,6,0.162,0.037,2938,1842,1552,0,0,0,0,0,0
$GC,11919,0.70,388.6,372.2,10.4,918,11984,0.00,2.28,54.90,0.986,4,0.000,0.048,2950,437,1299,0,0,0,0,0,0
$GC,12048,0.87,472.7,358.2,9.7,929,12135,0.20,2.17,72.25,0.952,6,0.061,0.035,3051,1856,955,0,0,0,0,0,0
$GC,12453,0.80,472.7,260.0,24.9,967,12457,0.17,2.15,0.00,0.000,4,0.161,0.050,2996,3255,951,0,0,0,0,0,0
$GC,12544,0.86,478.0,245.4,12.5,978,12560,0.00,2.15,5.28,0.625,6,0.000,0.037,3008,1851,933,0,0,0,0,0,0
$GC,12881,0.86,478.0,197.2,14.5,1040,12888,0.00,2.17,0.00,0.000,4,0.000,0.047,3019,437,932,0,0,0,0,0,0
$GC,12955,0.94,500.2,186.6,11.9,1053,12985,0.00,2.15,19.90,0.770,6,0.000,0.035,3019,1854,842,0,0,0,0,0,0
$GC,13305,0.96,500.2,133.2,13.7,1117,13314,0.10,2.20,0.00,0.000,4,0.098,0.045,3092,441,839,0,0,0,0,0,0
$GC,13355,0.95,500.2,124.7,19.6,1125,13363,0.12,2.15,0.00,0.000,6,0.125,0.035,3050,1859,839,0,0,0,0,0,0
$GC,13684,0.98,500.2,72.0,13.6,1186,13692,0.00,2.17,0.00,0.000,4,0.000,0.044,3058,444,839,0,0,0,0,0,0
$GC,13717,1.03,500.2,67.4,13.3,1191,13725,0.00,2.12,0.00,0.000,6,0.000,0.034,3058,1854,839,0,0,0,0,0,0
$GC,14041,1.21,596.0,35.0,9.3,1252,14129,0.20,2.22,79.57,0.653,4,0.058,0.043,3177,434,451,0,0,0,0,0,0
$GC,14176,1.19,596.0,8.1,20.0,1272,14184,0.12,2.17,0.00,0.000,6,0.129,0.034,3132,1851,446,0,0,0,0,0,0
$STATE,14202,end climb,SURFACE_DEPTH_REACHED
$STATE,14202,begin surface coast
$FINISH,1.1,1.021403
$STATE,14219,end surface coast,CONTROL_FINISHED_OK
$STATE,14219,begin surface
$SM_CCo,14297,0.00,0.000,0,0,444,598.53
$SM_GC,1.78,7.75,0.00,0.00,0.034,0.000,0.000,141,1489,444,-8.03,-0.31,598.53,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,12354.22,110911,151545
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.25
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.70
$XPDR_PINGS,69
$24V_AH,23.0,48.456
$10V_AH,10.1,34.802
$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,21.425,138.975,729.525,0.000,0.000,61.885,38.554,291.726,17.250,0.000,37.966,3012.925,7384.063,747.322,3330.009,450.957,0.000,2065.996,0.000,2909.301,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,60.435,1433.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,870.445,1310.026,1432.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73456,1279
$CAP_FILE_SIZE,167722,0
$CFSIZE,260165632,129101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110911,193207,2104.889,12354.951,44,1.8,44,-2.7