version: 66.09
glider: 166
mission: 6
dive: 209
start: 9 11 111 19 39 11
data:
$ID,166
$MISSION,6
$DIVE,209
$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,-24661.846
$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,44
$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
$GPS1,110911,193207,2104.889,12354.951,44,1.8,44,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-66.0
$GPS2,110911,193849,2104.818,12355.050,14,1.7,31,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2104.818,12343.477
$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,-107.00,0.000,2,0.000,0.000,127,1487,3006,0,0,0,0,0,0
$GC,130,-0.68,-243.3,5.3,-7.7,15,167,9.30,2.20,-16.48,0.000,4,0.223,0.055,2508,2902,3880,0,0,0,0,0,0
$GC,241,-0.57,-243.3,49.3,-33.5,33,250,0.15,2.12,0.00,0.000,6,0.145,0.034,2555,1504,3881,0,0,0,0,0,0
$GC,563,-0.52,-243.3,131.9,-20.6,94,571,0.00,2.15,0.00,0.000,4,0.000,0.043,2546,2906,3882,0,0,0,0,0,0
$GC,582,-0.46,-243.3,136.3,-21.6,96,591,0.12,2.12,0.00,0.000,6,0.130,0.033,2588,1495,3882,0,0,0,0,0,0
$GC,906,-0.48,-243.3,184.3,-13.0,157,914,0.00,2.15,0.00,0.000,4,0.000,0.044,2581,2891,3882,0,0,0,0,0,0
$GC,966,-0.53,-243.3,191.0,-11.1,167,974,0.00,2.10,0.00,0.000,6,0.000,0.034,2580,1499,3883,0,0,0,0,0,0
$GC,1292,-0.55,-243.3,231.5,-11.8,228,1300,0.00,2.15,0.00,0.000,4,0.000,0.044,2570,2898,3882,0,0,0,0,0,0
$GC,1373,-0.61,-243.3,240.1,-9.0,242,1380,0.00,2.12,0.00,0.000,6,0.000,0.034,2571,1493,3882,0,0,0,0,0,0
$GC,1704,-0.63,-243.3,277.5,-11.4,282,1708,0.00,2.12,0.00,0.000,4,0.000,0.045,2561,2909,3882,0,0,0,0,0,0
$GC,1781,-0.69,-243.3,285.5,-9.1,288,1790,0.08,2.12,0.00,0.000,6,0.049,0.036,2487,1503,3882,0,0,0,0,0,0
$GC,2107,-0.62,-243.3,346.9,-19.8,319,2112,0.20,2.15,0.00,0.000,4,0.157,0.047,2537,2898,3881,0,0,0,0,0,0
$GC,2181,-0.65,-243.3,357.2,-11.3,325,2185,0.00,2.10,0.00,0.000,6,0.000,0.039,2540,1503,3880,0,0,0,0,0,0
$GC,2507,-0.66,-243.3,396.7,-11.6,355,2511,0.00,2.15,0.00,0.000,4,0.000,0.051,2542,2903,3879,0,0,0,0,0,0
$GC,2562,-0.69,-243.3,403.0,-10.7,359,2569,0.00,2.12,0.00,0.000,6,0.000,0.038,2544,1493,3878,0,0,0,0,0,0
$GC,2887,-0.69,-243.3,445.8,-13.0,390,2891,0.00,2.15,0.00,0.000,4,0.000,0.052,2535,2894,3877,0,0,0,0,0,0
$GC,2968,-0.73,-243.3,454.8,-10.7,397,2972,0.00,2.10,0.00,0.000,6,0.000,0.041,2536,1500,3876,0,0,0,0,0,0
$GC,3300,-0.73,-243.3,495.5,-11.1,428,3304,0.00,2.20,0.00,0.000,4,0.000,0.054,2526,2902,3874,0,0,0,0,0,0
$GC,3334,-0.74,-243.3,499.6,-11.3,430,3341,0.00,2.12,0.00,0.000,6,0.000,0.040,2525,1496,3873,0,0,0,0,0,0
$GC,3659,-0.74,-243.3,539.6,-12.5,461,3663,0.00,2.17,0.00,0.000,4,0.000,0.054,2515,2897,3871,0,0,0,0,0,0
$GC,3681,-0.74,-243.3,542.5,-12.2,462,3688,0.00,2.12,0.00,0.000,6,0.000,0.041,2515,1493,3871,0,0,0,0,0,0
$GC,4008,-0.74,-243.3,583.9,-12.8,493,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1493,3869,0,0,0,0,0,0
$GC,4330,-0.74,-243.3,626.0,-13.8,515,4334,0.00,2.20,0.00,0.000,4,0.000,0.055,2506,2904,3866,0,0,0,0,0,0
$GC,4399,-0.77,-243.3,634.5,-11.6,518,4403,0.00,2.12,0.00,0.000,6,0.000,0.042,2505,1496,3865,0,0,0,0,0,0
$GC,4726,-0.77,-243.3,676.6,-11.9,534,4730,0.00,2.17,0.00,0.000,4,0.000,0.057,2495,2893,3863,0,0,0,0,0,0
$GC,4770,-0.78,-243.3,681.8,-11.6,536,4774,0.00,2.12,0.00,0.000,6,0.000,0.043,2495,1499,3862,0,0,0,0,0,0
$GC,5094,-0.78,-243.3,721.5,-12.3,552,5098,0.00,2.20,0.00,0.000,4,0.000,0.057,2484,2900,3858,0,0,0,0,0,0
$GC,5117,-0.78,-243.3,724.6,-12.3,553,5121,0.00,2.15,0.00,0.000,6,0.000,0.043,2484,1491,3858,0,0,0,0,0,0
$GC,5440,-0.78,-243.3,767.3,-13.6,569,5444,0.00,2.20,0.00,0.000,4,0.000,0.059,2472,2893,3856,0,0,0,0,0,0
$GC,5495,-0.78,-243.3,774.9,-12.7,571,5502,0.00,2.12,0.00,0.000,6,0.000,0.044,2469,1502,3855,0,0,0,0,0,0
$GC,5813,-0.76,-243.3,822.5,-15.7,587,5815,0.12,0.00,0.00,0.000,6,0.170,0.000,2498,1501,3852,0,0,0,0,0,0
$GC,6123,-0.78,-243.3,861.6,-12.0,602,6127,0.00,2.20,0.00,0.000,4,0.000,0.060,2488,2892,3850,0,0,0,0,0,0
$GC,6186,-0.82,-243.3,868.9,-10.8,605,6190,0.00,2.15,0.00,0.000,6,0.000,0.045,2489,1493,3849,0,0,0,0,0,0
$GC,6516,-0.83,-243.3,905.0,-10.3,621,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1492,3846,0,0,0,0,0,0
$GC,6823,-0.84,-243.3,935.5,-9.7,636,6827,0.00,2.22,0.00,0.000,4,0.000,0.061,2475,2900,3844,0,0,0,0,0,0
$GC,6873,-0.87,-243.3,940.4,-9.5,638,6877,0.00,2.17,0.00,0.000,6,0.000,0.045,2476,1490,3844,0,0,0,0,0,0
$GC,7196,-0.87,-243.3,974.4,-10.7,654,7200,0.00,2.22,0.00,0.000,4,0.000,0.060,2464,2898,3842,0,0,0,0,0,0
$GC,7224,-0.87,-243.3,977.7,-10.7,655,7227,0.00,2.15,0.00,0.000,6,0.000,0.044,2464,1500,3841,0,0,0,0,0,0
$STATE,7337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7337,begin apogee
$GC,7345,-0.11,0.0,990.4,11.3,661,7556,0.73,0.00,202.52,1.434,6,0.128,0.000,2700,1837,2883,0,0,0,0,0,0
$STATE,7556,end apogee,CONTROL_FINISHED_OK
$STATE,7556,begin climb
$GC,7561,0.68,243.3,998.0,0.0,671,7795,0.70,2.45,221.07,1.372,4,0.046,0.060,2970,3248,1891,0,0,0,0,0,0
$GC,7812,0.61,243.3,965.9,18.2,682,7819,0.15,2.30,0.00,0.000,6,0.179,0.044,2945,1851,1889,0,0,0,0,0,0
$GC,8128,0.58,243.3,915.2,16.2,698,8132,0.00,2.22,0.00,0.000,4,0.000,0.059,2939,3250,1884,0,0,0,0,0,0
$GC,8158,0.54,243.3,910.4,16.1,699,8162,0.00,2.17,0.00,0.000,6,0.000,0.043,2948,1840,1883,0,0,0,0,0,0
$GC,8474,0.50,243.3,858.2,16.4,714,8476,0.17,0.00,0.00,0.000,6,0.167,0.000,2905,1840,1882,0,0,0,0,0,0
$GC,8784,0.55,284.1,822.2,11.3,729,8827,0.00,2.35,37.00,1.310,4,0.000,0.057,2908,3254,1724,0,0,0,0,0,0
$GC,8846,0.64,341.0,815.3,10.7,731,8905,0.10,2.20,53.20,1.297,6,0.096,0.041,2969,1847,1493,0,0,0,0,0,0
$GC,9224,0.61,341.0,752.5,16.3,750,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1847,1487,0,0,0,0,0,0
$GC,9531,0.59,341.0,701.6,16.7,765,9533,0.12,0.00,0.00,0.000,6,0.172,0.000,2938,1847,1485,0,0,0,0,0,0
$GC,9843,0.60,341.0,661.6,12.9,780,9847,0.00,2.15,0.00,0.000,4,0.000,0.052,2946,439,1483,0,0,0,0,0,0
$GC,9865,0.61,341.0,658.2,13.1,781,9869,0.00,2.15,0.00,0.000,6,0.000,0.040,2947,1850,1483,0,0,0,0,0,0
$GC,10186,0.61,341.0,612.8,14.6,797,10190,0.00,2.17,0.00,0.000,4,0.000,0.057,2946,3256,1483,0,0,0,0,0,0
$GC,10237,0.64,341.0,605.8,13.4,799,10242,0.00,2.12,0.00,0.000,6,0.000,0.041,2955,1848,1483,0,0,0,0,0,0
$GC,10567,0.64,341.0,558.9,13.8,828,10571,0.00,2.12,0.00,0.000,4,0.000,0.050,2964,443,1482,0,0,0,0,0,0
$GC,10647,0.68,359.7,548.3,12.0,834,10668,0.00,2.15,16.27,1.096,6,0.000,0.041,2965,1850,1417,0,0,0,0,0,0
$GC,10988,0.68,359.7,495.9,15.2,866,10992,0.00,2.22,0.00,0.000,4,0.000,0.056,2963,3270,1414,0,0,0,0,0,0
$GC,11054,0.70,359.7,486.9,13.8,871,11058,0.00,2.15,0.00,0.000,6,0.000,0.038,2970,1848,1414,0,0,0,0,0,0
$GC,11379,0.69,359.7,437.4,14.6,901,11383,0.00,2.15,0.00,0.000,4,0.000,0.048,2978,440,1414,0,0,0,0,0,0
$GC,11412,0.69,359.7,433.2,14.5,903,11416,0.00,2.15,0.00,0.000,6,0.000,0.038,2978,1854,1413,0,0,0,0,0,0
$GC,11737,0.67,359.7,383.7,14.6,933,11741,0.00,2.15,0.00,0.000,4,0.000,0.053,2978,3257,1413,0,0,0,0,0,0
$GC,11770,0.67,359.7,379.3,15.0,935,11774,0.00,2.12,0.00,0.000,6,0.000,0.037,2987,1845,1413,0,0,0,0,0,0
$GC,12095,0.66,359.7,327.0,15.6,965,12100,0.12,2.15,0.00,0.000,4,0.173,0.048,2963,439,1413,0,0,0,0,0,0
$GC,12166,0.77,414.8,319.0,10.8,971,12221,0.00,2.12,47.95,0.946,6,0.000,0.036,2967,1860,1192,0,0,0,0,0,0
$GC,12541,0.82,429.6,271.8,12.2,1006,12560,0.12,0.00,13.82,0.826,6,0.083,0.000,3039,1860,1132,0,0,0,0,0,0
$GC,12880,0.78,429.6,206.1,18.2,1059,12889,0.15,2.22,0.00,0.000,4,0.158,0.046,3010,443,1129,0,0,0,0,0,0
$GC,12912,0.78,429.6,200.5,16.3,1064,12920,0.00,2.15,0.00,0.000,6,0.000,0.035,3010,1853,1129,0,0,0,0,0,0
$GC,13239,0.80,429.8,155.8,12.7,1125,13247,0.00,2.15,0.00,0.000,4,0.000,0.048,3010,3251,1129,0,0,0,0,0,0
$GC,13256,0.82,429.8,153.1,13.1,1127,13264,0.00,2.12,0.00,0.000,6,0.000,0.034,3018,1848,1129,0,0,0,0,0,0
$GC,13579,0.84,429.8,109.0,13.8,1188,13587,0.00,2.15,0.00,0.000,4,0.000,0.045,3028,441,1129,0,0,0,0,0,0
$GC,13633,0.87,429.8,101.5,13.8,1197,13641,0.00,2.12,0.00,0.000,6,0.000,0.033,3029,1853,1129,0,0,0,0,0,0
$GC,13958,0.98,483.0,59.0,10.8,1258,14010,0.00,2.20,44.67,0.692,4,0.000,0.042,3039,436,912,0,0,0,0,0,0
$GC,14030,1.15,562.9,51.2,9.9,1268,14102,0.17,2.15,66.05,0.674,6,0.034,0.031,3158,1850,588,0,0,0,0,0,0
$STATE,14261,end climb,SURFACE_DEPTH_REACHED
$STATE,14261,begin surface coast
$FINISH,1.1,0.997764
$STATE,14272,end surface coast,CONTROL_FINISHED_OK
$STATE,14273,begin surface
$SM_CCo,14350,0.00,0.000,0,0,578,565.42
$SM_GC,1.87,7.75,0.00,0.00,0.030,0.000,0.000,147,1481,578,-8.04,-0.54,565.42,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,12356.14,110911,151510
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.47
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.80
$XPDR_PINGS,76
$24V_AH,22.9,48.712
$10V_AH,10.0,34.950
$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,20.275,135.325,702.575,0.000,0.000,29.833,20.357,172.541,19.000,0.000,32.623,3078.709,7330.570,719.126,3177.572,427.097,0.000,2030.295,0.000,2937.056,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,61.200,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.664,1342.739,1493.667,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73605,1310
$CAP_FILE_SIZE,163606,0
$CFSIZE,260165632,129019904
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110911,234021,2103.971,12353.210,62,2.2,81,-2.7