version: 66.09
glider: 166
mission: 6
dive: 210
start: 9 11 111 23 46 54
data:
$ID,166
$MISSION,6
$DIVE,210
$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,-24663.104
$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,55
$R_STBD_OVSHOOT,47
$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
$GPS1,110911,234021,2103.971,12353.210,62,2.2,81,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-65.2
$GPS2,110911,234632,2103.920,12353.219,18,2.0,18,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2103.920,12341.646
$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,-99.55,0.000,2,0.000,0.000,137,1480,2951,0,0,0,0,0,0
$GC,122,-0.68,-243.3,5.2,-6.5,14,159,9.27,2.20,-18.02,0.000,4,0.224,0.059,2506,2898,3880,0,0,0,0,0,0
$GC,262,-0.59,-243.3,57.0,-26.7,38,271,0.12,2.10,0.00,0.000,6,0.136,0.037,2547,1520,3882,0,0,0,0,0,0
$GC,586,-0.53,-243.3,134.5,-21.6,99,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1518,3883,0,0,0,0,0,0
$GC,911,-0.49,-243.3,197.3,-18.5,160,920,0.12,2.17,0.00,0.000,4,0.169,0.050,2575,2894,3883,0,0,0,0,0,0
$GC,981,-0.53,-243.3,206.7,-11.2,172,989,0.00,2.15,0.00,0.000,6,0.000,0.038,2574,1497,3884,0,0,0,0,0,0
$GC,1307,-0.55,-243.3,251.8,-12.5,232,1311,0.00,2.15,0.00,0.000,4,0.000,0.049,2565,2897,3884,0,0,0,0,0,0
$GC,1360,-0.59,-243.3,257.6,-11.0,236,1364,0.00,2.12,0.00,0.000,6,0.000,0.037,2565,1491,3883,0,0,0,0,0,0
$GC,1685,-0.60,-243.3,301.9,-13.6,266,1689,0.00,2.15,0.00,0.000,4,0.000,0.050,2556,2897,3883,0,0,0,0,0,0
$GC,1743,-0.65,-243.3,308.8,-11.5,270,1750,0.00,2.10,0.00,0.000,6,0.000,0.038,2558,1501,3882,0,0,0,0,0,0
$GC,2069,-0.66,-243.3,349.5,-12.3,301,2073,0.00,2.15,0.00,0.000,4,0.000,0.050,2555,2906,3882,0,0,0,0,0,0
$GC,2173,-0.71,-243.3,360.2,-10.0,310,2178,0.12,2.12,0.00,0.000,6,0.080,0.037,2483,1494,3881,0,0,0,0,0,0
$GC,2499,-0.65,-243.3,425.2,-19.4,340,2503,0.17,1.98,0.00,0.000,4,0.159,0.048,2540,208,3880,0,0,0,0,0,0
$GC,2530,-0.63,-243.3,430.2,-17.5,342,2533,0.00,1.95,0.00,0.000,6,0.000,0.041,2532,1501,3880,0,0,0,0,0,0
$GC,2860,-0.63,-243.3,477.6,-13.2,373,2864,0.00,2.12,0.00,0.000,4,0.000,0.051,2522,2904,3878,0,0,0,0,0,0
$GC,2971,-0.66,-243.3,491.1,-12.2,382,2975,0.00,2.12,0.00,0.000,6,0.000,0.039,2522,1494,3877,0,0,0,0,0,0
$GC,3298,-0.66,-243.3,537.0,-13.8,412,3302,0.00,2.20,0.00,0.000,4,0.000,0.054,2511,2909,3875,0,0,0,0,0,0
$GC,3349,-0.66,-243.3,543.3,-11.8,416,3354,0.00,2.15,0.00,0.000,6,0.000,0.041,2511,1497,3874,0,0,0,0,0,0
$GC,3674,-0.66,-243.3,587.6,-13.3,446,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1497,3873,0,0,0,0,0,0
$GC,3999,-0.66,-243.3,630.1,-12.5,466,4003,0.00,2.20,0.00,0.000,4,0.000,0.054,2501,2912,3869,0,0,0,0,0,0
$GC,4050,-0.68,-243.3,636.2,-10.8,468,4054,0.00,2.15,0.00,0.000,6,0.000,0.041,2501,1489,3869,0,0,0,0,0,0
$GC,4373,-0.68,-243.3,678.6,-13.9,484,4377,0.00,2.22,0.00,0.000,4,0.000,0.056,2491,2910,3866,0,0,0,0,0,0
$GC,4399,-0.68,-243.3,682.8,-13.8,485,4404,0.12,2.17,0.00,0.000,6,0.151,0.043,2526,1491,3865,0,0,0,0,0,0
$GC,4723,-0.70,-243.3,720.7,-11.4,501,4727,0.00,2.22,0.00,0.000,4,0.000,0.057,2518,2910,3863,0,0,0,0,0,0
$GC,4758,-0.74,-243.3,724.5,-10.8,502,4765,0.00,2.15,0.00,0.000,6,0.000,0.042,2518,1501,3862,0,0,0,0,0,0
$GC,5074,-0.76,-243.3,758.4,-10.7,518,5078,0.00,2.20,0.00,0.000,4,0.000,0.058,2508,2911,3859,0,0,0,0,0,0
$GC,5101,-0.79,-243.3,761.0,-10.8,519,5105,0.00,2.15,0.00,0.000,6,0.000,0.043,2508,1502,3859,0,0,0,0,0,0
$GC,5428,-0.80,-243.3,798.6,-11.4,535,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1501,3856,0,0,0,0,0,0
$GC,5738,-0.81,-243.3,833.6,-10.9,550,5742,0.00,2.22,0.00,0.000,4,0.000,0.060,2498,2908,3853,0,0,0,0,0,0
$GC,5789,-0.85,-243.3,838.9,-10.3,552,5793,0.00,2.17,0.00,0.000,6,0.000,0.046,2498,1494,3853,0,0,0,0,0,0
$GC,6111,-0.85,-243.3,873.4,-10.3,568,6115,0.00,2.22,0.00,0.000,4,0.000,0.060,2488,2906,3850,0,0,0,0,0,0
$GC,6141,-0.86,-243.3,876.6,-10.4,569,6145,0.00,2.17,0.00,0.000,6,0.000,0.045,2488,1491,3850,0,0,0,0,0,0
$GC,6457,-0.86,-243.3,913.3,-12.1,584,6461,0.00,2.22,0.00,0.000,4,0.000,0.060,2477,2901,3847,0,0,0,0,0,0
$GC,6491,-0.86,-243.3,917.4,-11.9,585,6497,0.00,2.15,0.00,0.000,6,0.000,0.046,2477,1501,3847,0,0,0,0,0,0
$GC,6809,-0.86,-243.3,957.6,-12.7,601,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1501,3845,0,0,0,0,0,0
$STATE,7072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7072,begin apogee
$GC,7079,-0.11,0.0,992.2,12.8,614,7290,0.70,0.00,203.35,1.441,6,0.126,0.000,2702,1841,2883,0,0,0,0,0,0
$STATE,7291,end apogee,CONTROL_FINISHED_OK
$STATE,7291,begin climb
$GC,7293,0.68,243.3,1002.2,0.0,624,7527,0.73,2.42,222.12,1.375,4,0.054,0.057,2979,442,1891,0,0,0,0,0,0
$GC,7538,0.62,243.3,975.3,15.9,635,7543,0.12,2.35,0.00,0.000,6,0.166,0.047,2949,1845,1889,0,0,0,0,0,0
$GC,7856,0.59,243.3,927.8,15.1,650,7860,0.00,2.25,0.00,0.000,4,0.000,0.062,2944,3270,1884,0,0,0,0,0,0
$GC,7934,0.57,243.3,915.9,13.7,653,7941,0.00,2.20,0.00,0.000,6,0.000,0.043,2952,1840,1883,0,0,0,0,0,0
$GC,8253,0.54,243.3,867.0,15.7,669,8257,0.12,2.25,0.00,0.000,4,0.181,0.059,2913,3265,1882,0,0,0,0,0,0
$GC,8308,0.58,264.2,859.1,12.0,671,8333,0.00,2.17,19.52,1.281,6,0.000,0.042,2921,1844,1806,0,0,0,0,0,0
$GC,8655,0.58,264.2,815.2,13.4,688,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1844,1801,0,0,0,0,0,0
$GC,8960,0.58,264.2,773.9,13.0,703,8964,0.00,2.15,0.00,0.000,4,0.000,0.053,2932,437,1799,0,0,0,0,0,0
$GC,8982,0.58,264.2,771.1,13.0,704,8986,0.00,2.17,0.00,0.000,6,0.000,0.042,2932,1853,1799,0,0,0,0,0,0
$GC,9312,0.59,276.5,729.9,12.3,720,9333,0.00,2.28,11.90,1.173,4,0.000,0.059,2932,3272,1756,0,0,0,0,0,0
$GC,9380,0.61,287.1,721.2,12.3,723,9396,0.00,2.17,11.57,1.153,6,0.000,0.042,2942,1846,1713,0,0,0,0,0,0
$GC,9708,0.61,287.1,676.7,13.9,738,9712,0.00,2.17,0.00,0.000,4,0.000,0.053,2953,437,1710,0,0,0,0,0,0
$GC,9731,0.61,287.1,673.1,14.0,739,9735,0.00,2.17,0.00,0.000,6,0.000,0.041,2953,1850,1709,0,0,0,0,0,0
$GC,10060,0.59,287.1,624.6,14.9,755,10065,0.00,2.20,0.00,0.000,4,0.000,0.057,2950,3269,1709,0,0,0,0,0,0
$GC,10157,0.60,287.1,610.5,13.6,759,10162,0.00,2.15,0.00,0.000,6,0.000,0.039,2957,1847,1709,0,0,0,0,0,0
$GC,10480,0.59,287.1,564.0,14.2,785,10484,0.00,2.15,0.00,0.000,4,0.000,0.051,2968,446,1709,0,0,0,0,0,0
$GC,10515,0.59,287.1,559.2,14.0,787,10523,0.12,2.15,0.00,0.000,6,0.158,0.041,2932,1859,1707,0,0,0,0,0,0
$GC,10841,0.66,331.0,523.2,11.2,818,10886,0.00,2.28,39.67,1.131,4,0.000,0.055,2930,3255,1534,0,0,0,0,0,0
$GC,10968,0.77,379.1,508.7,11.0,829,11018,0.15,2.17,43.65,1.096,6,0.073,0.038,3022,1837,1338,0,0,0,0,0,0
$GC,11336,0.71,379.1,431.1,21.7,863,11341,0.17,2.15,0.00,0.000,4,0.165,0.050,2984,443,1333,0,0,0,0,0,0
$GC,11354,0.66,379.1,427.5,21.0,864,11358,0.00,2.15,0.00,0.000,6,0.000,0.039,2977,1847,1333,0,0,0,0,0,0
$GC,11679,0.66,379.1,377.3,16.1,894,11683,0.00,2.17,0.00,0.000,4,0.000,0.050,2984,440,1332,0,0,0,0,0,0
$GC,11696,0.66,379.1,374.5,16.8,895,11700,0.00,2.15,0.00,0.000,6,0.000,0.037,2983,1853,1331,0,0,0,0,0,0
$GC,12021,0.66,379.1,326.6,15.0,925,12025,0.00,2.15,0.00,0.000,4,0.000,0.053,2981,3258,1331,0,0,0,0,0,0
$GC,12065,0.68,379.1,319.9,14.1,928,12072,0.00,2.12,0.00,0.000,6,0.000,0.037,2990,1844,1331,0,0,0,0,0,0
$GC,12392,0.67,379.1,271.6,14.7,959,12396,0.00,2.12,0.00,0.000,4,0.000,0.048,3002,431,1331,0,0,0,0,0,0
$GC,12458,0.69,381.5,262.2,12.6,964,12466,0.10,2.17,0.00,0.000,6,0.122,0.037,2970,1855,1331,0,0,0,0,0,0
$GC,12779,0.81,452.0,229.4,10.2,1014,12843,0.10,0.00,60.95,0.851,6,0.102,0.000,3031,1857,1040,0,0,0,0,0,0
$GC,13161,0.80,452.0,159.6,17.3,1083,13169,0.00,2.17,0.00,0.000,4,0.000,0.048,3030,3263,1038,0,0,0,0,0,0
$GC,13191,0.80,452.0,155.2,17.0,1087,13202,0.10,2.15,0.00,0.000,6,0.129,0.036,3005,1851,1037,0,0,0,0,0,0
$GC,13517,0.90,509.7,115.2,10.7,1148,13575,0.00,2.22,47.53,0.736,4,0.000,0.045,3014,443,804,0,0,0,0,0,0
$GC,13642,1.15,634.8,103.2,8.3,1168,13730,0.22,2.17,75.43,0.715,6,0.032,0.032,3146,1870,452,0,0,0,0,0,0
$GC,14048,1.12,634.8,8.3,21.4,1240,14056,0.15,0.00,0.00,0.000,6,0.161,0.000,3105,1871,437,0,0,0,0,0,0
$STATE,14072,end climb,SURFACE_DEPTH_REACHED
$STATE,14072,begin surface coast
$FINISH,1.2,1.016243
$STATE,14084,end surface coast,CONTROL_FINISHED_OK
$STATE,14084,begin surface
$SM_CCo,14162,0.00,0.000,0,0,436,600.49
$SM_GC,1.99,7.68,0.00,0.00,0.032,0.000,0.000,154,1484,436,-8.05,-0.45,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2057.14,12352.93,110911,191931
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.10
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.50
$XPDR_PINGS,73
$24V_AH,22.9,48.974
$10V_AH,10.0,35.092
$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,20.425,131.525,735.700,0.000,0.000,23.067,17.123,167.116,18.250,0.000,19.058,2925.221,7430.725,716.598,3024.224,417.423,0.000,2013.826,0.000,2807.853,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,61.965,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,848.841,1276.867,1359.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70277,1246
$CAP_FILE_SIZE,159250,0
$CFSIZE,260165632,128937984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120911,034427,2103.373,12351.435,33,99.0,52,-2.7