version: 66.09
glider: 166
mission: 6
dive: 215
start: 9 12 111 20 34 14
data:
$ID,166
$MISSION,6
$DIVE,215
$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,-24669.4
$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,39
$R_STBD_OVSHOOT,41
$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
$GPS1,120911,202557,2101.527,12347.647,35,3.9,54,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.1
$GPS2,120911,203352,2101.430,12347.701,36,2.7,55,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2101.430,12336.132
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.68,-243.3,0.0,0.0,0,132,0.00,0.00,-109.88,0.000,2,0.000,0.000,153,1489,3183,0,0,0,0,0,0
$GC,135,-0.68,-243.3,6.1,-10.9,16,165,9.25,2.15,-12.45,0.000,4,0.222,0.050,2502,2912,3879,0,0,0,0,0,0
$GC,248,-0.56,-243.3,54.6,-34.5,35,257,0.20,2.15,0.00,0.000,6,0.149,0.034,2555,1496,3881,0,0,0,0,0,0
$GC,575,-0.50,-243.3,132.3,-19.3,96,583,0.00,2.15,0.00,0.000,4,0.000,0.042,2547,2904,3882,0,0,0,0,0,0
$GC,614,-0.48,-243.3,138.9,-17.0,102,623,0.10,2.12,0.00,0.000,6,0.124,0.033,2582,1491,3882,0,0,0,0,0,0
$GC,939,-0.48,-243.3,185.0,-14.7,163,947,0.00,2.17,0.00,0.000,4,0.000,0.044,2574,2906,3883,0,0,0,0,0,0
$GC,1004,-0.52,-243.3,193.3,-12.2,174,1012,0.00,2.12,0.00,0.000,6,0.000,0.033,2574,1497,3883,0,0,0,0,0,0
$GC,1326,-0.52,-243.3,240.3,-14.3,235,1334,0.00,2.15,0.00,0.000,4,0.000,0.045,2565,2898,3882,0,0,0,0,0,0
$GC,1381,-0.56,-243.3,247.6,-12.1,244,1389,0.00,2.10,0.00,0.000,6,0.000,0.034,2565,1509,3882,0,0,0,0,0,0
$GC,1712,-0.58,-243.3,290.9,-12.2,276,1716,0.00,2.12,0.00,0.000,4,0.000,0.046,2554,2904,3882,0,0,0,0,0,0
$GC,1739,-0.60,-243.3,294.5,-12.0,278,1747,0.00,2.12,0.00,0.000,6,0.000,0.035,2555,1507,3882,0,0,0,0,0,0
$GC,2066,-0.60,-243.3,335.4,-12.6,309,2070,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,2906,3880,0,0,0,0,0,0
$GC,2113,-0.63,-243.3,341.0,-11.6,313,2117,0.00,2.12,0.00,0.000,6,0.000,0.037,2546,1490,3880,0,0,0,0,0,0
$GC,2440,-0.64,-243.3,382.3,-12.9,343,2444,0.00,2.15,0.00,0.000,4,0.000,0.048,2544,2904,3878,0,0,0,0,0,0
$GC,2498,-0.68,-243.3,388.9,-10.6,348,2502,0.00,2.12,0.00,0.000,6,0.000,0.037,2549,1489,3878,0,0,0,0,0,0
$GC,2826,-0.69,-243.3,428.1,-11.5,378,2830,0.00,2.15,0.00,0.000,4,0.000,0.050,2545,2901,3876,0,0,0,0,0,0
$GC,2911,-0.74,-243.3,437.0,-9.7,385,2916,0.10,2.12,0.00,0.000,6,0.094,0.038,2477,1492,3876,0,0,0,0,0,0
$GC,3237,-0.68,-243.3,494.1,-17.8,415,3241,0.17,2.00,0.00,0.000,4,0.164,0.049,2530,195,3874,0,0,0,0,0,0
$GC,3265,-0.66,-243.3,499.0,-17.1,417,3269,0.00,1.98,0.00,0.000,6,0.000,0.039,2523,1505,3874,0,0,0,0,0,0
$GC,3596,-0.66,-243.3,542.4,-14.2,448,3600,0.00,2.12,0.00,0.000,4,0.000,0.051,2512,2912,3872,0,0,0,0,0,0
$GC,3685,-0.68,-243.3,553.9,-12.1,455,3692,0.00,2.15,0.00,0.000,6,0.000,0.039,2512,1493,3871,0,0,0,0,0,0
$GC,4010,-0.68,-243.3,600.8,-14.1,486,4014,0.00,2.20,0.00,0.000,4,0.000,0.053,2502,2909,3868,0,0,0,0,0,0
$GC,4043,-0.68,-243.3,605.7,-14.3,487,4050,0.00,2.15,0.00,0.000,6,0.000,0.040,2502,1486,3868,0,0,0,0,0,0
$GC,4359,-0.68,-243.3,647.9,-12.8,503,4363,0.00,1.95,0.00,0.000,4,0.000,0.052,2502,202,3865,0,0,0,0,0,0
$GC,4394,-0.68,-243.3,652.7,-14.4,504,4399,0.12,1.98,0.00,0.000,6,0.160,0.040,2527,1502,3865,0,0,0,0,0,0
$GC,4712,-0.71,-243.3,685.4,-10.0,519,4716,0.00,2.15,0.00,0.000,4,0.000,0.053,2519,2913,3862,0,0,0,0,0,0
$GC,4782,-0.76,-243.3,692.4,-9.5,522,4786,0.00,2.15,0.00,0.000,6,0.000,0.041,2519,1490,3861,0,0,0,0,0,0
$GC,5110,-0.77,-243.3,729.9,-11.2,538,5114,0.00,2.20,0.00,0.000,4,0.000,0.054,2497,2907,3858,0,0,0,0,0,0
$GC,5144,-0.80,-243.3,733.8,-10.9,539,5151,0.00,2.15,0.00,0.000,6,0.000,0.041,2496,1491,3857,0,0,0,0,0,0
$GC,5463,-0.81,-243.3,767.6,-10.2,555,5467,0.00,2.20,0.00,0.000,4,0.000,0.054,2484,2904,3854,0,0,0,0,0,0
$GC,5496,-0.83,-243.3,771.2,-9.8,556,5503,0.00,2.15,0.00,0.000,6,0.000,0.042,2484,1499,3854,0,0,0,0,0,0
$GC,5814,-0.83,-243.3,803.4,-10.4,572,5818,0.00,2.17,0.00,0.000,4,0.000,0.057,2474,2904,3852,0,0,0,0,0,0
$GC,5842,-0.83,-243.3,806.7,-10.1,573,5846,0.00,2.15,0.00,0.000,6,0.000,0.042,2474,1493,3852,0,0,0,0,0,0
$GC,6169,-0.83,-243.3,844.0,-11.4,589,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1493,3849,0,0,0,0,0,0
$GC,6480,-0.83,-243.3,879.8,-11.6,604,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1493,3846,0,0,0,0,0,0
$GC,6788,-0.83,-243.3,915.0,-11.7,619,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1493,3844,0,0,0,0,0,0
$GC,7097,-0.83,-243.3,952.2,-12.4,634,7101,0.00,2.25,0.00,0.000,4,0.000,0.063,2464,2904,3842,0,0,0,0,0,0
$GC,7131,-0.83,-243.3,956.3,-11.8,635,7138,0.00,2.17,0.00,0.000,6,0.000,0.045,2468,1497,3842,0,0,0,0,0,0
$STATE,7404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7404,begin apogee
$GC,7410,-0.11,0.0,991.2,12.9,649,7621,0.73,0.00,202.52,1.444,6,0.129,0.000,2705,1859,2883,0,0,0,0,0,0
$STATE,7622,end apogee,CONTROL_FINISHED_OK
$STATE,7622,begin climb
$GC,7624,0.68,243.3,1001.0,0.0,659,7851,0.73,0.00,222.68,1.382,6,0.047,0.000,2977,1859,1892,0,0,0,0,0,0
$GC,8150,0.62,243.3,919.5,18.5,685,8155,0.12,2.25,0.00,0.000,4,0.182,0.061,2938,3264,1884,0,0,0,0,0,0
$GC,8222,0.61,243.3,907.8,14.6,688,8226,0.00,2.20,0.00,0.000,6,0.000,0.044,2947,1839,1883,0,0,0,0,0,0
$GC,8547,0.57,243.3,859.7,14.8,704,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1839,1882,0,0,0,0,0,0
$GC,8854,0.54,243.3,814.2,14.7,719,8858,0.00,2.22,0.00,0.000,4,0.000,0.057,2944,3255,1880,0,0,0,0,0,0
$GC,8883,0.52,243.3,809.7,15.6,720,8888,0.15,2.15,0.00,0.000,6,0.171,0.042,2914,1847,1880,0,0,0,0,0,0
$GC,9199,0.55,273.5,772.8,11.6,735,9228,0.00,0.00,27.05,1.288,6,0.000,0.000,2914,1847,1768,0,0,0,0,0,0
$GC,9531,0.62,316.9,735.1,11.2,751,9577,0.00,2.30,40.80,1.270,4,0.000,0.055,2913,3252,1591,0,0,0,0,0,0
$GC,9595,0.72,376.5,727.7,10.6,754,9657,0.15,2.20,55.17,1.248,6,0.073,0.038,2999,1849,1348,0,0,0,0,0,0
$GC,9985,0.67,376.5,649.5,20.5,773,9987,0.15,0.00,0.00,0.000,6,0.173,0.000,2961,1849,1342,0,0,0,0,0,0
$GC,10294,0.67,376.5,601.0,15.5,788,10298,0.00,2.22,0.00,0.000,4,0.000,0.053,2956,3264,1340,0,0,0,0,0,0
$GC,10322,0.67,376.5,596.6,15.4,790,10327,0.00,2.17,0.00,0.000,6,0.000,0.039,2962,1839,1340,0,0,0,0,0,0
$GC,10647,0.67,376.5,544.4,16.7,820,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1838,1339,0,0,0,0,0,0
$GC,10970,0.67,376.5,493.6,15.4,850,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1838,1338,0,0,0,0,0,0
$GC,11297,0.67,376.5,444.3,14.5,881,11300,0.00,2.15,0.00,0.000,4,0.000,0.050,2968,436,1337,0,0,0,0,0,0
$GC,11350,0.69,376.5,437.4,12.9,885,11355,0.00,2.15,0.00,0.000,6,0.000,0.037,2960,1857,1336,0,0,0,0,0,0
$GC,11675,0.69,376.5,392.3,15.1,915,11679,0.00,2.12,0.00,0.000,4,0.000,0.054,2960,3254,1336,0,0,0,0,0,0
$GC,11763,0.73,376.5,379.6,14.3,922,11767,0.00,2.12,0.00,0.000,6,0.000,0.038,2968,1835,1336,0,0,0,0,0,0
$GC,12095,0.73,376.5,330.6,13.0,953,12099,0.00,2.10,0.00,0.000,4,0.000,0.048,2980,443,1336,0,0,0,0,0,0
$GC,12138,0.76,383.2,325.4,12.5,956,12150,0.00,2.12,5.47,0.713,6,0.000,0.037,2982,1851,1321,0,0,0,0,0,0
$GC,12469,0.76,383.2,280.7,14.5,987,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1852,1321,0,0,0,0,0,0
$GC,12789,0.77,383.2,236.6,13.4,1026,12797,0.00,2.17,0.00,0.000,4,0.000,0.050,2988,3250,1321,0,0,0,0,0,0
$GC,12811,0.79,383.2,233.7,13.7,1029,12819,0.00,2.12,0.00,0.000,6,0.000,0.036,2997,1851,1321,0,0,0,0,0,0
$GC,13138,0.79,383.2,185.7,14.2,1090,13146,0.00,2.17,0.00,0.000,4,0.000,0.046,3008,443,1321,0,0,0,0,0,0
$GC,13171,0.80,383.2,181.5,13.3,1095,13180,0.00,2.12,0.00,0.000,6,0.000,0.034,3008,1846,1321,0,0,0,0,0,0
$GC,13492,0.80,383.2,136.9,13.9,1156,13500,0.00,2.17,0.00,0.000,4,0.000,0.047,3008,3257,1321,0,0,0,0,0,0
$GC,13521,0.80,383.2,132.7,13.6,1160,13529,0.00,2.12,0.00,0.000,6,0.000,0.034,3018,1850,1321,0,0,0,0,0,0
$GC,13843,0.82,400.8,91.2,12.1,1221,13867,0.00,2.20,17.33,0.692,4,0.000,0.044,3029,442,1249,0,0,0,0,0,0
$GC,13896,0.89,439.1,84.7,11.4,1229,13939,0.00,2.12,32.97,0.705,6,0.000,0.031,3029,1852,1092,0,0,0,0,0,0
$GC,14253,1.16,598.8,52.1,7.1,1295,14397,0.25,2.28,129.55,0.675,4,0.054,0.042,3177,444,451,0,0,0,0,0,0
$GC,14426,1.14,598.8,17.8,24.2,1320,14435,0.20,2.17,0.00,0.000,6,0.127,0.032,3113,1845,445,0,0,0,0,0,0
$STATE,14515,end climb,SURFACE_DEPTH_REACHED
$STATE,14515,begin surface coast
$FINISH,1.0,1.021496
$STATE,14537,end surface coast,CONTROL_FINISHED_OK
$STATE,14537,begin surface
$SM_CCo,14615,0.00,0.000,0,0,439,599.76
$SM_GC,1.80,7.82,0.00,0.00,0.037,0.000,0.000,154,1485,439,-8.05,-0.42,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2054.83,12331.16,120911,161631
$TT8_MAMPS,0.025466,0.025466
$HUMID,36.96
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.20
$XPDR_PINGS,75
$24V_AH,22.9,50.267
$10V_AH,10.1,35.837
$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,20.250,125.725,733.550,0.000,0.000,31.234,21.031,224.618,18.750,0.000,56.847,3104.142,7506.854,790.095,3224.752,446.534,0.000,2060.672,0.000,2924.938,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,63.495,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.863,1371.120,1557.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330260
$DATA_FILE_SIZE,76971,1339
$CAP_FILE_SIZE,158130,0
$CFSIZE,260165632,128507904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,003907,2100.761,12345.819,40,1.7,40,-2.7