version: 66.09
glider: 166
mission: 6
dive: 216
start: 9 13 111 0 46 59
data:
$ID,166
$MISSION,6
$DIVE,216
$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,-24670.66
$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,50
$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
$GPS1,130911,003907,2100.761,12345.819,40,1.7,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.2
$GPS2,130911,004637,2100.686,12345.836,16,1.9,21,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2100.686,12334.268
$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,17,begin dive
$GC,20,-0.68,-243.3,0.0,0.0,0,132,0.00,0.00,-109.97,0.000,2,0.000,0.000,151,1485,3054,0,0,0,0,0,0
$GC,135,-0.68,-243.3,5.1,-5.9,16,166,9.32,2.22,-15.62,0.000,4,0.224,0.053,2503,2912,3880,0,0,0,0,0,0
$GC,289,-0.61,-243.3,63.8,-27.6,43,297,0.15,2.15,0.00,0.000,6,0.133,0.036,2544,1514,3883,0,0,0,0,0,0
$GC,613,-0.56,-243.3,138.6,-18.9,104,621,0.00,2.17,0.00,0.000,4,0.000,0.044,2536,2909,3884,0,0,0,0,0,0
$GC,657,-0.56,-243.3,146.7,-17.6,111,665,0.00,2.15,0.00,0.000,6,0.000,0.034,2534,1493,3884,0,0,0,0,0,0
$GC,983,-0.51,-243.3,210.0,-18.5,172,992,0.15,2.20,0.00,0.000,4,0.159,0.045,2567,2907,3884,0,0,0,0,0,0
$GC,1050,-0.55,-243.3,218.7,-11.1,183,1059,0.00,2.12,0.00,0.000,6,0.000,0.034,2568,1509,3884,0,0,0,0,0,0
$GC,1374,-0.55,-243.3,256.7,-12.3,239,1378,0.00,2.12,0.00,0.000,4,0.000,0.045,2560,2916,3884,0,0,0,0,0,0
$GC,1443,-0.60,-243.3,264.6,-10.3,245,1447,0.00,2.12,0.00,0.000,6,0.000,0.037,2562,1497,3883,0,0,0,0,0,0
$GC,1770,-0.60,-243.3,309.9,-15.0,275,1774,0.00,2.17,0.00,0.000,4,0.000,0.048,2557,2913,3883,0,0,0,0,0,0
$GC,1814,-0.64,-243.3,316.4,-13.3,278,1820,0.00,2.12,0.00,0.000,6,0.000,0.037,2556,1500,3883,0,0,0,0,0,0
$GC,2139,-0.65,-243.3,363.3,-13.9,309,2143,0.00,2.20,0.00,0.000,4,0.000,0.050,2556,2914,3881,0,0,0,0,0,0
$GC,2172,-0.68,-243.3,367.9,-13.2,311,2179,0.00,2.12,0.00,0.000,6,0.000,0.038,2556,1502,3881,0,0,0,0,0,0
$GC,2499,-0.70,-243.3,412.4,-13.8,342,2504,0.12,2.17,0.00,0.000,4,0.082,0.050,2477,2912,3880,0,0,0,0,0,0
$GC,2584,-0.67,-243.3,427.4,-18.4,349,2589,0.17,2.15,0.00,0.000,6,0.150,0.040,2528,1494,3878,0,0,0,0,0,0
$GC,2909,-0.67,-243.3,479.6,-15.6,379,2913,0.00,2.20,0.00,0.000,4,0.000,0.050,2520,2903,3877,0,0,0,0,0,0
$GC,2942,-0.67,-243.3,484.5,-14.3,381,2949,0.00,2.15,0.00,0.000,6,0.000,0.038,2520,1478,3877,0,0,0,0,0,0
$GC,3270,-0.67,-243.3,530.2,-13.7,412,3273,0.00,1.95,0.00,0.000,4,0.000,0.050,2520,204,3874,0,0,0,0,0,0
$GC,3297,-0.67,-243.3,534.5,-13.8,414,3304,0.00,1.98,0.00,0.000,6,0.000,0.039,2511,1492,3874,0,0,0,0,0,0
$GC,3622,-0.67,-243.3,578.3,-13.7,445,3626,0.00,2.20,0.00,0.000,4,0.000,0.051,2500,2915,3872,0,0,0,0,0,0
$GC,3691,-0.69,-243.3,586.9,-12.2,450,3698,0.00,2.15,0.00,0.000,6,0.000,0.041,2500,1497,3871,0,0,0,0,0,0
$GC,4023,-0.67,-243.3,634.0,-14.2,471,4027,0.00,2.17,0.00,0.000,4,0.000,0.054,2490,2903,3868,0,0,0,0,0,0
$GC,4080,-0.67,-243.3,642.1,-13.1,473,4087,0.12,2.12,0.00,0.000,6,0.155,0.042,2525,1504,3868,0,0,0,0,0,0
$GC,4398,-0.69,-243.3,677.7,-10.8,489,4402,0.00,2.20,0.00,0.000,4,0.000,0.057,2517,2913,3865,0,0,0,0,0,0
$GC,4420,-0.72,-243.3,680.5,-10.8,490,4424,0.00,2.15,0.00,0.000,6,0.000,0.042,2517,1499,3865,0,0,0,0,0,0
$GC,4744,-0.73,-243.3,717.3,-11.9,506,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1499,3862,0,0,0,0,0,0
$GC,5051,-0.75,-243.3,755.5,-12.5,521,5055,0.00,2.20,0.00,0.000,4,0.000,0.058,2506,2901,3859,0,0,0,0,0,0
$GC,5101,-0.78,-243.3,761.0,-11.5,523,5105,0.00,2.15,0.00,0.000,6,0.000,0.044,2506,1496,3859,0,0,0,0,0,0
$GC,5429,-0.80,-243.3,798.5,-10.6,539,5433,0.00,2.20,0.00,0.000,4,0.000,0.058,2496,2901,3856,0,0,0,0,0,0
$GC,5472,-0.82,-243.3,802.5,-9.9,541,5476,0.00,2.15,0.00,0.000,6,0.000,0.044,2496,1494,3855,0,0,0,0,0,0
$GC,5800,-0.82,-243.3,838.2,-10.8,557,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1494,3852,0,0,0,0,0,0
$GC,6109,-0.82,-243.3,872.4,-11.2,572,6113,0.00,2.22,0.00,0.000,4,0.000,0.060,2484,2907,3850,0,0,0,0,0,0
$GC,6155,-0.84,-243.3,877.5,-11.4,574,6159,0.00,2.17,0.00,0.000,6,0.000,0.046,2485,1491,3849,0,0,0,0,0,0
$GC,6477,-0.84,-243.3,917.4,-12.5,590,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1492,3847,0,0,0,0,0,0
$GC,6788,-0.84,-243.3,955.9,-12.3,605,6792,0.00,2.22,0.00,0.000,4,0.000,0.060,2465,2900,3845,0,0,0,0,0,0
$GC,6810,-0.84,-243.3,958.9,-12.0,606,6814,0.00,2.15,0.00,0.000,6,0.000,0.046,2467,1499,3844,0,0,0,0,0,0
$STATE,7053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7053,begin apogee
$GC,7059,-0.11,0.0,990.1,12.7,618,7270,0.75,0.00,203.15,1.435,6,0.124,0.000,2705,1844,2884,0,0,0,0,0,0
$STATE,7271,end apogee,CONTROL_FINISHED_OK
$STATE,7271,begin climb
$GC,7274,0.68,243.3,998.9,0.0,628,7507,0.70,2.42,221.12,1.370,4,0.044,0.057,2990,437,1891,0,0,0,0,0,0
$GC,7610,0.62,243.3,951.2,18.8,643,7615,0.17,2.25,0.00,0.000,6,0.162,0.047,2945,1847,1885,0,0,0,0,0,0
$GC,7926,0.59,243.3,900.6,16.2,658,7930,0.00,2.22,0.00,0.000,4,0.000,0.060,2939,3269,1883,0,0,0,0,0,0
$GC,8005,0.57,243.3,888.0,15.9,661,8012,0.00,2.17,0.00,0.000,6,0.000,0.043,2947,1848,1882,0,0,0,0,0,0
$GC,8321,0.54,243.3,837.6,15.8,677,8325,0.00,2.15,0.00,0.000,4,0.000,0.054,2958,442,1881,0,0,0,0,0,0
$GC,8344,0.50,243.3,833.8,15.7,678,8349,0.17,2.17,0.00,0.000,6,0.156,0.042,2908,1855,1880,0,0,0,0,0,0
$GC,8668,0.53,264.7,794.8,11.9,694,8693,0.00,2.25,19.23,1.258,4,0.000,0.059,2907,3259,1804,0,0,0,0,0,0
$GC,8735,0.58,286.3,786.6,11.9,697,8762,0.00,2.17,21.75,1.251,6,0.000,0.041,2917,1841,1715,0,0,0,0,0,0
$GC,9083,0.58,286.3,742.9,13.0,714,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1841,1711,0,0,0,0,0,0
$GC,9393,0.58,286.9,703.2,12.7,729,9397,0.00,2.12,0.00,0.000,4,0.000,0.051,2925,443,1709,0,0,0,0,0,0
$GC,9422,0.59,288.5,699.7,12.6,730,9426,0.00,2.17,0.00,0.000,6,0.000,0.040,2924,1859,1709,0,0,0,0,0,0
$GC,9738,0.59,288.5,657.7,13.5,745,9742,0.00,2.17,0.00,0.000,4,0.000,0.057,2925,3268,1709,0,0,0,0,0,0
$GC,9827,0.61,288.5,645.6,13.5,749,9831,0.00,2.15,0.00,0.000,6,0.000,0.039,2932,1839,1709,0,0,0,0,0,0
$GC,10150,0.61,288.5,602.2,12.8,765,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1839,1709,0,0,0,0,0,0
$GC,10468,0.61,289.5,561.6,12.7,794,10472,0.00,2.10,0.00,0.000,4,0.000,0.050,2942,448,1708,0,0,0,0,0,0
$GC,10487,0.62,295.1,559.1,12.5,795,10502,0.00,2.15,8.30,0.996,6,0.000,0.039,2942,1862,1680,0,0,0,0,0,0
$GC,10829,0.62,297.8,515.8,12.6,827,10838,0.00,0.00,4.12,0.718,6,0.000,0.000,2942,1862,1668,0,0,0,0,0,0
$GC,11157,0.62,297.8,471.9,14.0,858,11161,0.00,2.17,0.00,0.000,4,0.000,0.049,2952,439,1668,0,0,0,0,0,0
$GC,11197,0.63,297.8,466.7,12.8,861,11201,0.00,2.15,0.00,0.000,6,0.000,0.039,2950,1851,1667,0,0,0,0,0,0
$GC,11522,0.69,344.4,428.2,11.1,891,11570,0.00,2.22,42.20,1.037,4,0.000,0.054,2951,3257,1479,0,0,0,0,0,0
$GC,11607,0.74,368.4,418.6,11.9,898,11637,0.00,2.17,22.38,0.980,6,0.000,0.037,2961,1847,1382,0,0,0,0,0,0
$GC,11954,0.76,368.4,370.1,14.5,931,11958,0.00,2.15,0.00,0.000,4,0.000,0.048,2978,433,1379,0,0,0,0,0,0
$GC,12031,0.82,391.8,361.0,11.9,937,12057,0.00,2.17,21.30,0.932,6,0.000,0.037,2978,1861,1286,0,0,0,0,0,0
$GC,12380,0.84,394.8,315.3,12.6,969,12394,0.10,2.22,3.88,0.554,4,0.099,0.047,3046,446,1274,0,0,0,0,0,0
$GC,12399,0.84,394.8,311.8,13.6,970,12407,0.12,2.12,0.00,0.000,6,0.157,0.036,3013,1854,1274,0,0,0,0,0,0
$GC,12728,0.82,394.8,256.5,16.5,1001,12732,0.00,2.12,0.00,0.000,4,0.000,0.050,3003,3253,1274,0,0,0,0,0,0
$GC,12789,0.84,394.8,247.2,13.0,1008,12797,0.00,2.12,0.00,0.000,6,0.000,0.035,3011,1849,1274,0,0,0,0,0,0
$GC,13121,0.83,394.8,195.8,15.9,1069,13129,0.00,2.15,0.00,0.000,4,0.000,0.046,3022,446,1274,0,0,0,0,0,0
$GC,13173,0.84,394.8,187.8,13.7,1078,13181,0.00,2.12,0.00,0.000,6,0.000,0.035,3014,1843,1274,0,0,0,0,0,0
$GC,13496,0.84,394.9,143.8,12.7,1139,13504,0.00,2.15,0.00,0.000,4,0.000,0.047,3015,3256,1273,0,0,0,0,0,0
$GC,13551,0.90,412.0,137.1,12.1,1148,13577,0.00,2.12,16.90,0.719,6,0.000,0.034,3023,1841,1202,0,0,0,0,0,0
$GC,13895,0.91,412.0,88.7,14.0,1211,13903,0.00,2.12,0.00,0.000,4,0.000,0.044,3034,447,1201,0,0,0,0,0,0
$GC,13957,1.02,457.6,81.4,11.1,1222,14001,0.08,2.12,38.20,0.702,6,0.050,0.032,3106,1865,1017,0,0,0,0,0,0
$GC,14316,1.00,457.6,21.4,16.1,1288,14324,0.12,2.12,0.00,0.000,4,0.158,0.046,3068,3243,1014,0,0,0,0,0,0
$GC,14361,1.04,457.6,14.7,15.2,1295,14370,0.00,2.10,0.00,0.000,6,0.000,0.034,3076,1852,1014,0,0,0,0,0,0
$STATE,14452,end climb,SURFACE_DEPTH_REACHED
$STATE,14452,begin surface coast
$FINISH,1.2,1.021417
$STATE,14481,end surface coast,CONTROL_FINISHED_OK
$STATE,14481,begin surface
$SM_CCo,14560,0.00,0.000,0,0,1013,458.96
$SM_GC,2.01,7.60,0.00,0.00,0.036,0.000,0.000,154,1480,1013,-8.04,-0.57,458.96,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,12346.53,120911,202020
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.88
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,25.60
$XPDR_PINGS,64
$24V_AH,22.9,50.505
$10V_AH,10.0,35.986
$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,19.875,139.400,622.525,0.000,0.000,24.912,52.063,211.562,16.000,0.000,22.204,3108.359,7534.181,675.730,3225.794,449.397,0.000,1979.367,0.000,2945.355,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,60.435,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,898.178,1349.183,1468.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330272
$DATA_FILE_SIZE,73531,1317
$CAP_FILE_SIZE,164811,0
$CFSIZE,260165632,128417792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,045151,2100.456,12344.618,74,2.6,93,-2.7