version: 66.09
glider: 166
mission: 6
dive: 217
start: 9 13 111 5 11 13
data:
$ID,166
$MISSION,6
$DIVE,217
$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,-24671.916
$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
$GPS1,130911,045151,2100.456,12344.618,74,2.6,93,-2.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.0
$GPS2,130911,051051,2100.336,12344.892,43,2.5,62,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2100.336,12333.324
$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,18,begin dive
$GC,20,-0.68,-243.3,0.0,0.0,0,105,0.00,0.00,-81.97,0.000,2,0.000,0.000,124,1481,2997,0,0,0,0,0,0
$GC,108,-0.68,-243.3,5.0,-5.8,12,145,9.32,2.22,-17.15,0.000,4,0.220,0.057,2507,2898,3880,0,0,0,0,0,0
$GC,268,-0.57,-243.3,63.6,-32.6,40,276,0.15,2.15,0.00,0.000,6,0.145,0.037,2554,1513,3881,0,0,0,0,0,0
$GC,594,-0.52,-243.3,140.3,-19.8,101,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1513,3882,0,0,0,0,0,0
$GC,916,-0.49,-243.3,200.3,-18.1,162,925,0.10,2.17,0.00,0.000,4,0.176,0.047,2574,2901,3882,0,0,0,0,0,0
$GC,979,-0.54,-243.3,210.2,-12.7,173,987,0.00,2.15,0.00,0.000,6,0.000,0.037,2573,1499,3883,0,0,0,0,0,0
$GC,1309,-0.55,-243.3,253.2,-12.2,233,1313,0.00,2.17,0.00,0.000,4,0.000,0.047,2566,2898,3882,0,0,0,0,0,0
$GC,1375,-0.60,-243.3,260.1,-9.6,238,1379,0.00,2.12,0.00,0.000,6,0.000,0.037,2566,1493,3881,0,0,0,0,0,0
$GC,1701,-0.61,-243.3,299.8,-12.0,268,1705,0.00,2.12,0.00,0.000,4,0.000,0.047,2556,2898,3880,0,0,0,0,0,0
$GC,1812,-0.66,-243.3,311.9,-10.9,277,1817,0.00,2.12,0.00,0.000,6,0.000,0.037,2557,1492,3879,0,0,0,0,0,0
$GC,2139,-0.67,-243.3,355.9,-12.7,307,2143,0.00,2.17,0.00,0.000,4,0.000,0.048,2550,2903,3878,0,0,0,0,0,0
$GC,2182,-0.70,-243.3,360.8,-11.8,310,2186,0.00,2.12,0.00,0.000,6,0.000,0.037,2551,1494,3877,0,0,0,0,0,0
$GC,2508,-0.72,-243.3,397.8,-10.2,340,2513,0.15,2.17,0.00,0.000,4,0.073,0.049,2474,2900,3876,0,0,0,0,0,0
$GC,2554,-0.68,-243.3,403.8,-14.3,343,2562,0.17,2.12,0.00,0.000,6,0.148,0.039,2524,1494,3875,0,0,0,0,0,0
$GC,2880,-0.66,-243.3,450.5,-14.4,374,2884,0.00,2.15,0.00,0.000,4,0.000,0.050,2517,2897,3873,0,0,0,0,0,0
$GC,2956,-0.67,-243.3,460.0,-11.9,380,2960,0.00,2.12,0.00,0.000,6,0.000,0.039,2517,1489,3873,0,0,0,0,0,0
$GC,3282,-0.66,-243.3,507.0,-15.2,410,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1488,3871,0,0,0,0,0,0
$GC,3605,-0.66,-243.3,554.6,-13.9,440,3609,0.00,2.17,0.00,0.000,4,0.000,0.052,2506,2897,3869,0,0,0,0,0,0
$GC,3645,-0.67,-243.3,560.4,-13.0,443,3649,0.00,2.12,0.00,0.000,6,0.000,0.041,2506,1497,3868,0,0,0,0,0,0
$GC,3980,-0.66,-243.3,605.8,-13.5,472,3984,0.00,2.17,0.00,0.000,4,0.000,0.054,2497,2897,3865,0,0,0,0,0,0
$GC,4019,-0.66,-243.3,611.1,-13.2,474,4024,0.12,2.12,0.00,0.000,6,0.151,0.041,2532,1500,3865,0,0,0,0,0,0
$GC,4350,-0.68,-243.3,645.1,-9.8,490,4354,0.00,2.20,0.00,0.000,4,0.000,0.055,2524,2902,3863,0,0,0,0,0,0
$GC,4378,-0.71,-243.3,648.2,-9.8,491,4382,0.00,2.15,0.00,0.000,6,0.000,0.041,2524,1490,3862,0,0,0,0,0,0
$GC,4700,-0.73,-243.3,682.8,-11.0,507,4704,0.00,2.17,0.00,0.000,4,0.000,0.054,2514,2896,3859,0,0,0,0,0,0
$GC,4788,-0.76,-243.3,691.6,-9.8,511,4792,0.00,2.12,0.00,0.000,6,0.000,0.043,2514,1496,3858,0,0,0,0,0,0
$GC,5115,-0.77,-243.3,729.8,-11.9,527,5119,0.00,2.17,0.00,0.000,4,0.000,0.057,2504,2893,3855,0,0,0,0,0,0
$GC,5145,-0.79,-243.3,733.3,-11.4,528,5149,0.00,2.12,0.00,0.000,6,0.000,0.044,2504,1497,3854,0,0,0,0,0,0
$GC,5467,-0.79,-243.3,774.7,-12.5,544,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1497,3852,0,0,0,0,0,0
$GC,5778,-0.79,-243.3,812.1,-12.1,559,5782,0.00,2.20,0.00,0.000,4,0.000,0.059,2494,2901,3849,0,0,0,0,0,0
$GC,5834,-0.82,-243.3,819.0,-11.3,561,5841,0.00,2.15,0.00,0.000,6,0.000,0.044,2494,1494,3848,0,0,0,0,0,0
$GC,6150,-0.82,-243.3,858.7,-12.6,577,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1494,3845,0,0,0,0,0,0
$GC,6462,-0.82,-243.3,894.7,-11.4,592,6466,0.00,2.20,0.00,0.000,4,0.000,0.060,2482,2894,3844,0,0,0,0,0,0
$GC,6483,-0.82,-243.3,897.5,-11.2,593,6487,0.00,2.12,0.00,0.000,6,0.000,0.045,2482,1503,3843,0,0,0,0,0,0
$GC,6811,-0.82,-243.3,934.6,-11.4,609,6815,0.00,2.03,0.00,0.000,4,0.000,0.062,2478,199,3840,0,0,0,0,0,0
$GC,6863,-0.82,-243.3,940.9,-12.4,611,6867,0.00,2.00,0.00,0.000,6,0.000,0.044,2464,1498,3840,0,0,0,0,0,0
$GC,7190,-0.82,-243.3,981.9,-12.7,627,7194,0.00,2.20,0.00,0.000,4,0.000,0.058,2450,2913,3838,0,0,0,0,0,0
$GC,7254,-0.82,-243.3,989.4,-12.1,630,7258,0.00,2.12,0.00,0.000,3,0.000,0.047,2449,1524,3837,0,0,0,0,0,0
$STATE,7259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7259,begin apogee
$GC,7265,-0.11,0.0,990.3,11.3,630,7473,0.77,0.00,201.93,1.431,6,0.125,0.000,2700,1871,2883,0,0,0,0,0,0
$STATE,7474,end apogee,CONTROL_FINISHED_OK
$STATE,7474,begin climb
$GC,7478,0.68,243.3,999.7,0.0,640,7707,0.70,2.47,219.52,1.370,4,0.046,0.057,2986,459,1891,0,0,0,0,0,0
$GC,7734,0.62,243.3,968.3,17.3,652,7739,0.15,2.28,0.00,0.000,6,0.164,0.047,2945,1834,1889,0,0,0,0,0,0
$GC,8065,0.59,243.3,918.6,14.9,668,8069,0.00,2.25,0.00,0.000,4,0.000,0.060,2942,3270,1884,0,0,0,0,0,0
$GC,8150,0.58,243.3,905.4,14.4,672,8154,0.00,2.15,0.00,0.000,6,0.000,0.042,2950,1860,1883,0,0,0,0,0,0
$GC,8480,0.54,243.3,854.7,15.4,688,8485,0.12,2.17,0.00,0.000,4,0.182,0.054,2929,445,1882,0,0,0,0,0,0
$GC,8507,0.52,243.3,850.2,14.6,689,8511,0.00,2.17,0.00,0.000,6,0.000,0.043,2921,1856,1880,0,0,0,0,0,0
$GC,8829,0.55,262.3,811.4,12.0,705,8852,0.00,2.28,17.10,1.255,4,0.000,0.058,2922,3268,1813,0,0,0,0,0,0
$GC,8882,0.56,272.9,804.8,12.3,707,8899,0.00,2.17,11.70,1.180,6,0.000,0.040,2929,1849,1770,0,0,0,0,0,0
$GC,9208,0.57,279.8,763.7,12.4,723,9222,0.00,2.28,7.60,1.063,4,0.000,0.054,2928,3262,1742,0,0,0,0,0,0
$GC,9247,0.58,292.5,758.8,12.2,724,9267,0.00,2.17,13.80,1.190,6,0.000,0.040,2937,1840,1690,0,0,0,0,0,0
$GC,9585,0.58,292.5,712.7,14.7,741,9589,0.00,2.15,0.00,0.000,4,0.000,0.050,2946,445,1687,0,0,0,0,0,0
$GC,9629,0.58,292.5,705.8,14.1,743,9633,0.00,2.15,0.00,0.000,6,0.000,0.039,2946,1854,1686,0,0,0,0,0,0
$GC,9960,0.57,292.5,656.9,14.6,759,9964,0.00,2.17,0.00,0.000,4,0.000,0.054,2946,3268,1686,0,0,0,0,0,0
$GC,10031,0.57,292.5,645.9,13.4,762,10036,0.00,2.17,0.00,0.000,6,0.000,0.039,2954,1841,1686,0,0,0,0,0,0
$GC,10356,0.55,292.5,602.4,13.1,778,10358,0.12,0.00,0.00,0.000,6,0.179,0.000,2923,1840,1686,0,0,0,0,0,0
$GC,10672,0.63,340.1,567.1,11.0,807,10720,0.00,2.25,43.00,1.164,4,0.000,0.051,2920,3257,1496,0,0,0,0,0,0
$GC,10801,0.77,412.9,553.2,10.1,818,10877,0.17,2.17,65.43,1.130,6,0.067,0.037,3023,1841,1198,0,0,0,0,0,0
$GC,11196,0.71,412.9,463.1,24.9,855,11201,0.17,2.15,0.00,0.000,4,0.165,0.047,2985,439,1194,0,0,0,0,0,0
$GC,11240,0.71,412.9,453.7,18.5,858,11247,0.00,2.15,0.00,0.000,6,0.000,0.037,2985,1852,1193,0,0,0,0,0,0
$GC,11566,0.69,412.9,397.1,18.2,889,11570,0.00,2.17,0.00,0.000,4,0.000,0.054,2986,3265,1193,0,0,0,0,0,0
$GC,11598,0.69,412.9,391.2,17.4,891,11605,0.00,2.17,0.00,0.000,6,0.000,0.039,2997,1826,1193,0,0,0,0,0,0
$GC,11924,0.68,412.9,334.3,17.3,922,11929,0.12,2.22,0.00,0.000,4,0.172,0.051,2958,3263,1192,0,0,0,0,0,0
$GC,11953,0.69,412.9,329.4,16.7,924,11957,0.00,2.12,0.00,0.000,6,0.000,0.037,2970,1851,1192,0,0,0,0,0,0
$GC,12279,0.72,412.9,286.2,13.5,954,12283,0.00,2.15,0.00,0.000,4,0.000,0.048,2982,440,1191,0,0,0,0,0,0
$GC,12330,0.82,450.1,280.1,11.4,958,12367,0.00,2.12,30.85,0.888,6,0.000,0.035,2982,1857,1048,0,0,0,0,0,0
$GC,12681,0.85,450.1,235.7,13.4,1001,12688,0.10,0.00,0.00,0.000,6,0.097,0.000,3045,1857,1046,0,0,0,0,0,0
$GC,13006,0.82,450.1,172.2,19.9,1062,13014,0.12,2.17,0.00,0.000,4,0.164,0.049,3002,3261,1045,0,0,0,0,0,0
$GC,13050,0.85,450.1,164.6,16.9,1069,13059,0.00,2.12,0.00,0.000,6,0.000,0.035,3010,1852,1046,0,0,0,0,0,0
$GC,13377,0.87,454.5,121.1,12.5,1130,13393,0.00,2.17,5.18,0.542,4,0.000,0.046,3021,443,1030,0,0,0,0,0,0
$GC,13432,0.96,488.1,114.1,11.5,1139,13468,0.00,2.12,28.90,0.728,6,0.000,0.034,3021,1853,892,0,0,0,0,0,0
$GC,13788,1.05,522.8,69.4,11.5,1204,13826,0.17,2.17,29.58,0.687,4,0.065,0.042,3135,437,750,0,0,0,0,0,0
$GC,13864,1.03,522.8,55.8,20.7,1215,13872,0.15,2.17,0.00,0.000,6,0.116,0.034,3081,1863,748,0,0,0,0,0,0
$GC,14189,1.11,566.2,14.4,11.2,1276,14232,0.00,0.00,36.42,0.641,6,0.000,0.000,3082,1868,572,0,0,0,0,0,0
$STATE,14279,end climb,SURFACE_DEPTH_REACHED
$STATE,14279,begin surface coast
$FINISH,1.1,0.998105
$STATE,14302,end surface coast,CONTROL_FINISHED_OK
$STATE,14302,begin surface
$SM_CCo,14382,0.00,0.000,0,0,566,568.61
$SM_GC,1.76,7.72,0.00,0.00,0.038,0.000,0.000,152,1462,566,-8.05,-1.07,568.61,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,12344.61,130911,050508
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.08
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.40
$XPDR_PINGS,74
$24V_AH,23.0,50.784
$10V_AH,10.0,36.142
$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,20.650,135.475,711.000,0.000,0.000,151.333,137.789,366.127,18.500,0.000,64.761,3069.610,7592.758,702.478,3658.248,479.911,0.000,2017.974,0.000,2954.927,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,61.965,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.660,1325.612,1476.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73655,1295
$CAP_FILE_SIZE,172933,0
$CFSIZE,260165632,128323584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,091227,2100.350,12343.708,34,2.2,53,-2.7