version: 66.09
glider: 166
mission: 6
dive: 224
start: 9 14 111 10 29 31
data:
$ID,166
$MISSION,6
$DIVE,224
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-24680.727
$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,45
$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
$GPS1,140911,102127,2102.788,12341.136,48,99.0,67,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.4
$GPS2,140911,102907,2102.774,12341.198,39,1.8,39,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,290.9,321362,-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,-243.3,0.0,0.0,0,130,0.00,0.00,-107.45,0.000,2,0.000,0.000,151,1491,2995,0,0,0,0,0,0
$GC,133,-0.68,-243.3,5.4,-8.0,15,165,9.35,2.22,-16.73,0.000,4,0.225,0.052,2502,2913,3879,0,0,0,0,0,0
$GC,257,-0.58,-243.3,53.0,-32.2,35,265,0.17,2.15,0.00,0.000,6,0.146,0.034,2552,1505,3881,0,0,0,0,0,0
$GC,583,-0.52,-243.3,131.6,-20.7,96,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1504,3882,0,0,0,0,0,0
$GC,911,-0.49,-243.3,189.9,-16.0,157,920,0.12,2.17,0.00,0.000,4,0.158,0.044,2578,2907,3883,0,0,0,0,0,0
$GC,971,-0.53,-243.3,197.1,-10.7,167,979,0.00,2.12,0.00,0.000,6,0.000,0.034,2576,1496,3883,0,0,0,0,0,0
$GC,1298,-0.55,-243.3,242.0,-14.0,228,1306,0.00,2.17,0.00,0.000,4,0.000,0.044,2566,2909,3882,0,0,0,0,0,0
$GC,1384,-0.61,-243.3,252.5,-11.4,241,1392,0.00,2.10,0.00,0.000,6,0.000,0.034,2567,1498,3882,0,0,0,0,0,0
$GC,1710,-0.62,-243.3,295.7,-12.2,272,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1498,3882,0,0,0,0,0,0
$GC,2034,-0.65,-243.3,332.3,-10.6,302,2039,0.15,2.15,0.00,0.000,4,0.073,0.047,2482,2910,3880,0,0,0,0,0,0
$GC,2109,-0.62,-243.3,343.9,-16.0,308,2114,0.20,2.12,0.00,0.000,6,0.142,0.037,2544,1491,3880,0,0,0,0,0,0
$GC,2435,-0.62,-243.3,393.0,-15.2,338,2439,0.00,2.17,0.00,0.000,4,0.000,0.048,2538,2913,3879,0,0,0,0,0,0
$GC,2464,-0.62,-243.3,397.4,-14.7,340,2468,0.00,2.12,0.00,0.000,6,0.000,0.037,2539,1496,3878,0,0,0,0,0,0
$GC,2795,-0.62,-243.3,440.6,-12.5,371,2799,0.00,2.17,0.00,0.000,4,0.000,0.050,2529,2904,3877,0,0,0,0,0,0
$GC,2886,-0.65,-243.3,450.6,-10.2,379,2890,0.00,2.12,0.00,0.000,6,0.000,0.039,2529,1500,3877,0,0,0,0,0,0
$GC,3212,-0.65,-243.3,490.7,-11.5,409,3215,0.00,2.03,0.00,0.000,4,0.000,0.050,2529,193,3875,0,0,0,0,0,0
$GC,3285,-0.68,-243.3,499.2,-11.2,415,3291,0.00,1.98,0.00,0.000,6,0.000,0.038,2519,1501,3874,0,0,0,0,0,0
$GC,3610,-0.68,-243.3,538.0,-13.0,446,3614,0.00,2.12,0.00,0.000,4,0.000,0.051,2509,2904,3872,0,0,0,0,0,0
$GC,3721,-0.71,-243.3,550.8,-11.2,455,3725,0.00,2.12,0.00,0.000,6,0.000,0.040,2509,1490,3871,0,0,0,0,0,0
$GC,4052,-0.71,-243.3,595.6,-12.6,486,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1489,3869,0,0,0,0,0,0
$GC,4364,-0.71,-243.3,634.5,-12.2,503,4368,0.00,2.20,0.00,0.000,4,0.000,0.054,2499,2904,3866,0,0,0,0,0,0
$GC,4397,-0.71,-243.3,638.5,-11.0,504,4404,0.00,2.12,0.00,0.000,6,0.000,0.042,2499,1503,3865,0,0,0,0,0,0
$GC,4713,-0.71,-243.3,681.4,-13.6,520,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1502,3863,0,0,0,0,0,0
$GC,5025,-0.71,-243.3,723.6,-13.6,535,5029,0.00,2.20,0.00,0.000,4,0.000,0.057,2477,2908,3860,0,0,0,0,0,0
$GC,5063,-0.73,-243.3,729.5,-13.6,536,5071,0.12,2.17,0.00,0.000,6,0.151,0.044,2513,1490,3858,0,0,0,0,0,0
$GC,5380,-0.76,-243.3,764.8,-11.3,552,5384,0.00,2.22,0.00,0.000,4,0.000,0.057,2503,2909,3855,0,0,0,0,0,0
$GC,5423,-0.80,-243.3,769.1,-11.0,554,5427,0.00,2.15,0.00,0.000,6,0.000,0.043,2503,1500,3855,0,0,0,0,0,0
$GC,5751,-0.83,-243.3,806.7,-11.0,570,5755,0.00,2.22,0.00,0.000,4,0.000,0.058,2491,2904,3853,0,0,0,0,0,0
$GC,5786,-0.86,-243.3,810.4,-10.5,571,5793,0.00,2.15,0.00,0.000,6,0.000,0.044,2491,1497,3852,0,0,0,0,0,0
$GC,6103,-0.88,-243.3,844.0,-10.1,587,6107,0.00,2.20,0.00,0.000,4,0.000,0.057,2481,2902,3850,0,0,0,0,0,0
$GC,6148,-0.90,-243.3,848.6,-10.0,589,6152,0.00,2.15,0.00,0.000,6,0.000,0.044,2481,1502,3849,0,0,0,0,0,0
$GC,6476,-0.90,-243.3,882.3,-10.4,605,6481,0.00,2.20,0.00,0.000,4,0.000,0.059,2471,2901,3847,0,0,0,0,0,0
$GC,6521,-0.92,-243.3,887.3,-10.4,607,6525,0.00,2.15,0.00,0.000,6,0.000,0.045,2471,1500,3846,0,0,0,0,0,0
$GC,6845,-0.92,-243.3,925.8,-12.5,623,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1500,3844,0,0,0,0,0,0
$GC,7153,-0.92,-243.3,964.8,-12.6,638,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1500,3843,0,0,0,0,0,0
$STATE,7356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7356,begin apogee
$GC,7362,-0.11,0.0,991.2,12.8,648,7571,0.70,0.00,203.62,1.435,6,0.122,0.000,2702,1843,2884,0,0,0,0,0,0
$STATE,7572,end apogee,CONTROL_FINISHED_OK
$STATE,7572,begin climb
$GC,7574,0.68,243.3,1002.7,0.0,657,7808,0.70,2.50,221.70,1.384,4,0.048,0.062,2976,3254,1892,0,0,0,0,0,0
$GC,7854,0.64,243.3,970.3,16.9,670,7862,0.12,2.28,0.00,0.000,6,0.184,0.044,2957,1853,1889,0,0,0,0,0,0
$GC,8171,0.60,243.3,921.3,15.9,686,8175,0.00,2.22,0.00,0.000,4,0.000,0.057,2965,433,1885,0,0,0,0,0,0
$GC,8193,0.56,243.3,917.4,16.4,687,8198,0.12,2.22,0.00,0.000,6,0.166,0.046,2931,1859,1883,0,0,0,0,0,0
$GC,8516,0.55,243.3,874.8,13.1,703,8520,0.00,2.17,0.00,0.000,4,0.000,0.060,2929,3254,1882,0,0,0,0,0,0
$GC,8588,0.55,243.3,864.5,13.3,706,8592,0.00,2.15,0.00,0.000,6,0.000,0.043,2939,1838,1881,0,0,0,0,0,0
$GC,8913,0.53,243.3,821.1,13.6,722,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1838,1881,0,0,0,0,0,0
$GC,9220,0.52,243.3,779.2,13.7,737,9224,0.00,2.12,0.00,0.000,4,0.000,0.054,2948,446,1880,0,0,0,0,0,0
$GC,9248,0.50,243.3,775.0,14.6,738,9253,0.15,2.15,0.00,0.000,6,0.154,0.042,2910,1848,1879,0,0,0,0,0,0
$GC,9573,0.57,285.5,738.2,11.2,754,9618,0.00,2.33,37.92,1.278,4,0.000,0.058,2907,3269,1720,0,0,0,0,0,0
$GC,9698,0.66,323.0,723.6,11.4,759,9741,0.12,2.20,35.97,1.237,6,0.084,0.040,2978,1844,1566,0,0,0,0,0,0
$GC,10063,0.63,323.0,659.7,18.0,777,10068,0.12,2.20,0.00,0.000,4,0.174,0.053,2953,436,1561,0,0,0,0,0,0
$GC,10097,0.63,323.0,654.1,15.6,778,10104,0.00,2.20,0.00,0.000,6,0.000,0.041,2952,1858,1560,0,0,0,0,0,0
$GC,10413,0.63,323.0,608.9,13.6,794,10417,0.00,2.15,0.00,0.000,4,0.000,0.057,2952,3261,1559,0,0,0,0,0,0
$GC,10535,0.65,329.0,593.5,12.5,801,10548,0.00,2.15,5.68,0.888,6,0.000,0.041,2958,1845,1542,0,0,0,0,0,0
$GC,10866,0.64,329.0,549.8,12.8,832,10870,0.00,2.12,0.00,0.000,4,0.000,0.050,2967,443,1542,0,0,0,0,0,0
$GC,10912,0.64,329.0,543.6,13.4,835,10920,0.00,2.17,0.00,0.000,6,0.000,0.041,2967,1862,1540,0,0,0,0,0,0
$GC,11238,0.63,329.0,495.5,15.6,866,11242,0.00,2.15,0.00,0.000,4,0.000,0.061,2967,3263,1540,0,0,0,0,0,0
$GC,11366,0.64,329.0,477.7,13.1,877,11371,0.00,2.15,0.00,0.000,6,0.000,0.041,2975,1841,1540,0,0,0,0,0,0
$GC,11692,0.62,329.0,427.8,15.5,907,11694,0.12,0.00,0.00,0.000,6,0.181,0.000,2945,1841,1540,0,0,0,0,0,0
$GC,12010,0.74,408.9,391.6,9.9,937,12088,0.12,2.33,70.45,1.013,4,0.091,0.052,3014,3250,1216,0,0,0,0,0,0
$GC,12114,0.70,408.9,373.5,20.4,946,12122,0.17,2.17,0.00,0.000,6,0.154,0.037,2975,1852,1214,0,0,0,0,0,0
$GC,12439,0.70,408.9,325.9,14.6,977,12443,0.00,2.15,0.00,0.000,4,0.000,0.048,2988,440,1212,0,0,0,0,0,0
$GC,12498,0.74,408.9,318.1,13.1,981,12505,0.00,2.15,0.00,0.000,6,0.000,0.037,2991,1855,1211,0,0,0,0,0,0
$GC,12823,0.74,408.9,269.6,14.5,1012,12827,0.00,2.15,0.00,0.000,4,0.000,0.050,2994,3263,1211,0,0,0,0,0,0
$GC,12880,0.77,408.9,262.0,12.7,1016,12888,0.00,2.15,0.00,0.000,6,0.000,0.037,3003,1849,1211,0,0,0,0,0,0
$GC,13205,0.77,408.9,212.9,14.4,1069,13213,0.00,2.17,0.00,0.000,4,0.000,0.045,3014,442,1211,0,0,0,0,0,0
$GC,13256,0.80,408.9,206.4,13.1,1077,13264,0.00,2.15,0.00,0.000,6,0.000,0.034,3014,1856,1211,0,0,0,0,0,0
$GC,13584,0.80,408.9,158.2,14.5,1138,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1857,1211,0,0,0,0,0,0
$GC,13911,0.82,420.7,113.7,12.3,1199,13928,0.00,2.17,11.12,0.671,4,0.000,0.042,3024,436,1168,0,0,0,0,0,0
$GC,13958,0.89,450.8,107.9,11.6,1206,13989,0.00,2.15,25.90,0.718,6,0.000,0.034,3024,1856,1046,0,0,0,0,0,0
$GC,14310,1.04,544.4,68.7,9.4,1270,14393,0.15,2.30,76.70,0.693,4,0.070,0.044,3126,437,662,0,0,0,0,0,0
$GC,14426,1.04,544.4,49.6,16.7,1286,14435,0.12,2.17,0.00,0.000,6,0.111,0.032,3082,1838,659,0,0,0,0,0,0
$GC,14757,1.09,555.0,8.6,12.3,1347,14774,0.00,2.15,9.57,0.551,4,0.000,0.042,3091,440,618,0,0,0,0,0,0
$GC,14788,1.16,576.2,4.3,11.9,1351,14806,0.00,2.15,12.73,0.571,2,0.000,0.033,3090,1856,564,0,0,0,0,0,0
$STATE,14807,end climb,SURFACE_DEPTH_REACHED
$STATE,14807,begin surface coast
$FINISH,1.0,1.007720
$STATE,14834,end surface coast,CONTROL_FINISHED_OK
$STATE,14834,begin surface
$SM_CCo,14914,0.00,0.000,0,0,559,570.57
$SM_GC,1.73,7.60,0.00,0.00,0.031,0.000,0.000,136,1480,559,-8.05,-0.57,570.57,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,12341.40,140911,060653
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.69
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.70
$XPDR_PINGS,76
$24V_AH,22.9,52.596
$10V_AH,10.0,37.208
$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,20.475,131.500,711.375,0.000,0.000,28.589,39.713,200.997,19.000,0.000,40.345,3369.451,7459.830,738.278,3334.907,454.529,0.000,2082.389,0.000,3051.512,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,61.965,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.776,1388.933,1542.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330288
$DATA_FILE_SIZE,76931,1358
$CAP_FILE_SIZE,166337,0
$CFSIZE,260165632,127725568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247, 89.7,1
$GPS,140911,143945,2103.657,12340.723,42,2.8,61,-2.7