version: 66.09
glider: 166
mission: 6
dive: 226
start: 9 14 111 19 3 10
data:
$ID,166
$MISSION,6
$DIVE,226
$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,-24683.244
$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,20
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,34
$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
$GPS1,140911,184657,2104.131,12341.099,39,99.0,58,-2.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.8
$GPS2,140911,190246,2104.071,12341.423,15,99.0,34,-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,282.0,319971,-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,-243.3,0.0,0.0,0,130,0.00,0.00,-108.53,0.000,2,0.000,0.000,122,1483,3096,0,0,0,0,0,0
$GC,133,-0.68,-243.3,5.9,-10.4,15,165,9.32,1.10,-14.07,0.000,4,0.223,0.065,2510,2217,3878,0,0,0,0,0,0
$GC,354,-0.59,-243.3,86.4,-24.0,54,362,0.12,1.08,0.00,0.000,6,0.142,0.041,2546,1499,3879,0,0,0,0,0,0
$GC,678,-0.55,-243.3,156.8,-20.5,115,688,0.00,1.05,0.00,0.000,4,0.000,0.045,2543,2205,3880,0,0,0,0,0,0
$GC,765,-0.52,-243.3,174.1,-18.0,130,773,0.10,1.05,0.00,0.000,6,0.133,0.040,2576,1498,3881,0,0,0,0,0,0
$GC,1092,-0.52,-243.3,224.3,-14.3,191,1100,0.00,1.05,0.00,0.000,4,0.000,0.045,2573,2205,3880,0,0,0,0,0,0
$GC,1249,-0.54,-243.3,242.4,-11.0,219,1257,0.00,1.05,0.00,0.000,6,0.000,0.041,2573,1505,3880,0,0,0,0,0,0
$GC,1584,-0.56,-243.3,280.8,-11.5,256,1588,0.00,1.05,0.00,0.000,4,0.000,0.046,2569,2206,3879,0,0,0,0,0,0
$GC,1630,-0.59,-243.3,286.3,-11.8,260,1633,0.00,1.05,0.00,0.000,6,0.000,0.041,2569,1503,3879,0,0,0,0,0,0
$GC,1963,-0.61,-243.3,326.2,-11.6,291,1967,0.00,1.05,0.00,0.000,4,0.000,0.046,2565,2206,3877,0,0,0,0,0,0
$GC,2125,-0.65,-243.3,344.9,-11.2,305,2128,0.00,1.05,0.00,0.000,6,0.000,0.041,2567,1500,3876,0,0,0,0,0,0
$GC,2456,-0.68,-243.3,379.7,-9.0,336,2460,0.17,1.08,0.00,0.000,4,0.066,0.048,2482,2200,3874,0,0,0,0,0,0
$GC,2562,-0.63,-243.3,396.6,-17.4,345,2571,0.15,1.05,0.00,0.000,6,0.137,0.042,2533,1502,3873,0,0,0,0,0,0
$GC,2888,-0.63,-243.3,439.6,-13.7,376,2891,0.00,1.08,0.00,0.000,4,0.000,0.049,2531,2210,3872,0,0,0,0,0,0
$GC,3027,-0.63,-243.3,458.7,-13.4,388,3034,0.00,1.08,0.00,0.000,6,0.000,0.043,2533,1494,3871,0,0,0,0,0,0
$GC,3353,-0.63,-243.3,503.8,-13.5,419,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1494,3869,0,0,0,0,0,0
$GC,3675,-0.63,-243.3,544.0,-12.4,449,3679,0.00,1.08,0.00,0.000,4,0.000,0.051,2528,2199,3866,0,0,0,0,0,0
$GC,3805,-0.65,-243.3,559.8,-11.1,460,3812,0.00,1.08,0.00,0.000,6,0.000,0.044,2528,1493,3865,0,0,0,0,0,0
$GC,4131,-0.65,-243.3,595.7,-10.9,491,4134,0.00,1.08,0.00,0.000,4,0.000,0.051,2523,2195,3862,0,0,0,0,0,0
$GC,4181,-0.66,-243.3,601.0,-10.2,495,4185,0.00,1.05,0.00,0.000,6,0.000,0.045,2523,1506,3862,0,0,0,0,0,0
$GC,4511,-0.67,-243.3,637.6,-11.7,511,4515,0.00,1.08,0.00,0.000,4,0.000,0.053,2518,2205,3859,0,0,0,0,0,0
$GC,4573,-0.69,-243.3,645.6,-12.1,513,4581,0.00,1.08,0.00,0.000,6,0.000,0.044,2518,1499,3857,0,0,0,0,0,0
$GC,4890,-0.70,-243.3,686.0,-13.0,529,4893,0.00,1.08,0.00,0.000,4,0.000,0.054,2513,2199,3855,0,0,0,0,0,0
$GC,5056,-0.72,-243.3,706.2,-12.2,536,5060,0.00,1.08,0.00,0.000,6,0.000,0.047,2513,1494,3853,0,0,0,0,0,0
$GC,5384,-0.73,-243.3,747.4,-12.2,552,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1494,3851,0,0,0,0,0,0
$GC,5695,-0.75,-243.3,784.2,-11.6,567,5699,0.00,1.10,0.00,0.000,4,0.000,0.055,2508,2206,3847,0,0,0,0,0,0
$GC,5833,-0.77,-243.3,799.6,-11.1,573,5837,0.00,1.08,0.00,0.000,6,0.000,0.047,2508,1502,3846,0,0,0,0,0,0
$GC,6167,-0.79,-243.3,838.6,-11.5,589,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1502,3844,0,0,0,0,0,0
$GC,6476,-0.81,-243.3,872.7,-11.0,604,6480,0.00,1.08,0.00,0.000,4,0.000,0.058,2503,2193,3841,0,0,0,0,0,0
$GC,6592,-0.83,-243.3,884.1,-9.9,609,6596,0.00,1.08,0.00,0.000,6,0.000,0.050,2503,1496,3840,0,0,0,0,0,0
$GC,6926,-0.85,-243.3,919.9,-11.0,625,6930,0.00,1.10,0.00,0.000,4,0.000,0.060,2498,2198,3838,0,0,0,0,0,0
$GC,6978,-0.87,-243.3,925.3,-10.6,627,6982,0.00,1.08,0.00,0.000,6,0.000,0.050,2498,1504,3837,0,0,0,0,0,0
$GC,7306,-0.88,-243.3,963.9,-11.9,643,7310,0.10,1.10,0.00,0.000,4,0.105,0.059,2437,2196,3835,0,0,0,0,0,0
$GC,7375,-0.85,-243.3,973.9,-15.3,646,7379,0.08,1.08,0.00,0.000,6,0.154,0.050,2461,1499,3834,0,0,0,0,0,0
$STATE,7499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7499,begin apogee
$GC,7507,-0.11,0.0,992.3,14.2,652,7716,0.75,0.00,201.55,1.435,6,0.131,0.000,2698,1859,2884,0,0,0,0,0,0
$STATE,7716,end apogee,CONTROL_FINISHED_OK
$STATE,7716,begin climb
$GC,7721,0.68,243.3,1002.8,0.0,661,7954,0.73,1.20,220.70,1.372,4,0.053,0.061,2968,2549,1892,0,0,0,0,0,0
$GC,8010,0.64,243.3,968.7,16.2,675,8014,0.00,1.12,0.00,0.000,6,0.000,0.050,2971,1861,1888,0,0,0,0,0,0
$GC,8340,0.59,243.3,913.4,17.4,691,8341,0.12,0.00,0.00,0.000,6,0.184,0.000,2939,1861,1883,0,0,0,0,0,0
$GC,8647,0.57,243.3,870.2,13.5,706,8651,0.00,1.08,0.00,0.000,4,0.000,0.060,2935,2547,1882,0,0,0,0,0,0
$GC,8693,0.55,243.3,864.0,13.7,708,8697,0.00,1.10,0.00,0.000,6,0.000,0.048,2938,1837,1881,0,0,0,0,0,0
$GC,9028,0.53,243.3,818.2,13.8,724,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1837,1881,0,0,0,0,0,0
$GC,9335,0.51,243.3,773.8,14.7,739,9339,0.00,1.12,0.00,0.000,4,0.000,0.057,2935,2559,1879,0,0,0,0,0,0
$GC,9370,0.49,243.3,768.7,14.3,740,9375,0.10,1.10,0.00,0.000,6,0.147,0.047,2905,1849,1879,0,0,0,0,0,0
$GC,9692,0.51,253.3,729.2,12.3,756,9706,0.00,1.10,8.25,1.090,4,0.000,0.050,2909,1137,1851,0,0,0,0,0,0
$GC,9736,0.55,279.9,723.8,11.8,758,9767,0.00,1.10,26.58,1.243,6,0.000,0.047,2907,1855,1741,0,0,0,0,0,0
$GC,10084,0.58,290.0,679.8,12.3,775,10096,0.00,0.00,10.52,1.106,6,0.000,0.000,2907,1854,1701,0,0,0,0,0,0
$GC,10395,0.68,347.9,645.5,10.7,790,10451,0.17,0.00,53.47,1.210,6,0.073,0.000,2991,1856,1464,0,0,0,0,0,0
$GC,10750,0.64,347.9,576.8,20.2,812,10755,0.15,1.08,0.00,0.000,4,0.166,0.054,2948,2544,1459,0,0,0,0,0,0
$GC,10868,0.65,347.9,558.9,14.1,822,10872,0.00,1.08,0.00,0.000,6,0.000,0.043,2950,1842,1459,0,0,0,0,0,0
$GC,11199,0.65,347.9,510.6,14.8,853,11203,0.00,1.10,0.00,0.000,4,0.000,0.054,2950,2561,1457,0,0,0,0,0,0
$GC,11250,0.67,347.9,503.1,14.1,857,11257,0.00,1.08,0.00,0.000,6,0.000,0.044,2953,1853,1457,0,0,0,0,0,0
$GC,11575,0.67,347.9,459.2,12.7,888,11579,0.00,1.05,0.00,0.000,4,0.000,0.047,2958,1148,1456,0,0,0,0,0,0
$GC,11683,0.67,347.9,445.6,13.0,897,11690,0.00,1.08,0.00,0.000,6,0.000,0.044,2960,1857,1456,0,0,0,0,0,0
$GC,12009,0.67,347.9,398.3,14.8,928,12012,0.00,1.02,0.00,0.000,4,0.000,0.050,2961,2550,1455,0,0,0,0,0,0
$GC,12033,0.67,347.9,394.8,14.9,930,12037,0.00,1.05,0.00,0.000,6,0.000,0.041,2967,1852,1455,0,0,0,0,0,0
$GC,12364,0.67,347.9,348.3,13.6,961,12367,0.00,1.05,0.00,0.000,4,0.000,0.046,2977,1140,1455,0,0,0,0,0,0
$GC,12479,0.68,347.9,332.8,13.6,971,12483,0.00,1.05,0.00,0.000,6,0.000,0.041,2978,1851,1455,0,0,0,0,0,0
$GC,12809,0.68,347.9,288.6,13.1,1002,12813,0.00,1.08,0.00,0.000,4,0.000,0.045,2982,1138,1455,0,0,0,0,0,0
$GC,12861,0.70,347.9,281.4,13.8,1006,12870,0.00,1.05,0.00,0.000,6,0.000,0.040,2982,1849,1455,0,0,0,0,0,0
$GC,13192,0.71,348.1,237.7,12.7,1046,13200,0.00,1.05,0.00,0.000,4,0.000,0.044,2987,1145,1455,0,0,0,0,0,0
$GC,13304,0.79,389.0,224.6,11.3,1066,13348,0.00,1.02,35.08,0.832,6,0.000,0.038,2986,1846,1297,0,0,0,0,0,0
$GC,13668,0.84,411.0,182.9,11.9,1132,13692,0.00,1.10,19.98,0.760,4,0.000,0.044,2990,1142,1207,0,0,0,0,0,0
$GC,13778,0.97,483.5,170.9,10.2,1150,13849,0.15,1.05,60.55,0.774,6,0.040,0.036,3082,1854,912,0,0,0,0,0,0
$GC,14171,0.93,483.5,88.2,18.2,1219,14180,0.12,1.02,0.00,0.000,4,0.166,0.044,3046,2543,908,0,0,0,0,0,0
$GC,14194,0.91,483.5,84.1,17.9,1222,14202,0.00,1.05,0.00,0.000,6,0.000,0.037,3048,1837,908,0,0,0,0,0,0
$GC,14523,1.16,630.2,44.9,7.6,1283,14627,0.17,1.05,93.38,0.666,4,0.065,0.038,3162,1145,451,0,0,0,0,0,0
$GC,14706,1.12,630.2,6.3,23.0,1311,14714,0.15,1.05,0.00,0.000,6,0.125,0.037,3109,1853,443,0,0,0,0,0,0
$STATE,14721,end climb,SURFACE_DEPTH_REACHED
$STATE,14721,begin surface coast
$FINISH,1.0,1.008808
$STATE,14733,end surface coast,CONTROL_FINISHED_OK
$STATE,14734,begin surface
$SM_CCo,14813,0.00,0.000,0,0,441,599.27
$SM_GC,1.77,7.72,0.00,0.00,0.036,0.000,0.000,139,1480,441,-8.04,-0.57,599.27,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,12341.40,140911,181835
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.02
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.00
$XPDR_PINGS,79
$24V_AH,23.0,53.124
$10V_AH,10.0,37.508
$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,20.400,63.275,730.050,0.000,0.000,147.902,152.997,216.818,19.750,0.000,35.907,3275.092,7755.352,712.558,3559.244,444.922,0.000,2076.063,0.000,3010.889,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,65.025,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.355,1349.540,1409.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330184
$DATA_FILE_SIZE,73571,1315
$CAP_FILE_SIZE,165555,0
$CFSIZE,260165632,127565824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.259, 99.1,1
$GPS,140911,231157,2104.516,12341.021,55,99.0,74,-2.7