version: 66.09
glider: 166
mission: 6
dive: 227
start: 9 14 111 23 27 30
data:
$ID,166
$MISSION,6
$DIVE,227
$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,-24684.504
$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,61
$R_STBD_OVSHOOT,57
$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
$GPS1,140911,231157,2104.516,12341.021,55,99.0,74,-2.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-68.1
$GPS2,140911,232706,2104.379,12341.072,13,1.1,29,-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,291.9,319145,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-243.3,0.0,0.0,0,131,0.00,0.00,-110.47,0.000,2,0.000,0.000,131,1481,3128,0,0,0,0,0,0
$GC,136,-0.68,-243.3,5.9,-9.7,15,168,9.43,1.08,-13.00,0.000,4,0.227,0.066,2514,2196,3879,0,0,0,0,0,0
$GC,349,-0.58,-243.3,89.9,-26.0,53,358,0.12,1.02,0.00,0.000,6,0.151,0.038,2549,1512,3881,0,0,0,0,0,0
$GC,676,-0.54,-243.3,155.7,-18.8,114,684,0.00,1.00,0.00,0.000,4,0.000,0.044,2546,2184,3882,0,0,0,0,0,0
$GC,852,-0.51,-243.3,184.7,-16.6,145,861,0.10,1.02,0.00,0.000,6,0.133,0.039,2579,1499,3882,0,0,0,0,0,0
$GC,1183,-0.52,-243.3,231.6,-13.6,206,1191,0.00,1.05,0.00,0.000,4,0.000,0.044,2576,2192,3881,0,0,0,0,0,0
$GC,1273,-0.55,-243.3,244.0,-12.4,222,1281,0.00,1.05,0.00,0.000,6,0.000,0.041,2576,1493,3881,0,0,0,0,0,0
$GC,1602,-0.58,-243.3,282.5,-10.4,257,1606,0.00,1.02,0.00,0.000,4,0.000,0.044,2572,2182,3880,0,0,0,0,0,0
$GC,1762,-0.61,-243.3,298.0,-9.7,271,1766,0.00,1.02,0.00,0.000,6,0.000,0.041,2572,1496,3880,0,0,0,0,0,0
$GC,2094,-0.65,-243.3,334.8,-11.5,302,2099,0.12,1.05,0.00,0.000,4,0.083,0.046,2493,2184,3878,0,0,0,0,0,0
$GC,2169,-0.61,-243.3,346.8,-17.2,308,2176,0.15,1.02,0.00,0.000,6,0.135,0.041,2546,1495,3877,0,0,0,0,0,0
$GC,2494,-0.61,-243.3,394.2,-13.3,339,2497,0.00,1.02,0.00,0.000,4,0.000,0.047,2547,2178,3876,0,0,0,0,0,0
$GC,2683,-0.62,-243.3,416.5,-11.4,355,2689,0.00,1.02,0.00,0.000,6,0.000,0.042,2553,1495,3875,0,0,0,0,0,0
$GC,3011,-0.64,-243.3,454.8,-11.0,386,3014,0.00,1.05,0.00,0.000,4,0.000,0.048,2548,2188,3873,0,0,0,0,0,0
$GC,3035,-0.66,-243.3,457.5,-10.7,388,3038,0.00,1.02,0.00,0.000,6,0.000,0.043,2548,1506,3872,0,0,0,0,0,0
$GC,3368,-0.69,-243.3,491.4,-9.9,419,3372,0.00,1.02,0.00,0.000,4,0.000,0.050,2543,2181,3870,0,0,0,0,0,0
$GC,3452,-0.71,-243.3,500.4,-10.2,426,3459,0.00,1.02,0.00,0.000,6,0.000,0.044,2543,1502,3869,0,0,0,0,0,0
$GC,3778,-0.74,-243.3,540.2,-12.1,457,3783,0.10,1.05,0.00,0.000,4,0.096,0.051,2478,2181,3867,0,0,0,0,0,0
$GC,3928,-0.71,-243.3,562.7,-14.4,470,3936,0.10,1.02,0.00,0.000,6,0.140,0.045,2511,1502,3865,0,0,0,0,0,0
$GC,4263,-0.71,-243.3,605.4,-12.3,500,4267,0.00,1.05,0.00,0.000,4,0.000,0.053,2508,2180,3862,0,0,0,0,0,0
$GC,4296,-0.71,-243.3,609.7,-12.4,501,4300,0.00,1.05,0.00,0.000,6,0.000,0.044,2508,1493,3862,0,0,0,0,0,0
$GC,4620,-0.71,-243.3,650.7,-13.2,517,4624,0.00,1.05,0.00,0.000,4,0.000,0.053,2504,2178,3859,0,0,0,0,0,0
$GC,4748,-0.71,-243.3,668.8,-13.4,522,4755,0.00,1.02,0.00,0.000,6,0.000,0.046,2504,1503,3857,0,0,0,0,0,0
$GC,5067,-0.71,-243.3,712.5,-14.0,538,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1503,3854,0,0,0,0,0,0
$GC,5374,-0.71,-243.3,754.9,-13.5,553,5377,0.00,1.05,0.00,0.000,4,0.000,0.055,2486,2183,3852,0,0,0,0,0,0
$GC,5458,-0.73,-243.3,765.8,-12.6,556,5464,0.00,1.05,0.00,0.000,6,0.000,0.048,2486,1500,3851,0,0,0,0,0,0
$GC,5776,-0.73,-243.3,805.7,-12.2,572,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1500,3848,0,0,0,0,0,0
$GC,6083,-0.73,-243.3,840.4,-11.0,587,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1500,3845,0,0,0,0,0,0
$GC,6393,-0.73,-243.3,872.4,-10.0,602,6397,0.00,1.08,0.00,0.000,4,0.000,0.058,2479,2168,3843,0,0,0,0,0,0
$GC,6445,-0.74,-243.3,877.3,-9.5,604,6449,0.00,1.05,0.00,0.000,6,0.000,0.051,2480,1496,3843,0,0,0,0,0,0
$GC,6772,-0.74,-243.3,909.8,-10.1,620,6776,0.00,1.05,0.00,0.000,4,0.000,0.058,2476,2172,3840,0,0,0,0,0,0
$GC,6825,-0.75,-243.3,915.1,-10.2,622,6829,0.00,1.05,0.00,0.000,6,0.000,0.052,2475,1494,3840,0,0,0,0,0,0
$GC,7153,-0.75,-243.3,950.6,-11.2,638,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1494,3838,0,0,0,0,0,0
$GC,7461,-0.75,-243.3,986.3,-11.7,653,7465,0.00,1.08,0.00,0.000,4,0.000,0.060,2471,2181,3836,0,0,0,0,0,0
$STATE,7492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7492,begin apogee
$GC,7500,-0.11,0.0,990.2,11.2,654,7708,0.70,0.00,202.30,1.434,6,0.122,0.000,2704,1836,2884,0,0,0,0,0,0
$STATE,7709,end apogee,CONTROL_FINISHED_OK
$STATE,7709,begin climb
$GC,7713,0.68,243.3,999.3,0.0,664,7943,0.70,1.17,221.15,1.370,4,0.052,0.055,2979,1154,1892,0,0,0,0,0,0
$GC,7993,0.63,243.3,966.4,16.7,677,7997,0.00,1.10,0.00,0.000,6,0.000,0.052,2976,1819,1887,0,0,0,0,0,0
$GC,8328,0.58,243.3,909.9,17.0,693,8332,0.15,1.15,0.00,0.000,4,0.175,0.061,2934,2554,1883,0,0,0,0,0,0
$GC,8444,0.58,243.3,893.4,13.2,698,8448,0.00,1.08,0.00,0.000,6,0.000,0.049,2938,1860,1883,0,0,0,0,0,0
$GC,8774,0.56,243.3,849.6,13.7,714,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1860,1881,0,0,0,0,0,0
$GC,9081,0.55,243.3,807.5,13.6,729,9085,0.00,1.08,0.00,0.000,4,0.000,0.054,2945,1147,1880,0,0,0,0,0,0
$GC,9113,0.53,243.3,802.8,13.2,730,9117,0.00,1.10,0.00,0.000,6,0.000,0.049,2940,1860,1880,0,0,0,0,0,0
$GC,9438,0.51,243.3,760.2,13.3,746,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1860,1879,0,0,0,0,0,0
$GC,9745,0.51,249.9,720.1,12.5,761,9755,0.12,1.05,5.12,0.913,4,0.173,0.054,2903,2542,1864,0,0,0,0,0,0
$GC,9863,0.69,374.5,709.8,8.3,766,9984,0.12,1.08,114.38,1.253,6,0.047,0.044,2980,1833,1357,0,0,0,0,0,0
$GC,10303,0.67,374.5,643.1,15.8,787,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1833,1351,0,0,0,0,0,0
$GC,10612,0.65,374.5,591.7,16.7,804,10615,0.00,1.10,0.00,0.000,4,0.000,0.054,2976,2551,1349,0,0,0,0,0,0
$GC,10731,0.64,374.5,572.3,16.2,814,10738,0.00,1.08,0.00,0.000,6,0.000,0.044,2980,1851,1348,0,0,0,0,0,0
$GC,11057,0.61,374.5,518.3,17.5,845,11061,0.15,1.05,0.00,0.000,4,0.170,0.048,2943,1146,1348,0,0,0,0,0,0
$GC,11104,0.63,374.5,511.7,13.8,849,11108,0.00,1.08,0.00,0.000,6,0.000,0.044,2940,1859,1347,0,0,0,0,0,0
$GC,11436,0.68,395.1,471.0,12.0,880,11460,0.00,1.08,17.90,1.029,4,0.000,0.053,2940,2551,1273,0,0,0,0,0,0
$GC,11609,0.78,446.8,449.7,10.9,895,11660,0.12,1.08,45.83,1.047,6,0.044,0.042,3027,1847,1062,0,0,0,0,0,0
$GC,11980,0.73,446.8,368.7,23.3,929,11985,0.15,1.08,0.00,0.000,4,0.163,0.047,2989,1135,1057,0,0,0,0,0,0
$GC,12041,0.73,446.8,356.4,17.6,934,12048,0.00,1.08,0.00,0.000,6,0.000,0.041,2987,1845,1057,0,0,0,0,0,0
$GC,12367,0.73,446.8,298.5,17.1,965,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1846,1057,0,0,0,0,0,0
$GC,12689,0.73,446.8,248.2,14.2,996,12697,0.00,1.05,0.00,0.000,4,0.000,0.045,3000,1147,1057,0,0,0,0,0,0
$GC,12730,0.75,446.8,242.7,13.7,1002,12738,0.00,1.05,0.00,0.000,6,0.000,0.041,2997,1852,1056,0,0,0,0,0,0
$GC,13059,0.80,474.3,202.3,11.7,1063,13090,0.00,1.10,23.60,0.798,4,0.000,0.042,3000,1137,948,0,0,0,0,0,0
$GC,13174,0.90,515.1,188.5,11.3,1082,13212,0.00,1.08,35.03,0.790,6,0.000,0.038,3000,1858,783,0,0,0,0,0,0
$GC,13533,1.01,559.9,146.7,11.1,1147,13578,0.20,1.15,38.58,0.749,4,0.060,0.041,3107,1130,599,0,0,0,0,0,0
$GC,13671,0.96,559.9,114.7,25.3,1169,13680,0.15,1.08,0.00,0.000,6,0.140,0.038,3060,1848,594,0,0,0,0,0,0
$GC,14002,1.08,620.0,60.1,10.6,1230,14041,0.00,1.08,32.30,0.672,4,0.000,0.041,3063,1132,452,0,0,0,0,0,0
$GC,14101,1.34,755.3,52.1,8.0,1245,14110,0.28,1.08,0.00,0.000,6,0.029,0.035,3215,1856,445,0,0,0,0,0,0
$STATE,14280,end climb,SURFACE_DEPTH_REACHED
$STATE,14280,begin surface coast
$FINISH,1.1,0.997907
$STATE,14292,end surface coast,CONTROL_FINISHED_OK
$STATE,14292,begin surface
$SM_CCo,14372,0.00,0.000,0,0,442,599.02
$SM_GC,1.84,8.00,0.00,0.00,0.035,0.000,0.000,155,1492,442,-8.04,-0.23,599.02,0,0,0,0,0,0
$IRIDIUM_FIX,2057.14,12342.69,140911,232310
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.34
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.90
$XPDR_PINGS,89
$24V_AH,22.9,53.410
$10V_AH,10.0,37.660
$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,20.975,57.300,736.175,0.000,0.000,84.134,95.598,386.472,22.250,0.000,30.045,3178.101,7364.515,719.219,3561.924,439.258,0.000,2027.171,0.000,2939.320,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,65.790,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.973,1310.949,1402.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330140
$DATA_FILE_SIZE,73746,1280
$CAP_FILE_SIZE,161093,0
$CFSIZE,260165632,127479808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220,100.1,1
$GPS,150911,032807,2105.338,12340.480,29,1.2,29,-2.7