version: 66.09
glider: 166
mission: 6
dive: 189
start: 9 8 111 8 59 22
data:
$ID,166
$MISSION,6
$DIVE,189
$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,1
$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,-24636.666
$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,49
$R_STBD_OVSHOOT,49
$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
$GPS1,080911,085106,2117.258,12408.745,42,1.2,47,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-71.6
$GPS2,080911,085900,2117.223,12408.818,39,1.4,42,-2.8
$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,308.2,340500,-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,14,begin dive
$GC,17,-0.68,-243.3,0.0,0.0,0,133,0.00,0.00,-113.88,0.000,2,0.000,0.000,154,1478,3244,0,0,0,0,0,0
$GC,136,-0.68,-243.3,6.5,-10.5,16,167,9.38,2.22,-11.20,0.000,4,0.226,0.054,2506,2899,3880,0,0,0,0,0,0
$GC,271,-0.60,-243.3,58.9,-27.1,39,279,0.15,2.15,0.00,0.000,6,0.140,0.036,2540,1508,3882,0,0,0,0,0,0
$GC,596,-0.54,-243.3,131.9,-21.2,100,604,0.10,0.00,0.00,0.000,6,0.184,0.000,2565,1505,3884,0,0,0,0,0,0
$GC,921,-0.53,-243.3,189.9,-16.6,161,929,0.00,2.12,0.00,0.000,4,0.000,0.041,2556,2903,3884,0,0,0,0,0,0
$GC,963,-0.54,-243.3,196.6,-15.0,168,971,0.00,2.12,0.00,0.000,6,0.000,0.032,2554,1491,3884,0,0,0,0,0,0
$GC,1286,-0.54,-243.3,243.3,-12.4,229,1294,0.00,2.15,0.00,0.000,4,0.000,0.041,2543,2907,3883,0,0,0,0,0,0
$GC,1369,-0.58,-243.3,252.5,-10.4,241,1374,0.00,2.10,0.00,0.000,6,0.000,0.032,2544,1490,3883,0,0,0,0,0,0
$GC,1696,-0.58,-243.3,295.0,-12.8,271,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1490,3882,0,0,0,0,0,0
$GC,2016,-0.58,-243.3,331.3,-10.9,301,2020,0.00,2.12,0.00,0.000,4,0.000,0.041,2549,2911,3881,0,0,0,0,0,0
$GC,2091,-0.62,-243.3,338.6,-8.9,307,2095,0.00,2.12,0.00,0.000,6,0.000,0.034,2553,1490,3881,0,0,0,0,0,0
$GC,2416,-0.62,-243.3,378.0,-13.3,337,2420,0.00,2.12,0.00,0.000,4,0.000,0.043,2543,2903,3879,0,0,0,0,0,0
$GC,2494,-0.66,-243.3,387.5,-11.0,343,2501,0.00,2.10,0.00,0.000,6,0.000,0.034,2543,1492,3879,0,0,0,0,0,0
$GC,2819,-0.66,-243.3,428.1,-11.7,374,2823,0.00,2.12,0.00,0.000,4,0.000,0.043,2533,2901,3877,0,0,0,0,0,0
$GC,2887,-0.69,-243.3,435.5,-10.2,379,2894,0.00,2.10,0.00,0.000,6,0.000,0.034,2533,1499,3875,0,0,0,0,0,0
$GC,3212,-0.69,-243.3,476.6,-12.9,410,3216,0.00,2.12,0.00,0.000,4,0.000,0.046,2522,2906,3874,0,0,0,0,0,0
$GC,3264,-0.72,-243.3,483.1,-12.4,414,3268,0.00,2.10,0.00,0.000,6,0.000,0.035,2523,1502,3873,0,0,0,0,0,0
$GC,3589,-0.72,-243.3,525.2,-12.5,444,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1501,3871,0,0,0,0,0,0
$GC,3909,-0.72,-243.3,563.4,-12.2,474,3913,0.00,2.15,0.00,0.000,4,0.000,0.050,2512,2898,3868,0,0,0,0,0,0
$GC,3933,-0.73,-243.3,566.2,-11.4,475,3940,0.00,2.12,0.00,0.000,6,0.000,0.037,2512,1490,3868,0,0,0,0,0,0
$GC,4269,-0.73,-243.3,608.8,-12.8,504,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1490,3865,0,0,0,0,0,0
$GC,4579,-0.73,-243.3,648.5,-12.7,519,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1490,3862,0,0,0,0,0,0
$GC,4886,-0.73,-243.3,688.4,-12.7,534,4890,0.00,2.20,0.00,0.000,4,0.000,0.056,2502,2895,3859,0,0,0,0,0,0
$GC,4937,-0.75,-243.3,694.7,-11.4,536,4941,0.00,2.12,0.00,0.000,6,0.000,0.041,2501,1499,3859,0,0,0,0,0,0
$GC,5260,-0.75,-243.3,735.1,-12.6,552,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1499,3856,0,0,0,0,0,0
$GC,5567,-0.75,-243.3,771.9,-11.6,567,5571,0.00,2.20,0.00,0.000,4,0.000,0.057,2480,2900,3854,0,0,0,0,0,0
$GC,5595,-0.75,-243.3,775.3,-11.7,568,5598,0.00,2.15,0.00,0.000,6,0.000,0.044,2479,1494,3854,0,0,0,0,0,0
$GC,5919,-0.75,-243.3,814.5,-12.0,584,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1494,3851,0,0,0,0,0,0
$GC,6226,-0.75,-243.3,851.3,-11.9,599,6230,0.00,2.20,0.00,0.000,4,0.000,0.060,2467,2901,3849,0,0,0,0,0,0
$GC,6266,-0.75,-243.3,855.8,-11.4,600,6273,0.12,2.15,0.00,0.000,6,0.158,0.044,2502,1496,3848,0,0,0,0,0,0
$GC,6583,-0.78,-243.3,887.5,-9.8,616,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1496,3846,0,0,0,0,0,0
$GC,6892,-0.80,-243.3,918.5,-10.1,631,6896,0.00,2.20,0.00,0.000,4,0.000,0.059,2494,2891,3843,0,0,0,0,0,0
$GC,6957,-0.85,-243.3,924.4,-9.2,634,6961,0.00,2.15,0.00,0.000,6,0.000,0.045,2495,1493,3843,0,0,0,0,0,0
$GC,7286,-0.87,-243.3,958.8,-10.7,650,7290,0.00,2.20,0.00,0.000,4,0.000,0.058,2485,2895,3842,0,0,0,0,0,0
$GC,7351,-0.91,-243.3,965.5,-10.2,653,7355,0.00,2.15,0.00,0.000,6,0.000,0.046,2486,1504,3841,0,0,0,0,0,0
$STATE,7572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7572,begin apogee
$GC,7578,-0.11,0.0,991.1,11.3,664,7789,0.65,0.00,202.45,1.444,6,0.117,0.000,2703,1837,2882,0,0,0,0,0,0
$STATE,7790,end apogee,CONTROL_FINISHED_OK
$STATE,7790,begin climb
$GC,7792,0.68,243.3,1000.4,0.0,674,8026,0.70,2.42,221.18,1.378,4,0.048,0.054,2986,446,1892,0,0,0,0,0,0
$GC,8067,0.62,243.3,965.2,18.6,686,8075,0.15,2.33,0.00,0.000,6,0.171,0.045,2949,1851,1888,0,0,0,0,0,0
$GC,8383,0.57,243.3,914.3,16.0,702,8387,0.00,2.20,0.00,0.000,4,0.000,0.059,2944,3258,1884,0,0,0,0,0,0
$GC,8484,0.55,243.3,898.3,15.1,706,8488,0.00,2.17,0.00,0.000,6,0.000,0.042,2952,1846,1883,0,0,0,0,0,0
$GC,8802,0.50,243.3,847.3,16.1,721,8804,0.15,0.00,0.00,0.000,6,0.175,0.000,2912,1846,1882,0,0,0,0,0,0
$GC,9109,0.54,274.2,809.9,11.6,736,9144,0.00,2.35,27.90,1.294,4,0.000,0.055,2911,3260,1766,0,0,0,0,0,0
$GC,9171,0.60,313.9,802.8,11.3,738,9219,0.00,2.22,38.12,1.287,6,0.000,0.041,2919,1839,1604,0,0,0,0,0,0
$GC,9529,0.62,327.2,759.1,12.2,756,9548,0.00,0.00,12.98,1.174,6,0.000,0.000,2919,1840,1549,0,0,0,0,0,0
$GC,9859,0.63,327.2,717.4,12.9,772,9863,0.00,2.22,0.00,0.000,4,0.000,0.054,2919,3261,1545,0,0,0,0,0,0
$GC,9883,0.65,327.2,714.0,12.8,773,9887,0.00,2.17,0.00,0.000,6,0.000,0.039,2929,1844,1545,0,0,0,0,0,0
$GC,10211,0.65,327.2,668.3,14.0,789,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1844,1545,0,0,0,0,0,0
$GC,10519,0.65,327.2,626.9,12.7,804,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1843,1544,0,0,0,0,0,0
$GC,10831,0.70,362.4,591.3,11.5,822,10868,0.12,2.30,31.80,1.177,4,0.091,0.054,2994,3267,1406,0,0,0,0,0,0
$GC,10907,0.67,362.4,578.4,19.6,828,10912,0.15,2.17,0.00,0.000,6,0.172,0.038,2965,1851,1405,0,0,0,0,0,0
$GC,11240,0.65,362.4,523.2,16.4,859,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1851,1402,0,0,0,0,0,0
$GC,11557,0.64,362.4,468.0,18.0,889,11561,0.00,2.20,0.00,0.000,4,0.000,0.052,2965,3261,1402,0,0,0,0,0,0
$GC,11586,0.64,362.4,461.9,19.7,891,11590,0.00,2.15,0.00,0.000,6,0.000,0.038,2974,1846,1402,0,0,0,0,0,0
$GC,11911,0.64,362.4,400.1,17.5,921,11915,0.00,2.20,0.00,0.000,4,0.000,0.051,2974,3262,1401,0,0,0,0,0,0
$GC,11940,0.64,362.4,395.0,17.4,923,11945,0.12,2.15,0.00,0.000,6,0.170,0.037,2952,1840,1400,0,0,0,0,0,0
$GC,12266,0.69,387.9,354.3,11.8,953,12294,0.00,2.22,22.65,0.973,4,0.000,0.049,2960,445,1301,0,0,0,0,0,0
$GC,12324,0.81,453.5,348.0,10.4,957,12389,0.15,2.17,57.25,0.976,6,0.076,0.035,3039,1862,1033,0,0,0,0,0,0
$GC,12716,0.76,453.5,265.3,22.3,994,12721,0.17,2.20,0.00,0.000,4,0.154,0.054,2979,3264,1029,0,0,0,0,0,0
$GC,12819,0.82,453.5,249.3,13.0,1003,12827,0.00,2.17,0.00,0.000,6,0.000,0.037,2986,1851,1028,0,0,0,0,0,0
$GC,13147,0.85,453.5,202.0,15.4,1064,13155,0.00,2.17,0.00,0.000,4,0.000,0.047,3000,446,1027,0,0,0,0,0,0
$GC,13209,0.90,453.5,193.2,13.4,1075,13218,0.08,2.15,0.00,0.000,6,0.052,0.036,3066,1857,1026,0,0,0,0,0,0
$GC,13540,0.87,453.5,126.0,18.1,1136,13549,0.15,2.15,0.00,0.000,4,0.157,0.050,3014,3248,1026,0,0,0,0,0,0
$GC,13642,1.04,533.7,112.7,9.9,1154,13718,0.12,2.12,65.32,0.754,6,0.044,0.036,3108,1847,705,0,0,0,0,0,0
$GC,14039,1.02,533.7,37.5,17.4,1224,14048,0.12,2.17,0.00,0.000,4,0.158,0.045,3083,443,700,0,0,0,0,0,0
$GC,14104,1.14,577.1,29.1,11.2,1235,14149,0.00,2.15,36.12,0.658,6,0.000,0.034,3083,1857,528,0,0,0,0,0,0
$STATE,14331,end climb,SURFACE_DEPTH_REACHED
$STATE,14331,begin surface coast
$FINISH,1.1,0.997549
$STATE,14358,end surface coast,CONTROL_FINISHED_OK
$STATE,14358,begin surface
$SM_CCo,14438,0.00,0.000,0,0,523,579.15
$SM_GC,1.97,7.70,0.00,0.00,0.036,0.000,0.000,154,1495,523,-8.04,-0.14,579.15,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12407.05,080911,040447
$TT8_MAMPS,0.027713,0.027713
$HUMID,37.67
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.90
$XPDR_PINGS,73
$24V_AH,22.9,43.539
$10V_AH,10.0,31.996
$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,20.300,109.850,715.775,0.000,0.000,27.408,45.464,212.014,18.250,0.000,43.196,2986.304,7642.068,714.077,3144.730,407.993,0.000,1984.988,0.000,2827.467,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,60.435,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.216,1311.918,1389.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330224
$DATA_FILE_SIZE,73693,1281
$CAP_FILE_SIZE,153757,0
$CFSIZE,260165632,130744320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080911,130127,2118.038,12409.145,31,99.0,50,-2.8