version: 66.09
glider: 166
mission: 6
dive: 193
start: 9 9 111 1 29 32
data:
$ID,166
$MISSION,6
$DIVE,193
$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,-24641.703
$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,37
$R_STBD_OVSHOOT,44
$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
$GPS1,090911,012227,2116.294,12408.987,40,99.0,59,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-71.5
$GPS2,090911,012910,2116.121,12409.091,11,99.0,30,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2116.121,12357.503
$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,272.8,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-243.3,0.0,0.0,0,119,0.00,0.00,-99.40,0.000,2,0.000,0.000,154,1502,3006,0,0,0,0,0,0
$GC,122,-0.68,-243.3,5.5,-8.2,14,159,9.25,2.03,-16.73,0.000,4,0.221,0.054,2509,193,3880,0,0,0,0,0,0
$GC,299,-0.59,-243.3,64.4,-26.3,45,308,0.15,1.98,0.00,0.000,6,0.148,0.033,2545,1498,3881,0,0,0,0,0,0
$GC,621,-0.53,-243.3,140.5,-20.9,106,629,0.00,2.12,0.00,0.000,4,0.000,0.041,2536,2906,3883,0,0,0,0,0,0
$GC,746,-0.52,-243.3,160.6,-15.4,128,755,0.10,2.12,0.00,0.000,6,0.132,0.033,2570,1491,3884,0,0,0,0,0,0
$GC,1072,-0.52,-243.3,208.5,-11.6,189,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1491,3884,0,0,0,0,0,0
$GC,1389,-0.54,-243.3,250.8,-13.7,250,1393,0.00,2.12,0.00,0.000,4,0.000,0.041,2561,2905,3884,0,0,0,0,0,0
$GC,1509,-0.59,-243.3,264.9,-11.0,260,1513,0.00,2.08,0.00,0.000,6,0.000,0.031,2561,1490,3883,0,0,0,0,0,0
$GC,1842,-0.61,-243.3,306.4,-12.5,291,1846,0.00,2.12,0.00,0.000,4,0.000,0.041,2552,2907,3882,0,0,0,0,0,0
$GC,1903,-0.66,-243.3,313.4,-10.1,296,1910,0.00,2.10,0.00,0.000,6,0.000,0.032,2555,1493,3882,0,0,0,0,0,0
$GC,2229,-0.68,-243.3,349.6,-9.8,327,2234,0.15,2.15,0.00,0.000,4,0.073,0.042,2477,2909,3881,0,0,0,0,0,0
$GC,2327,-0.64,-243.3,364.1,-16.9,335,2332,0.20,2.10,0.00,0.000,6,0.151,0.034,2536,1503,3881,0,0,0,0,0,0
$GC,2652,-0.64,-243.3,410.5,-14.7,365,2656,0.00,2.15,0.00,0.000,4,0.000,0.044,2527,2903,3879,0,0,0,0,0,0
$GC,2704,-0.66,-243.3,417.2,-12.5,369,2708,0.00,2.10,0.00,0.000,6,0.000,0.034,2528,1497,3879,0,0,0,0,0,0
$GC,3029,-0.66,-243.3,464.1,-14.3,399,3033,0.00,2.15,0.00,0.000,4,0.000,0.045,2517,2912,3877,0,0,0,0,0,0
$GC,3061,-0.66,-243.3,469.0,-14.2,401,3068,0.00,2.12,0.00,0.000,6,0.000,0.036,2517,1510,3877,0,0,0,0,0,0
$GC,3387,-0.65,-243.3,520.0,-15.6,432,3391,0.00,2.12,0.00,0.000,4,0.000,0.047,2507,2903,3875,0,0,0,0,0,0
$GC,3438,-0.65,-243.3,527.4,-13.9,436,3442,0.00,2.10,0.00,0.000,6,0.000,0.037,2507,1499,3875,0,0,0,0,0,0
$GC,3769,-0.63,-243.3,577.3,-14.8,467,3771,0.12,0.00,0.00,0.000,6,0.164,0.000,2542,1499,3872,0,0,0,0,0,0
$GC,4096,-0.66,-243.3,615.7,-12.0,492,4100,0.00,2.20,0.00,0.000,4,0.000,0.053,2533,2900,3869,0,0,0,0,0,0
$GC,4125,-0.70,-243.3,619.4,-12.1,493,4129,0.00,2.12,0.00,0.000,6,0.000,0.040,2533,1503,3869,0,0,0,0,0,0
$GC,4442,-0.73,-243.3,656.9,-11.2,508,4446,0.00,2.17,0.00,0.000,4,0.000,0.053,2523,2904,3866,0,0,0,0,0,0
$GC,4482,-0.77,-243.3,661.1,-10.4,510,4486,0.00,2.15,0.00,0.000,6,0.000,0.041,2523,1491,3866,0,0,0,0,0,0
$GC,4812,-0.79,-243.3,694.5,-9.6,526,4816,0.00,2.20,0.00,0.000,4,0.000,0.054,2513,2898,3863,0,0,0,0,0,0
$GC,4840,-0.81,-243.3,697.3,-9.4,527,4844,0.00,2.15,0.00,0.000,6,0.000,0.041,2513,1491,3862,0,0,0,0,0,0
$GC,5158,-0.83,-243.3,730.8,-10.9,542,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1490,3860,0,0,0,0,0,0
$GC,5466,-0.84,-243.3,764.4,-11.0,557,5470,0.10,2.22,0.00,0.000,4,0.103,0.057,2446,2898,3857,0,0,0,0,0,0
$GC,5515,-0.82,-243.3,771.5,-14.6,559,5520,0.12,2.12,0.00,0.000,6,0.168,0.044,2477,1498,3856,0,0,0,0,0,0
$GC,5838,-0.80,-243.3,815.1,-13.3,575,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1499,3854,0,0,0,0,0,0
$GC,6146,-0.79,-243.3,854.9,-12.5,590,6150,0.00,2.22,0.00,0.000,4,0.000,0.060,2458,2903,3851,0,0,0,0,0,0
$GC,6181,-0.79,-243.3,859.1,-12.1,591,6188,0.12,2.15,0.00,0.000,6,0.158,0.044,2493,1504,3852,0,0,0,0,0,0
$GC,6499,-0.81,-243.3,890.4,-9.8,607,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1505,3849,0,0,0,0,0,0
$GC,6808,-0.82,-243.3,921.9,-10.8,622,6812,0.00,2.20,0.00,0.000,4,0.000,0.062,2485,2895,3847,0,0,0,0,0,0
$GC,6870,-0.86,-243.3,929.0,-10.5,624,6877,0.00,2.17,0.00,0.000,6,0.000,0.047,2485,1488,3847,0,0,0,0,0,0
$GC,7187,-0.87,-243.3,966.4,-12.1,640,7191,0.00,2.22,0.00,0.000,4,0.000,0.060,2474,2895,3845,0,0,0,0,0,0
$GC,7239,-0.90,-243.3,972.5,-11.7,642,7243,0.00,2.17,0.00,0.000,6,0.000,0.050,2476,1495,3844,0,0,0,0,0,0
$STATE,7393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7393,begin apogee
$GC,7399,-0.11,0.0,992.4,12.8,650,7611,0.68,0.00,203.25,1.444,6,0.119,0.000,2705,1841,2884,0,0,0,0,0,0
$STATE,7612,end apogee,CONTROL_FINISHED_OK
$STATE,7612,begin climb
$GC,7614,0.68,243.3,1003.7,0.0,660,7848,0.70,2.53,222.32,1.379,4,0.045,0.065,2979,3252,1891,0,0,0,0,0,0
$GC,7964,0.62,243.3,958.0,18.0,676,7969,0.17,2.25,0.00,0.000,6,0.181,0.045,2945,1840,1886,0,0,0,0,0,0
$GC,8292,0.58,243.3,906.8,16.1,692,8296,0.00,2.28,0.00,0.000,4,0.000,0.062,2937,3252,1883,0,0,0,0,0,0
$GC,8348,0.57,243.3,897.8,14.9,694,8352,0.00,2.17,0.00,0.000,6,0.000,0.044,2945,1848,1882,0,0,0,0,0,0
$GC,8666,0.53,243.3,847.9,16.2,709,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1848,1880,0,0,0,0,0,0
$GC,8974,0.49,243.3,799.2,15.5,724,8979,0.15,2.22,0.00,0.000,4,0.171,0.059,2895,3258,1879,0,0,0,0,0,0
$GC,9039,0.58,290.3,791.4,11.0,727,9086,0.00,2.17,42.47,1.307,6,0.000,0.041,2904,1832,1700,0,0,0,0,0,0
$GC,9409,0.71,370.0,752.7,9.9,745,9485,0.20,0.00,73.00,1.278,6,0.068,0.000,2997,1832,1375,0,0,0,0,0,0
$GC,9783,0.65,370.0,673.8,22.5,763,9787,0.15,2.28,0.00,0.000,4,0.173,0.055,2950,3257,1370,0,0,0,0,0,0
$GC,9826,0.65,370.0,665.2,16.2,765,9830,0.00,2.17,0.00,0.000,6,0.000,0.041,2958,1836,1370,0,0,0,0,0,0
$GC,10156,0.63,370.0,616.7,14.4,781,10160,0.00,2.12,0.00,0.000,4,0.000,0.050,2968,444,1367,0,0,0,0,0,0
$GC,10194,0.63,370.0,610.5,14.4,782,10202,0.00,2.17,0.00,0.000,6,0.000,0.041,2968,1870,1366,0,0,0,0,0,0
$GC,10521,0.62,370.0,556.5,18.9,809,10525,0.00,2.15,0.00,0.000,4,0.000,0.057,2968,3253,1367,0,0,0,0,0,0
$GC,10561,0.62,370.0,548.1,18.9,812,10566,0.12,2.12,0.00,0.000,6,0.172,0.039,2947,1850,1366,0,0,0,0,0,0
$GC,10887,0.63,370.0,497.7,14.9,842,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1849,1366,0,0,0,0,0,0
$GC,11207,0.64,370.0,452.0,14.0,872,11211,0.00,2.20,0.00,0.000,4,0.000,0.050,2953,433,1365,0,0,0,0,0,0
$GC,11242,0.67,370.0,447.0,13.9,874,11249,0.00,2.15,0.00,0.000,6,0.000,0.038,2952,1853,1365,0,0,0,0,0,0
$GC,11567,0.69,370.0,401.9,12.9,905,11571,0.00,2.17,0.00,0.000,4,0.000,0.053,2950,3261,1364,0,0,0,0,0,0
$GC,11624,0.75,390.3,394.9,12.0,909,11647,0.00,2.15,17.50,0.982,6,0.000,0.037,2958,1834,1293,0,0,0,0,0,0
$GC,11967,0.79,404.4,351.0,12.2,941,11990,0.12,2.20,13.77,0.913,4,0.086,0.048,3043,443,1234,0,0,0,0,0,0
$GC,12009,0.75,404.4,344.0,17.9,944,12017,0.17,2.15,0.00,0.000,6,0.148,0.037,2989,1845,1234,0,0,0,0,0,0
$GC,12338,0.73,404.4,290.0,16.5,975,12342,0.00,2.17,0.00,0.000,4,0.000,0.050,2987,3258,1234,0,0,0,0,0,0
$GC,12403,0.76,404.4,279.9,13.1,980,12411,0.00,2.15,0.00,0.000,6,0.000,0.036,2996,1850,1233,0,0,0,0,0,0
$GC,12729,0.76,404.4,229.6,15.4,1023,12737,0.00,2.20,0.00,0.000,4,0.000,0.046,3008,439,1233,0,0,0,0,0,0
$GC,12777,0.77,404.4,222.7,14.0,1031,12788,0.00,2.15,0.00,0.000,6,0.000,0.034,3010,1854,1233,0,0,0,0,0,0
$GC,13104,0.77,404.4,177.2,14.3,1092,13112,0.00,2.15,0.00,0.000,4,0.000,0.049,3012,3251,1233,0,0,0,0,0,0
$GC,13164,0.80,404.4,168.9,13.6,1102,13172,0.00,2.12,0.00,0.000,6,0.000,0.034,3022,1843,1233,0,0,0,0,0,0
$GC,13487,0.80,404.4,120.6,14.4,1163,13495,0.00,2.12,0.00,0.000,4,0.000,0.044,3033,449,1233,0,0,0,0,0,0
$GC,13534,0.83,404.4,113.3,14.9,1171,13542,0.00,2.10,0.00,0.000,6,0.000,0.033,3033,1839,1233,0,0,0,0,0,0
$GC,13858,0.94,469.6,73.5,10.4,1232,13922,0.00,2.22,54.70,0.709,4,0.000,0.044,3033,3258,967,0,0,0,0,0,0
$GC,13948,1.08,527.7,63.9,10.7,1245,14005,0.10,2.17,48.62,0.681,6,0.041,0.033,3126,1842,729,0,0,0,0,0,0
$STATE,14269,end climb,SURFACE_DEPTH_REACHED
$STATE,14269,begin surface coast
$FINISH,1.1,0.998192
$STATE,14287,end surface coast,CONTROL_FINISHED_OK
$STATE,14287,begin surface
$SM_CCo,14366,0.00,0.000,0,0,723,530.09
$SM_GC,2.00,7.78,0.00,0.00,0.033,0.000,0.000,154,1500,723,-8.06,0.00,530.09,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12407.05,080911,212158
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.92
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.00
$XPDR_PINGS,73
$24V_AH,22.9,44.564
$10V_AH,10.1,32.594
$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,20.675,126.475,675.650,0.000,0.000,23.666,42.430,162.095,18.250,0.000,32.717,3077.917,7346.461,697.471,3202.911,427.640,0.000,1999.104,0.000,2955.800,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,65.025,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.151,1338.044,1501.527,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330232
$DATA_FILE_SIZE,73509,1306
$CAP_FILE_SIZE,161452,0
$CFSIZE,260165632,130387968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090911,053037,2115.166,12407.937,61,1.3,61,-2.8