version: 66.09
glider: 166
mission: 6
dive: 194
start: 9 9 111 5 42 19
data:
$ID,166
$MISSION,6
$DIVE,194
$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,-24642.961
$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,43
$R_STBD_OVSHOOT,35
$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
$GPS1,090911,053037,2115.166,12407.937,61,1.3,61,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-71.9
$GPS2,090911,054157,2115.016,12407.985,42,2.2,61,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2115.016,12356.398
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.68,-243.3,0.0,0.0,0,118,0.00,0.00,-96.03,0.000,2,0.000,0.000,154,1499,3061,0,0,0,0,0,0
$GC,121,-0.68,-243.3,5.5,-8.2,14,152,9.30,2.05,-15.43,0.000,4,0.223,0.057,2520,196,3880,0,0,0,0,0,0
$GC,332,-0.59,-243.3,77.7,-28.1,52,340,0.10,1.98,0.00,0.000,6,0.145,0.032,2544,1504,3882,0,0,0,0,0,0
$GC,657,-0.51,-243.3,162.1,-23.6,113,666,0.12,2.12,0.00,0.000,4,0.181,0.040,2565,2904,3883,0,0,0,0,0,0
$GC,732,-0.51,-243.3,176.2,-14.9,126,740,0.00,2.12,0.00,0.000,6,0.000,0.031,2552,1490,3884,0,0,0,0,0,0
$GC,1055,-0.49,-243.3,231.1,-16.2,187,1064,0.12,2.17,0.00,0.000,4,0.161,0.040,2578,2910,3884,0,0,0,0,0,0
$GC,1088,-0.52,-243.3,235.6,-14.3,192,1095,0.00,2.12,0.00,0.000,6,0.000,0.031,2578,1493,3884,0,0,0,0,0,0
$GC,1414,-0.54,-243.3,273.4,-11.5,234,1418,0.00,2.15,0.00,0.000,4,0.000,0.040,2568,2906,3883,0,0,0,0,0,0
$GC,1502,-0.60,-243.3,281.4,-8.5,241,1506,0.00,2.10,0.00,0.000,6,0.000,0.031,2568,1492,3883,0,0,0,0,0,0
$GC,1833,-0.63,-243.3,318.9,-12.2,272,1837,0.00,2.17,0.00,0.000,4,0.000,0.041,2560,2904,3882,0,0,0,0,0,0
$GC,1911,-0.70,-243.3,326.6,-9.4,278,1916,0.12,2.10,0.00,0.000,6,0.080,0.031,2480,1490,3881,0,0,0,0,0,0
$GC,2237,-0.63,-243.3,393.4,-20.2,308,2242,0.17,2.17,0.00,0.000,4,0.161,0.042,2533,2906,3880,0,0,0,0,0,0
$GC,2279,-0.63,-243.3,400.2,-15.7,311,2283,0.00,2.10,0.00,0.000,6,0.000,0.033,2533,1495,3880,0,0,0,0,0,0
$GC,2604,-0.63,-243.3,443.5,-13.1,341,2608,0.00,2.17,0.00,0.000,4,0.000,0.044,2523,2908,3877,0,0,0,0,0,0
$GC,2638,-0.63,-243.3,448.2,-14.2,343,2645,0.00,2.10,0.00,0.000,6,0.000,0.034,2523,1501,3877,0,0,0,0,0,0
$GC,2964,-0.62,-243.3,498.5,-15.5,374,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1500,3876,0,0,0,0,0,0
$GC,3285,-0.62,-243.3,544.7,-13.4,404,3289,0.00,2.15,0.00,0.000,4,0.000,0.048,2513,2901,3872,0,0,0,0,0,0
$GC,3392,-0.64,-243.3,557.7,-10.7,413,3399,0.00,2.10,0.00,0.000,6,0.000,0.037,2513,1503,3872,0,0,0,0,0,0
$GC,3718,-0.64,-243.3,598.1,-12.4,444,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1503,3870,0,0,0,0,0,0
$GC,4028,-0.64,-243.3,632.9,-11.3,460,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1503,3867,0,0,0,0,0,0
$GC,4339,-0.64,-243.3,668.3,-11.2,475,4343,0.00,2.15,0.00,0.000,4,0.000,0.053,2503,2906,3864,0,0,0,0,0,0
$GC,4447,-0.66,-243.3,680.2,-11.1,480,4451,0.00,2.12,0.00,0.000,6,0.000,0.041,2503,1506,3862,0,0,0,0,0,0
$GC,4775,-0.66,-243.3,723.9,-13.4,496,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1505,3859,0,0,0,0,0,0
$GC,5083,-0.66,-243.3,764.3,-13.0,511,5087,0.00,2.17,0.00,0.000,4,0.000,0.057,2493,2897,3856,0,0,0,0,0,0
$GC,5127,-0.68,-243.3,769.8,-12.2,513,5132,0.12,2.15,0.00,0.000,6,0.153,0.043,2528,1490,3856,0,0,0,0,0,0
$GC,5453,-0.72,-243.3,800.8,-9.4,529,5457,0.00,2.20,0.00,0.000,4,0.000,0.057,2520,2897,3853,0,0,0,0,0,0
$GC,5503,-0.77,-243.3,805.7,-8.7,531,5507,0.00,2.12,0.00,0.000,6,0.000,0.042,2520,1498,3853,0,0,0,0,0,0
$GC,5822,-0.79,-243.3,837.0,-9.8,546,5826,0.00,2.17,0.00,0.000,4,0.000,0.056,2510,2898,3850,0,0,0,0,0,0
$GC,5900,-0.83,-243.3,844.6,-9.0,549,5905,0.10,2.15,0.00,0.000,6,0.103,0.044,2455,1491,3849,0,0,0,0,0,0
$GC,6218,-0.80,-243.3,890.2,-14.8,564,6220,0.12,0.00,0.00,0.000,6,0.178,0.000,2487,1491,3847,0,0,0,0,0,0
$GC,6526,-0.80,-243.3,926.1,-11.1,579,6530,0.00,2.20,0.00,0.000,4,0.000,0.057,2478,2898,3845,0,0,0,0,0,0
$GC,6573,-0.80,-243.3,931.1,-10.9,581,6578,0.00,2.12,0.00,0.000,6,0.000,0.044,2478,1493,3844,0,0,0,0,0,0
$GC,6903,-0.80,-243.3,970.9,-12.4,597,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1493,3842,0,0,0,0,0,0
$STATE,7063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7063,begin apogee
$GC,7069,-0.11,0.0,991.5,12.5,605,7281,0.70,0.00,202.23,1.437,6,0.127,0.000,2703,1845,2884,0,0,0,0,0,0
$STATE,7282,end apogee,CONTROL_FINISHED_OK
$STATE,7282,begin climb
$GC,7284,0.68,243.3,1000.1,0.0,615,7511,0.73,0.00,223.25,1.370,6,0.051,0.000,2974,1844,1892,0,0,0,0,0,0
$GC,7820,0.61,243.3,920.9,17.7,641,7825,0.12,2.25,0.00,0.000,4,0.183,0.063,2935,3249,1884,0,0,0,0,0,0
$GC,7860,0.58,243.3,913.8,15.3,643,7864,0.00,2.17,0.00,0.000,6,0.000,0.044,2942,1844,1883,0,0,0,0,0,0
$GC,8190,0.54,243.3,867.2,14.7,659,8194,0.00,2.20,0.00,0.000,4,0.000,0.058,2936,3252,1881,0,0,0,0,0,0
$GC,8217,0.52,243.3,862.6,14.7,660,8222,0.12,2.15,0.00,0.000,6,0.177,0.042,2914,1845,1881,0,0,0,0,0,0
$GC,8540,0.52,243.3,822.3,12.8,676,8544,0.00,2.20,0.00,0.000,4,0.000,0.057,2911,3251,1879,0,0,0,0,0,0
$GC,8572,0.52,243.3,817.3,13.9,677,8579,0.00,2.15,0.00,0.000,6,0.000,0.041,2919,1834,1879,0,0,0,0,0,0
$GC,8888,0.52,243.3,772.5,14.5,693,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1834,1878,0,0,0,0,0,0
$GC,9199,0.52,243.3,729.6,13.8,708,9203,0.00,2.20,0.00,0.000,4,0.000,0.055,2919,3252,1877,0,0,0,0,0,0
$GC,9226,0.52,243.3,725.1,14.4,709,9231,0.00,2.15,0.00,0.000,6,0.000,0.040,2929,1847,1877,0,0,0,0,0,0
$GC,9554,0.50,243.3,677.6,14.5,725,9558,0.00,2.20,0.00,0.000,4,0.000,0.055,2929,3257,1877,0,0,0,0,0,0
$GC,9590,0.49,243.3,672.3,14.9,726,9597,0.12,2.15,0.00,0.000,6,0.173,0.040,2907,1838,1877,0,0,0,0,0,0
$GC,9906,0.64,348.3,639.5,9.0,742,10008,0.12,2.33,94.30,1.216,4,0.086,0.053,2973,3254,1463,0,0,0,0,0,0
$GC,10036,0.61,348.3,620.9,16.4,748,10041,0.15,2.22,0.00,0.000,6,0.170,0.039,2945,1848,1462,0,0,0,0,0,0
$GC,10357,0.61,348.3,577.3,12.9,771,10361,0.00,2.20,0.00,0.000,4,0.000,0.050,2954,431,1457,0,0,0,0,0,0
$GC,10387,0.61,348.3,573.6,13.3,773,10391,0.00,2.17,0.00,0.000,6,0.000,0.039,2954,1851,1456,0,0,0,0,0,0
$GC,10712,0.61,348.3,526.6,14.7,803,10716,0.00,2.17,0.00,0.000,4,0.000,0.056,2954,3255,1455,0,0,0,0,0,0
$GC,10789,0.62,348.3,515.8,14.6,809,10793,0.00,2.15,0.00,0.000,6,0.000,0.039,2963,1839,1454,0,0,0,0,0,0
$GC,11115,0.61,348.3,462.6,17.0,839,11119,0.00,2.17,0.00,0.000,4,0.000,0.049,2974,437,1454,0,0,0,0,0,0
$GC,11160,0.61,348.3,454.7,17.1,842,11168,0.12,2.15,0.00,0.000,6,0.154,0.038,2939,1857,1453,0,0,0,0,0,0
$GC,11486,0.67,370.6,409.8,11.9,873,11512,0.00,2.22,19.23,0.997,4,0.000,0.052,2939,3253,1373,0,0,0,0,0,0
$GC,11580,0.83,458.1,400.2,9.6,881,11669,0.17,2.15,76.30,1.011,6,0.066,0.036,3044,1839,1015,0,0,0,0,0,0
$GC,11985,0.76,458.1,308.6,24.2,919,11987,0.20,0.00,0.00,0.000,6,0.161,0.000,2989,1839,1011,0,0,0,0,0,0
$GC,12304,0.77,458.1,260.0,14.3,949,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1839,1009,0,0,0,0,0,0
$GC,12617,0.77,458.1,210.7,17.6,1002,12625,0.00,2.17,0.00,0.000,4,0.000,0.047,2994,443,1009,0,0,0,0,0,0
$GC,12647,0.79,458.1,206.5,16.0,1006,12655,0.00,2.15,0.00,0.000,6,0.000,0.034,2995,1853,1008,0,0,0,0,0,0
$GC,12972,0.82,458.1,164.1,12.7,1067,12980,0.00,2.17,0.00,0.000,4,0.000,0.049,2998,3253,1008,0,0,0,0,0,0
$GC,12994,0.85,458.1,160.8,13.0,1070,13002,0.00,2.12,0.00,0.000,6,0.000,0.034,3008,1851,1008,0,0,0,0,0,0
$GC,13317,0.99,531.6,121.5,10.1,1131,13384,0.15,2.25,60.15,0.755,4,0.073,0.044,3102,444,713,0,0,0,0,0,0
$GC,13449,0.99,531.6,98.0,17.1,1151,13457,0.10,2.15,0.00,0.000,6,0.121,0.032,3067,1841,710,0,0,0,0,0,0
$GC,13776,1.02,531.6,50.7,13.4,1212,13783,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1841,709,0,0,0,0,0,0
$GC,14096,1.11,570.8,11.5,11.3,1273,14135,0.10,2.25,32.95,0.630,4,0.096,0.044,3144,433,555,0,0,0,0,0,0
$STATE,14151,end climb,SURFACE_DEPTH_REACHED
$STATE,14151,begin surface coast
$FINISH,1.4,1.021242
$STATE,14159,end surface coast,CONTROL_FINISHED_OK
$STATE,14159,begin surface
$SM_CCo,14238,0.00,0.000,0,0,549,572.53
$SM_GC,1.92,7.85,0.00,0.00,0.035,0.000,0.000,154,1531,549,-8.04,0.88,572.53,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12407.05,090911,050500
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.33
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.30
$XPDR_PINGS,70
$24V_AH,22.9,44.833
$10V_AH,10.1,32.743
$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,21.075,116.700,708.400,0.000,0.000,60.808,46.815,297.245,17.500,0.000,63.131,3010.228,7426.003,756.871,3286.196,420.368,0.000,1969.953,0.000,2834.018,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,62.730,1437.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.680,1312.189,1468.841,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73562,1282
$CAP_FILE_SIZE,155372,0
$CFSIZE,260165632,130318336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090911,094107,2114.625,12406.762,52,1.3,52,-2.8