version: 66.09
glider: 166
mission: 6
dive: 196
start: 9 9 111 14 1 49
data:
$ID,166
$MISSION,6
$DIVE,196
$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,-24645.482
$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,46
$R_STBD_OVSHOOT,47
$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
$GPS1,090911,135057,2114.182,12406.300,28,99.0,47,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.5
$GPS2,090911,140127,2114.058,12406.605,40,3.6,59,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2114.058,12355.020
$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,-243.3,0.0,0.0,0,112,0.00,0.00,-92.45,0.000,2,0.000,0.000,152,1491,2955,0,0,0,0,0,0
$GC,116,-0.68,-243.3,5.2,-7.8,13,153,9.27,1.98,-17.20,0.000,4,0.222,0.053,2512,203,3880,0,0,0,0,0,0
$GC,302,-0.59,-243.3,68.4,-28.4,46,311,0.12,1.95,0.00,0.000,6,0.146,0.032,2544,1495,3881,0,0,0,0,0,0
$GC,625,-0.51,-243.3,155.8,-23.3,107,634,0.12,2.15,0.00,0.000,4,0.176,0.041,2569,2906,3882,0,0,0,0,0,0
$GC,692,-0.53,-243.3,167.5,-13.1,118,700,0.00,2.10,0.00,0.000,6,0.000,0.031,2564,1506,3882,0,0,0,0,0,0
$GC,1017,-0.51,-243.3,214.6,-14.5,179,1025,0.00,2.15,0.00,0.000,4,0.000,0.041,2554,2905,3883,0,0,0,0,0,0
$GC,1084,-0.54,-243.3,223.1,-11.0,191,1092,0.00,2.12,0.00,0.000,6,0.000,0.032,2554,1497,3884,0,0,0,0,0,0
$GC,1410,-0.54,-243.3,272.3,-13.8,238,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1497,3883,0,0,0,0,0,0
$GC,1732,-0.54,-243.3,314.6,-13.1,268,1736,0.00,2.15,0.00,0.000,4,0.000,0.044,2547,2915,3881,0,0,0,0,0,0
$GC,1818,-0.59,-243.3,324.2,-9.9,275,1822,0.00,2.12,0.00,0.000,6,0.000,0.034,2553,1492,3881,0,0,0,0,0,0
$GC,2143,-0.59,-243.3,365.9,-13.1,305,2147,0.00,2.15,0.00,0.000,4,0.000,0.044,2553,2912,3880,0,0,0,0,0,0
$GC,2200,-0.62,-243.3,372.7,-11.1,309,2206,0.00,2.12,0.00,0.000,6,0.000,0.035,2553,1488,3880,0,0,0,0,0,0
$GC,2525,-0.62,-243.3,413.8,-12.6,340,2529,0.00,2.15,0.00,0.000,4,0.000,0.046,2544,2904,3878,0,0,0,0,0,0
$GC,2569,-0.65,-243.3,419.1,-11.3,343,2576,0.00,2.10,0.00,0.000,6,0.000,0.035,2544,1500,3877,0,0,0,0,0,0
$GC,2894,-0.65,-243.3,462.2,-13.8,374,2898,0.00,2.17,0.00,0.000,4,0.000,0.048,2534,2906,3876,0,0,0,0,0,0
$GC,2923,-0.65,-243.3,466.2,-13.7,376,2927,0.00,2.10,0.00,0.000,6,0.000,0.037,2534,1503,3875,0,0,0,0,0,0
$GC,3252,-0.65,-243.3,511.0,-14.3,406,3256,0.00,2.15,0.00,0.000,4,0.000,0.050,2524,2904,3873,0,0,0,0,0,0
$GC,3316,-0.68,-243.3,519.7,-11.9,411,3320,0.00,2.12,0.00,0.000,6,0.000,0.038,2524,1490,3872,0,0,0,0,0,0
$GC,3649,-0.68,-243.3,563.4,-12.3,442,3652,0.00,1.98,0.00,0.000,4,0.000,0.050,2524,189,3871,0,0,0,0,0,0
$GC,3688,-0.68,-243.3,568.9,-13.2,445,3695,0.00,1.98,0.00,0.000,6,0.000,0.039,2514,1498,3870,0,0,0,0,0,0
$GC,4023,-0.68,-243.3,611.8,-12.9,473,4027,0.00,2.12,0.00,0.000,4,0.000,0.052,2504,2904,3867,0,0,0,0,0,0
$GC,4110,-0.70,-243.3,621.4,-10.4,477,4114,0.00,2.12,0.00,0.000,6,0.000,0.040,2504,1499,3866,0,0,0,0,0,0
$GC,4438,-0.70,-243.3,661.7,-12.2,493,4442,0.00,2.20,0.00,0.000,4,0.000,0.054,2494,2903,3863,0,0,0,0,0,0
$GC,4473,-0.70,-243.3,665.8,-11.9,494,4479,0.00,2.15,0.00,0.000,6,0.000,0.041,2494,1493,3862,0,0,0,0,0,0
$GC,4789,-0.69,-243.3,709.1,-14.5,510,4791,0.10,0.00,0.00,0.000,6,0.177,0.000,2519,1493,3860,0,0,0,0,0,0
$GC,5101,-0.70,-243.3,746.1,-11.8,525,5105,0.00,2.22,0.00,0.000,4,0.000,0.057,2510,2910,3857,0,0,0,0,0,0
$GC,5131,-0.72,-243.3,749.6,-11.2,526,5135,0.00,2.15,0.00,0.000,6,0.000,0.042,2508,1503,3856,0,0,0,0,0,0
$GC,5452,-0.72,-243.3,788.1,-12.1,542,5456,0.00,2.20,0.00,0.000,4,0.000,0.057,2500,2906,3853,0,0,0,0,0,0
$GC,5505,-0.75,-243.3,794.2,-11.4,544,5509,0.00,2.15,0.00,0.000,6,0.000,0.044,2499,1500,3853,0,0,0,0,0,0
$GC,5821,-0.75,-243.3,834.3,-12.5,559,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1500,3851,0,0,0,0,0,0
$GC,6130,-0.75,-243.3,872.0,-12.1,574,6134,0.00,2.22,0.00,0.000,4,0.000,0.060,2491,2904,3848,0,0,0,0,0,0
$GC,6201,-0.77,-243.3,879.7,-11.2,577,6205,0.00,2.15,0.00,0.000,6,0.000,0.044,2490,1503,3847,0,0,0,0,0,0
$GC,6528,-0.77,-243.3,921.2,-12.7,593,6531,0.00,2.03,0.00,0.000,4,0.000,0.057,2490,199,3844,0,0,0,0,0,0
$GC,6562,-0.77,-243.3,925.7,-13.3,594,6566,0.00,2.00,0.00,0.000,6,0.000,0.044,2481,1499,3844,0,0,0,0,0,0
$GC,6884,-0.77,-243.3,965.9,-12.3,610,6888,0.00,2.20,0.00,0.000,4,0.000,0.058,2470,2912,3842,0,0,0,0,0,0
$GC,6952,-0.78,-243.3,973.8,-11.1,613,6956,0.00,2.17,0.00,0.000,6,0.000,0.044,2470,1491,3841,0,0,0,0,0,0
$STATE,7085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7085,begin apogee
$GC,7093,-0.11,0.0,990.2,12.4,620,7304,0.73,0.00,202.07,1.435,6,0.125,0.000,2704,1861,2882,0,0,0,0,0,0
$STATE,7305,end apogee,CONTROL_FINISHED_OK
$STATE,7305,begin climb
$GC,7309,0.68,243.3,997.8,0.0,630,7543,0.70,2.40,220.50,1.370,4,0.050,0.060,2973,3243,1891,0,0,0,0,0,0
$GC,7570,0.62,243.3,965.1,18.0,642,7575,0.15,2.28,0.00,0.000,6,0.181,0.044,2948,1854,1888,0,0,0,0,0,0
$GC,7901,0.58,243.3,914.8,15.0,658,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1854,1883,0,0,0,0,0,0
$GC,8206,0.54,243.3,867.5,15.6,673,8210,0.00,2.20,0.00,0.000,4,0.000,0.060,2948,3248,1882,0,0,0,0,0,0
$GC,8247,0.51,243.3,860.9,16.0,675,8252,0.17,2.15,0.00,0.000,6,0.165,0.042,2909,1842,1881,0,0,0,0,0,0
$GC,8580,0.54,269.3,821.4,11.8,691,8610,0.00,2.30,23.35,1.289,4,0.000,0.057,2907,3246,1786,0,0,0,0,0,0
$GC,8633,0.60,301.9,814.5,11.6,693,8670,0.00,2.17,31.80,1.285,6,0.000,0.041,2914,1842,1652,0,0,0,0,0,0
$GC,8992,0.63,313.1,770.7,12.3,711,9006,0.00,0.00,11.43,1.161,6,0.000,0.000,2914,1842,1607,0,0,0,0,0,0
$GC,9302,0.66,322.7,732.8,12.4,726,9318,0.12,2.28,10.12,1.124,4,0.086,0.056,2978,3255,1567,0,0,0,0,0,0
$GC,9344,0.62,322.7,726.2,17.3,727,9349,0.15,2.17,0.00,0.000,6,0.176,0.041,2949,1851,1567,0,0,0,0,0,0
$GC,9673,0.60,322.7,672.4,16.5,743,9676,0.00,2.17,0.00,0.000,4,0.000,0.050,2958,443,1566,0,0,0,0,0,0
$GC,9696,0.59,322.7,668.1,16.8,744,9700,0.00,2.15,0.00,0.000,6,0.000,0.041,2957,1848,1565,0,0,0,0,0,0
$GC,10024,0.57,322.7,616.6,14.8,760,10028,0.00,2.15,0.00,0.000,4,0.000,0.056,2957,3252,1565,0,0,0,0,0,0
$GC,10137,0.57,322.7,600.4,13.7,765,10141,0.12,2.12,0.00,0.000,6,0.173,0.039,2932,1849,1565,0,0,0,0,0,0
$GC,10468,0.60,334.1,560.5,12.3,796,10484,0.00,2.17,11.40,1.064,4,0.000,0.047,2942,443,1521,0,0,0,0,0,0
$GC,10537,0.66,361.8,552.1,11.7,801,10568,0.00,2.15,25.70,1.131,6,0.000,0.038,2941,1847,1410,0,0,0,0,0,0
$GC,10897,0.68,361.8,506.1,13.1,835,10901,0.00,2.20,0.00,0.000,4,0.000,0.055,2941,3263,1406,0,0,0,0,0,0
$GC,10960,0.72,361.8,497.6,12.9,840,10964,0.00,2.15,0.00,0.000,6,0.000,0.037,2951,1843,1406,0,0,0,0,0,0
$GC,11287,0.73,361.8,453.1,13.1,870,11291,0.00,2.12,0.00,0.000,4,0.000,0.048,2961,438,1406,0,0,0,0,0,0
$GC,11309,0.75,361.8,449.8,12.9,871,11316,0.00,2.15,0.00,0.000,6,0.000,0.037,2961,1863,1404,0,0,0,0,0,0
$GC,11634,0.75,361.8,403.9,14.0,902,11638,0.00,2.12,0.00,0.000,4,0.000,0.052,2958,3257,1405,0,0,0,0,0,0
$GC,11682,0.78,361.8,397.7,13.6,906,11686,0.00,2.12,0.00,0.000,6,0.000,0.037,2966,1841,1404,0,0,0,0,0,0
$GC,12008,0.78,361.8,350.0,14.6,936,12012,0.00,2.10,0.00,0.000,4,0.000,0.047,2975,444,1404,0,0,0,0,0,0
$GC,12073,0.80,361.8,341.1,13.3,941,12077,0.00,2.10,0.00,0.000,6,0.000,0.035,2972,1843,1404,0,0,0,0,0,0
$GC,12404,0.80,363.2,294.1,12.6,972,12408,0.00,2.15,0.00,0.000,4,0.000,0.050,2971,3257,1404,0,0,0,0,0,0
$GC,12457,0.83,363.2,287.5,12.9,976,12461,0.00,2.10,0.00,0.000,6,0.000,0.035,2980,1848,1404,0,0,0,0,0,0
$GC,12785,0.85,375.3,243.5,12.3,1010,12808,0.10,2.17,12.95,0.803,4,0.102,0.046,3055,446,1354,0,0,0,0,0,0
$GC,12899,0.82,375.3,223.5,17.2,1029,12908,0.15,2.15,0.00,0.000,6,0.130,0.035,3007,1865,1353,0,0,0,0,0,0
$GC,13225,0.82,375.3,175.6,14.3,1090,13233,0.00,2.12,0.00,0.000,4,0.000,0.048,3008,3248,1353,0,0,0,0,0,0
$GC,13256,0.82,375.3,171.1,13.9,1095,13264,0.00,2.12,0.00,0.000,6,0.000,0.034,3016,1844,1353,0,0,0,0,0,0
$GC,13583,0.84,375.3,124.0,13.3,1156,13592,0.00,2.15,0.00,0.000,4,0.000,0.045,3027,438,1353,0,0,0,0,0,0
$GC,13648,0.91,400.6,116.2,11.8,1167,13678,0.00,2.12,23.02,0.725,6,0.000,0.033,3027,1848,1250,0,0,0,0,0,0
$GC,13997,0.98,431.8,76.3,11.6,1231,14026,0.00,0.00,26.92,0.685,6,0.000,0.000,3027,1848,1122,0,0,0,0,0,0
$GC,14340,1.22,574.2,44.9,7.7,1295,14467,0.28,2.22,115.20,0.660,4,0.050,0.041,3175,444,539,0,0,0,0,0,0
$GC,14506,1.20,574.2,10.5,21.2,1319,14514,0.10,2.17,0.00,0.000,6,0.136,0.032,3138,1847,535,0,0,0,0,0,0
$STATE,14548,end climb,SURFACE_DEPTH_REACHED
$STATE,14548,begin surface coast
$FINISH,1.1,0.997045
$STATE,14565,end surface coast,CONTROL_FINISHED_OK
$STATE,14565,begin surface
$SM_CCo,14644,0.00,0.000,0,0,533,576.70
$SM_GC,1.87,7.85,0.00,0.00,0.034,0.000,0.000,154,1491,533,-8.03,-0.25,576.70,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12405.14,090911,131312
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.62
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.70
$XPDR_PINGS,68
$24V_AH,23.0,45.348
$10V_AH,10.1,33.048
$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,20.250,138.425,714.475,0.000,0.000,49.791,42.516,260.963,17.000,0.000,61.373,3130.559,7564.668,704.711,3404.443,452.383,0.000,2045.222,0.000,2989.638,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,60.435,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.484,1362.259,1486.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,76846,1329
$CAP_FILE_SIZE,168563,0
$CFSIZE,260165632,130125824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090911,180727,2113.019,12406.536,36,2.2,55,-2.8