version: 66.09
glider: 166
mission: 6
dive: 199
start: 9 10 111 2 31 18
data:
$ID,166
$MISSION,6
$DIVE,199
$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,-24649.262
$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,37
$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
$GPS1,100911,022401,2111.153,12404.499,43,1.2,43,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-70.7
$GPS2,100911,023056,2111.082,12404.495,12,1.8,12,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2111.082,12352.913
$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,-243.3,0.0,0.0,0,126,0.00,0.00,-106.85,0.000,2,0.000,0.000,154,1491,3020,0,0,0,0,0,0
$GC,130,-0.68,-243.3,5.5,-7.9,15,160,9.30,2.00,-16.20,0.000,4,0.222,0.054,2511,199,3879,0,0,0,0,0,0
$GC,365,-0.59,-243.3,84.1,-27.3,58,374,0.15,1.98,0.00,0.000,6,0.147,0.033,2548,1504,3881,0,0,0,0,0,0
$GC,690,-0.53,-243.3,161.5,-19.9,119,697,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,2907,3883,0,0,0,0,0,0
$GC,746,-0.51,-243.3,172.3,-18.9,128,755,0.10,2.10,0.00,0.000,6,0.126,0.032,2571,1500,3883,0,0,0,0,0,0
$GC,1069,-0.51,-243.3,222.8,-13.4,189,1076,0.00,2.15,0.00,0.000,4,0.000,0.042,2563,2903,3884,0,0,0,0,0,0
$GC,1103,-0.54,-243.3,226.7,-12.3,194,1112,0.00,2.10,0.00,0.000,6,0.000,0.031,2563,1497,3884,0,0,0,0,0,0
$GC,1434,-0.55,-243.3,271.4,-13.3,242,1438,0.00,2.10,0.00,0.000,4,0.000,0.041,2553,2907,3883,0,0,0,0,0,0
$GC,1514,-0.59,-243.3,281.1,-11.4,249,1518,0.00,2.10,0.00,0.000,6,0.000,0.032,2554,1491,3883,0,0,0,0,0,0
$GC,1845,-0.59,-243.3,327.5,-13.1,280,1849,0.00,2.15,0.00,0.000,4,0.000,0.042,2544,2915,3882,0,0,0,0,0,0
$GC,1953,-0.64,-243.3,339.3,-10.3,289,1957,0.00,2.10,0.00,0.000,6,0.000,0.034,2554,1501,3881,0,0,0,0,0,0
$GC,2279,-0.65,-243.3,379.2,-11.8,319,2283,0.00,2.15,0.00,0.000,4,0.000,0.044,2553,2908,3880,0,0,0,0,0,0
$GC,2355,-0.70,-243.3,387.1,-9.7,325,2359,0.00,2.10,0.00,0.000,6,0.000,0.034,2553,1504,3880,0,0,0,0,0,0
$GC,2682,-0.71,-243.3,425.4,-11.8,355,2687,0.10,2.17,0.00,0.000,4,0.096,0.045,2483,2909,3878,0,0,0,0,0,0
$GC,2757,-0.68,-243.3,436.7,-15.6,361,2762,0.15,2.12,0.00,0.000,6,0.151,0.036,2526,1490,3877,0,0,0,0,0,0
$GC,3083,-0.67,-243.3,484.7,-15.5,391,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1490,3876,0,0,0,0,0,0
$GC,3406,-0.67,-243.3,531.3,-13.4,421,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1490,3873,0,0,0,0,0,0
$GC,3733,-0.67,-243.3,574.1,-12.7,452,3737,0.00,2.20,0.00,0.000,4,0.000,0.052,2518,2900,3871,0,0,0,0,0,0
$GC,3806,-0.70,-243.3,583.0,-11.3,458,3813,0.00,2.12,0.00,0.000,6,0.000,0.040,2518,1508,3870,0,0,0,0,0,0
$GC,4140,-0.70,-243.3,622.9,-11.8,481,4144,0.00,2.15,0.00,0.000,4,0.000,0.052,2508,2900,3867,0,0,0,0,0,0
$GC,4195,-0.72,-243.3,629.8,-10.8,483,4202,0.00,2.15,0.00,0.000,6,0.000,0.041,2508,1488,3867,0,0,0,0,0,0
$GC,4513,-0.72,-243.3,670.3,-13.0,499,4517,0.00,2.20,0.00,0.000,4,0.000,0.054,2498,2903,3863,0,0,0,0,0,0
$GC,4540,-0.72,-243.3,674.3,-12.9,500,4544,0.00,2.15,0.00,0.000,6,0.000,0.041,2498,1490,3863,0,0,0,0,0,0
$GC,4862,-0.72,-243.3,718.2,-14.1,516,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1490,3861,0,0,0,0,0,0
$GC,5175,-0.72,-243.3,761.7,-13.4,531,5179,0.00,2.20,0.00,0.000,4,0.000,0.057,2487,2898,3857,0,0,0,0,0,0
$GC,5203,-0.72,-243.3,765.8,-12.9,532,5207,0.00,2.15,0.00,0.000,6,0.000,0.044,2488,1494,3857,0,0,0,0,0,0
$GC,5522,-0.71,-243.3,806.0,-12.5,547,5524,0.12,0.00,0.00,0.000,6,0.165,0.000,2516,1494,3855,0,0,0,0,0,0
$GC,5829,-0.74,-243.3,837.4,-10.3,562,5833,0.00,2.20,0.00,0.000,4,0.000,0.059,2505,2897,3852,0,0,0,0,0,0
$GC,5892,-0.79,-243.3,843.5,-9.6,565,5896,0.00,2.15,0.00,0.000,6,0.000,0.045,2506,1496,3851,0,0,0,0,0,0
$GC,6221,-0.81,-243.3,878.9,-10.8,581,6225,0.00,2.20,0.00,0.000,4,0.000,0.060,2491,2897,3849,0,0,0,0,0,0
$GC,6269,-0.84,-243.3,883.9,-10.6,583,6273,0.00,2.15,0.00,0.000,6,0.000,0.044,2493,1491,3848,0,0,0,0,0,0
$GC,6599,-0.85,-243.3,919.9,-10.8,599,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1491,3847,0,0,0,0,0,0
$GC,6906,-0.87,-243.3,952.7,-10.7,614,6910,0.00,2.22,0.00,0.000,4,0.000,0.059,2480,2900,3843,0,0,0,0,0,0
$GC,6958,-0.90,-243.3,958.0,-10.4,616,6962,0.00,2.17,0.00,0.000,6,0.000,0.046,2480,1494,3843,0,0,0,0,0,0
$STATE,7235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7235,begin apogee
$GC,7241,-0.11,0.0,990.7,11.8,630,7453,0.68,0.00,202.70,1.439,6,0.120,0.000,2703,1841,2883,0,0,0,0,0,0
$STATE,7453,end apogee,CONTROL_FINISHED_OK
$STATE,7453,begin climb
$GC,7456,0.68,243.3,1000.6,0.0,640,7690,0.70,2.40,222.05,1.375,4,0.042,0.054,2999,446,1891,0,0,0,0,0,0
$GC,7729,0.61,243.3,964.9,19.2,652,7736,0.22,2.30,0.00,0.000,6,0.161,0.047,2943,1844,1887,0,0,0,0,0,0
$GC,8047,0.57,243.3,918.6,14.4,668,8051,0.00,2.22,0.00,0.000,4,0.000,0.060,2937,3272,1883,0,0,0,0,0,0
$GC,8138,0.56,243.3,905.7,13.3,672,8142,0.00,2.17,0.00,0.000,6,0.000,0.041,2945,1849,1882,0,0,0,0,0,0
$GC,8473,0.52,243.3,855.8,15.9,688,8477,0.12,2.22,0.00,0.000,4,0.181,0.057,2904,3266,1882,0,0,0,0,0,0
$GC,8516,0.52,243.3,849.3,12.7,690,8520,0.00,2.15,0.00,0.000,6,0.000,0.041,2912,1846,1880,0,0,0,0,0,0
$GC,8844,0.56,275.6,810.8,11.6,706,8875,0.00,0.00,29.15,1.303,6,0.000,0.000,2913,1846,1760,0,0,0,0,0,0
$GC,9175,0.56,275.6,771.0,12.7,722,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1846,1756,0,0,0,0,0,0
$GC,9482,0.58,295.7,732.2,12.0,737,9507,0.00,2.30,19.35,1.230,4,0.000,0.055,2910,3260,1677,0,0,0,0,0,0
$GC,9528,0.63,321.0,727.0,11.8,739,9559,0.00,2.20,24.70,1.227,6,0.000,0.040,2919,1842,1575,0,0,0,0,0,0
$GC,9884,0.65,321.0,682.1,12.9,756,9889,0.10,2.17,0.00,0.000,4,0.100,0.051,2984,445,1571,0,0,0,0,0,0
$GC,9908,0.65,321.0,678.5,13.1,757,9913,0.00,2.17,0.00,0.000,6,0.000,0.039,2983,1859,1570,0,0,0,0,0,0
$GC,10230,0.60,321.0,616.7,19.1,773,10235,0.15,2.15,0.00,0.000,4,0.174,0.054,2937,3252,1570,0,0,0,0,0,0
$GC,10334,0.62,321.0,602.1,13.1,777,10341,0.00,2.15,0.00,0.000,6,0.000,0.038,2946,1835,1569,0,0,0,0,0,0
$GC,10658,0.62,321.0,553.7,15.4,807,10662,0.00,2.22,0.00,0.000,4,0.000,0.054,2946,3260,1569,0,0,0,0,0,0
$GC,10698,0.62,321.0,547.5,15.6,810,10702,0.00,2.15,0.00,0.000,6,0.000,0.039,2955,1840,1569,0,0,0,0,0,0
$GC,11023,0.62,321.0,498.7,14.3,840,11027,0.00,2.15,0.00,0.000,4,0.000,0.049,2964,444,1569,0,0,0,0,0,0
$GC,11064,0.62,321.0,493.1,14.2,843,11068,0.00,2.15,0.00,0.000,6,0.000,0.038,2964,1863,1567,0,0,0,0,0,0
$GC,11388,0.60,321.0,445.4,14.5,873,11392,0.00,2.15,0.00,0.000,4,0.000,0.054,2962,3251,1567,0,0,0,0,0,0
$GC,11441,0.60,321.0,438.1,13.9,877,11446,0.12,2.12,0.00,0.000,6,0.170,0.037,2939,1847,1567,0,0,0,0,0,0
$GC,11767,0.72,400.2,403.7,9.9,907,11842,0.12,0.00,68.70,1.026,6,0.090,0.000,3010,1846,1251,0,0,0,0,0,0
$GC,12160,0.68,400.2,329.3,19.8,944,12165,0.17,2.22,0.00,0.000,4,0.159,0.050,2950,3254,1247,0,0,0,0,0,0
$GC,12204,0.71,400.2,322.1,14.1,947,12211,0.00,2.15,0.00,0.000,6,0.000,0.037,2959,1841,1247,0,0,0,0,0,0
$GC,12530,0.76,423.2,284.7,11.9,978,12555,0.00,2.25,19.88,0.871,4,0.000,0.047,2974,441,1157,0,0,0,0,0,0
$GC,12608,0.89,475.1,275.8,10.9,984,12663,0.12,2.17,44.78,0.881,6,0.042,0.034,3056,1854,945,0,0,0,0,0,0
$GC,12980,0.84,475.1,191.2,21.1,1042,12989,0.15,2.20,0.00,0.000,4,0.161,0.050,3008,3252,942,0,0,0,0,0,0
$GC,13085,0.94,505.4,175.8,11.6,1061,13116,0.00,2.15,25.75,0.783,6,0.000,0.035,3017,1846,823,0,0,0,0,0,0
$GC,13431,1.00,523.0,129.1,12.1,1125,13455,0.12,2.15,16.02,0.710,4,0.086,0.043,3103,440,748,0,0,0,0,0,0
$GC,13544,1.00,523.0,109.0,17.4,1144,13555,0.10,2.15,0.00,0.000,6,0.123,0.033,3068,1841,746,0,0,0,0,0,0
$GC,13874,1.01,523.0,58.2,13.5,1205,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1841,745,0,0,0,0,0,0
$GC,14195,1.07,543.3,18.3,12.0,1266,14219,0.00,2.20,17.80,0.615,4,0.000,0.044,3077,443,668,0,0,0,0,0,0
$GC,14253,1.20,596.5,12.0,10.8,1275,14304,0.10,2.15,45.62,0.636,6,0.043,0.032,3157,1866,455,0,0,0,0,0,0
$STATE,14310,end climb,SURFACE_DEPTH_REACHED
$STATE,14310,begin surface coast
$FINISH,1.2,1.020793
$STATE,14332,end surface coast,CONTROL_FINISHED_OK
$STATE,14332,begin surface
$SM_CCo,14410,0.00,0.000,0,0,446,598.04
$SM_GC,1.82,8.00,0.00,0.00,0.038,0.000,0.000,153,1498,446,-8.04,-0.06,598.04,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,12400.63,090911,222252
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.21
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.50
$XPDR_PINGS,58
$24V_AH,22.9,46.136
$10V_AH,10.0,33.486
$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,20.925,122.400,736.500,0.000,0.000,23.487,50.062,182.497,14.500,0.000,13.639,3031.574,7487.100,729.581,3138.212,420.664,0.000,2026.000,0.000,2877.160,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,59.670,1438.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.572,1317.781,1397.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73519,1286
$CAP_FILE_SIZE,159153,0
$CFSIZE,260165632,129884160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100911,063237,2110.516,12403.340,31,1.4,31,-2.8