version: 66.09
glider: 166
mission: 6
dive: 200
start: 9 10 111 6 39 35
data:
$ID,166
$MISSION,6
$DIVE,200
$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,-24650.52
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,100911,063237,2110.516,12403.340,31,1.4,31,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.2
$GPS2,100911,063913,2110.541,12403.299,10,1.4,16,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2110.541,12351.718
$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,-243.3,0.0,0.0,0,127,0.00,0.00,-107.20,0.000,2,0.000,0.000,153,1495,3018,0,0,0,0,0,0
$GC,130,-0.68,-243.3,5.3,-7.7,15,167,9.30,2.05,-16.58,0.000,4,0.223,0.053,2516,186,3879,0,0,0,0,0,0
$GC,369,-0.60,-243.3,86.8,-26.1,58,378,0.12,2.00,0.00,0.000,6,0.142,0.034,2544,1501,3881,0,0,0,0,0,0
$GC,695,-0.55,-243.3,164.6,-19.9,119,702,0.00,2.15,0.00,0.000,4,0.000,0.042,2536,2907,3882,0,0,0,0,0,0
$GC,755,-0.55,-243.3,175.5,-16.2,129,764,0.10,2.12,0.00,0.000,6,0.122,0.032,2565,1493,3883,0,0,0,0,0,0
$GC,1075,-0.55,-243.3,222.4,-13.4,190,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1493,3884,0,0,0,0,0,0
$GC,1400,-0.55,-243.3,264.1,-12.8,241,1404,0.00,2.12,0.00,0.000,4,0.000,0.041,2556,2916,3883,0,0,0,0,0,0
$GC,1508,-0.60,-243.3,275.4,-9.6,250,1512,0.00,2.10,0.00,0.000,6,0.000,0.033,2558,1502,3882,0,0,0,0,0,0
$GC,1833,-0.62,-243.3,320.3,-13.6,280,1837,0.00,2.15,0.00,0.000,4,0.000,0.043,2550,2916,3882,0,0,0,0,0,0
$GC,1871,-0.65,-243.3,324.4,-11.6,283,1875,0.00,2.10,0.00,0.000,6,0.000,0.034,2559,1497,3881,0,0,0,0,0,0
$GC,2202,-0.66,-243.3,365.7,-13.0,314,2206,0.00,2.17,0.00,0.000,4,0.000,0.044,2556,2907,3880,0,0,0,0,0,0
$GC,2265,-0.70,-243.3,372.8,-10.9,319,2272,0.12,2.10,0.00,0.000,6,0.080,0.034,2478,1498,3880,0,0,0,0,0,0
$GC,2591,-0.63,-243.3,442.8,-22.0,350,2595,0.20,1.98,0.00,0.000,4,0.156,0.042,2539,201,3878,0,0,0,0,0,0
$GC,2632,-0.63,-243.3,450.0,-16.8,353,2636,0.00,1.95,0.00,0.000,6,0.000,0.035,2532,1506,3878,0,0,0,0,0,0
$GC,2963,-0.63,-243.3,499.3,-14.3,384,2967,0.00,2.12,0.00,0.000,4,0.000,0.049,2521,2906,3876,0,0,0,0,0,0
$GC,3009,-0.66,-243.3,505.3,-12.7,387,3016,0.00,2.12,0.00,0.000,6,0.000,0.037,2522,1493,3875,0,0,0,0,0,0
$GC,3334,-0.66,-243.3,553.3,-14.2,418,3338,0.00,2.00,0.00,0.000,4,0.000,0.049,2522,199,3873,0,0,0,0,0,0
$GC,3363,-0.66,-243.3,557.4,-14.6,420,3370,0.00,1.98,0.00,0.000,6,0.000,0.039,2512,1487,3873,0,0,0,0,0,0
$GC,3687,-0.66,-243.3,604.4,-14.5,450,3691,0.00,2.17,0.00,0.000,4,0.000,0.052,2501,2910,3869,0,0,0,0,0,0
$GC,3753,-0.68,-243.3,613.5,-13.0,453,3757,0.00,2.12,0.00,0.000,6,0.000,0.040,2501,1502,3869,0,0,0,0,0,0
$GC,4075,-0.68,-243.3,660.3,-14.5,469,4079,0.00,2.20,0.00,0.000,4,0.000,0.054,2491,2910,3866,0,0,0,0,0,0
$GC,4098,-0.68,-243.3,663.5,-14.0,470,4102,0.12,2.15,0.00,0.000,6,0.149,0.041,2527,1494,3866,0,0,0,0,0,0
$GC,4428,-0.71,-243.3,698.5,-10.2,486,4432,0.00,2.20,0.00,0.000,4,0.000,0.054,2519,2904,3862,0,0,0,0,0,0
$GC,4462,-0.74,-243.3,702.5,-10.2,487,4469,0.00,2.15,0.00,0.000,6,0.000,0.041,2519,1491,3861,0,0,0,0,0,0
$GC,4781,-0.76,-243.3,736.7,-10.6,503,4785,0.00,2.20,0.00,0.000,4,0.000,0.055,2509,2904,3859,0,0,0,0,0,0
$GC,4805,-0.78,-243.3,739.6,-10.5,504,4809,0.00,2.15,0.00,0.000,6,0.000,0.041,2508,1490,3859,0,0,0,0,0,0
$GC,5132,-0.78,-243.3,777.9,-11.6,520,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1490,3856,0,0,0,0,0,0
$GC,5444,-0.79,-243.3,812.6,-11.1,535,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1490,3853,0,0,0,0,0,0
$GC,5751,-0.81,-243.3,846.1,-10.5,550,5755,0.00,2.25,0.00,0.000,4,0.000,0.059,2498,2902,3851,0,0,0,0,0,0
$GC,5801,-0.84,-243.3,851.3,-9.9,552,5805,0.00,2.15,0.00,0.000,6,0.000,0.045,2497,1500,3850,0,0,0,0,0,0
$GC,6124,-0.84,-243.3,887.0,-11.3,568,6128,0.00,2.25,0.00,0.000,4,0.000,0.060,2475,2903,3847,0,0,0,0,0,0
$GC,6145,-0.84,-243.3,889.8,-11.2,569,6149,0.00,2.17,0.00,0.000,6,0.000,0.045,2477,1494,3847,0,0,0,0,0,0
$GC,6467,-0.84,-243.3,928.7,-12.3,585,6471,0.00,2.22,0.00,0.000,4,0.000,0.062,2464,2903,3845,0,0,0,0,0,0
$GC,6484,-0.84,-243.3,931.0,-12.2,585,6490,0.00,2.17,0.00,0.000,6,0.000,0.045,2464,1491,3845,0,0,0,0,0,0
$GC,6800,-0.84,-243.3,971.5,-12.6,601,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1491,3842,0,0,0,0,0,0
$STATE,6962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6962,begin apogee
$GC,6970,-0.11,0.0,992.3,12.9,609,7181,0.73,0.00,202.45,1.442,6,0.126,0.000,2699,1855,2883,0,0,0,0,0,0
$STATE,7181,end apogee,CONTROL_FINISHED_OK
$STATE,7182,begin climb
$GC,7186,0.68,243.3,1002.4,0.0,619,7416,0.75,2.42,222.00,1.377,4,0.043,0.062,2988,3254,1891,0,0,0,0,0,0
$GC,7468,0.61,243.3,962.9,20.5,633,7473,0.20,2.28,0.00,0.000,6,0.173,0.044,2949,1855,1887,0,0,0,0,0,0
$GC,7797,0.57,243.3,906.7,17.0,649,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1854,1883,0,0,0,0,0,0
$GC,8107,0.52,243.3,852.5,17.5,664,8111,0.12,2.22,0.00,0.000,4,0.179,0.060,2909,3259,1881,0,0,0,0,0,0
$GC,8139,0.52,243.3,846.7,15.4,665,8143,0.00,2.17,0.00,0.000,6,0.000,0.041,2919,1837,1880,0,0,0,0,0,0
$GC,8461,0.52,243.3,801.6,13.9,681,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1836,1878,0,0,0,0,0,0
$GC,8772,0.52,243.3,759.8,13.0,696,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1837,1877,0,0,0,0,0,0
$GC,9080,0.54,256.4,721.3,12.2,711,9096,0.00,2.25,11.05,1.160,4,0.000,0.054,2919,3261,1838,0,0,0,0,0,0
$GC,9159,0.59,284.6,711.9,11.7,713,9192,0.00,2.17,27.80,1.244,6,0.000,0.041,2927,1843,1723,0,0,0,0,0,0
$GC,9514,0.60,288.8,667.1,12.5,731,9521,0.00,0.00,4.70,0.845,6,0.000,0.000,2927,1843,1706,0,0,0,0,0,0
$GC,9825,0.60,288.8,626.7,13.4,746,9829,0.00,2.20,0.00,0.000,4,0.000,0.054,2927,3253,1705,0,0,0,0,0,0
$GC,9858,0.61,288.8,621.7,13.7,747,9863,0.00,2.15,0.00,0.000,6,0.000,0.039,2936,1838,1705,0,0,0,0,0,0
$GC,10180,0.61,288.8,577.0,13.9,769,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1838,1704,0,0,0,0,0,0
$GC,10500,0.61,288.8,534.8,12.7,799,10504,0.00,2.20,0.00,0.000,4,0.000,0.053,2934,3253,1704,0,0,0,0,0,0
$GC,10558,0.63,288.8,527.1,12.8,804,10562,0.00,2.10,0.00,0.000,6,0.000,0.038,2945,1848,1704,0,0,0,0,0,0
$GC,10883,0.63,290.0,486.3,12.7,834,10887,0.00,2.12,0.00,0.000,4,0.000,0.047,2949,444,1704,0,0,0,0,0,0
$GC,10956,0.66,308.8,477.3,12.0,840,10982,0.00,2.12,19.25,1.064,6,0.000,0.038,2948,1858,1625,0,0,0,0,0,0
$GC,11308,0.66,308.8,427.0,14.7,873,11312,0.00,2.15,0.00,0.000,4,0.000,0.054,2950,3246,1622,0,0,0,0,0,0
$GC,11372,0.67,308.8,417.9,14.1,878,11376,0.00,2.12,0.00,0.000,6,0.000,0.038,2956,1844,1621,0,0,0,0,0,0
$GC,11697,0.67,308.8,370.2,14.0,908,11701,0.00,2.15,0.00,0.000,4,0.000,0.049,2967,438,1621,0,0,0,0,0,0
$GC,11749,0.67,308.8,363.4,13.3,912,11753,0.00,2.12,0.00,0.000,6,0.000,0.038,2967,1850,1621,0,0,0,0,0,0
$GC,12074,0.66,308.8,318.9,12.9,942,12078,0.00,2.17,0.00,0.000,4,0.000,0.053,2966,3254,1621,0,0,0,0,0,0
$GC,12130,0.66,315.7,311.5,12.4,946,12147,0.00,2.12,7.55,0.796,6,0.000,0.037,2974,1841,1596,0,0,0,0,0,0
$GC,12466,0.65,315.7,268.3,13.7,978,12469,0.00,2.10,0.00,0.000,4,0.000,0.047,2987,443,1595,0,0,0,0,0,0
$GC,12533,0.67,330.2,259.4,12.2,983,12553,0.00,2.12,14.07,0.838,6,0.000,0.037,2989,1859,1537,0,0,0,0,0,0
$GC,12865,0.66,330.2,213.4,13.1,1039,12874,0.12,2.15,0.00,0.000,4,0.158,0.050,2954,3239,1536,0,0,0,0,0,0
$GC,12953,0.86,450.6,204.3,8.5,1055,13070,0.12,2.12,101.40,0.832,6,0.041,0.036,3049,1840,1045,0,0,0,0,0,0
$GC,13388,0.85,450.6,121.0,17.3,1131,13397,0.12,2.17,0.00,0.000,4,0.161,0.046,3027,448,1042,0,0,0,0,0,0
$GC,13417,0.86,450.6,116.8,15.4,1135,13425,0.00,2.12,0.00,0.000,6,0.000,0.034,3026,1841,1041,0,0,0,0,0,0
$GC,13742,1.00,524.9,85.7,10.1,1196,13810,0.12,2.17,60.08,0.712,4,0.083,0.043,3120,446,741,0,0,0,0,0,0
$GC,13842,0.98,524.9,68.3,19.7,1210,13851,0.15,2.17,0.00,0.000,6,0.122,0.034,3066,1845,739,0,0,0,0,0,0
$GC,14169,1.08,568.3,25.5,11.2,1271,14214,0.00,2.17,36.22,0.644,4,0.000,0.043,3075,444,564,0,0,0,0,0,0
$GC,14237,1.18,597.4,16.9,11.7,1281,14275,0.10,2.17,25.23,0.620,6,0.044,0.032,3163,1868,452,0,0,0,0,0,0
$STATE,14317,end climb,SURFACE_DEPTH_REACHED
$STATE,14320,begin surface coast
$FINISH,1.1,1.021513
$STATE,14332,end surface coast,CONTROL_FINISHED_OK
$STATE,14332,begin surface
$SM_CCo,14410,0.00,0.000,0,0,445,598.04
$SM_GC,1.94,7.97,0.00,0.00,0.036,0.000,0.000,153,1498,445,-8.05,-0.06,598.04,0,0,0,0,0,0
$IRIDIUM_FIX,2101.76,12937.68,100911,020224
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.82
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.50
$XPDR_PINGS,65
$24V_AH,22.9,46.391
$10V_AH,10.1,33.631
$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,20.500,125.725,731.800,0.000,0.000,25.941,52.321,158.658,16.250,0.000,16.846,3012.778,7514.355,724.432,3111.851,424.329,0.000,2026.210,0.000,2875.163,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,61.965,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.304,1328.951,1453.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73476,1296
$CAP_FILE_SIZE,157822,0
$CFSIZE,260165632,129794048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100911,104106,2110.194,12401.862,38,0.9,43,-2.8