version: 66.09
glider: 166
mission: 6
dive: 201
start: 9 10 111 10 47 53
data:
$ID,166
$MISSION,6
$DIVE,201
$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,-24651.779
$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,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
$GPS1,100911,104106,2110.194,12401.862,38,0.9,43,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-72.7
$GPS2,100911,104731,2110.228,12401.893,11,0.9,16,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2110.228,12350.312
$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,-106.90,0.000,2,0.000,0.000,153,1497,3015,0,0,0,0,0,0
$GC,130,-0.68,-243.3,5.4,-7.9,15,167,9.27,2.00,-16.60,0.000,4,0.223,0.052,2510,187,3879,0,0,0,0,0,0
$GC,327,-0.58,-243.3,74.5,-31.3,50,336,0.15,1.98,0.00,0.000,6,0.145,0.034,2545,1494,3880,0,0,0,0,0,0
$GC,649,-0.52,-243.3,155.7,-21.2,111,658,0.12,2.12,0.00,0.000,4,0.172,0.041,2570,2896,3883,0,0,0,0,0,0
$GC,718,-0.56,-243.3,165.7,-13.0,122,726,0.00,2.10,0.00,0.000,6,0.000,0.032,2564,1493,3883,0,0,0,0,0,0
$GC,1038,-0.56,-243.3,216.2,-15.2,183,1046,0.00,2.15,0.00,0.000,4,0.000,0.041,2553,2906,3883,0,0,0,0,0,0
$GC,1103,-0.59,-243.3,223.8,-11.2,194,1111,0.00,2.10,0.00,0.000,6,0.000,0.031,2553,1505,3883,0,0,0,0,0,0
$GC,1426,-0.59,-243.3,270.2,-13.9,242,1430,0.00,2.15,0.00,0.000,4,0.000,0.042,2543,2913,3883,0,0,0,0,0,0
$GC,1511,-0.63,-243.3,279.8,-9.8,249,1515,0.00,2.12,0.00,0.000,6,0.000,0.033,2544,1491,3882,0,0,0,0,0,0
$GC,1837,-0.63,-243.3,319.5,-11.1,279,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1491,3882,0,0,0,0,0,0
$GC,2157,-0.63,-243.3,356.4,-10.5,309,2161,0.00,2.12,0.00,0.000,4,0.000,0.045,2549,2903,3880,0,0,0,0,0,0
$GC,2248,-0.67,-243.3,365.7,-9.3,316,2255,0.00,2.10,0.00,0.000,6,0.000,0.034,2552,1503,3880,0,0,0,0,0,0
$GC,2573,-0.67,-243.3,408.0,-14.5,347,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1503,3878,0,0,0,0,0,0
$GC,2896,-0.69,-243.3,451.5,-13.6,377,2900,0.00,2.17,0.00,0.000,4,0.000,0.048,2543,2906,3876,0,0,0,0,0,0
$GC,2937,-0.72,-243.3,457.4,-13.1,380,2941,0.00,2.12,0.00,0.000,6,0.000,0.036,2543,1504,3876,0,0,0,0,0,0
$GC,3262,-0.73,-243.3,499.9,-13.2,410,3267,0.10,2.20,0.00,0.000,4,0.097,0.050,2475,2904,3873,0,0,0,0,0,0
$GC,3336,-0.72,-243.3,511.2,-15.6,416,3341,0.12,2.15,0.00,0.000,6,0.158,0.039,2509,1491,3873,0,0,0,0,0,0
$GC,3662,-0.70,-243.3,561.6,-15.0,446,3666,0.00,2.20,0.00,0.000,4,0.000,0.053,2501,2904,3871,0,0,0,0,0,0
$GC,3716,-0.70,-243.3,569.7,-13.4,450,3724,0.00,2.17,0.00,0.000,6,0.000,0.040,2501,1494,3870,0,0,0,0,0,0
$GC,4043,-0.68,-243.3,615.9,-14.1,476,4047,0.00,1.98,0.00,0.000,4,0.000,0.051,2501,199,3868,0,0,0,0,0,0
$GC,4081,-0.67,-243.3,622.5,-15.0,477,4089,0.12,1.95,0.00,0.000,6,0.159,0.041,2527,1495,3867,0,0,0,0,0,0
$GC,4401,-0.69,-243.3,656.8,-10.5,493,4405,0.00,2.15,0.00,0.000,4,0.000,0.053,2518,2915,3864,0,0,0,0,0,0
$GC,4526,-0.73,-243.3,670.0,-10.1,498,4533,0.00,2.15,0.00,0.000,6,0.000,0.041,2518,1499,3863,0,0,0,0,0,0
$GC,4845,-0.74,-243.3,708.6,-12.5,514,4849,0.00,2.20,0.00,0.000,4,0.000,0.055,2508,2909,3860,0,0,0,0,0,0
$GC,4872,-0.76,-243.3,712.5,-12.7,515,4876,0.00,2.15,0.00,0.000,6,0.000,0.041,2508,1500,3860,0,0,0,0,0,0
$GC,5193,-0.76,-243.3,754.6,-12.9,531,5197,0.00,2.20,0.00,0.000,4,0.000,0.057,2498,2904,3857,0,0,0,0,0,0
$GC,5235,-0.78,-243.3,759.5,-12.0,533,5239,0.00,2.15,0.00,0.000,6,0.000,0.043,2498,1497,3856,0,0,0,0,0,0
$GC,5562,-0.78,-243.3,801.6,-12.9,549,5566,0.00,2.22,0.00,0.000,4,0.000,0.058,2487,2912,3853,0,0,0,0,0,0
$GC,5586,-0.78,-243.3,804.7,-12.7,550,5590,0.00,2.17,0.00,0.000,6,0.000,0.044,2488,1493,3853,0,0,0,0,0,0
$GC,5914,-0.78,-243.3,848.9,-13.7,566,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1493,3851,0,0,0,0,0,0
$GC,6222,-0.78,-243.3,890.9,-13.3,581,6226,0.00,2.22,0.00,0.000,4,0.000,0.060,2477,2902,3848,0,0,0,0,0,0
$GC,6264,-0.78,-243.3,896.1,-13.0,583,6268,0.00,2.17,0.00,0.000,6,0.000,0.046,2477,1491,3848,0,0,0,0,0,0
$GC,6591,-0.77,-243.3,939.8,-13.0,599,6595,0.00,2.03,0.00,0.000,4,0.000,0.057,2477,193,3846,0,0,0,0,0,0
$GC,6637,-0.76,-243.3,946.1,-13.6,601,6642,0.12,2.03,0.00,0.000,6,0.168,0.044,2501,1506,3845,0,0,0,0,0,0
$GC,6968,-0.77,-243.3,980.1,-10.2,617,6972,0.00,2.20,0.00,0.000,4,0.000,0.060,2493,2915,3843,0,0,0,0,0,0
$GC,7041,-0.81,-243.3,987.6,-9.5,620,7045,0.00,2.17,0.00,0.000,6,0.000,0.044,2493,1500,3842,0,0,0,0,0,0
$STATE,7071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7071,begin apogee
$GC,7079,-0.11,0.0,990.6,10.0,622,7290,0.65,0.00,202.75,1.438,6,0.122,0.000,2704,1856,2883,0,0,0,0,0,0
$STATE,7290,end apogee,CONTROL_FINISHED_OK
$STATE,7290,begin climb
$GC,7295,0.68,243.3,998.1,0.0,632,7531,0.73,2.42,221.60,1.377,4,0.051,0.061,2972,3248,1892,0,0,0,0,0,0
$GC,7565,0.63,243.3,963.1,18.5,644,7570,0.12,2.28,0.00,0.000,6,0.184,0.044,2954,1853,1889,0,0,0,0,0,0
$GC,7881,0.59,243.3,911.2,16.2,659,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1853,1884,0,0,0,0,0,0
$GC,8192,0.55,243.3,862.7,15.4,674,8197,0.12,2.20,0.00,0.000,4,0.181,0.059,2913,3249,1882,0,0,0,0,0,0
$GC,8238,0.56,250.5,856.4,12.4,676,8250,0.00,2.15,6.47,1.040,6,0.000,0.042,2921,1843,1862,0,0,0,0,0,0
$GC,8571,0.58,268.7,816.4,12.1,692,8597,0.00,2.30,18.55,1.265,4,0.000,0.056,2921,3249,1787,0,0,0,0,0,0
$GC,8616,0.58,268.7,809.9,12.7,694,8620,0.00,2.17,0.00,0.000,6,0.000,0.040,2930,1844,1787,0,0,0,0,0,0
$GC,8945,0.57,268.7,767.2,12.9,710,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1844,1784,0,0,0,0,0,0
$GC,9252,0.57,268.7,725.7,13.7,725,9256,0.00,2.22,0.00,0.000,4,0.000,0.055,2930,3257,1783,0,0,0,0,0,0
$GC,9329,0.57,268.7,715.1,13.1,728,9333,0.00,2.15,0.00,0.000,6,0.000,0.041,2939,1848,1783,0,0,0,0,0,0
$GC,9653,0.55,268.7,672.7,12.8,744,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1848,1782,0,0,0,0,0,0
$GC,9961,0.60,319.5,637.0,10.9,759,10012,0.00,2.28,46.40,1.227,4,0.000,0.052,2939,3257,1582,0,0,0,0,0,0
$GC,10055,0.65,346.4,626.3,11.7,763,10089,0.00,2.20,25.77,1.163,6,0.000,0.039,2949,1850,1470,0,0,0,0,0,0
$GC,10401,0.65,346.4,578.2,14.3,787,10405,0.00,2.20,0.00,0.000,4,0.000,0.050,2959,433,1466,0,0,0,0,0,0
$GC,10444,0.66,346.4,572.7,13.8,790,10448,0.00,2.17,0.00,0.000,6,0.000,0.039,2959,1856,1465,0,0,0,0,0,0
$GC,10769,0.65,346.4,522.7,15.7,820,10773,0.00,2.12,0.00,0.000,4,0.000,0.054,2960,3246,1464,0,0,0,0,0,0
$GC,10901,0.65,346.4,502.7,14.8,831,10905,0.00,2.12,0.00,0.000,6,0.000,0.037,2969,1844,1464,0,0,0,0,0,0
$GC,11227,0.63,346.4,450.1,15.9,861,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1845,1463,0,0,0,0,0,0
$GC,11550,0.63,346.4,401.9,14.7,891,11554,0.00,2.15,0.00,0.000,4,0.000,0.048,2980,437,1463,0,0,0,0,0,0
$GC,11578,0.63,346.4,397.0,14.5,893,11582,0.00,2.12,0.00,0.000,6,0.000,0.037,2979,1853,1461,0,0,0,0,0,0
$GC,11909,0.61,346.4,345.8,16.3,924,11914,0.12,2.12,0.00,0.000,4,0.165,0.051,2942,3252,1461,0,0,0,0,0,0
$GC,11982,0.74,403.5,336.6,10.7,930,12036,0.10,2.12,48.70,0.968,6,0.095,0.036,3013,1834,1238,0,0,0,0,0,0
$GC,12357,0.70,403.5,267.0,19.5,965,12362,0.15,2.17,0.00,0.000,4,0.159,0.046,2982,444,1235,0,0,0,0,0,0
$GC,12389,0.70,403.5,261.7,17.6,967,12393,0.00,2.12,0.00,0.000,6,0.000,0.034,2981,1840,1234,0,0,0,0,0,0
$GC,12710,0.72,403.5,218.8,13.7,1020,12717,0.00,2.22,0.00,0.000,4,0.000,0.050,2983,3261,1234,0,0,0,0,0,0
$GC,12757,0.76,403.5,211.9,13.4,1028,12768,0.00,2.15,0.00,0.000,6,0.000,0.036,2994,1856,1234,0,0,0,0,0,0
$GC,13086,0.86,461.9,169.9,10.6,1089,13145,0.00,2.25,48.67,0.802,4,0.000,0.046,3006,449,998,0,0,0,0,0,0
$GC,13208,1.06,564.2,157.5,9.1,1108,13303,0.17,2.17,85.62,0.774,6,0.037,0.034,3113,1862,583,0,0,0,0,0,0
$GC,13620,1.03,564.2,66.3,19.9,1181,13629,0.12,2.15,0.00,0.000,4,0.159,0.047,3069,3246,574,0,0,0,0,0,0
$GC,13693,1.14,596.8,55.8,11.5,1194,13730,0.00,2.12,29.45,0.668,6,0.000,0.034,3077,1849,454,0,0,0,0,0,0
$GC,14046,1.22,624.4,12.5,11.7,1259,14055,0.17,2.20,0.00,0.000,4,0.066,0.045,3179,3242,441,0,0,0,0,0,0
$STATE,14096,end climb,SURFACE_DEPTH_REACHED
$STATE,14097,begin surface coast
$FINISH,1.3,1.021454
$STATE,14108,end surface coast,CONTROL_FINISHED_OK
$STATE,14108,begin surface
$SM_CCo,14188,0.00,0.000,0,0,439,599.76
$SM_GC,1.92,7.78,0.00,0.00,0.034,0.000,0.000,141,1501,439,-8.04,0.03,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,12403.84,100911,060658
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.04
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.40
$XPDR_PINGS,73
$24V_AH,22.9,46.653
$10V_AH,10.1,33.775
$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,20.275,130.475,734.000,0.000,0.000,30.182,39.640,156.111,18.250,0.000,17.151,2977.753,7330.060,718.448,3110.292,418.376,0.000,2028.577,0.000,2877.214,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,61.200,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.824,1299.620,1407.258,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73597,1270
$CAP_FILE_SIZE,158996,0
$CFSIZE,260165632,129708032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100911,144537,2109.704,12401.413,38,1.4,38,-2.8