version: 66.09
glider: 166
mission: 6
dive: 202
start: 9 10 111 14 52 23
data:
$ID,166
$MISSION,6
$DIVE,202
$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,-24653.037
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,100911,144537,2109.704,12401.413,38,1.4,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.9
$GPS2,100911,145201,2109.625,12401.582,11,1.2,16,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2109.625,12350.002
$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,-106.78,0.000,2,0.000,0.000,138,1497,3007,0,0,0,0,0,0
$GC,129,-0.68,-243.3,5.4,-7.7,15,166,9.35,2.05,-16.50,0.000,4,0.226,0.057,2522,200,3880,0,0,0,0,0,0
$GC,331,-0.62,-243.3,75.3,-24.7,51,339,0.00,1.98,0.00,0.000,6,0.000,0.034,2514,1496,3881,0,0,0,0,0,0
$GC,653,-0.53,-243.3,167.7,-25.7,112,662,0.20,2.15,0.00,0.000,4,0.163,0.041,2560,2906,3882,0,0,0,0,0,0
$GC,705,-0.52,-243.3,178.3,-18.2,120,713,0.00,2.12,0.00,0.000,6,0.000,0.034,2558,1502,3883,0,0,0,0,0,0
$GC,1030,-0.50,-243.3,227.5,-15.8,181,1038,0.00,2.17,0.00,0.000,4,0.000,0.045,2548,2901,3884,0,0,0,0,0,0
$GC,1104,-0.53,-243.3,237.5,-12.1,194,1112,0.00,2.12,0.00,0.000,6,0.000,0.035,2548,1499,3884,0,0,0,0,0,0
$GC,1435,-0.53,-243.3,287.2,-14.2,233,1439,0.00,2.17,0.00,0.000,4,0.000,0.046,2539,2909,3884,0,0,0,0,0,0
$GC,1503,-0.56,-243.3,295.9,-11.7,238,1511,0.00,2.15,0.00,0.000,6,0.000,0.036,2538,1500,3883,0,0,0,0,0,0
$GC,1828,-0.56,-243.3,343.5,-13.8,269,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1500,3883,0,0,0,0,0,0
$GC,2150,-0.56,-243.3,385.9,-12.9,299,2154,0.00,2.22,0.00,0.000,4,0.000,0.050,2539,2911,3881,0,0,0,0,0,0
$GC,2203,-0.59,-243.3,391.9,-11.0,303,2207,0.00,2.12,0.00,0.000,6,0.000,0.037,2544,1503,3881,0,0,0,0,0,0
$GC,2530,-0.59,-243.3,435.6,-13.4,333,2534,0.00,2.15,0.00,0.000,4,0.000,0.050,2539,2903,3879,0,0,0,0,0,0
$GC,2559,-0.61,-243.3,439.6,-13.1,335,2563,0.00,2.12,0.00,0.000,6,0.000,0.039,2539,1496,3878,0,0,0,0,0,0
$GC,2889,-0.61,-243.3,487.0,-13.2,366,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1495,3877,0,0,0,0,0,0
$GC,3210,-0.63,-243.3,523.6,-10.6,396,3214,0.00,2.20,0.00,0.000,4,0.000,0.052,2529,2906,3874,0,0,0,0,0,0
$GC,3269,-0.66,-243.3,529.7,-10.2,400,3275,0.00,2.12,0.00,0.000,6,0.000,0.039,2529,1500,3873,0,0,0,0,0,0
$GC,3594,-0.66,-243.3,568.7,-12.7,431,3598,0.00,2.22,0.00,0.000,4,0.000,0.054,2519,2910,3871,0,0,0,0,0,0
$GC,3640,-0.69,-243.3,574.0,-11.8,434,3647,0.00,2.15,0.00,0.000,6,0.000,0.041,2519,1491,3871,0,0,0,0,0,0
$GC,3971,-0.69,-243.3,620.2,-13.5,459,3976,0.00,2.20,0.00,0.000,4,0.000,0.054,2508,2904,3868,0,0,0,0,0,0
$GC,4024,-0.71,-243.3,626.6,-12.1,461,4028,0.00,2.15,0.00,0.000,6,0.000,0.041,2509,1492,3868,0,0,0,0,0,0
$GC,4345,-0.71,-243.3,667.5,-12.0,477,4349,0.00,2.00,0.00,0.000,4,0.000,0.052,2508,202,3864,0,0,0,0,0,0
$GC,4378,-0.71,-243.3,671.8,-12.4,478,4382,0.00,1.98,0.00,0.000,6,0.000,0.041,2499,1502,3864,0,0,0,0,0,0
$GC,4702,-0.71,-243.3,711.9,-12.1,494,4706,0.00,2.15,0.00,0.000,4,0.000,0.054,2488,2907,3861,0,0,0,0,0,0
$GC,4815,-0.73,-243.3,724.7,-10.5,499,4819,0.00,2.15,0.00,0.000,6,0.000,0.041,2488,1493,3860,0,0,0,0,0,0
$GC,5145,-0.71,-243.3,766.9,-12.8,515,5149,0.00,2.20,0.00,0.000,4,0.000,0.057,2476,2901,3857,0,0,0,0,0,0
$GC,5200,-0.71,-243.3,774.0,-11.4,517,5204,0.12,2.15,0.00,0.000,6,0.156,0.042,2512,1488,3856,0,0,0,0,0,0
$GC,5520,-0.73,-243.3,805.1,-9.9,532,5524,0.00,2.20,0.00,0.000,4,0.000,0.057,2504,2904,3854,0,0,0,0,0,0
$GC,5570,-0.76,-243.3,810.4,-9.4,534,5574,0.00,2.15,0.00,0.000,6,0.000,0.042,2504,1494,3853,0,0,0,0,0,0
$GC,5893,-0.76,-243.3,844.9,-10.8,550,5897,0.00,2.20,0.00,0.000,4,0.000,0.055,2488,2906,3851,0,0,0,0,0,0
$GC,5921,-0.77,-243.3,848.4,-11.1,551,5925,0.00,2.15,0.00,0.000,6,0.000,0.042,2488,1493,3851,0,0,0,0,0,0
$GC,6237,-0.77,-243.3,884.7,-11.5,566,6241,0.00,2.20,0.00,0.000,4,0.000,0.057,2471,2903,3848,0,0,0,0,0,0
$GC,6273,-0.78,-243.3,888.6,-11.2,567,6279,0.00,2.15,0.00,0.000,6,0.000,0.042,2472,1493,3848,0,0,0,0,0,0
$GC,6589,-0.78,-243.3,927.5,-12.4,583,6593,0.00,2.22,0.00,0.000,4,0.000,0.060,2460,2909,3846,0,0,0,0,0,0
$GC,6627,-0.78,-243.3,932.4,-12.3,584,6635,0.12,2.15,0.00,0.000,6,0.157,0.044,2494,1499,3845,0,0,0,0,0,0
$GC,6948,-0.80,-243.3,964.8,-10.3,600,6952,0.00,2.20,0.00,0.000,4,0.000,0.057,2486,2901,3843,0,0,0,0,0,0
$GC,6975,-0.83,-243.3,968.2,-10.2,601,6980,0.00,2.15,0.00,0.000,6,0.000,0.044,2486,1494,3842,0,0,0,0,0,0
$STATE,7186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7186,begin apogee
$GC,7194,-0.11,0.0,991.2,10.9,611,7404,0.65,0.00,203.10,1.438,6,0.116,0.000,2705,1847,2884,0,0,0,0,0,0
$STATE,7405,end apogee,CONTROL_FINISHED_OK
$STATE,7405,begin climb
$GC,7410,0.68,243.3,1000.5,0.0,621,7644,0.70,2.47,221.57,1.374,4,0.042,0.060,2988,3246,1892,0,0,0,0,0,0
$GC,7717,0.62,243.3,960.1,18.1,635,7722,0.20,2.25,0.00,0.000,6,0.174,0.044,2946,1846,1887,0,0,0,0,0,0
$GC,8040,0.59,243.3,913.6,14.4,651,8044,0.00,2.22,0.00,0.000,4,0.000,0.058,2945,3263,1884,0,0,0,0,0,0
$GC,8075,0.56,243.3,908.2,14.9,652,8079,0.00,2.17,0.00,0.000,6,0.000,0.042,2953,1836,1883,0,0,0,0,0,0
$GC,8398,0.52,243.3,858.8,15.7,668,8400,0.15,0.00,0.00,0.000,6,0.172,0.000,2916,1836,1882,0,0,0,0,0,0
$GC,8709,0.53,257.0,820.5,12.2,683,8731,0.00,2.30,12.10,1.208,4,0.000,0.055,2914,3261,1836,0,0,0,0,0,0
$GC,8748,0.53,257.1,815.0,12.7,684,8754,0.00,2.17,0.00,0.000,6,0.000,0.041,2922,1845,1835,0,0,0,0,0,0
$GC,9064,0.53,257.1,771.6,14.0,700,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1845,1834,0,0,0,0,0,0
$GC,9375,0.53,257.1,730.0,13.2,715,9379,0.00,2.20,0.00,0.000,4,0.000,0.054,2921,3257,1833,0,0,0,0,0,0
$GC,9413,0.55,265.3,724.8,12.4,716,9428,0.00,2.15,9.43,1.129,6,0.000,0.040,2930,1848,1801,0,0,0,0,0,0
$GC,9752,0.55,265.3,680.4,12.7,733,9756,0.00,2.15,0.00,0.000,4,0.000,0.051,2941,438,1799,0,0,0,0,0,0
$GC,9770,0.55,265.3,677.9,12.8,734,9774,0.00,2.15,0.00,0.000,6,0.000,0.039,2941,1856,1798,0,0,0,0,0,0
$GC,10103,0.54,265.3,631.7,14.6,750,10107,0.00,2.17,0.00,0.000,4,0.000,0.057,2941,3261,1798,0,0,0,0,0,0
$GC,10124,0.54,265.3,627.9,14.9,751,10128,0.00,2.15,0.00,0.000,6,0.000,0.041,2951,1848,1798,0,0,0,0,0,0
$GC,10448,0.53,265.3,579.5,14.1,773,10449,0.12,0.00,0.00,0.000,6,0.177,0.000,2918,1848,1798,0,0,0,0,0,0
$GC,10765,0.65,348.9,545.9,9.8,803,10846,0.12,0.00,75.43,1.154,6,0.090,0.000,2986,1847,1460,0,0,0,0,0,0
$GC,11166,0.62,348.9,476.5,18.6,841,11170,0.15,2.28,0.00,0.000,4,0.165,0.054,2941,3265,1455,0,0,0,0,0,0
$GC,11206,0.65,348.9,470.0,13.9,844,11210,0.00,2.17,0.00,0.000,6,0.000,0.040,2944,1850,1455,0,0,0,0,0,0
$GC,11534,0.72,381.1,430.1,11.6,874,11568,0.00,2.28,28.00,1.027,4,0.000,0.050,2953,443,1329,0,0,0,0,0,0
$GC,11654,0.81,416.4,415.7,11.5,884,11694,0.15,2.17,31.67,1.003,6,0.075,0.037,3031,1854,1185,0,0,0,0,0,0
$GC,12012,0.75,416.4,331.4,24.1,918,12017,0.17,2.17,0.00,0.000,4,0.158,0.052,2974,3254,1183,0,0,0,0,0,0
$GC,12088,0.79,416.4,319.0,13.7,924,12092,0.00,2.15,0.00,0.000,6,0.000,0.037,2983,1846,1182,0,0,0,0,0,0
$GC,12413,0.79,416.4,267.7,15.0,954,12417,0.00,2.15,0.00,0.000,4,0.000,0.047,2997,440,1181,0,0,0,0,0,0
$GC,12485,0.83,423.7,258.1,12.4,960,12497,0.00,2.15,7.05,0.723,6,0.000,0.036,2999,1839,1156,0,0,0,0,0,0
$GC,12817,0.83,423.7,212.7,14.7,1016,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1840,1155,0,0,0,0,0,0
$GC,13138,0.85,423.7,166.3,15.6,1077,13147,0.00,2.17,0.00,0.000,4,0.000,0.047,3001,3258,1155,0,0,0,0,0,0
$GC,13186,0.91,423.7,158.7,15.3,1085,13193,0.00,2.12,0.00,0.000,6,0.000,0.035,3009,1852,1155,0,0,0,0,0,0
$GC,13511,0.98,464.0,114.7,11.3,1146,13552,0.15,2.25,34.53,0.733,4,0.075,0.045,3105,440,991,0,0,0,0,0,0
$GC,13621,0.96,464.0,96.3,17.5,1163,13629,0.15,2.17,0.00,0.000,6,0.129,0.034,3055,1859,989,0,0,0,0,0,0
$GC,13947,1.03,511.0,55.3,11.0,1224,13992,0.00,2.30,39.25,0.675,4,0.000,0.042,3063,440,798,0,0,0,0,0,0
$GC,14021,1.16,579.6,47.2,10.3,1235,14086,0.12,2.17,57.25,0.662,6,0.040,0.032,3152,1859,519,0,0,0,0,0,0
$STATE,14232,end climb,SURFACE_DEPTH_REACHED
$STATE,14232,begin surface coast
$FINISH,1.2,1.021487
$STATE,14244,end surface coast,CONTROL_FINISHED_OK
$STATE,14244,begin surface
$SM_CCo,14322,0.00,0.000,0,0,511,581.85
$SM_GC,2.05,7.85,0.00,0.00,0.033,0.000,0.000,151,1490,511,-8.03,-0.25,581.85,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,12401.93,100911,101027
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.55
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.10
$XPDR_PINGS,90
$24V_AH,22.9,46.911
$10V_AH,10.1,33.917
$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,20.500,131.425,719.375,0.000,0.000,24.987,41.780,158.310,22.500,0.000,17.077,2985.538,7476.408,725.818,3084.708,416.027,0.000,2016.900,0.000,2849.775,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,60.435,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.473,1303.469,1394.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73503,1274
$CAP_FILE_SIZE,159220,0
$CFSIZE,260165632,129622016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100911,185225,2108.676,12401.512,41,0.9,41,-2.7