version: 66.09
glider: 166
mission: 6
dive: 203
start: 9 10 111 18 58 54
data:
$ID,166
$MISSION,6
$DIVE,203
$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,-24654.297
$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,41
$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
$GPS1,100911,185225,2108.676,12401.512,41,0.9,41,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-69.7
$GPS2,100911,185832,2108.588,12401.646,12,1.1,12,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2108.588,12350.068
$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,272.7,20000,-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,-106.88,0.000,2,0.000,0.000,145,1489,3114,0,0,0,0,0,0
$GC,130,-0.68,-243.3,6.0,-9.8,15,160,9.30,1.95,-13.75,0.000,4,0.222,0.050,2513,196,3877,0,0,0,0,0,0
$GC,338,-0.60,-243.3,80.4,-27.0,53,347,0.12,1.98,0.00,0.000,6,0.140,0.034,2543,1498,3879,0,0,0,0,0,0
$GC,660,-0.53,-243.3,159.6,-22.1,114,668,0.00,2.15,0.00,0.000,4,0.000,0.043,2536,2904,3881,0,0,0,0,0,0
$GC,750,-0.52,-243.3,176.3,-16.9,129,759,0.12,2.12,0.00,0.000,6,0.122,0.033,2575,1488,3882,0,0,0,0,0,0
$GC,1074,-0.52,-243.3,220.2,-12.8,190,1082,0.00,2.17,0.00,0.000,4,0.000,0.042,2567,2909,3883,0,0,0,0,0,0
$GC,1157,-0.57,-243.3,228.7,-9.2,205,1165,0.00,2.12,0.00,0.000,6,0.000,0.033,2567,1499,3883,0,0,0,0,0,0
$GC,1487,-0.59,-243.3,271.2,-12.3,252,1491,0.00,2.12,0.00,0.000,4,0.000,0.043,2557,2906,3883,0,0,0,0,0,0
$GC,1516,-0.61,-243.3,274.9,-11.8,254,1520,0.00,2.10,0.00,0.000,6,0.000,0.033,2557,1494,3882,0,0,0,0,0,0
$GC,1842,-0.63,-243.3,316.6,-12.9,284,1846,0.00,2.15,0.00,0.000,4,0.000,0.045,2551,2910,3882,0,0,0,0,0,0
$GC,1906,-0.67,-243.3,324.1,-11.2,289,1910,0.00,2.10,0.00,0.000,6,0.000,0.034,2552,1503,3881,0,0,0,0,0,0
$GC,2232,-0.68,-243.3,366.7,-12.4,319,2236,0.00,2.12,0.00,0.000,4,0.000,0.047,2549,2902,3880,0,0,0,0,0,0
$GC,2287,-0.72,-243.3,373.1,-10.8,323,2295,0.12,2.10,0.00,0.000,6,0.081,0.036,2480,1501,3880,0,0,0,0,0,0
$GC,2613,-0.64,-243.3,438.0,-19.8,354,2618,0.20,2.17,0.00,0.000,4,0.158,0.047,2529,2904,3878,0,0,0,0,0,0
$GC,2653,-0.64,-243.3,444.3,-14.1,357,2657,0.00,2.12,0.00,0.000,6,0.000,0.037,2529,1494,3878,0,0,0,0,0,0
$GC,2978,-0.64,-243.3,485.2,-13.0,387,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1494,3876,0,0,0,0,0,0
$GC,3298,-0.64,-243.3,528.0,-13.1,417,3302,0.00,2.17,0.00,0.000,4,0.000,0.051,2519,2900,3874,0,0,0,0,0,0
$GC,3374,-0.68,-243.3,537.2,-11.9,423,3378,0.00,2.12,0.00,0.000,6,0.000,0.040,2519,1501,3874,0,0,0,0,0,0
$GC,3699,-0.68,-243.3,582.4,-12.9,453,3703,0.00,2.20,0.00,0.000,4,0.000,0.054,2509,2899,3871,0,0,0,0,0,0
$GC,3732,-0.69,-243.3,586.1,-13.1,455,3736,0.00,2.12,0.00,0.000,6,0.000,0.041,2509,1500,3870,0,0,0,0,0,0
$GC,4053,-0.69,-243.3,626.8,-12.5,475,4056,0.00,2.00,0.00,0.000,4,0.000,0.053,2509,199,3867,0,0,0,0,0,0
$GC,4085,-0.69,-243.3,631.6,-13.6,476,4090,0.00,2.00,0.00,0.000,6,0.000,0.041,2499,1496,3867,0,0,0,0,0,0
$GC,4409,-0.69,-243.3,675.4,-13.4,492,4413,0.00,2.17,0.00,0.000,4,0.000,0.054,2488,2913,3864,0,0,0,0,0,0
$GC,4471,-0.71,-243.3,683.3,-11.6,494,4478,0.00,2.15,0.00,0.000,6,0.000,0.041,2488,1498,3863,0,0,0,0,0,0
$GC,4789,-0.70,-243.3,728.2,-14.7,510,4794,0.12,2.20,0.00,0.000,4,0.164,0.057,2512,2904,3860,0,0,0,0,0,0
$GC,4822,-0.73,-243.3,732.9,-12.8,511,4825,0.00,2.12,0.00,0.000,6,0.000,0.042,2514,1501,3859,0,0,0,0,0,0
$GC,5146,-0.74,-243.3,771.9,-12.5,527,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1501,3857,0,0,0,0,0,0
$GC,5453,-0.76,-243.3,808.6,-11.6,542,5457,0.00,2.20,0.00,0.000,4,0.000,0.059,2498,2904,3854,0,0,0,0,0,0
$GC,5509,-0.80,-243.3,814.8,-10.7,544,5516,0.00,2.15,0.00,0.000,6,0.000,0.044,2497,1499,3853,0,0,0,0,0,0
$GC,5828,-0.81,-243.3,850.6,-11.0,560,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1499,3851,0,0,0,0,0,0
$GC,6135,-0.82,-243.3,884.8,-10.9,575,6139,0.00,2.22,0.00,0.000,4,0.000,0.068,2481,2903,3848,0,0,0,0,0,0
$GC,6169,-0.84,-243.3,888.5,-10.6,576,6173,0.00,2.17,0.00,0.000,6,0.000,0.045,2482,1491,3848,0,0,0,0,0,0
$GC,6487,-0.84,-243.3,926.1,-11.9,591,6491,0.00,2.25,0.00,0.000,4,0.000,0.060,2470,2913,3845,0,0,0,0,0,0
$GC,6515,-0.85,-243.3,929.7,-11.8,592,6519,0.00,2.17,0.00,0.000,6,0.000,0.045,2471,1503,3845,0,0,0,0,0,0
$GC,6833,-0.85,-243.3,968.2,-11.8,607,6836,0.00,2.03,0.00,0.000,4,0.000,0.058,2470,201,3842,0,0,0,0,0,0
$GC,6860,-0.85,-243.3,972.0,-12.0,608,6864,0.00,2.03,0.00,0.000,6,0.000,0.046,2460,1509,3842,0,0,0,0,0,0
$STATE,7020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7020,begin apogee
$GC,7026,-0.11,0.0,991.1,11.8,616,7238,0.75,0.00,202.95,1.435,6,0.125,0.000,2708,1861,2882,0,0,0,0,0,0
$STATE,7239,end apogee,CONTROL_FINISHED_OK
$STATE,7239,begin climb
$GC,7241,0.68,243.3,996.9,0.0,626,7475,0.70,2.47,220.77,1.371,4,0.042,0.057,3000,438,1892,0,0,0,0,0,0
$GC,7527,0.62,243.3,953.6,20.2,639,7532,0.20,2.30,0.00,0.000,6,0.157,0.048,2949,1845,1887,0,0,0,0,0,0
$GC,7850,0.58,243.3,902.3,15.4,655,7854,0.00,2.22,0.00,0.000,4,0.000,0.060,2946,3260,1884,0,0,0,0,0,0
$GC,7942,0.56,243.3,888.7,14.5,659,7946,0.00,2.17,0.00,0.000,6,0.000,0.043,2955,1847,1882,0,0,0,0,0,0
$GC,8263,0.52,243.3,840.3,14.9,675,8268,0.15,2.25,0.00,0.000,4,0.166,0.058,2905,3271,1882,0,0,0,0,0,0
$GC,8298,0.52,243.3,835.6,12.9,676,8305,0.00,2.17,0.00,0.000,6,0.000,0.041,2913,1838,1881,0,0,0,0,0,0
$GC,8616,0.59,295.7,801.7,10.9,692,8669,0.00,2.30,47.80,1.307,4,0.000,0.054,2911,3261,1677,0,0,0,0,0,0
$GC,8694,0.68,355.8,793.1,10.6,695,8759,0.12,2.22,55.70,1.280,6,0.082,0.041,2983,1844,1432,0,0,0,0,0,0
$GC,9067,0.64,355.8,724.2,19.0,713,9069,0.12,0.00,0.00,0.000,6,0.174,0.000,2952,1844,1426,0,0,0,0,0,0
$GC,9376,0.64,355.8,677.4,14.5,728,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1844,1424,0,0,0,0,0,0
$GC,9687,0.64,355.8,635.2,13.4,743,9691,0.00,2.17,0.00,0.000,4,0.000,0.051,2961,434,1424,0,0,0,0,0,0
$GC,9708,0.64,355.8,631.9,13.9,744,9712,0.00,2.17,0.00,0.000,6,0.000,0.041,2960,1863,1423,0,0,0,0,0,0
$GC,10030,0.64,355.8,585.6,14.8,764,10034,0.00,2.17,0.00,0.000,4,0.000,0.057,2960,3255,1423,0,0,0,0,0,0
$GC,10083,0.66,355.8,577.9,14.2,768,10087,0.00,2.15,0.00,0.000,6,0.000,0.040,2969,1841,1423,0,0,0,0,0,0
$GC,10410,0.66,355.8,527.8,15.9,798,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1841,1422,0,0,0,0,0,0
$GC,10728,0.66,355.8,475.8,17.5,828,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1841,1422,0,0,0,0,0,0
$GC,11048,0.66,355.8,420.7,16.8,858,11052,0.00,2.15,0.00,0.000,4,0.000,0.051,2979,444,1422,0,0,0,0,0,0
$GC,11092,0.67,355.8,412.8,15.8,861,11101,0.00,2.12,0.00,0.000,6,0.000,0.039,2978,1844,1419,0,0,0,0,0,0
$GC,11418,0.67,355.8,363.1,15.4,892,11422,0.00,2.17,0.00,0.000,4,0.000,0.053,2975,3261,1420,0,0,0,0,0,0
$GC,11485,0.70,355.8,353.0,13.5,897,11492,0.00,2.12,0.00,0.000,6,0.000,0.038,2981,1849,1419,0,0,0,0,0,0
$GC,11813,0.68,355.8,300.1,15.8,928,11817,0.00,2.15,0.00,0.000,4,0.000,0.047,2992,436,1419,0,0,0,0,0,0
$GC,11841,0.68,355.8,295.1,16.3,930,11845,0.00,2.15,0.00,0.000,6,0.000,0.037,2994,1868,1419,0,0,0,0,0,0
$GC,12168,0.67,355.8,242.5,14.8,964,12177,0.12,2.12,0.00,0.000,4,0.160,0.050,2960,3246,1419,0,0,0,0,0,0
$GC,12227,0.82,440.0,235.7,9.7,974,12306,0.08,2.12,70.12,0.868,6,0.051,0.037,3036,1845,1089,0,0,0,0,0,0
$GC,12626,0.80,440.0,164.0,19.1,1045,12635,0.12,2.20,0.00,0.000,4,0.159,0.047,3012,443,1086,0,0,0,0,0,0
$GC,12676,0.84,440.0,156.5,14.1,1053,12684,0.00,2.15,0.00,0.000,6,0.000,0.035,3012,1845,1085,0,0,0,0,0,0
$GC,13001,0.88,448.2,111.8,12.4,1114,13017,0.00,2.15,7.95,0.623,4,0.000,0.044,3021,442,1054,0,0,0,0,0,0
$GC,13051,1.01,506.6,106.1,10.6,1122,13109,0.10,2.15,48.75,0.731,6,0.047,0.034,3095,1858,816,0,0,0,0,0,0
$GC,13427,1.01,506.6,38.6,14.7,1190,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1859,812,0,0,0,0,0,0
$STATE,13666,end climb,SURFACE_DEPTH_REACHED
$STATE,13666,begin surface coast
$FINISH,1.2,1.002422
$STATE,13688,end surface coast,CONTROL_FINISHED_OK
$STATE,13688,begin surface
$SM_CCo,13765,0.00,0.000,0,0,811,508.51
$SM_GC,2.00,7.70,0.00,0.00,0.037,0.000,0.000,154,1489,811,-8.06,-0.31,508.51,0,0,0,0,0,0
$IRIDIUM_FIX,2101.76,12402.55,100911,141456
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.63
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.10
$XPDR_PINGS,77
$24V_AH,22.9,47.158
$10V_AH,10.1,34.057
$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,20.175,121.650,654.050,0.000,0.000,29.349,17.117,164.775,19.250,0.000,13.491,2911.617,7153.448,669.987,2970.958,410.105,0.000,1904.289,0.000,2764.204,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,68.085,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.082,1270.118,1399.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70153,1239
$CAP_FILE_SIZE,151983,0
$CFSIZE,260165632,129544192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100911,224937,2107.437,12400.199,38,1.4,38,-2.7