version: 66.09
glider: 166
mission: 6
dive: 204
start: 9 10 111 22 59 53
data:
$ID,166
$MISSION,6
$DIVE,204
$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,-24655.555
$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,50
$R_STBD_OVSHOOT,44
$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
$GPS1,100911,224937,2107.437,12400.199,38,1.4,38,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-73.2
$GPS2,100911,225931,2107.330,12400.343,12,1.6,17,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2107.330,12348.766
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.68,-243.3,0.0,0.0,0,113,0.00,0.00,-90.10,0.000,2,0.000,0.000,144,1490,2981,0,0,0,0,0,0
$GC,116,-0.68,-243.3,5.3,-8.0,13,154,9.35,2.22,-17.10,0.000,4,0.222,0.054,2512,2916,3881,0,0,0,0,0,0
$GC,272,-0.61,-243.3,60.0,-26.1,40,280,0.12,2.15,0.00,0.000,6,0.142,0.034,2540,1509,3882,0,0,0,0,0,0
$GC,597,-0.54,-243.3,144.4,-23.0,101,605,0.10,0.00,0.00,0.000,6,0.184,0.000,2566,1509,3883,0,0,0,0,0,0
$GC,923,-0.53,-243.3,199.6,-15.6,162,931,0.00,2.12,0.00,0.000,4,0.000,0.041,2558,2901,3884,0,0,0,0,0,0
$GC,985,-0.55,-243.3,208.5,-12.9,173,993,0.00,2.10,0.00,0.000,6,0.000,0.031,2557,1503,3884,0,0,0,0,0,0
$GC,1310,-0.55,-243.3,253.5,-13.5,232,1314,0.00,2.12,0.00,0.000,4,0.000,0.041,2548,2909,3884,0,0,0,0,0,0
$GC,1389,-0.60,-243.3,263.1,-10.8,238,1397,0.00,2.12,0.00,0.000,6,0.000,0.032,2548,1499,3884,0,0,0,0,0,0
$GC,1716,-0.60,-243.3,307.5,-13.4,269,1720,0.00,2.12,0.00,0.000,4,0.000,0.043,2541,2904,3883,0,0,0,0,0,0
$GC,1783,-0.63,-243.3,315.5,-10.3,274,1789,0.00,2.10,0.00,0.000,6,0.000,0.033,2541,1493,3883,0,0,0,0,0,0
$GC,2108,-0.63,-243.3,355.6,-13.2,305,2112,0.00,2.12,0.00,0.000,4,0.000,0.043,2543,2910,3882,0,0,0,0,0,0
$GC,2158,-0.67,-243.3,361.5,-11.1,309,2164,0.00,2.10,0.00,0.000,6,0.000,0.034,2546,1497,3882,0,0,0,0,0,0
$GC,2483,-0.67,-243.3,404.2,-13.3,340,2487,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,2903,3880,0,0,0,0,0,0
$GC,2593,-0.71,-243.3,416.1,-10.5,349,2596,0.00,2.10,0.00,0.000,6,0.000,0.034,2538,1494,3879,0,0,0,0,0,0
$GC,2919,-0.71,-243.3,458.2,-12.9,379,2923,0.00,2.17,0.00,0.000,4,0.000,0.047,2527,2912,3877,0,0,0,0,0,0
$GC,2971,-0.74,-243.3,464.7,-11.8,383,2976,0.00,2.12,0.00,0.000,6,0.000,0.035,2527,1494,3876,0,0,0,0,0,0
$GC,3296,-0.74,-243.3,508.7,-13.3,413,3300,0.00,2.15,0.00,0.000,4,0.000,0.047,2518,2904,3874,0,0,0,0,0,0
$GC,3341,-0.75,-243.3,514.7,-12.9,416,3348,0.00,2.10,0.00,0.000,6,0.000,0.036,2517,1502,3873,0,0,0,0,0,0
$GC,3666,-0.75,-243.3,560.6,-14.0,447,3670,0.00,2.17,0.00,0.000,4,0.000,0.050,2507,2903,3872,0,0,0,0,0,0
$GC,3710,-0.78,-243.3,566.4,-12.3,450,3717,0.00,2.12,0.00,0.000,6,0.000,0.037,2507,1497,3871,0,0,0,0,0,0
$GC,4037,-0.78,-243.3,607.9,-11.6,478,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1497,3870,0,0,0,0,0,0
$GC,4343,-0.78,-243.3,641.7,-10.6,493,4347,0.00,2.00,0.00,0.000,4,0.000,0.053,2507,205,3866,0,0,0,0,0,0
$GC,4382,-0.78,-243.3,646.4,-11.9,494,4389,0.00,1.98,0.00,0.000,6,0.000,0.041,2497,1498,3865,0,0,0,0,0,0
$GC,4700,-0.78,-243.3,686.8,-13.4,510,4703,0.00,2.17,0.00,0.000,4,0.000,0.054,2487,2909,3862,0,0,0,0,0,0
$GC,4723,-0.78,-243.3,690.0,-13.5,511,4727,0.00,2.15,0.00,0.000,6,0.000,0.041,2483,1492,3862,0,0,0,0,0,0
$GC,5051,-0.78,-243.3,735.3,-13.5,527,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1493,3859,0,0,0,0,0,0
$GC,5359,-0.78,-243.3,779.9,-14.3,542,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1493,3856,0,0,0,0,0,0
$GC,5668,-0.78,-243.3,823.7,-14.2,557,5672,0.00,2.25,0.00,0.000,4,0.000,0.059,2474,2913,3854,0,0,0,0,0,0
$GC,5725,-0.79,-243.3,831.1,-12.7,559,5732,0.00,2.17,0.00,0.000,6,0.000,0.044,2475,1498,3853,0,0,0,0,0,0
$GC,6042,-0.78,-243.3,874.7,-13.7,575,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1498,3851,0,0,0,0,0,0
$GC,6351,-0.77,-243.3,916.6,-13.4,590,6355,0.00,2.22,0.00,0.000,4,0.000,0.060,2466,2906,3848,0,0,0,0,0,0
$GC,6385,-0.77,-243.3,921.1,-13.1,591,6392,0.12,2.17,0.00,0.000,6,0.160,0.046,2500,1494,3848,0,0,0,0,0,0
$GC,6701,-0.78,-243.3,955.9,-11.0,607,6706,0.00,2.22,0.00,0.000,4,0.000,0.060,2492,2910,3846,0,0,0,0,0,0
$GC,6737,-0.81,-243.3,959.8,-10.9,608,6741,0.00,2.17,0.00,0.000,6,0.000,0.046,2492,1500,3846,0,0,0,0,0,0
$STATE,6994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6994,begin apogee
$GC,7000,-0.11,0.0,990.0,11.7,621,7212,0.65,0.00,203.10,1.434,6,0.118,0.000,2705,1848,2883,0,0,0,0,0,0
$STATE,7212,end apogee,CONTROL_FINISHED_OK
$STATE,7213,begin climb
$GC,7215,0.68,243.3,998.8,0.0,631,7445,0.75,2.47,221.10,1.379,4,0.050,0.059,2989,449,1892,0,0,0,0,0,0
$GC,7457,0.61,243.3,968.1,18.4,642,7465,0.17,2.35,0.00,0.000,6,0.159,0.047,2946,1847,1889,0,0,0,0,0,0
$GC,7776,0.58,243.3,914.0,17.1,658,7780,0.00,2.22,0.00,0.000,4,0.000,0.061,2944,3270,1884,0,0,0,0,0,0
$GC,7904,0.56,243.3,892.7,15.4,663,7911,0.00,2.17,0.00,0.000,6,0.000,0.043,2953,1849,1883,0,0,0,0,0,0
$GC,8223,0.52,243.3,844.3,14.7,679,8227,0.15,2.20,0.00,0.000,4,0.171,0.059,2903,3266,1882,0,0,0,0,0,0
$GC,8269,0.58,280.7,838.4,11.4,681,8312,0.00,2.17,34.17,1.308,6,0.000,0.042,2911,1835,1738,0,0,0,0,0,0
$GC,8625,0.68,348.2,801.9,10.3,698,8694,0.15,2.38,62.45,1.303,4,0.077,0.057,2985,3269,1463,0,0,0,0,0,0
$GC,8732,0.64,348.2,782.4,19.3,703,8737,0.15,2.22,0.00,0.000,6,0.174,0.041,2958,1854,1462,0,0,0,0,0,0
$GC,9063,0.63,348.2,728.7,16.4,719,9067,0.00,2.17,0.00,0.000,4,0.000,0.053,2967,442,1458,0,0,0,0,0,0
$GC,9085,0.61,348.2,724.0,17.0,720,9089,0.00,2.20,0.00,0.000,6,0.000,0.041,2967,1873,1457,0,0,0,0,0,0
$GC,9406,0.59,348.2,671.1,15.7,736,9411,0.12,2.15,0.00,0.000,4,0.174,0.057,2930,3252,1456,0,0,0,0,0,0
$GC,9453,0.65,375.0,665.3,11.8,738,9483,0.00,2.15,24.10,1.200,6,0.000,0.040,2939,1837,1354,0,0,0,0,0,0
$GC,9802,0.66,375.0,624.3,12.7,755,9806,0.00,2.15,0.00,0.000,4,0.000,0.051,2949,434,1351,0,0,0,0,0,0
$GC,9857,0.70,376.6,616.7,12.6,757,9864,0.00,2.17,0.00,0.000,6,0.000,0.040,2949,1847,1350,0,0,0,0,0,0
$GC,10180,0.70,376.6,570.2,14.5,782,10184,0.00,2.20,0.00,0.000,4,0.000,0.056,2949,3269,1350,0,0,0,0,0,0
$GC,10237,0.74,376.6,562.2,12.9,786,10244,0.00,2.17,0.00,0.000,6,0.000,0.041,2959,1839,1350,0,0,0,0,0,0
$GC,10562,0.74,376.6,513.8,15.3,817,10566,0.00,2.12,0.00,0.000,4,0.000,0.052,2970,444,1349,0,0,0,0,0,0
$GC,10597,0.75,376.6,508.6,14.8,819,10604,0.00,2.17,0.00,0.000,6,0.000,0.041,2969,1873,1347,0,0,0,0,0,0
$GC,10922,0.75,376.6,456.7,16.2,850,10926,0.00,2.12,0.00,0.000,4,0.000,0.056,2968,3252,1348,0,0,0,0,0,0
$GC,11021,0.78,376.6,442.1,13.6,858,11025,0.00,2.12,0.00,0.000,6,0.000,0.039,2977,1840,1347,0,0,0,0,0,0
$GC,11352,0.78,376.6,392.8,13.8,889,11356,0.00,2.12,0.00,0.000,4,0.000,0.049,2986,438,1347,0,0,0,0,0,0
$GC,11376,0.78,376.6,389.4,13.5,890,11382,0.00,2.15,0.00,0.000,6,0.000,0.038,2986,1861,1347,0,0,0,0,0,0
$GC,11701,0.76,376.6,337.2,16.3,921,11705,0.00,2.12,0.00,0.000,4,0.000,0.053,2985,3260,1347,0,0,0,0,0,0
$GC,11760,0.78,376.6,328.6,14.4,926,11764,0.00,2.12,0.00,0.000,6,0.000,0.037,2991,1846,1347,0,0,0,0,0,0
$GC,12085,0.77,376.6,278.2,15.4,956,12089,0.00,2.12,0.00,0.000,4,0.000,0.047,3002,441,1347,0,0,0,0,0,0
$GC,12125,0.77,376.6,272.0,15.5,959,12131,0.00,2.12,0.00,0.000,6,0.000,0.037,3003,1860,1347,0,0,0,0,0,0
$GC,12446,0.77,376.6,220.7,14.6,1007,12454,0.00,2.12,0.00,0.000,4,0.000,0.050,3005,3242,1347,0,0,0,0,0,0
$GC,12474,0.77,376.6,216.9,14.4,1011,12482,0.00,2.10,0.00,0.000,6,0.000,0.036,3016,1852,1347,0,0,0,0,0,0
$GC,12795,0.77,376.6,169.7,14.4,1072,12803,0.00,2.15,0.00,0.000,4,0.000,0.045,3027,447,1347,0,0,0,0,0,0
$GC,12832,0.77,376.6,164.4,13.8,1078,12840,0.08,2.10,0.00,0.000,6,0.121,0.034,2998,1843,1347,0,0,0,0,0,0
$GC,13154,0.90,453.9,130.2,10.0,1139,13229,0.10,2.20,65.80,0.757,4,0.099,0.044,3069,443,1031,0,0,0,0,0,0
$GC,13250,0.90,453.9,115.7,16.0,1152,13259,0.10,2.17,0.00,0.000,6,0.120,0.033,3035,1840,1030,0,0,0,0,0,0
$GC,13581,0.95,468.9,74.4,12.2,1213,13604,0.00,2.20,13.52,0.640,4,0.000,0.044,3044,444,970,0,0,0,0,0,0
$GC,13633,1.05,511.6,67.9,11.2,1221,13677,0.08,2.15,35.88,0.679,6,0.051,0.032,3115,1863,796,0,0,0,0,0,0
$GC,13989,1.04,511.6,6.1,16.9,1287,13998,0.12,2.15,0.00,0.000,4,0.151,0.044,3070,3249,792,0,0,0,0,0,0
$STATE,14009,end climb,SURFACE_DEPTH_REACHED
$STATE,14009,begin surface coast
$FINISH,2.1,1.021340
$STATE,14017,end surface coast,CONTROL_FINISHED_OK
$STATE,14017,begin surface
$SM_CCo,14099,0.00,0.000,0,0,791,513.41
$SM_GC,1.91,7.62,0.00,0.00,0.035,0.000,0.000,150,1494,791,-8.05,-0.17,513.41,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,12359.34,100911,222254
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.96
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,25.40
$XPDR_PINGS,74
$24V_AH,22.9,47.413
$10V_AH,10.0,34.205
$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,19.950,139.375,660.125,0.000,0.000,52.235,57.592,238.260,18.500,0.000,18.312,3036.949,7211.017,703.742,3281.784,444.718,0.000,1997.936,0.000,2910.600,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,61.200,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.776,1322.785,1473.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73596,1291
$CAP_FILE_SIZE,161807,0
$CFSIZE,260165632,129449984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110911,025607,2106.475,12358.659,37,0.9,37,-2.7