version: 66.09
glider: 166
mission: 6
dive: 212
start: 9 12 111 8 6 52
data:
$ID,166
$MISSION,6
$DIVE,212
$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,-24665.625
$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,62
$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
$GPS1,120911,075721,2102.919,12350.328,60,99.0,79,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-61.6
$GPS2,120911,080630,2102.751,12350.459,67,1.7,67,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2102.751,12338.888
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.68,-243.3,0.0,0.0,0,132,0.00,0.00,-110.80,0.000,2,0.000,0.000,119,1463,3134,0,0,0,0,0,0
$GC,136,-0.68,-243.3,6.0,-10.2,16,166,9.32,2.20,-13.23,0.000,4,0.223,0.054,2507,2910,3879,0,0,0,0,0,0
$GC,243,-0.57,-243.3,52.3,-33.1,34,251,0.15,2.10,0.00,0.000,6,0.155,0.034,2554,1525,3881,0,0,0,0,0,0
$GC,566,-0.51,-243.3,132.7,-20.0,95,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1525,3882,0,0,0,0,0,0
$GC,891,-0.48,-243.3,193.6,-17.1,156,900,0.12,2.15,0.00,0.000,4,0.164,0.050,2581,2898,3883,0,0,0,0,0,0
$GC,949,-0.52,-243.3,201.3,-11.4,166,957,0.00,2.12,0.00,0.000,6,0.000,0.038,2583,1508,3882,0,0,0,0,0,0
$GC,1270,-0.54,-243.3,240.6,-12.3,227,1278,0.00,2.17,0.00,0.000,4,0.000,0.048,2575,2896,3882,0,0,0,0,0,0
$GC,1362,-0.61,-243.3,249.9,-9.5,243,1370,0.00,2.15,0.00,0.000,6,0.000,0.038,2576,1490,3882,0,0,0,0,0,0
$GC,1690,-0.64,-243.3,290.2,-11.4,274,1695,0.10,2.20,0.00,0.000,4,0.096,0.050,2494,2901,3881,0,0,0,0,0,0
$GC,1777,-0.61,-243.3,304.3,-16.3,281,1785,0.17,2.12,0.00,0.000,6,0.145,0.039,2546,1494,3880,0,0,0,0,0,0
$GC,2102,-0.61,-243.3,349.9,-13.3,312,2106,0.00,2.17,0.00,0.000,4,0.000,0.050,2540,2905,3879,0,0,0,0,0,0
$GC,2143,-0.63,-243.3,354.8,-12.2,315,2147,0.00,2.12,0.00,0.000,6,0.000,0.037,2541,1490,3878,0,0,0,0,0,0
$GC,2468,-0.63,-243.3,396.5,-13.2,345,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1490,3877,0,0,0,0,0,0
$GC,2789,-0.65,-243.3,438.1,-12.8,375,2793,0.00,2.20,0.00,0.000,4,0.000,0.051,2546,2898,3875,0,0,0,0,0,0
$GC,2820,-0.68,-243.3,442.0,-12.6,377,2824,0.00,2.12,0.00,0.000,6,0.000,0.039,2547,1496,3874,0,0,0,0,0,0
$GC,3148,-0.69,-243.3,483.6,-11.6,407,3152,0.00,2.17,0.00,0.000,4,0.000,0.052,2537,2897,3873,0,0,0,0,0,0
$GC,3201,-0.73,-243.3,489.3,-10.5,411,3205,0.00,2.12,0.00,0.000,6,0.000,0.041,2537,1491,3873,0,0,0,0,0,0
$GC,3527,-0.75,-243.3,527.8,-11.5,441,3531,0.00,2.20,0.00,0.000,4,0.000,0.053,2527,2897,3870,0,0,0,0,0,0
$GC,3563,-0.77,-243.3,531.8,-11.3,443,3569,0.00,2.12,0.00,0.000,6,0.000,0.040,2527,1498,3870,0,0,0,0,0,0
$GC,3889,-0.78,-243.3,571.5,-12.6,474,3893,0.00,2.17,0.00,0.000,4,0.000,0.054,2517,2898,3868,0,0,0,0,0,0
$GC,3932,-0.80,-243.3,576.3,-11.8,477,3936,0.00,2.10,0.00,0.000,6,0.000,0.042,2517,1504,3867,0,0,0,0,0,0
$GC,4260,-0.80,-243.3,618.8,-12.7,501,4264,0.00,2.15,0.00,0.000,4,0.000,0.055,2507,2896,3864,0,0,0,0,0,0
$GC,4293,-0.81,-243.3,623.2,-12.1,502,4299,0.00,2.12,0.00,0.000,6,0.000,0.042,2507,1494,3864,0,0,0,0,0,0
$GC,4610,-0.81,-243.3,663.4,-13.0,518,4614,0.00,2.17,0.00,0.000,4,0.000,0.057,2497,2904,3860,0,0,0,0,0,0
$GC,4683,-0.83,-243.3,672.4,-11.6,521,4687,0.00,2.15,0.00,0.000,6,0.000,0.043,2497,1493,3860,0,0,0,0,0,0
$GC,5007,-0.83,-243.3,712.8,-12.4,537,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1493,3857,0,0,0,0,0,0
$GC,5314,-0.83,-243.3,749.2,-11.8,552,5318,0.00,2.20,0.00,0.000,4,0.000,0.057,2487,2903,3854,0,0,0,0,0,0
$GC,5362,-0.84,-243.3,754.6,-11.5,554,5366,0.00,2.15,0.00,0.000,6,0.000,0.044,2486,1492,3853,0,0,0,0,0,0
$GC,5692,-0.84,-243.3,795.0,-12.6,570,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1491,3851,0,0,0,0,0,0
$GC,5999,-0.84,-243.3,833.8,-12.4,585,6003,0.00,2.20,0.00,0.000,4,0.000,0.060,2475,2893,3848,0,0,0,0,0,0
$GC,6022,-0.84,-243.3,836.5,-12.4,586,6026,0.00,2.15,0.00,0.000,6,0.000,0.046,2474,1491,3848,0,0,0,0,0,0
$GC,6352,-0.83,-243.3,879.9,-13.2,602,6356,0.00,2.20,0.00,0.000,4,0.000,0.060,2456,2891,3845,0,0,0,0,0,0
$GC,6378,-0.83,-243.3,884.1,-13.1,603,6382,0.00,2.12,0.00,0.000,6,0.000,0.045,2457,1503,3845,0,0,0,0,0,0
$GC,6702,-0.81,-243.3,929.0,-14.2,619,6704,0.10,0.00,0.00,0.000,6,0.184,0.000,2478,1502,3842,0,0,0,0,0,0
$GC,7010,-0.81,-243.3,967.2,-12.0,634,7014,0.00,2.20,0.00,0.000,4,0.000,0.060,2468,2900,3840,0,0,0,0,0,0
$GC,7037,-0.82,-243.3,970.6,-11.6,635,7041,0.00,2.17,0.00,0.000,6,0.000,0.047,2469,1492,3840,0,0,0,0,0,0
$STATE,7211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7211,begin apogee
$GC,7220,-0.11,0.0,992.3,12.5,644,7432,0.73,0.00,202.07,1.440,6,0.121,0.000,2706,1838,2883,0,0,0,0,0,0
$STATE,7433,end apogee,CONTROL_FINISHED_OK
$STATE,7433,begin climb
$GC,7437,0.68,243.3,1001.3,0.0,654,7671,0.70,2.45,220.65,1.374,4,0.041,0.062,2987,3251,1891,0,0,0,0,0,0
$GC,7789,0.62,243.3,948.7,18.1,670,7794,0.20,2.22,0.00,0.000,6,0.174,0.045,2946,1849,1886,0,0,0,0,0,0
$GC,8114,0.58,243.3,898.8,15.7,686,8118,0.00,2.22,0.00,0.000,4,0.000,0.060,2939,3257,1883,0,0,0,0,0,0
$GC,8142,0.55,243.3,893.5,16.3,687,8146,0.00,2.17,0.00,0.000,6,0.000,0.043,2947,1846,1882,0,0,0,0,0,0
$GC,8465,0.51,243.3,840.3,16.8,703,8467,0.15,0.00,0.00,0.000,6,0.171,0.000,2908,1846,1881,0,0,0,0,0,0
$GC,8772,0.54,263.9,801.4,12.0,718,8798,0.00,2.33,18.30,1.251,4,0.000,0.059,2909,3264,1807,0,0,0,0,0,0
$GC,8827,0.57,286.0,794.5,11.9,720,8859,0.00,2.20,22.30,1.247,6,0.000,0.042,2919,1841,1717,0,0,0,0,0,0
$GC,9172,0.57,286.0,750.4,13.1,737,9176,0.00,2.15,0.00,0.000,4,0.000,0.054,2928,444,1713,0,0,0,0,0,0
$GC,9213,0.59,286.0,744.6,12.8,739,9217,0.00,2.17,0.00,0.000,6,0.000,0.042,2927,1851,1712,0,0,0,0,0,0
$GC,9541,0.59,286.0,697.9,14.4,755,9545,0.00,2.20,0.00,0.000,4,0.000,0.057,2927,3274,1711,0,0,0,0,0,0
$GC,9619,0.60,286.0,686.3,14.1,758,9623,0.00,2.17,0.00,0.000,6,0.000,0.040,2937,1840,1711,0,0,0,0,0,0
$GC,9938,0.59,286.0,639.2,14.8,773,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1840,1711,0,0,0,0,0,0
$GC,10245,0.59,286.0,596.4,13.3,789,10249,0.00,2.22,0.00,0.000,4,0.000,0.053,2937,3267,1710,0,0,0,0,0,0
$GC,10277,0.59,286.0,591.8,13.3,791,10284,0.00,2.15,0.00,0.000,6,0.000,0.038,2946,1842,1710,0,0,0,0,0,0
$GC,10603,0.57,286.0,550.9,13.0,822,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1842,1709,0,0,0,0,0,0
$GC,10923,0.60,303.6,509.0,12.1,852,10942,0.00,0.00,16.17,1.069,6,0.000,0.000,2948,1842,1646,0,0,0,0,0,0
$GC,11260,0.60,303.6,462.4,13.7,884,11264,0.00,2.22,0.00,0.000,4,0.000,0.052,2945,3263,1643,0,0,0,0,0,0
$GC,11292,0.60,303.6,457.5,14.4,886,11299,0.00,2.15,0.00,0.000,6,0.000,0.038,2954,1845,1643,0,0,0,0,0,0
$GC,11618,0.60,303.6,410.7,13.8,917,11622,0.00,2.15,0.00,0.000,4,0.000,0.048,2965,434,1643,0,0,0,0,0,0
$GC,11639,0.60,303.6,407.7,13.4,918,11646,0.00,2.17,0.00,0.000,6,0.000,0.037,2966,1871,1642,0,0,0,0,0,0
$GC,11965,0.59,303.6,363.2,12.8,949,11970,0.12,2.22,0.00,0.000,4,0.167,0.047,2945,440,1642,0,0,0,0,0,0
$GC,11998,0.64,330.2,359.2,11.8,951,12028,0.00,2.15,24.17,0.958,6,0.000,0.038,2941,1865,1537,0,0,0,0,0,0
$GC,12346,0.75,386.8,323.4,10.7,984,12403,0.12,2.30,49.75,0.929,4,0.086,0.047,3026,448,1305,0,0,0,0,0,0
$GC,12425,0.72,386.8,311.0,18.1,991,12430,0.17,2.17,0.00,0.000,6,0.144,0.037,2979,1845,1305,0,0,0,0,0,0
$GC,12752,0.74,395.4,266.8,12.4,1021,12767,0.00,2.25,8.43,0.746,4,0.000,0.049,2980,3268,1272,0,0,0,0,0,0
$GC,12810,0.83,428.8,260.0,11.5,1026,12847,0.00,2.15,29.60,0.846,6,0.000,0.035,2988,1845,1134,0,0,0,0,0,0
$GC,13161,0.89,460.9,218.5,11.6,1084,13199,0.12,2.22,27.80,0.806,4,0.084,0.047,3072,442,1002,0,0,0,0,0,0
$GC,13277,0.86,460.9,196.4,19.0,1103,13286,0.12,2.20,0.00,0.000,6,0.133,0.041,3027,1868,1001,0,0,0,0,0,0
$GC,13604,0.86,460.9,137.8,16.8,1164,13612,0.00,2.12,0.00,0.000,4,0.000,0.048,3017,3243,1001,0,0,0,0,0,0
$GC,13638,0.89,460.9,132.2,16.3,1169,13646,0.00,2.12,0.00,0.000,6,0.000,0.035,3026,1848,1001,0,0,0,0,0,0
$GC,13961,0.91,460.9,84.1,12.8,1230,13969,0.00,2.15,0.00,0.000,4,0.000,0.045,3036,444,999,0,0,0,0,0,0
$GC,14033,1.03,517.3,75.1,10.7,1243,14091,0.08,2.12,46.35,0.700,6,0.052,0.033,3109,1859,773,0,0,0,0,0,0
$GC,14406,1.00,517.3,9.3,19.6,1311,14415,0.15,2.15,0.00,0.000,4,0.142,0.046,3055,3245,769,0,0,0,0,0,0
$GC,14444,1.06,517.3,3.8,14.8,1317,14452,0.00,2.12,0.00,0.000,6,0.000,0.036,3063,1854,769,0,0,0,0,0,0
$STATE,14458,end climb,SURFACE_DEPTH_REACHED
$STATE,14458,begin surface coast
$FINISH,1.3,1.021508
$STATE,14487,end surface coast,CONTROL_FINISHED_OK
$STATE,14487,begin surface
$SM_CCo,14565,0.00,0.000,0,0,769,518.81
$SM_GC,1.72,7.62,0.00,0.00,0.037,0.000,0.000,154,1475,769,-8.05,-0.71,518.81,0,0,0,0,0,0
$IRIDIUM_FIX,2054.83,12352.93,120911,030309
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.83
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.90
$XPDR_PINGS,87
$24V_AH,23.0,49.486
$10V_AH,10.1,35.390
$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,20.275,131.675,665.600,0.000,0.000,27.293,32.508,284.212,21.750,0.000,67.948,3109.385,7529.813,706.056,3312.748,439.654,0.000,2007.182,0.000,2918.972,0.000,0.540,0.000
$DEVICE_MAMPS,223.380,61.965,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,902.620,1354.207,1447.996,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330272
$DATA_FILE_SIZE,76952,1324
$CAP_FILE_SIZE,164179,0
$CFSIZE,260165632,128753664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120911,121106,2102.362,12348.998,38,1.7,49,-2.7