version: 66.09
glider: 166
mission: 6
dive: 213
start: 9 12 111 12 18 44
data:
$ID,166
$MISSION,6
$DIVE,213
$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,-24666.885
$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,57
$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
$GPS1,120911,121106,2102.362,12348.998,38,1.7,49,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-64.7
$GPS2,120911,121822,2102.278,12348.974,32,99.0,51,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2102.278,12337.403
$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,-243.3,0.0,0.0,0,112,0.00,0.00,-92.55,0.000,2,0.000,0.000,151,1475,2999,0,0,0,0,0,0
$GC,115,-0.68,-243.3,5.6,-9.7,13,152,9.25,2.22,-16.55,0.000,4,0.221,0.052,2506,2898,3880,0,0,0,0,0,0
$GC,297,-0.59,-243.3,71.7,-26.9,45,306,0.17,2.12,0.00,0.000,6,0.143,0.035,2551,1510,3882,0,0,0,0,0,0
$GC,620,-0.54,-243.3,142.9,-19.1,106,628,0.00,2.15,0.00,0.000,4,0.000,0.042,2542,2900,3884,0,0,0,0,0,0
$GC,676,-0.54,-243.3,152.9,-16.3,115,684,0.00,2.12,0.00,0.000,6,0.000,0.034,2545,1497,3884,0,0,0,0,0,0
$GC,1004,-0.51,-243.3,211.4,-16.9,176,1012,0.12,2.17,0.00,0.000,4,0.164,0.044,2573,2904,3884,0,0,0,0,0,0
$GC,1054,-0.54,-243.3,218.8,-13.3,184,1062,0.00,2.12,0.00,0.000,6,0.000,0.033,2573,1491,3884,0,0,0,0,0,0
$GC,1376,-0.56,-243.3,259.1,-11.5,238,1380,0.00,2.15,0.00,0.000,4,0.000,0.044,2565,2908,3884,0,0,0,0,0,0
$GC,1431,-0.61,-243.3,265.4,-10.2,242,1439,0.00,2.12,0.00,0.000,6,0.000,0.034,2566,1499,3884,0,0,0,0,0,0
$GC,1759,-0.62,-243.3,303.2,-13.1,273,1763,0.00,2.12,0.00,0.000,4,0.000,0.045,2564,2902,3883,0,0,0,0,0,0
$GC,1872,-0.67,-243.3,315.6,-10.0,282,1880,0.12,2.10,0.00,0.000,6,0.080,0.035,2489,1500,3883,0,0,0,0,0,0
$GC,2198,-0.60,-243.3,388.1,-23.5,313,2202,0.20,1.98,0.00,0.000,4,0.158,0.044,2551,204,3881,0,0,0,0,0,0
$GC,2230,-0.59,-243.3,394.7,-18.5,315,2237,0.00,1.95,0.00,0.000,6,0.000,0.037,2544,1503,3881,0,0,0,0,0,0
$GC,2555,-0.59,-243.3,444.2,-14.4,346,2559,0.00,2.12,0.00,0.000,4,0.000,0.050,2533,2904,3880,0,0,0,0,0,0
$GC,2623,-0.62,-243.3,452.9,-11.9,351,2629,0.00,2.10,0.00,0.000,6,0.000,0.037,2533,1505,3879,0,0,0,0,0,0
$GC,2948,-0.62,-243.3,497.2,-13.0,382,2952,0.00,2.15,0.00,0.000,4,0.000,0.052,2523,2904,3878,0,0,0,0,0,0
$GC,3000,-0.64,-243.3,503.0,-10.9,386,3004,0.00,2.12,0.00,0.000,6,0.000,0.040,2523,1496,3878,0,0,0,0,0,0
$GC,3325,-0.64,-243.3,544.5,-12.5,416,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1496,3875,0,0,0,0,0,0
$GC,3646,-0.64,-243.3,580.6,-10.6,446,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1496,3873,0,0,0,0,0,0
$GC,3972,-0.65,-243.3,618.7,-12.3,470,3976,0.00,2.20,0.00,0.000,4,0.000,0.055,2513,2909,3870,0,0,0,0,0,0
$GC,4073,-0.69,-243.3,630.8,-11.3,474,4077,0.00,2.15,0.00,0.000,6,0.000,0.041,2513,1497,3869,0,0,0,0,0,0
$GC,4391,-0.69,-243.3,672.0,-12.8,489,4395,0.00,2.22,0.00,0.000,4,0.000,0.057,2503,2912,3867,0,0,0,0,0,0
$GC,4431,-0.71,-243.3,677.3,-12.7,491,4435,0.00,2.15,0.00,0.000,6,0.000,0.042,2503,1500,3866,0,0,0,0,0,0
$GC,4758,-0.71,-243.3,721.6,-13.7,507,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1500,3863,0,0,0,0,0,0
$GC,5069,-0.71,-243.3,761.0,-12.3,522,5073,0.00,2.25,0.00,0.000,4,0.000,0.059,2493,2909,3860,0,0,0,0,0,0
$GC,5091,-0.71,-243.3,764.2,-12.5,523,5095,0.00,2.15,0.00,0.000,6,0.000,0.044,2492,1500,3860,0,0,0,0,0,0
$GC,5414,-0.71,-243.3,806.4,-13.6,539,5418,0.00,2.20,0.00,0.000,4,0.000,0.060,2482,2908,3856,0,0,0,0,0,0
$GC,5446,-0.71,-243.3,811.3,-13.3,540,5451,0.12,2.17,0.00,0.000,6,0.155,0.044,2516,1490,3856,0,0,0,0,0,0
$GC,5770,-0.73,-243.3,848.0,-11.7,556,5774,0.00,2.22,0.00,0.000,4,0.000,0.059,2507,2900,3853,0,0,0,0,0,0
$GC,5821,-0.78,-243.3,854.0,-11.1,558,5825,0.00,2.15,0.00,0.000,6,0.000,0.044,2508,1500,3853,0,0,0,0,0,0
$GC,6138,-0.79,-243.3,890.8,-11.6,573,6142,0.00,2.22,0.00,0.000,4,0.000,0.060,2493,2901,3851,0,0,0,0,0,0
$GC,6171,-0.82,-243.3,894.5,-10.7,574,6175,0.00,2.17,0.00,0.000,6,0.000,0.045,2495,1490,3850,0,0,0,0,0,0
$GC,6489,-0.82,-243.3,933.4,-12.5,589,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1490,3848,0,0,0,0,0,0
$GC,6797,-0.83,-243.3,970.1,-11.4,604,6801,0.00,2.25,0.00,0.000,4,0.000,0.061,2479,2910,3846,0,0,0,0,0,0
$GC,6839,-0.86,-243.3,974.7,-11.1,606,6843,0.00,2.17,0.00,0.000,6,0.000,0.047,2478,1500,3845,0,0,0,0,0,0
$STATE,6978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6979,begin apogee
$GC,6985,-0.11,0.0,991.2,11.7,613,7196,0.70,0.00,203.57,1.428,6,0.122,0.000,2704,1845,2884,0,0,0,0,0,0
$STATE,7197,end apogee,CONTROL_FINISHED_OK
$STATE,7197,begin climb
$GC,7199,0.68,243.3,999.2,0.0,623,7433,0.70,2.45,220.85,1.366,4,0.045,0.062,2978,3251,1892,0,0,0,0,0,0
$GC,7594,0.63,243.3,941.9,18.0,641,7599,0.17,2.20,0.00,0.000,6,0.180,0.045,2946,1851,1887,0,0,0,0,0,0
$GC,7923,0.59,243.3,891.6,15.1,657,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1851,1884,0,0,0,0,0,0
$GC,8233,0.56,243.3,845.2,14.7,672,8237,0.00,2.20,0.00,0.000,4,0.000,0.059,2942,3253,1882,0,0,0,0,0,0
$GC,8260,0.53,243.3,840.4,15.3,673,8265,0.12,2.17,0.00,0.000,6,0.177,0.043,2923,1834,1881,0,0,0,0,0,0
$GC,8581,0.53,243.3,797.2,13.8,689,8585,0.00,2.17,0.00,0.000,4,0.000,0.054,2932,441,1881,0,0,0,0,0,0
$GC,8611,0.53,243.3,792.8,14.7,690,8615,0.00,2.17,0.00,0.000,6,0.000,0.043,2930,1850,1879,0,0,0,0,0,0
$GC,8927,0.53,243.3,746.0,14.7,705,8931,0.00,2.20,0.00,0.000,4,0.000,0.058,2930,3265,1880,0,0,0,0,0,0
$GC,8982,0.53,243.3,737.6,14.7,707,8989,0.00,2.17,0.00,0.000,6,0.000,0.043,2938,1837,1879,0,0,0,0,0,0
$GC,9300,0.51,243.3,692.3,13.4,723,9304,0.00,2.12,0.00,0.000,4,0.000,0.053,2950,443,1879,0,0,0,0,0,0
$GC,9322,0.50,243.3,688.9,13.2,724,9327,0.15,2.15,0.00,0.000,6,0.157,0.041,2910,1850,1878,0,0,0,0,0,0
$GC,9647,0.63,335.1,658.0,9.5,740,9737,0.10,2.33,82.18,1.226,4,0.101,0.057,2960,3266,1518,0,0,0,0,0,0
$GC,9772,0.63,335.1,639.7,15.1,746,9776,0.00,2.22,0.00,0.000,6,0.000,0.039,2966,1850,1518,0,0,0,0,0,0
$GC,10094,0.61,335.1,586.2,17.0,765,10098,0.00,2.17,0.00,0.000,4,0.000,0.050,2975,442,1514,0,0,0,0,0,0
$GC,10126,0.59,335.1,580.2,16.1,767,10134,0.15,2.17,0.00,0.000,6,0.155,0.037,2936,1858,1512,0,0,0,0,0,0
$GC,10452,0.63,349.4,539.5,12.2,798,10475,0.00,2.25,13.18,1.050,4,0.000,0.053,2933,3268,1459,0,0,0,0,0,0
$GC,10500,0.68,366.4,533.5,12.1,802,10523,0.00,2.17,16.58,1.060,6,0.000,0.038,2939,1842,1389,0,0,0,0,0,0
$GC,10841,0.74,401.7,490.7,11.5,834,10878,0.12,2.22,31.83,1.070,4,0.088,0.049,3020,436,1246,0,0,0,0,0,0
$GC,10889,0.69,401.7,482.2,18.7,838,10897,0.17,2.22,0.00,0.000,6,0.153,0.037,2973,1866,1245,0,0,0,0,0,0
$GC,11215,0.69,401.7,428.2,18.1,869,11219,0.00,2.15,0.00,0.000,4,0.000,0.053,2971,3257,1243,0,0,0,0,0,0
$GC,11295,0.73,401.7,415.0,15.4,875,11301,0.00,2.15,0.00,0.000,6,0.000,0.038,2979,1842,1243,0,0,0,0,0,0
$GC,11620,0.73,401.7,360.4,16.0,906,11624,0.00,2.15,0.00,0.000,4,0.000,0.049,2993,438,1243,0,0,0,0,0,0
$GC,11671,0.75,401.7,352.9,14.5,910,11675,0.00,2.15,0.00,0.000,6,0.000,0.041,2997,1859,1242,0,0,0,0,0,0
$GC,12001,0.75,401.7,300.9,14.6,941,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1859,1242,0,0,0,0,0,0
$GC,12325,0.75,401.7,251.9,15.2,971,12329,0.00,2.17,0.00,0.000,4,0.000,0.045,3009,433,1242,0,0,0,0,0,0
$GC,12354,0.75,401.7,247.3,14.1,974,12363,0.00,2.15,0.00,0.000,6,0.000,0.035,3009,1848,1242,0,0,0,0,0,0
$GC,12678,0.75,401.7,198.3,15.8,1035,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1848,1242,0,0,0,0,0,0
$GC,13003,0.75,401.7,150.0,14.3,1096,13011,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1851,1242,0,0,0,0,0,0
$GC,13326,0.77,401.7,107.6,13.3,1157,13334,0.00,2.17,0.00,0.000,4,0.000,0.044,3019,440,1242,0,0,0,0,0,0
$GC,13363,0.85,432.8,103.1,11.6,1163,13400,0.00,2.12,27.20,0.711,6,0.000,0.034,3019,1851,1118,0,0,0,0,0,0
$GC,13717,1.11,591.6,67.6,7.1,1228,13862,0.22,2.28,130.55,0.681,4,0.057,0.044,3151,442,469,0,0,0,0,0,0
$GC,13897,1.11,591.6,34.6,19.2,1254,13905,0.12,2.17,0.00,0.000,6,0.123,0.033,3105,1844,463,0,0,0,0,0,0
$STATE,14091,end climb,SURFACE_DEPTH_REACHED
$STATE,14092,begin surface coast
$FINISH,1.1,1.021642
$STATE,14114,end surface coast,CONTROL_FINISHED_OK
$STATE,14114,begin surface
$SM_CCo,14191,0.00,0.000,0,0,457,595.34
$SM_GC,1.92,7.70,0.00,0.00,0.034,0.000,0.000,154,1496,457,-8.03,-0.11,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2057.14,12329.23,120911,070739
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.69
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.50
$XPDR_PINGS,62
$24V_AH,22.9,49.744
$10V_AH,10.0,35.539
$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,20.450,127.100,725.925,0.000,0.000,24.551,48.196,164.455,15.500,0.000,53.784,3023.077,7221.763,717.784,3218.992,428.647,0.000,2032.214,0.000,2940.222,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,61.965,1428.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.688,1327.374,1496.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330212
$DATA_FILE_SIZE,73490,1295
$CAP_FILE_SIZE,158846,0
$CFSIZE,260165632,128679936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120911,161655,2102.214,12348.105,62,1.4,62,-2.7