version: 66.09
glider: 166
mission: 6
dive: 214
start: 9 12 111 16 24 17
data:
$ID,166
$MISSION,6
$DIVE,214
$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,-24668.143
$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,35
$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
$GPS1,120911,161655,2102.214,12348.105,62,1.4,62,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-62.9
$GPS2,120911,162355,2102.165,12348.221,13,1.4,30,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2102.165,12336.650
$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,-243.3,0.0,0.0,0,133,0.00,0.00,-113.53,0.000,2,0.000,0.000,147,1494,3248,0,0,0,0,0,0
$GC,136,-0.68,-243.3,6.6,-11.1,16,166,9.27,2.20,-11.10,0.000,4,0.222,0.054,2499,2922,3879,0,0,0,0,0,0
$GC,271,-0.57,-243.3,61.2,-31.4,39,280,0.20,2.17,0.00,0.000,6,0.139,0.037,2559,1501,3881,0,0,0,0,0,0
$GC,595,-0.52,-243.3,131.8,-17.9,100,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1500,3882,0,0,0,0,0,0
$GC,919,-0.49,-243.3,191.4,-17.8,161,927,0.00,2.22,0.00,0.000,4,0.000,0.047,2551,2909,3884,0,0,0,0,0,0
$GC,946,-0.48,-243.3,196.5,-17.7,165,955,0.10,2.15,0.00,0.000,6,0.120,0.037,2586,1503,3883,0,0,0,0,0,0
$GC,1271,-0.50,-243.3,237.2,-11.6,226,1279,0.00,2.17,0.00,0.000,4,0.000,0.047,2578,2909,3883,0,0,0,0,0,0
$GC,1353,-0.57,-243.3,244.8,-8.7,240,1360,0.00,2.15,0.00,0.000,6,0.000,0.037,2577,1497,3883,0,0,0,0,0,0
$GC,1686,-0.60,-243.3,281.3,-11.1,276,1690,0.00,2.15,0.00,0.000,4,0.000,0.048,2569,2909,3882,0,0,0,0,0,0
$GC,1774,-0.66,-243.3,289.3,-8.9,283,1779,0.12,2.12,0.00,0.000,6,0.080,0.037,2478,1490,3882,0,0,0,0,0,0
$GC,2105,-0.58,-243.3,361.2,-21.7,314,2107,0.25,0.00,0.00,0.000,6,0.155,0.000,2551,1489,3880,0,0,0,0,0,0
$GC,2424,-0.60,-243.3,401.2,-11.4,344,2428,0.00,2.20,0.00,0.000,4,0.000,0.048,2546,2919,3878,0,0,0,0,0,0
$GC,2490,-0.65,-243.3,407.7,-8.9,349,2497,0.00,2.15,0.00,0.000,6,0.000,0.039,2560,1502,3878,0,0,0,0,0,0
$GC,2816,-0.66,-243.3,444.4,-11.9,380,2820,0.00,2.20,0.00,0.000,4,0.000,0.051,2550,2914,3877,0,0,0,0,0,0
$GC,2904,-0.71,-243.3,453.3,-9.3,387,2909,0.10,2.15,0.00,0.000,6,0.094,0.039,2479,1494,3876,0,0,0,0,0,0
$GC,3230,-0.66,-243.3,515.7,-19.1,417,3234,0.17,2.22,0.00,0.000,4,0.159,0.050,2521,2912,3874,0,0,0,0,0,0
$GC,3294,-0.68,-243.3,524.6,-12.8,422,3298,0.00,2.15,0.00,0.000,6,0.000,0.041,2521,1500,3873,0,0,0,0,0,0
$GC,3619,-0.68,-243.3,569.6,-13.6,452,3623,0.00,2.20,0.00,0.000,4,0.000,0.054,2513,2909,3872,0,0,0,0,0,0
$GC,3685,-0.71,-243.3,577.0,-11.1,457,3689,0.00,2.12,0.00,0.000,6,0.000,0.041,2512,1494,3871,0,0,0,0,0,0
$GC,4025,-0.71,-243.3,618.0,-11.7,482,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1494,3869,0,0,0,0,0,0
$GC,4333,-0.71,-243.3,656.2,-11.9,497,4337,0.00,2.00,0.00,0.000,4,0.000,0.052,2512,202,3866,0,0,0,0,0,0
$GC,4372,-0.72,-243.3,661.1,-11.4,498,4379,0.00,2.00,0.00,0.000,6,0.000,0.042,2503,1510,3865,0,0,0,0,0,0
$GC,4689,-0.72,-243.3,696.7,-11.2,514,4693,0.00,2.15,0.00,0.000,4,0.000,0.054,2492,2912,3862,0,0,0,0,0,0
$GC,4747,-0.74,-243.3,702.8,-10.5,516,4753,0.00,2.15,0.00,0.000,6,0.000,0.041,2492,1499,3862,0,0,0,0,0,0
$GC,5063,-0.74,-243.3,741.1,-12.2,532,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1499,3859,0,0,0,0,0,0
$GC,5374,-0.74,-243.3,778.3,-12.0,547,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1499,3856,0,0,0,0,0,0
$GC,5681,-0.74,-243.3,814.7,-11.9,562,5685,0.00,2.22,0.00,0.000,4,0.000,0.059,2481,2909,3853,0,0,0,0,0,0
$GC,5722,-0.74,-243.3,819.5,-11.8,564,5726,0.00,2.15,0.00,0.000,6,0.000,0.044,2482,1493,3853,0,0,0,0,0,0
$GC,6051,-0.73,-243.3,863.8,-13.8,580,6056,0.10,2.25,0.00,0.000,4,0.175,0.058,2496,2913,3850,0,0,0,0,0,0
$GC,6078,-0.73,-243.3,867.7,-13.4,581,6082,0.00,2.15,0.00,0.000,6,0.000,0.044,2498,1494,3849,0,0,0,0,0,0
$GC,6400,-0.73,-243.3,905.9,-11.7,597,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1494,3847,0,0,0,0,0,0
$GC,6711,-0.74,-243.3,940.8,-11.0,612,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1494,3845,0,0,0,0,0,0
$GC,7019,-0.76,-243.3,973.8,-10.4,627,7023,0.00,2.22,0.00,0.000,4,0.000,0.060,2477,2903,3843,0,0,0,0,0,0
$GC,7059,-0.78,-243.3,977.9,-10.1,628,7066,0.00,2.17,0.00,0.000,6,0.000,0.046,2479,1494,3842,0,0,0,0,0,0
$STATE,7187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7187,begin apogee
$GC,7193,-0.11,0.0,991.9,10.8,635,7405,0.70,0.00,202.70,1.429,6,0.123,0.000,2705,1858,2882,0,0,0,0,0,0
$STATE,7405,end apogee,CONTROL_FINISHED_OK
$STATE,7405,begin climb
$GC,7408,0.68,243.3,998.6,0.0,645,7643,0.70,2.50,220.12,1.366,4,0.046,0.057,2987,445,1891,0,0,0,0,0,0
$GC,7705,0.63,243.3,956.4,18.4,658,7712,0.15,2.28,0.00,0.000,6,0.167,0.047,2947,1848,1887,0,0,0,0,0,0
$GC,8023,0.59,243.3,905.9,15.6,674,8027,0.00,2.20,0.00,0.000,4,0.000,0.060,2944,3265,1884,0,0,0,0,0,0
$GC,8061,0.57,243.3,899.4,15.7,675,8068,0.00,2.17,0.00,0.000,6,0.000,0.043,2952,1847,1883,0,0,0,0,0,0
$GC,8379,0.53,243.3,850.1,15.7,691,8381,0.15,0.00,0.00,0.000,6,0.177,0.000,2913,1847,1881,0,0,0,0,0,0
$GC,8687,0.54,258.9,812.1,12.1,706,8709,0.00,2.28,13.85,1.218,4,0.000,0.058,2912,3258,1828,0,0,0,0,0,0
$GC,8737,0.57,279.7,805.5,12.0,708,8763,0.00,2.17,21.08,1.253,6,0.000,0.040,2923,1839,1743,0,0,0,0,0,0
$GC,9081,0.59,291.7,762.6,12.3,725,9100,0.00,0.00,12.45,1.172,6,0.000,0.000,2924,1839,1694,0,0,0,0,0,0
$GC,9410,0.60,305.3,722.3,12.2,741,9430,0.00,0.00,13.82,1.175,6,0.000,0.000,2924,1839,1638,0,0,0,0,0,0
$GC,9741,0.62,320.5,682.9,12.2,757,9759,0.00,0.00,15.12,1.164,6,0.000,0.000,2925,1839,1576,0,0,0,0,0,0
$GC,10069,0.65,329.7,643.0,12.4,773,10083,0.00,2.17,9.62,1.068,4,0.000,0.051,2933,445,1539,0,0,0,0,0,0
$GC,10116,0.69,339.3,637.4,12.4,775,10132,0.10,2.17,10.50,1.073,6,0.100,0.039,2989,1859,1500,0,0,0,0,0,0
$GC,10446,0.64,339.3,570.4,21.0,796,10451,0.15,2.20,0.00,0.000,4,0.167,0.056,2946,3266,1496,0,0,0,0,0,0
$GC,10572,0.67,339.3,550.4,14.9,806,10579,0.00,2.15,0.00,0.000,6,0.000,0.040,2951,1851,1497,0,0,0,0,0,0
$GC,10897,0.67,339.3,500.0,14.0,837,10901,0.00,2.20,0.00,0.000,4,0.000,0.054,2951,3261,1496,0,0,0,0,0,0
$GC,10930,0.67,339.3,495.9,14.4,839,10934,0.00,2.15,0.00,0.000,6,0.000,0.039,2959,1846,1495,0,0,0,0,0,0
$GC,11255,0.67,339.3,450.1,15.5,869,11259,0.00,2.15,0.00,0.000,4,0.000,0.050,2970,445,1496,0,0,0,0,0,0
$GC,11280,0.67,339.3,446.6,15.1,871,11284,0.00,2.15,0.00,0.000,6,0.000,0.038,2970,1859,1494,0,0,0,0,0,0
$GC,11606,0.66,339.3,399.3,14.3,901,11610,0.00,2.15,0.00,0.000,4,0.000,0.053,2972,3263,1494,0,0,0,0,0,0
$GC,11706,0.67,339.3,385.0,13.8,909,11710,0.00,2.15,0.00,0.000,6,0.000,0.038,2982,1835,1494,0,0,0,0,0,0
$GC,12033,0.66,339.3,336.0,15.2,939,12037,0.00,2.12,0.00,0.000,4,0.000,0.047,2996,439,1494,0,0,0,0,0,0
$GC,12067,0.66,339.3,330.6,14.5,941,12075,0.15,2.15,0.00,0.000,6,0.146,0.037,2956,1859,1494,0,0,0,0,0,0
$GC,12393,0.76,395.9,295.2,10.7,972,12445,0.00,0.00,48.88,0.910,6,0.000,0.000,2957,1862,1270,0,0,0,0,0,0
$GC,12763,0.91,469.8,254.8,10.1,1007,12833,0.22,2.25,62.67,0.860,4,0.060,0.044,3076,436,966,0,0,0,0,0,0
$GC,12891,0.88,469.8,228.2,21.4,1025,12900,0.12,2.22,0.00,0.000,6,0.132,0.036,3033,1867,964,0,0,0,0,0,0
$GC,13219,0.87,469.8,169.2,17.2,1086,13227,0.00,2.15,0.00,0.000,4,0.000,0.048,3031,3249,963,0,0,0,0,0,0
$GC,13256,0.88,469.8,162.3,17.2,1092,13266,0.00,2.15,0.00,0.000,6,0.000,0.035,3039,1843,962,0,0,0,0,0,0
$GC,13583,0.88,469.8,106.9,16.7,1153,13591,0.00,2.15,0.00,0.000,4,0.000,0.045,3050,443,962,0,0,0,0,0,0
$GC,13637,0.92,478.5,100.0,12.4,1162,13653,0.00,2.12,7.95,0.610,6,0.000,0.034,3050,1848,932,0,0,0,0,0,0
$GC,13970,1.10,578.0,59.7,9.2,1224,14064,0.15,2.28,82.25,0.685,4,0.072,0.043,3153,444,524,0,0,0,0,0,0
$GC,14084,1.08,578.0,38.2,21.4,1240,14093,0.15,2.17,0.00,0.000,6,0.127,0.031,3096,1850,521,0,0,0,0,0,0
$STATE,14312,end climb,SURFACE_DEPTH_REACHED
$STATE,14312,begin surface coast
$FINISH,1.3,1.021468
$STATE,14329,end surface coast,CONTROL_FINISHED_OK
$STATE,14329,begin surface
$SM_CCo,14407,0.00,0.000,0,0,516,580.87
$SM_GC,1.81,7.65,0.00,0.00,0.031,0.000,0.000,154,1489,516,-8.06,-0.31,580.87,0,0,0,0,0,0
$IRIDIUM_FIX,2054.83,12100.60,120911,121229
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.96
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.50
$XPDR_PINGS,66
$24V_AH,23.0,50.002
$10V_AH,10.0,35.684
$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,20.725,114.375,721.025,0.000,0.000,40.557,22.791,179.384,16.500,0.000,31.352,2999.400,7543.203,741.682,3107.173,417.392,0.000,2019.963,0.000,2847.015,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,60.435,1429.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,875.453,1317.191,1440.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330224
$DATA_FILE_SIZE,73745,1286
$CAP_FILE_SIZE,155482,0
$CFSIZE,260165632,128598016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120911,202557,2101.527,12347.647,35,3.9,54,-2.7