version: 66.09
glider: 166
mission: 6
dive: 219
start: 9 13 111 13 35 32
data:
$ID,166
$MISSION,6
$DIVE,219
$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,-24674.432
$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,55
$R_STBD_OVSHOOT,42
$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
$GPS1,130911,132336,2100.319,12342.665,39,1.6,50,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-66.3
$GPS2,130911,133510,2100.258,12342.683,14,2.6,33,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2100.258,12331.115
$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,17,begin dive
$GC,20,-0.68,-243.3,0.0,0.0,0,111,0.00,0.00,-88.95,0.000,2,0.000,0.000,134,1477,2982,0,0,0,0,0,0
$GC,115,-0.68,-243.3,5.1,-7.8,13,153,9.23,2.25,-17.27,0.000,4,0.217,0.056,2507,2913,3880,0,0,0,0,0,0
$GC,260,-0.58,-243.3,59.4,-32.5,38,269,0.15,2.12,0.00,0.000,6,0.134,0.036,2548,1514,3882,0,0,0,0,0,0
$GC,582,-0.53,-243.3,131.3,-19.7,99,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1513,3883,0,0,0,0,0,0
$GC,908,-0.48,-243.3,192.1,-18.0,160,916,0.12,0.00,0.00,0.000,6,0.165,0.000,2584,1511,3883,0,0,0,0,0,0
$GC,1228,-0.50,-243.3,231.9,-12.5,221,1236,0.00,2.15,0.00,0.000,4,0.000,0.047,2575,2907,3883,0,0,0,0,0,0
$GC,1341,-0.56,-243.3,243.8,-9.5,241,1349,0.00,2.12,0.00,0.000,6,0.000,0.037,2576,1501,3883,0,0,0,0,0,0
$GC,1669,-0.58,-243.3,282.0,-11.5,277,1673,0.00,2.12,0.00,0.000,4,0.000,0.047,2568,2911,3882,0,0,0,0,0,0
$GC,1754,-0.64,-243.3,290.3,-8.8,284,1758,0.00,2.12,0.00,0.000,6,0.000,0.037,2569,1490,3881,0,0,0,0,0,0
$GC,2080,-0.66,-243.3,331.0,-12.1,314,2085,0.12,2.17,0.00,0.000,4,0.082,0.048,2486,2901,3880,0,0,0,0,0,0
$GC,2142,-0.64,-243.3,341.1,-16.9,319,2147,0.17,2.10,0.00,0.000,6,0.144,0.038,2540,1500,3879,0,0,0,0,0,0
$GC,2468,-0.63,-243.3,394.3,-15.5,349,2472,0.00,2.20,0.00,0.000,4,0.000,0.050,2535,2912,3878,0,0,0,0,0,0
$GC,2519,-0.64,-243.3,401.4,-13.3,353,2523,0.00,2.15,0.00,0.000,6,0.000,0.038,2535,1490,3878,0,0,0,0,0,0
$GC,2844,-0.64,-243.3,444.1,-13.1,383,2848,0.00,2.17,0.00,0.000,4,0.000,0.050,2525,2907,3877,0,0,0,0,0,0
$GC,2911,-0.67,-243.3,452.1,-10.3,388,2918,0.00,2.12,0.00,0.000,6,0.000,0.039,2528,1502,3876,0,0,0,0,0,0
$GC,3236,-0.67,-243.3,491.4,-12.9,419,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1501,3874,0,0,0,0,0,0
$GC,3560,-0.67,-243.3,535.8,-13.9,449,3564,0.00,2.17,0.00,0.000,4,0.000,0.054,2518,2901,3872,0,0,0,0,0,0
$GC,3605,-0.69,-243.3,542.4,-12.7,452,3612,0.00,2.12,0.00,0.000,6,0.000,0.041,2518,1501,3872,0,0,0,0,0,0
$GC,3930,-0.69,-243.3,586.9,-13.8,483,3934,0.00,2.20,0.00,0.000,4,0.000,0.054,2508,2900,3870,0,0,0,0,0,0
$GC,4006,-0.71,-243.3,596.6,-13.0,489,4010,0.00,2.12,0.00,0.000,6,0.000,0.042,2508,1502,3869,0,0,0,0,0,0
$GC,4322,-0.71,-243.3,643.6,-14.6,505,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1502,3867,0,0,0,0,0,0
$GC,4633,-0.71,-243.3,684.9,-12.8,520,4637,0.00,2.00,0.00,0.000,4,0.000,0.054,2507,202,3863,0,0,0,0,0,0
$GC,4672,-0.71,-243.3,690.3,-13.4,521,4679,0.00,2.00,0.00,0.000,6,0.000,0.041,2498,1498,3863,0,0,0,0,0,0
$GC,4988,-0.71,-243.3,729.7,-12.5,537,4992,0.00,2.17,0.00,0.000,4,0.000,0.054,2488,2912,3860,0,0,0,0,0,0
$GC,5080,-0.73,-243.3,740.1,-11.0,541,5084,0.00,2.15,0.00,0.000,6,0.000,0.043,2487,1500,3859,0,0,0,0,0,0
$GC,5401,-0.73,-243.3,782.8,-13.4,557,5405,0.00,2.22,0.00,0.000,4,0.000,0.058,2477,2907,3856,0,0,0,0,0,0
$GC,5450,-0.73,-243.3,788.7,-12.8,559,5455,0.12,2.15,0.00,0.000,6,0.152,0.043,2512,1500,3855,0,0,0,0,0,0
$GC,5779,-0.75,-243.3,828.1,-12.1,575,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1500,3853,0,0,0,0,0,0
$GC,6090,-0.77,-243.3,867.3,-12.2,590,6094,0.00,2.25,0.00,0.000,4,0.000,0.060,2504,2912,3851,0,0,0,0,0,0
$GC,6133,-0.80,-243.3,872.7,-12.0,592,6137,0.00,2.17,0.00,0.000,6,0.000,0.045,2504,1497,3850,0,0,0,0,0,0
$GC,6461,-0.81,-243.3,913.1,-12.0,608,6465,0.00,2.22,0.00,0.000,4,0.000,0.060,2488,2910,3847,0,0,0,0,0,0
$GC,6502,-0.84,-243.3,917.5,-10.9,609,6509,0.00,2.17,0.00,0.000,6,0.000,0.044,2488,1495,3846,0,0,0,0,0,0
$GC,6818,-0.84,-243.3,954.2,-11.5,625,6822,0.00,2.22,0.00,0.000,4,0.000,0.060,2474,2904,3844,0,0,0,0,0,0
$GC,6859,-0.85,-243.3,958.8,-11.5,627,6863,0.00,2.17,0.00,0.000,6,0.000,0.045,2474,1491,3844,0,0,0,0,0,0
$STATE,7122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7122,begin apogee
$GC,7130,-0.11,0.0,991.1,12.3,640,7343,0.70,0.00,202.65,1.430,6,0.119,0.000,2701,1856,2883,0,0,0,0,0,0
$STATE,7344,end apogee,CONTROL_FINISHED_OK
$STATE,7344,begin climb
$GC,7348,0.68,243.3,1000.6,0.0,650,7582,0.70,2.42,219.70,1.369,4,0.046,0.054,2986,449,1891,0,0,0,0,0,0
$GC,7678,0.62,243.3,954.3,19.0,665,7683,0.15,2.22,0.00,0.000,6,0.165,0.047,2947,1838,1886,0,0,0,0,0,0
$GC,8008,0.59,243.3,898.8,17.0,681,8012,0.00,2.22,0.00,0.000,4,0.000,0.060,2943,3263,1884,0,0,0,0,0,0
$GC,8098,0.57,243.3,883.1,16.1,685,8102,0.00,2.17,0.00,0.000,6,0.000,0.043,2951,1840,1882,0,0,0,0,0,0
$GC,8421,0.53,243.3,827.7,17.0,701,8423,0.12,0.00,0.00,0.000,6,0.183,0.000,2920,1840,1880,0,0,0,0,0,0
$GC,8728,0.53,243.3,786.0,12.8,716,8732,0.00,2.15,0.00,0.000,4,0.000,0.053,2929,443,1879,0,0,0,0,0,0
$GC,8761,0.53,243.3,781.5,13.0,717,8768,0.00,2.17,0.00,0.000,6,0.000,0.042,2921,1861,1878,0,0,0,0,0,0
$GC,9080,0.57,274.3,743.4,11.6,733,9114,0.00,2.28,27.55,1.253,4,0.000,0.057,2921,3263,1765,0,0,0,0,0,0
$GC,9172,0.63,311.5,732.5,11.4,737,9213,0.00,2.20,35.95,1.240,6,0.000,0.041,2929,1839,1613,0,0,0,0,0,0
$GC,9535,0.63,311.5,686.8,12.8,755,9539,0.00,2.15,0.00,0.000,4,0.000,0.051,2939,446,1609,0,0,0,0,0,0
$GC,9602,0.66,319.1,678.2,12.4,758,9619,0.00,2.17,7.60,1.016,6,0.000,0.041,2939,1859,1583,0,0,0,0,0,0
$GC,9929,0.66,319.1,632.7,13.8,774,9933,0.00,2.17,0.00,0.000,4,0.000,0.057,2938,3261,1582,0,0,0,0,0,0
$GC,10008,0.68,319.1,621.9,12.9,777,10015,0.00,2.15,0.00,0.000,6,0.000,0.040,2947,1845,1582,0,0,0,0,0,0
$GC,10330,0.68,319.1,574.8,15.5,800,10334,0.00,2.22,0.00,0.000,4,0.000,0.055,2947,3270,1581,0,0,0,0,0,0
$GC,10351,0.68,319.1,570.8,15.7,801,10358,0.00,2.17,0.00,0.000,6,0.000,0.040,2955,1838,1581,0,0,0,0,0,0
$GC,10676,0.68,319.1,521.6,14.7,832,10680,0.00,2.15,0.00,0.000,4,0.000,0.050,2966,440,1580,0,0,0,0,0,0
$GC,10698,0.68,319.1,518.3,14.5,833,10705,0.00,2.17,0.00,0.000,6,0.000,0.041,2961,1870,1579,0,0,0,0,0,0
$GC,11026,0.67,319.1,470.5,13.0,864,11030,0.00,2.15,0.00,0.000,4,0.000,0.056,2961,3259,1579,0,0,0,0,0,0
$GC,11190,0.74,368.6,449.7,11.0,878,11239,0.00,2.12,44.05,1.054,6,0.000,0.039,2970,1851,1380,0,0,0,0,0,0
$GC,11558,0.74,368.6,399.7,13.2,912,11562,0.00,2.20,0.00,0.000,4,0.000,0.048,2984,437,1378,0,0,0,0,0,0
$GC,11602,0.76,368.6,393.6,13.0,915,11609,0.00,2.15,0.00,0.000,6,0.000,0.037,2986,1842,1377,0,0,0,0,0,0
$GC,11929,0.76,368.6,343.3,15.8,946,11933,0.00,2.17,0.00,0.000,4,0.000,0.050,2989,3266,1376,0,0,0,0,0,0
$GC,11973,0.77,368.6,335.9,15.5,949,11979,0.00,2.15,0.00,0.000,6,0.000,0.036,2999,1833,1376,0,0,0,0,0,0
$GC,12298,0.77,368.6,283.3,15.5,980,12302,0.00,2.10,0.00,0.000,4,0.000,0.047,3010,437,1377,0,0,0,0,0,0
$GC,12326,0.77,368.6,278.9,15.6,982,12330,0.00,2.15,0.00,0.000,6,0.000,0.035,3010,1862,1376,0,0,0,0,0,0
$GC,12652,0.77,368.6,229.6,14.2,1025,12659,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1862,1376,0,0,0,0,0,0
$GC,12978,0.77,368.6,184.5,14.2,1086,12986,0.00,2.17,0.00,0.000,4,0.000,0.044,3020,447,1377,0,0,0,0,0,0
$GC,12999,0.77,368.6,181.5,14.0,1089,13007,0.00,2.12,0.00,0.000,6,0.000,0.035,3020,1848,1376,0,0,0,0,0,0
$GC,13321,0.77,368.6,136.2,14.5,1150,13328,0.00,2.15,0.00,0.000,4,0.000,0.047,3020,3261,1376,0,0,0,0,0,0
$GC,13388,0.80,368.6,127.3,13.4,1161,13396,0.00,2.12,0.00,0.000,6,0.000,0.034,3028,1849,1376,0,0,0,0,0,0
$GC,13712,0.88,427.7,87.8,10.6,1222,13769,0.00,2.15,50.00,0.718,4,0.000,0.043,3039,442,1138,0,0,0,0,0,0
$GC,13840,1.01,496.2,73.3,10.3,1243,13904,0.00,2.15,56.22,0.692,6,0.000,0.032,3039,1854,860,0,0,0,0,0,0
$GC,14216,1.27,638.5,37.5,7.7,1312,14308,0.28,2.20,83.50,0.652,4,0.050,0.041,3199,444,452,0,0,0,0,0,0
$GC,14342,1.22,638.5,8.0,25.9,1330,14351,0.17,2.15,0.00,0.000,6,0.138,0.031,3140,1843,445,0,0,0,0,0,0
$STATE,14363,end climb,SURFACE_DEPTH_REACHED
$STATE,14363,begin surface coast
$FINISH,1.2,1.021502
$STATE,14376,end surface coast,CONTROL_FINISHED_OK
$STATE,14376,begin surface
$SM_CCo,14456,0.00,0.000,0,0,440,599.51
$SM_GC,1.85,7.85,0.00,0.00,0.033,0.000,0.000,153,1485,440,-8.05,-0.42,599.51,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,12341.40,130911,131354
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.90
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.70
$XPDR_PINGS,80
$24V_AH,23.0,51.291
$10V_AH,10.0,36.452
$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,19.900,131.125,727.225,0.000,0.000,55.287,58.915,326.681,20.000,0.000,35.519,3116.431,7298.071,729.077,3519.743,468.021,0.000,2086.040,0.000,3068.767,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,60.435,1429.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.948,1367.969,1582.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76898,1335
$CAP_FILE_SIZE,165279,0
$CFSIZE,260165632,128155648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,173825,2100.248,12342.333,61,1.4,79,-2.7