version: 66.09
glider: 166
mission: 6
dive: 220
start: 9 13 111 17 47 5
data:
$ID,166
$MISSION,6
$DIVE,220
$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,-24675.689
$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,51
$R_STBD_OVSHOOT,41
$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
$GPS1,130911,173825,2100.248,12342.333,61,1.4,79,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-64.2
$GPS2,130911,174643,2100.185,12342.471,57,1.8,63,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2100.185,12330.903
$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,19,-0.68,-243.3,0.0,0.0,0,139,0.00,0.00,-116.70,0.000,2,0.000,0.000,142,1485,3291,0,0,0,0,0,0
$GC,142,-0.68,-243.3,6.6,-11.2,17,166,9.27,2.20,-10.07,0.000,4,0.220,0.052,2508,2909,3879,0,0,0,0,0,0
$GC,291,-0.60,-243.3,68.9,-29.1,43,299,0.15,2.15,0.00,0.000,6,0.133,0.035,2545,1509,3882,0,0,0,0,0,0
$GC,611,-0.55,-243.3,144.3,-20.3,104,619,0.00,2.15,0.00,0.000,4,0.000,0.043,2537,2908,3882,0,0,0,0,0,0
$GC,645,-0.50,-243.3,151.6,-20.4,109,653,0.12,2.12,0.00,0.000,6,0.123,0.034,2579,1502,3883,0,0,0,0,0,0
$GC,969,-0.50,-243.3,200.6,-12.5,170,977,0.00,2.17,0.00,0.000,4,0.000,0.045,2571,2904,3883,0,0,0,0,0,0
$GC,1036,-0.55,-243.3,207.4,-9.4,181,1044,0.00,2.12,0.00,0.000,6,0.000,0.035,2571,1500,3883,0,0,0,0,0,0
$GC,1361,-0.55,-243.3,251.7,-13.3,241,1365,0.00,2.20,0.00,0.000,4,0.000,0.047,2562,2912,3882,0,0,0,0,0,0
$GC,1391,-0.57,-243.3,255.8,-12.8,243,1395,0.00,2.12,0.00,0.000,6,0.000,0.036,2562,1500,3882,0,0,0,0,0,0
$GC,1718,-0.57,-243.3,299.9,-14.2,273,1721,0.00,2.15,0.00,0.000,4,0.000,0.049,2554,2903,3882,0,0,0,0,0,0
$GC,1764,-0.60,-243.3,306.0,-12.5,276,1771,0.00,2.12,0.00,0.000,6,0.000,0.037,2553,1493,3882,0,0,0,0,0,0
$GC,2089,-0.60,-243.3,351.0,-13.6,307,2093,0.00,2.15,0.00,0.000,4,0.000,0.049,2549,2901,3880,0,0,0,0,0,0
$GC,2187,-0.65,-243.3,361.8,-10.5,315,2193,0.00,2.12,0.00,0.000,6,0.000,0.037,2555,1496,3880,0,0,0,0,0,0
$GC,2512,-0.65,-243.3,404.0,-12.8,346,2516,0.00,2.17,0.00,0.000,4,0.000,0.049,2553,2910,3878,0,0,0,0,0,0
$GC,2554,-0.68,-243.3,408.7,-11.7,349,2558,0.00,2.12,0.00,0.000,6,0.000,0.038,2552,1500,3878,0,0,0,0,0,0
$GC,2880,-0.68,-243.3,448.7,-11.4,379,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1500,3876,0,0,0,0,0,0
$GC,3203,-0.70,-243.3,481.2,-10.4,409,3207,0.00,2.20,0.00,0.000,4,0.000,0.053,2543,2904,3873,0,0,0,0,0,0
$GC,3271,-0.75,-243.3,488.9,-9.8,414,3278,0.12,2.12,0.00,0.000,6,0.080,0.039,2466,1499,3873,0,0,0,0,0,0
$GC,3596,-0.69,-243.3,549.3,-17.9,445,3598,0.20,0.00,0.00,0.000,6,0.158,0.000,2523,1499,3871,0,0,0,0,0,0
$GC,3915,-0.69,-243.3,587.0,-12.1,475,3919,0.00,2.15,0.00,0.000,4,0.000,0.053,2515,2902,3869,0,0,0,0,0,0
$GC,3983,-0.72,-243.3,595.0,-11.2,481,3987,0.00,2.12,0.00,0.000,6,0.000,0.040,2515,1494,3868,0,0,0,0,0,0
$GC,4303,-0.72,-243.3,635.9,-12.6,498,4307,0.00,2.20,0.00,0.000,4,0.000,0.054,2505,2909,3865,0,0,0,0,0,0
$GC,4330,-0.72,-243.3,639.8,-12.6,499,4334,0.00,2.12,0.00,0.000,6,0.000,0.041,2505,1503,3865,0,0,0,0,0,0
$GC,4652,-0.72,-243.3,681.6,-12.6,515,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1503,3862,0,0,0,0,0,0
$GC,4967,-0.72,-243.3,719.2,-12.1,530,4971,0.00,2.00,0.00,0.000,4,0.000,0.054,2505,198,3859,0,0,0,0,0,0
$GC,5014,-0.73,-243.3,725.6,-12.5,532,5017,0.00,2.00,0.00,0.000,6,0.000,0.042,2495,1507,3859,0,0,0,0,0,0
$GC,5347,-0.73,-243.3,766.8,-12.4,548,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1507,3855,0,0,0,0,0,0
$GC,5658,-0.73,-243.3,805.0,-11.9,563,5662,0.00,2.15,0.00,0.000,4,0.000,0.057,2483,2904,3853,0,0,0,0,0,0
$GC,5681,-0.73,-243.3,807.9,-11.9,564,5686,0.12,2.15,0.00,0.000,6,0.151,0.044,2508,1493,3852,0,0,0,0,0,0
$GC,6012,-0.76,-243.3,837.6,-9.1,580,6016,0.00,2.22,0.00,0.000,4,0.000,0.057,2499,2913,3849,0,0,0,0,0,0
$GC,6053,-0.81,-243.3,841.6,-9.0,582,6057,0.00,2.17,0.00,0.000,6,0.000,0.044,2499,1490,3849,0,0,0,0,0,0
$GC,6381,-0.83,-243.3,874.5,-10.4,598,6385,0.00,2.22,0.00,0.000,4,0.000,0.058,2488,2907,3846,0,0,0,0,0,0
$GC,6424,-0.87,-243.3,878.7,-10.2,600,6428,0.00,2.15,0.00,0.000,6,0.000,0.044,2490,1500,3845,0,0,0,0,0,0
$GC,6752,-0.88,-243.3,915.6,-11.3,616,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1500,3843,0,0,0,0,0,0
$GC,7063,-0.90,-243.3,950.2,-11.2,631,7068,0.12,2.22,0.00,0.000,4,0.089,0.061,2418,2904,3841,0,0,0,0,0,0
$GC,7101,-0.87,-243.3,956.0,-14.6,632,7109,0.17,2.17,0.00,0.000,6,0.158,0.046,2464,1493,3840,0,0,0,0,0,0
$STATE,7374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7374,begin apogee
$GC,7382,-0.11,0.0,990.4,12.0,646,7595,0.73,0.00,202.15,1.444,6,0.123,0.000,2706,1856,2883,0,0,0,0,0,0
$STATE,7595,end apogee,CONTROL_FINISHED_OK
$STATE,7595,begin climb
$GC,7600,0.68,243.3,997.2,0.0,656,7834,0.70,2.42,220.73,1.379,4,0.052,0.060,2970,3259,1891,0,0,0,0,0,0
$GC,7913,0.64,243.3,952.1,18.5,670,7917,0.00,2.25,0.00,0.000,6,0.000,0.044,2981,1848,1887,0,0,0,0,0,0
$GC,8229,0.59,243.3,892.4,18.7,685,8231,0.17,0.00,0.00,0.000,6,0.177,0.000,2937,1848,1883,0,0,0,0,0,0
$GC,8540,0.57,243.3,848.4,13.8,700,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1848,1881,0,0,0,0,0,0
$GC,8848,0.55,243.3,805.8,13.7,715,8852,0.00,2.17,0.00,0.000,4,0.000,0.053,2946,428,1880,0,0,0,0,0,0
$GC,8872,0.54,243.3,802.4,13.7,716,8876,0.00,2.20,0.00,0.000,6,0.000,0.044,2946,1854,1879,0,0,0,0,0,0
$GC,9201,0.52,243.3,755.0,14.5,732,9206,0.12,2.17,0.00,0.000,4,0.172,0.058,2909,3260,1879,0,0,0,0,0,0
$GC,9256,0.59,278.4,747.7,11.5,734,9293,0.00,2.15,31.23,1.274,6,0.000,0.042,2917,1844,1749,0,0,0,0,0,0
$GC,9615,0.68,337.9,708.0,10.6,752,9680,0.12,2.30,55.10,1.256,4,0.087,0.054,2993,449,1505,0,0,0,0,0,0
$GC,9700,0.65,337.9,695.6,16.6,755,9707,0.15,2.25,0.00,0.000,6,0.155,0.042,2954,1859,1503,0,0,0,0,0,0
$GC,10016,0.65,337.9,651.7,13.2,771,10020,0.00,2.20,0.00,0.000,4,0.000,0.063,2953,3269,1500,0,0,0,0,0,0
$GC,10159,0.67,339.6,633.6,12.6,777,10163,0.00,2.15,0.00,0.000,6,0.000,0.041,2958,1851,1500,0,0,0,0,0,0
$GC,10480,0.67,339.6,586.7,14.8,796,10484,0.00,2.15,0.00,0.000,4,0.000,0.050,2968,434,1498,0,0,0,0,0,0
$GC,10501,0.67,339.6,583.0,15.1,797,10508,0.00,2.17,0.00,0.000,6,0.000,0.041,2968,1856,1497,0,0,0,0,0,0
$GC,10827,0.66,339.6,530.8,15.7,828,10831,0.00,2.15,0.00,0.000,4,0.000,0.055,2967,3269,1497,0,0,0,0,0,0
$GC,10976,0.67,339.6,509.6,13.5,840,10983,0.00,2.15,0.00,0.000,6,0.000,0.040,2974,1846,1497,0,0,0,0,0,0
$GC,11301,0.66,339.6,458.9,15.5,871,11305,0.00,2.20,0.00,0.000,4,0.000,0.054,2972,3267,1497,0,0,0,0,0,0
$GC,11355,0.66,339.6,451.1,14.2,875,11359,0.00,2.15,0.00,0.000,6,0.000,0.039,2979,1840,1497,0,0,0,0,0,0
$GC,11680,0.63,339.6,400.4,16.6,905,11684,0.00,2.12,0.00,0.000,4,0.000,0.049,2989,443,1497,0,0,0,0,0,0
$GC,11702,0.62,339.6,396.6,16.3,906,11710,0.15,2.15,0.00,0.000,6,0.147,0.038,2948,1861,1495,0,0,0,0,0,0
$GC,12028,0.68,364.6,355.8,11.8,937,12061,0.00,2.28,22.80,0.959,4,0.000,0.048,2958,434,1397,0,0,0,0,0,0
$GC,12076,0.77,412.0,350.6,11.0,941,12124,0.00,2.17,42.28,0.962,6,0.000,0.037,2958,1857,1204,0,0,0,0,0,0
$GC,12450,0.83,431.3,305.5,12.0,976,12471,0.15,0.00,17.52,0.871,6,0.074,0.000,3037,1858,1124,0,0,0,0,0,0
$GC,12787,0.79,431.3,237.2,20.6,1013,12796,0.15,2.22,0.00,0.000,4,0.161,0.047,3013,438,1121,0,0,0,0,0,0
$GC,12827,0.80,431.3,230.4,18.0,1019,12835,0.00,2.15,0.00,0.000,6,0.000,0.035,3006,1843,1121,0,0,0,0,0,0
$GC,13152,0.81,431.3,183.2,13.7,1080,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1843,1121,0,0,0,0,0,0
$GC,13475,0.85,444.0,140.4,12.2,1141,13498,0.00,2.20,11.95,0.701,4,0.000,0.047,3005,3267,1073,0,0,0,0,0,0
$GC,13532,0.94,481.9,133.8,11.4,1150,13572,0.08,2.15,32.53,0.745,6,0.050,0.034,3083,1845,917,0,0,0,0,0,0
$GC,13889,0.93,481.9,65.3,14.8,1215,13898,0.15,2.17,0.00,0.000,4,0.151,0.045,3050,441,914,0,0,0,0,0,0
$GC,13929,1.01,502.6,60.9,12.0,1221,13952,0.00,2.15,17.80,0.661,6,0.000,0.032,3050,1867,835,0,0,0,0,0,0
$GC,14265,1.31,688.7,33.7,6.2,1284,14353,0.28,2.22,78.03,0.655,4,0.050,0.041,3212,446,453,0,0,0,0,0,0
$STATE,14390,end climb,SURFACE_DEPTH_REACHED
$STATE,14390,begin surface coast
$FINISH,1.3,1.021491
$STATE,14397,end surface coast,CONTROL_FINISHED_OK
$STATE,14397,begin surface
$SM_CCo,14478,0.00,0.000,0,0,444,598.29
$SM_GC,1.84,8.10,0.00,0.00,0.034,0.000,0.000,154,1521,444,-8.06,0.59,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,12341.40,130911,131353
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.69
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.50
$XPDR_PINGS,75
$24V_AH,23.0,51.556
$10V_AH,10.0,36.601
$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,21.350,125.950,732.100,0.000,0.000,30.276,19.850,235.886,18.750,0.000,64.633,3051.057,7478.421,734.833,3251.092,443.416,0.000,2048.749,0.000,2919.853,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,62.730,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.473,1336.849,1448.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330260
$DATA_FILE_SIZE,73567,1304
$CAP_FILE_SIZE,161061,0
$CFSIZE,260165632,128077824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,214957,2059.646,12341.659,36,2.6,55,-2.7