version: 66.09
glider: 166
mission: 6
dive: 221
start: 9 13 111 21 57 58
data:
$ID,166
$MISSION,6
$DIVE,221
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-24676.947
$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,43
$R_STBD_OVSHOOT,59
$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
$GPS1,130911,214957,2059.646,12341.659,36,2.6,55,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.5
$GPS2,130911,215736,2059.572,12341.689,16,1.5,32,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,317.5,326113,-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,15,begin dive
$GC,18,-0.68,-243.3,0.0,0.0,0,131,0.00,0.00,-110.62,0.000,2,0.000,0.000,153,1522,3121,0,0,0,0,0,0
$GC,134,-0.68,-243.3,6.0,-10.3,15,166,9.30,2.08,-13.70,0.000,4,0.223,0.052,2508,2906,3878,0,0,0,0,0,0
$GC,291,-0.58,-243.3,66.1,-26.4,42,300,0.17,2.12,0.00,0.000,6,0.140,0.034,2549,1497,3880,0,0,0,0,0,0
$GC,618,-0.53,-243.3,135.7,-20.1,103,626,0.00,2.12,0.00,0.000,4,0.000,0.043,2541,2885,3881,0,0,0,0,0,0
$GC,673,-0.53,-243.3,145.0,-14.7,112,682,0.08,2.08,0.00,0.000,6,0.129,0.034,2569,1503,3882,0,0,0,0,0,0
$GC,1002,-0.53,-243.3,194.6,-16.5,173,1010,0.00,2.12,0.00,0.000,4,0.000,0.045,2561,2887,3882,0,0,0,0,0,0
$GC,1118,-0.57,-243.3,209.8,-11.7,193,1126,0.00,2.08,0.00,0.000,6,0.000,0.034,2561,1506,3882,0,0,0,0,0,0
$GC,1448,-0.57,-243.3,258.0,-15.0,249,1452,0.00,2.08,0.00,0.000,4,0.000,0.046,2551,2886,3881,0,0,0,0,0,0
$GC,1492,-0.59,-243.3,264.5,-12.6,252,1501,0.00,2.10,0.00,0.000,6,0.000,0.035,2551,1491,3881,0,0,0,0,0,0
$GC,1816,-0.59,-243.3,309.9,-13.5,283,1820,0.00,2.12,0.00,0.000,4,0.000,0.047,2542,2886,3880,0,0,0,0,0,0
$GC,1849,-0.61,-243.3,314.4,-13.0,285,1856,0.00,2.08,0.00,0.000,6,0.000,0.036,2543,1500,3880,0,0,0,0,0,0
$GC,2177,-0.61,-243.3,360.6,-14.6,316,2180,0.00,2.17,0.00,0.000,4,0.000,0.050,2548,2897,3879,0,0,0,0,0,0
$GC,2309,-0.65,-243.3,376.1,-10.9,327,2313,0.00,2.10,0.00,0.000,6,0.000,0.037,2550,1499,3878,0,0,0,0,0,0
$GC,2639,-0.65,-243.3,416.9,-12.6,358,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1498,3877,0,0,0,0,0,0
$GC,2960,-0.67,-243.3,452.6,-10.6,388,2964,0.00,2.12,0.00,0.000,4,0.000,0.050,2542,2895,3875,0,0,0,0,0,0
$GC,3013,-0.71,-243.3,457.8,-9.8,392,3018,0.00,2.08,0.00,0.000,6,0.000,0.041,2542,1503,3874,0,0,0,0,0,0
$GC,3345,-0.72,-243.3,497.6,-12.3,423,3349,0.00,2.12,0.00,0.000,4,0.000,0.053,2532,2884,3872,0,0,0,0,0,0
$GC,3461,-0.76,-243.3,509.9,-10.3,433,3465,0.00,2.10,0.00,0.000,6,0.000,0.041,2532,1497,3871,0,0,0,0,0,0
$GC,3792,-0.78,-243.3,548.0,-10.7,464,3794,0.10,0.00,0.00,0.000,6,0.099,0.000,2474,1497,3869,0,0,0,0,0,0
$GC,4110,-0.74,-243.3,598.4,-16.2,494,4115,0.12,2.17,0.00,0.000,4,0.168,0.054,2499,2884,3866,0,0,0,0,0,0
$GC,4197,-0.76,-243.3,609.0,-11.4,498,4201,0.00,2.12,0.00,0.000,6,0.000,0.041,2499,1490,3865,0,0,0,0,0,0
$GC,4524,-0.76,-243.3,653.4,-13.8,514,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1490,3863,0,0,0,0,0,0
$GC,4833,-0.76,-243.3,696.3,-13.5,529,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1490,3861,0,0,0,0,0,0
$GC,5144,-0.76,-243.3,736.9,-12.8,544,5148,0.00,2.20,0.00,0.000,4,0.000,0.057,2477,2882,3857,0,0,0,0,0,0
$GC,5172,-0.76,-243.3,740.6,-12.4,545,5176,0.00,2.12,0.00,0.000,6,0.000,0.044,2478,1491,3857,0,0,0,0,0,0
$GC,5494,-0.76,-243.3,782.4,-13.2,561,5498,0.00,2.00,0.00,0.000,4,0.000,0.055,2477,193,3854,0,0,0,0,0,0
$GC,5543,-0.76,-243.3,788.8,-14.4,563,5548,0.12,1.98,0.00,0.000,6,0.161,0.044,2500,1479,3854,0,0,0,0,0,0
$GC,5872,-0.79,-243.3,826.3,-11.6,579,5876,0.00,2.22,0.00,0.000,4,0.000,0.058,2491,2906,3851,0,0,0,0,0,0
$GC,5957,-0.83,-243.3,835.6,-10.5,582,5964,0.00,2.15,0.00,0.000,6,0.000,0.042,2491,1496,3850,0,0,0,0,0,0
$GC,6274,-0.85,-243.3,873.5,-12.5,598,6278,0.00,2.22,0.00,0.000,4,0.000,0.057,2481,2912,3847,0,0,0,0,0,0
$GC,6295,-0.87,-243.3,876.3,-12.4,599,6300,0.00,2.15,0.00,0.000,6,0.000,0.043,2481,1491,3847,0,0,0,0,0,0
$GC,6625,-0.88,-243.3,918.2,-12.8,615,6629,0.00,2.22,0.00,0.000,4,0.000,0.058,2471,2906,3845,0,0,0,0,0,0
$GC,6652,-0.89,-243.3,922.0,-12.6,616,6656,0.00,2.15,0.00,0.000,6,0.000,0.044,2472,1502,3844,0,0,0,0,0,0
$GC,6970,-0.89,-243.3,961.1,-12.0,631,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1502,3842,0,0,0,0,0,0
$STATE,7234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7234,begin apogee
$GC,7240,-0.11,0.0,992.2,11.2,644,7450,0.70,0.00,202.45,1.437,6,0.120,0.000,2704,1850,2884,0,0,0,0,0,0
$STATE,7450,end apogee,CONTROL_FINISHED_OK
$STATE,7451,begin climb
$GC,7453,0.68,243.3,999.5,0.0,653,7683,0.70,2.42,220.43,1.370,4,0.050,0.056,2985,440,1891,0,0,0,0,0,0
$GC,7739,0.64,243.3,961.2,17.8,667,7744,0.12,2.30,0.00,0.000,6,0.168,0.047,2954,1852,1887,0,0,0,0,0,0
$GC,8064,0.60,243.3,911.6,15.0,683,8068,0.00,2.20,0.00,0.000,4,0.000,0.061,2949,3268,1883,0,0,0,0,0,0
$GC,8161,0.59,243.3,896.5,14.8,687,8165,0.00,2.17,0.00,0.000,6,0.000,0.044,2958,1849,1883,0,0,0,0,0,0
$GC,8485,0.55,243.3,844.3,16.4,703,8487,0.15,0.00,0.00,0.000,6,0.174,0.000,2919,1849,1881,0,0,0,0,0,0
$GC,8792,0.55,243.3,800.7,14.1,718,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1849,1880,0,0,0,0,0,0
$GC,9103,0.55,243.3,759.6,12.9,733,9107,0.00,2.17,0.00,0.000,4,0.000,0.051,2927,439,1879,0,0,0,0,0,0
$GC,9136,0.55,243.3,754.6,13.4,734,9141,0.00,2.20,0.00,0.000,6,0.000,0.043,2929,1843,1879,0,0,0,0,0,0
$GC,9458,0.55,243.3,711.5,13.3,750,9462,0.00,2.22,0.00,0.000,4,0.000,0.058,2928,3275,1879,0,0,0,0,0,0
$GC,9509,0.55,243.3,704.9,13.0,752,9513,0.00,2.17,0.00,0.000,6,0.000,0.041,2940,1847,1878,0,0,0,0,0,0
$GC,9825,0.57,265.6,665.4,11.9,767,9851,0.00,2.25,19.58,1.198,4,0.000,0.054,2950,437,1800,0,0,0,0,0,0
$GC,9901,0.60,286.6,656.0,12.0,770,9928,0.00,2.20,20.95,1.182,6,0.000,0.042,2949,1861,1716,0,0,0,0,0,0
$GC,10249,0.60,286.6,612.3,12.8,787,10253,0.00,2.20,0.00,0.000,4,0.000,0.057,2948,3269,1711,0,0,0,0,0,0
$GC,10326,0.60,289.4,601.7,12.6,790,10334,0.00,2.17,0.00,0.000,6,0.000,0.041,2956,1842,1711,0,0,0,0,0,0
$GC,10653,0.59,289.4,558.6,13.7,820,10657,0.00,2.22,0.00,0.000,4,0.000,0.055,2955,3264,1711,0,0,0,0,0,0
$GC,10674,0.57,289.4,555.3,13.4,821,10682,0.12,2.15,0.00,0.000,6,0.176,0.041,2933,1848,1711,0,0,0,0,0,0
$GC,11000,0.63,323.0,518.7,11.5,852,11038,0.00,2.20,33.03,1.117,4,0.000,0.049,2940,444,1566,0,0,0,0,0,0
$GC,11077,0.70,367.2,510.1,11.1,858,11123,0.00,2.17,40.22,1.094,6,0.000,0.039,2939,1853,1387,0,0,0,0,0,0
$GC,11441,0.73,367.2,465.0,12.9,892,11446,0.12,2.20,0.00,0.000,4,0.087,0.056,3004,3256,1381,0,0,0,0,0,0
$GC,11471,0.73,367.2,460.4,15.7,894,11476,0.12,2.15,0.00,0.000,6,0.171,0.040,2985,1849,1382,0,0,0,0,0,0
$GC,11797,0.71,367.2,402.5,17.3,924,11801,0.00,2.15,0.00,0.000,4,0.000,0.047,2990,443,1381,0,0,0,0,0,0
$GC,11820,0.69,367.2,398.6,16.8,925,11827,0.00,2.15,0.00,0.000,6,0.000,0.037,2990,1848,1380,0,0,0,0,0,0
$GC,12146,0.67,367.2,350.8,13.5,956,12150,0.00,2.17,0.00,0.000,4,0.000,0.047,3001,437,1380,0,0,0,0,0,0
$GC,12166,0.65,367.2,348.2,13.9,957,12171,0.15,2.15,0.00,0.000,6,0.145,0.037,2958,1861,1379,0,0,0,0,0,0
$GC,12498,0.73,408.3,311.4,11.3,988,12543,0.00,2.25,35.12,0.922,4,0.000,0.051,2964,3268,1219,0,0,0,0,0,0
$GC,12575,0.82,439.6,302.4,11.6,994,12610,0.10,2.17,28.10,0.891,6,0.095,0.035,3042,1840,1090,0,0,0,0,0,0
$GC,12936,0.78,439.6,228.5,21.3,1037,12945,0.17,2.17,0.00,0.000,4,0.152,0.047,3003,447,1086,0,0,0,0,0,0
$GC,12985,0.81,439.6,219.9,14.7,1045,12993,0.00,2.15,0.00,0.000,6,0.000,0.036,3003,1853,1086,0,0,0,0,0,0
$GC,13313,0.83,439.6,175.2,13.9,1106,13321,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1853,1086,0,0,0,0,0,0
$GC,13639,0.85,439.6,129.8,13.0,1167,13647,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,1086,0,0,0,0,0,0
$GC,13966,1.01,531.2,92.7,9.5,1228,14049,0.17,2.30,74.55,0.726,4,0.066,0.044,3111,436,715,0,0,0,0,0,0
$GC,14081,1.00,531.2,71.6,19.4,1244,14090,0.12,2.20,0.00,0.000,6,0.118,0.033,3068,1853,713,0,0,0,0,0,0
$GC,14410,1.12,599.3,35.9,10.3,1305,14472,0.12,2.30,55.05,0.656,4,0.082,0.043,3156,438,453,0,0,0,0,0,0
$GC,14503,1.09,599.3,18.1,22.3,1318,14513,0.15,2.20,0.00,0.000,6,0.121,0.033,3098,1858,446,0,0,0,0,0,0
$STATE,14604,end climb,SURFACE_DEPTH_REACHED
$STATE,14604,begin surface coast
$FINISH,1.1,1.021499
$STATE,14630,end surface coast,CONTROL_FINISHED_OK
$STATE,14630,begin surface
$SM_CCo,14708,0.00,0.000,0,0,441,599.27
$SM_GC,1.84,7.70,0.00,0.00,0.034,0.000,0.000,154,1490,441,-8.05,-0.25,599.27,0,0,0,0,0,0
$IRIDIUM_FIX,2050.21,12343.32,130911,171750
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.88
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.50
$XPDR_PINGS,81
$24V_AH,23.0,51.818
$10V_AH,10.0,36.755
$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,20.650,126.675,729.475,0.000,0.000,39.718,41.420,203.841,20.250,0.000,33.478,3310.208,7355.569,732.511,3298.943,451.236,0.000,2075.925,0.000,3010.941,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,61.200,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.530,1370.247,1509.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330288
$DATA_FILE_SIZE,76739,1340
$CAP_FILE_SIZE,163279,0
$CFSIZE,260165632,127987712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,118.7,1
$GPS,140911,020436,2100.946,12341.356,41,1.7,52,-2.7