version: 66.09
glider: 166
mission: 6
dive: 222
start: 9 14 111 2 15 55
data:
$ID,166
$MISSION,6
$DIVE,222
$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,-24678.205
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,140911,020436,2100.946,12341.356,41,1.7,52,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.4
$GPS2,140911,021531,2100.879,12341.395,13,1.8,30,-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,308.8,324054,-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,-243.3,0.0,0.0,0,136,0.00,0.00,-115.70,0.000,2,0.000,0.000,151,1490,3295,0,0,0,0,0,0
$GC,141,-0.68,-243.3,6.9,-11.9,16,166,9.38,2.22,-9.62,0.000,4,0.226,0.052,2506,2914,3879,0,0,0,0,0,0
$GC,259,-0.57,-243.3,60.0,-32.8,36,267,0.20,2.15,0.00,0.000,6,0.141,0.037,2553,1515,3882,0,0,0,0,0,0
$GC,584,-0.53,-243.3,136.3,-18.7,97,592,0.00,2.15,0.00,0.000,4,0.000,0.044,2545,2909,3882,0,0,0,0,0,0
$GC,623,-0.51,-243.3,143.8,-19.0,103,632,0.10,2.15,0.00,0.000,6,0.125,0.035,2577,1493,3883,0,0,0,0,0,0
$GC,951,-0.51,-243.3,193.3,-13.5,164,959,0.00,2.20,0.00,0.000,4,0.000,0.047,2568,2910,3883,0,0,0,0,0,0
$GC,1049,-0.56,-243.3,204.8,-10.7,181,1057,0.00,2.15,0.00,0.000,6,0.000,0.036,2569,1499,3883,0,0,0,0,0,0
$GC,1383,-0.56,-243.3,253.5,-15.6,241,1387,0.00,2.12,0.00,0.000,4,0.000,0.047,2559,2907,3882,0,0,0,0,0,0
$GC,1459,-0.61,-243.3,262.8,-10.9,247,1463,0.00,2.12,0.00,0.000,6,0.000,0.037,2558,1493,3882,0,0,0,0,0,0
$GC,1784,-0.61,-243.3,307.1,-13.9,277,1788,0.00,2.17,0.00,0.000,4,0.000,0.048,2550,2912,3880,0,0,0,0,0,0
$GC,1817,-0.63,-243.3,311.8,-13.6,279,1824,0.00,2.12,0.00,0.000,6,0.000,0.037,2550,1501,3881,0,0,0,0,0,0
$GC,2142,-0.63,-243.3,356.6,-13.7,310,2146,0.00,2.17,0.00,0.000,4,0.000,0.050,2543,2908,3878,0,0,0,0,0,0
$GC,2238,-0.67,-243.3,368.4,-11.4,318,2242,0.00,2.12,0.00,0.000,6,0.000,0.038,2545,1493,3878,0,0,0,0,0,0
$GC,2570,-0.68,-243.3,414.0,-13.2,349,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1493,3877,0,0,0,0,0,0
$GC,2891,-0.71,-243.3,452.3,-11.9,379,2895,0.12,2.20,0.00,0.000,4,0.082,0.050,2477,2909,3875,0,0,0,0,0,0
$GC,2914,-0.71,-243.3,455.8,-13.0,380,2921,0.12,2.12,0.00,0.000,6,0.158,0.039,2513,1503,3874,0,0,0,0,0,0
$GC,3242,-0.69,-243.3,506.4,-15.0,411,3246,0.00,2.17,0.00,0.000,4,0.000,0.051,2505,2904,3872,0,0,0,0,0,0
$GC,3355,-0.71,-243.3,522.7,-13.0,420,3362,0.00,2.12,0.00,0.000,6,0.000,0.040,2505,1499,3871,0,0,0,0,0,0
$GC,3683,-0.70,-243.3,570.6,-14.3,451,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1498,3869,0,0,0,0,0,0
$GC,4015,-0.70,-243.3,618.6,-14.4,477,4019,0.00,2.22,0.00,0.000,4,0.000,0.054,2494,2907,3866,0,0,0,0,0,0
$GC,4105,-0.72,-243.3,630.3,-12.2,481,4108,0.00,2.15,0.00,0.000,6,0.000,0.041,2494,1500,3865,0,0,0,0,0,0
$GC,4428,-0.71,-243.3,675.2,-14.1,497,4432,0.00,2.22,0.00,0.000,4,0.000,0.057,2484,2903,3862,0,0,0,0,0,0
$GC,4456,-0.71,-243.3,679.5,-13.5,498,4460,0.12,2.15,0.00,0.000,6,0.153,0.042,2520,1490,3862,0,0,0,0,0,0
$GC,4776,-0.72,-243.3,717.2,-12.0,513,4780,0.00,2.20,0.00,0.000,4,0.000,0.056,2511,2907,3859,0,0,0,0,0,0
$GC,4819,-0.76,-243.3,723.0,-11.4,515,4823,0.00,2.15,0.00,0.000,6,0.000,0.042,2511,1500,3858,0,0,0,0,0,0
$GC,5144,-0.78,-243.3,763.7,-12.9,531,5148,0.00,2.03,0.00,0.000,4,0.000,0.056,2511,204,3855,0,0,0,0,0,0
$GC,5177,-0.80,-243.3,768.8,-14.3,532,5181,0.00,1.98,0.00,0.000,6,0.000,0.042,2501,1499,3855,0,0,0,0,0,0
$GC,5499,-0.80,-243.3,810.1,-12.5,548,5503,0.00,2.17,0.00,0.000,4,0.000,0.055,2491,2907,3852,0,0,0,0,0,0
$GC,5556,-0.82,-243.3,816.8,-11.5,550,5564,0.00,2.15,0.00,0.000,6,0.000,0.042,2491,1494,3851,0,0,0,0,0,0
$GC,5872,-0.82,-243.3,855.9,-12.4,566,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1494,3849,0,0,0,0,0,0
$GC,6182,-0.82,-243.3,892.8,-11.9,581,6186,0.00,2.22,0.00,0.000,4,0.000,0.058,2480,2912,3846,0,0,0,0,0,0
$GC,6211,-0.82,-243.3,896.1,-11.9,582,6215,0.00,2.17,0.00,0.000,6,0.000,0.044,2480,1491,3845,0,0,0,0,0,0
$GC,6527,-0.82,-243.3,934.8,-12.0,597,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1491,3844,0,0,0,0,0,0
$GC,6839,-0.82,-243.3,972.0,-12.0,612,6843,0.00,2.22,0.00,0.000,4,0.000,0.060,2465,2901,3841,0,0,0,0,0,0
$GC,6866,-0.82,-243.3,975.5,-11.7,613,6870,0.00,2.15,0.00,0.000,6,0.000,0.046,2465,1502,3841,0,0,0,0,0,0
$STATE,6985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6985,begin apogee
$GC,6991,-0.11,0.0,990.2,12.4,619,7200,0.75,0.00,202.43,1.427,6,0.124,0.000,2700,1849,2883,0,0,0,0,0,0
$STATE,7201,end apogee,CONTROL_FINISHED_OK
$STATE,7201,begin climb
$GC,7203,0.68,243.3,999.2,0.0,628,7434,0.73,2.45,220.18,1.366,4,0.048,0.061,2979,3250,1891,0,0,0,0,0,0
$GC,7510,0.63,243.3,960.0,17.2,643,7515,0.15,2.25,0.00,0.000,6,0.181,0.044,2953,1849,1887,0,0,0,0,0,0
$GC,7838,0.60,243.3,909.8,14.7,659,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1849,1882,0,0,0,0,0,0
$GC,8146,0.56,243.3,863.2,15.1,674,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1849,1881,0,0,0,0,0,0
$GC,8458,0.52,243.3,814.7,16.3,689,8460,0.12,0.00,0.00,0.000,6,0.181,0.000,2919,1849,1879,0,0,0,0,0,0
$GC,8765,0.52,243.3,773.7,13.3,704,8769,0.00,2.17,0.00,0.000,4,0.000,0.053,2927,433,1878,0,0,0,0,0,0
$GC,8793,0.52,243.3,769.4,13.9,705,8797,0.00,2.20,0.00,0.000,6,0.000,0.043,2927,1863,1877,0,0,0,0,0,0
$GC,9122,0.52,243.3,721.9,14.7,721,9126,0.00,2.17,0.00,0.000,4,0.000,0.058,2927,3267,1877,0,0,0,0,0,0
$GC,9163,0.52,243.3,715.4,15.1,723,9167,0.00,2.17,0.00,0.000,6,0.000,0.042,2935,1833,1876,0,0,0,0,0,0
$GC,9492,0.51,243.3,667.8,14.1,739,9496,0.00,2.22,0.00,0.000,4,0.000,0.057,2936,3261,1876,0,0,0,0,0,0
$GC,9563,0.51,243.3,657.3,13.7,742,9568,0.12,2.17,0.00,0.000,6,0.174,0.041,2912,1843,1876,0,0,0,0,0,0
$GC,9895,0.61,314.1,622.7,10.2,758,9963,0.00,2.25,62.50,1.201,4,0.000,0.050,2921,434,1603,0,0,0,0,0,0
$GC,10008,0.70,357.2,609.7,11.2,763,10055,0.15,2.22,39.72,1.145,6,0.074,0.041,3002,1862,1426,0,0,0,0,0,0
$GC,10381,0.65,357.2,532.3,22.2,795,10385,0.17,2.17,0.00,0.000,4,0.159,0.055,2945,3266,1421,0,0,0,0,0,0
$GC,10538,0.73,385.4,510.5,11.7,808,10570,0.00,2.17,25.12,1.073,6,0.000,0.040,2953,1835,1310,0,0,0,0,0,0
$GC,10887,0.74,385.4,465.9,13.1,841,10891,0.00,2.22,0.00,0.000,4,0.000,0.053,2954,3262,1307,0,0,0,0,0,0
$GC,10920,0.76,385.4,460.9,13.6,843,10928,0.00,2.15,0.00,0.000,6,0.000,0.039,2965,1849,1307,0,0,0,0,0,0
$GC,11245,0.76,385.4,415.1,14.3,874,11249,0.00,2.15,0.00,0.000,4,0.000,0.049,2980,441,1307,0,0,0,0,0,0
$GC,11310,0.79,385.4,406.0,14.7,879,11314,0.00,2.15,0.00,0.000,6,0.000,0.038,2982,1858,1305,0,0,0,0,0,0
$GC,11635,0.79,385.4,354.4,15.1,909,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1857,1305,0,0,0,0,0,0
$GC,11959,0.81,397.0,311.4,12.3,939,11976,0.00,0.00,10.68,0.822,6,0.000,0.000,2984,1860,1265,0,0,0,0,0,0
$GC,12296,0.83,397.0,268.8,13.0,971,12300,0.00,2.15,0.00,0.000,4,0.000,0.045,2994,434,1265,0,0,0,0,0,0
$GC,12341,0.89,419.1,263.0,11.9,974,12367,0.08,2.17,20.30,0.839,6,0.057,0.036,3057,1866,1174,0,0,0,0,0,0
$GC,12686,0.85,419.1,193.9,20.9,1031,12695,0.15,2.15,0.00,0.000,4,0.158,0.049,3005,3252,1173,0,0,0,0,0,0
$GC,12749,0.89,419.1,183.8,13.9,1041,12758,0.00,2.12,0.00,0.000,6,0.000,0.035,3014,1846,1173,0,0,0,0,0,0
$GC,13080,0.95,454.1,137.3,11.5,1102,13118,0.10,2.12,30.40,0.747,4,0.099,0.044,3085,444,1030,0,0,0,0,0,0
$GC,13175,0.93,454.1,120.7,18.0,1117,13184,0.10,2.15,0.00,0.000,6,0.128,0.034,3051,1844,1028,0,0,0,0,0,0
$GC,13505,0.99,470.6,74.9,12.1,1178,13522,0.00,0.00,14.80,0.650,6,0.000,0.000,3051,1845,965,0,0,0,0,0,0
$GC,13843,1.13,543.3,40.3,10.1,1240,13910,0.17,2.17,59.50,0.656,4,0.066,0.041,3160,433,666,0,0,0,0,0,0
$GC,13943,1.08,543.3,20.6,23.9,1254,13952,0.17,2.17,0.00,0.000,6,0.125,0.033,3094,1851,664,0,0,0,0,0,0
$STATE,14046,end climb,SURFACE_DEPTH_REACHED
$STATE,14046,begin surface coast
$FINISH,1.0,1.021492
$STATE,14070,end surface coast,CONTROL_FINISHED_OK
$STATE,14071,begin surface
$SM_CCo,14150,0.00,0.000,0,0,661,545.30
$SM_GC,1.78,7.62,0.00,0.00,0.031,0.000,0.000,141,1485,661,-8.05,-0.42,545.30,0,0,0,0,0,0
$IRIDIUM_FIX,2054.83,12507.28,140911,020210
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.53
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,26.00
$XPDR_PINGS,77
$24V_AH,23.0,52.076
$10V_AH,10.0,36.903
$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,20.650,118.350,685.625,0.000,0.000,53.126,119.494,241.316,19.250,0.000,30.943,3169.610,7181.797,694.834,3298.743,442.032,0.000,1967.851,0.000,2882.796,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,61.200,1426.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,870.318,1306.123,1445.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73455,1277
$CAP_FILE_SIZE,157155,0
$CFSIZE,260165632,127913984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263,105.4,1
$GPS,140911,061327,2101.839,12341.370,44,3.9,63,-2.7