version: 66.09
glider: 166
mission: 6
dive: 223
start: 9 14 111 6 21 18
data:
$ID,166
$MISSION,6
$DIVE,223
$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,-24679.465
$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,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
$GPS1,140911,061327,2101.839,12341.370,44,3.9,63,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.9
$GPS2,140911,062054,2101.779,12341.495,45,1.4,45,-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,296.0,323009,-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,-243.3,0.0,0.0,0,123,0.00,0.00,-100.32,0.000,2,0.000,0.000,132,1485,3072,0,0,0,0,0,0
$GC,126,-0.68,-243.3,5.6,-8.0,14,158,9.27,2.15,-14.98,0.000,4,0.221,0.048,2505,2915,3878,0,0,0,0,0,0
$GC,249,-0.59,-243.3,51.0,-28.9,34,257,0.15,2.15,0.00,0.000,6,0.142,0.035,2546,1493,3879,0,0,0,0,0,0
$GC,577,-0.53,-243.3,134.3,-18.5,95,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1491,3880,0,0,0,0,0,0
$GC,907,-0.49,-243.3,192.2,-19.0,156,916,0.12,2.17,0.00,0.000,4,0.166,0.044,2573,2900,3881,0,0,0,0,0,0
$GC,978,-0.54,-243.3,201.8,-10.2,168,987,0.00,2.10,0.00,0.000,6,0.000,0.034,2571,1499,3881,0,0,0,0,0,0
$GC,1306,-0.55,-243.3,246.3,-13.3,229,1314,0.00,2.15,0.00,0.000,4,0.000,0.044,2563,2904,3881,0,0,0,0,0,0
$GC,1402,-0.60,-243.3,257.1,-10.5,240,1406,0.00,2.10,0.00,0.000,6,0.000,0.034,2563,1488,3881,0,0,0,0,0,0
$GC,1727,-0.60,-243.3,299.9,-12.9,270,1731,0.00,2.15,0.00,0.000,4,0.000,0.046,2553,2903,3880,0,0,0,0,0,0
$GC,1770,-0.63,-243.3,304.6,-11.9,273,1774,0.00,2.08,0.00,0.000,6,0.000,0.036,2553,1502,3880,0,0,0,0,0,0
$GC,2100,-0.63,-243.3,351.0,-14.1,304,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1502,3878,0,0,0,0,0,0
$GC,2423,-0.65,-243.3,398.6,-15.7,334,2427,0.00,2.17,0.00,0.000,4,0.000,0.049,2553,2911,3877,0,0,0,0,0,0
$GC,2620,-0.70,-243.3,420.2,-8.8,351,2624,0.12,2.15,0.00,0.000,6,0.080,0.039,2482,1499,3876,0,0,0,0,0,0
$GC,2946,-0.64,-243.3,472.3,-15.2,381,2950,0.20,2.17,0.00,0.000,4,0.154,0.049,2532,2901,3874,0,0,0,0,0,0
$GC,3014,-0.67,-243.3,480.3,-10.1,386,3021,0.00,2.12,0.00,0.000,6,0.000,0.041,2532,1502,3874,0,0,0,0,0,0
$GC,3340,-0.67,-243.3,520.8,-12.8,417,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1502,3872,0,0,0,0,0,0
$GC,3663,-0.69,-243.3,559.5,-12.1,447,3667,0.00,2.17,0.00,0.000,4,0.000,0.051,2522,2909,3870,0,0,0,0,0,0
$GC,3707,-0.72,-243.3,565.3,-11.1,450,3714,0.00,2.15,0.00,0.000,6,0.000,0.041,2522,1494,3869,0,0,0,0,0,0
$GC,4042,-0.73,-243.3,609.3,-13.2,479,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1494,3867,0,0,0,0,0,0
$GC,4351,-0.75,-243.3,647.8,-11.8,494,4355,0.00,2.00,0.00,0.000,4,0.000,0.053,2522,196,3864,0,0,0,0,0,0
$GC,4384,-0.76,-243.3,652.4,-12.9,495,4388,0.00,1.98,0.00,0.000,6,0.000,0.041,2512,1498,3863,0,0,0,0,0,0
$GC,4709,-0.78,-243.3,690.6,-11.6,511,4713,0.00,2.15,0.00,0.000,4,0.000,0.054,2501,2912,3860,0,0,0,0,0,0
$GC,4822,-0.81,-243.3,702.4,-9.7,516,4826,0.00,2.15,0.00,0.000,6,0.000,0.042,2502,1494,3859,0,0,0,0,0,0
$GC,5152,-0.81,-243.3,737.1,-10.3,532,5156,0.00,2.20,0.00,0.000,4,0.000,0.056,2492,2902,3856,0,0,0,0,0,0
$GC,5192,-0.82,-243.3,741.2,-9.5,534,5196,0.00,2.15,0.00,0.000,6,0.000,0.042,2492,1493,3855,0,0,0,0,0,0
$GC,5522,-0.82,-243.3,776.4,-10.8,550,5526,0.00,1.98,0.00,0.000,4,0.000,0.054,2491,206,3852,0,0,0,0,0,0
$GC,5577,-0.82,-243.3,783.3,-11.7,552,5581,0.00,1.98,0.00,0.000,6,0.000,0.044,2482,1496,3852,0,0,0,0,0,0
$GC,5899,-0.82,-243.3,822.3,-12.5,568,5903,0.00,2.15,0.00,0.000,4,0.000,0.056,2471,2904,3849,0,0,0,0,0,0
$GC,5974,-0.82,-243.3,831.4,-12.1,571,5977,0.00,2.12,0.00,0.000,6,0.000,0.043,2471,1495,3848,0,0,0,0,0,0
$GC,6290,-0.81,-243.3,873.9,-13.4,586,6293,0.00,2.00,0.00,0.000,4,0.000,0.056,2471,203,3846,0,0,0,0,0,0
$GC,6340,-0.81,-243.3,881.4,-14.3,588,6344,0.00,2.03,0.00,0.000,6,0.000,0.044,2461,1502,3846,0,0,0,0,0,0
$GC,6668,-0.79,-243.3,928.9,-14.8,604,6672,0.12,2.20,0.00,0.000,4,0.173,0.058,2478,2907,3843,0,0,0,0,0,0
$GC,6694,-0.79,-243.3,932.8,-14.3,605,6698,0.00,2.15,0.00,0.000,6,0.000,0.043,2480,1494,3843,0,0,0,0,0,0
$GC,7019,-0.79,-243.3,973.9,-13.1,621,7023,0.00,2.20,0.00,0.000,4,0.000,0.059,2465,2909,3841,0,0,0,0,0,0
$GC,7052,-0.80,-243.3,978.7,-12.9,622,7056,0.00,2.15,0.00,0.000,6,0.000,0.044,2465,1502,3841,0,0,0,0,0,0
$STATE,7139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7139,begin apogee
$GC,7147,-0.11,0.0,990.7,13.8,626,7355,0.73,0.00,202.43,1.431,6,0.125,0.000,2699,1858,2884,0,0,0,0,0,0
$STATE,7355,end apogee,CONTROL_FINISHED_OK
$STATE,7355,begin climb
$GC,7360,0.68,243.3,1001.6,0.0,635,7598,0.73,2.45,220.50,1.369,4,0.050,0.060,2975,3253,1891,0,0,0,0,0,0
$GC,7631,0.63,243.3,967.7,17.3,647,7636,0.15,2.28,0.00,0.000,6,0.183,0.044,2950,1844,1889,0,0,0,0,0,0
$GC,7947,0.59,243.3,919.4,15.1,662,7951,0.00,2.17,0.00,0.000,4,0.000,0.056,2959,437,1884,0,0,0,0,0,0
$GC,7973,0.55,243.3,915.8,14.9,663,7978,0.12,2.20,0.00,0.000,6,0.166,0.045,2922,1856,1883,0,0,0,0,0,0
$GC,8300,0.55,243.3,874.5,12.7,679,8304,0.00,2.17,0.00,0.000,4,0.000,0.058,2919,3254,1882,0,0,0,0,0,0
$GC,8371,0.56,251.2,865.2,12.4,682,8384,0.00,2.17,6.85,1.057,6,0.000,0.043,2928,1836,1860,0,0,0,0,0,0
$GC,8696,0.55,251.2,822.7,13.8,698,8700,0.00,2.15,0.00,0.000,4,0.000,0.054,2939,440,1859,0,0,0,0,0,0
$GC,8734,0.55,251.2,816.5,14.3,699,8741,0.00,2.20,0.00,0.000,6,0.000,0.043,2938,1865,1858,0,0,0,0,0,0
$GC,9052,0.53,251.2,769.5,15.2,715,9056,0.00,2.17,0.00,0.000,4,0.000,0.058,2939,3259,1858,0,0,0,0,0,0
$GC,9137,0.53,251.2,756.7,14.0,719,9142,0.12,2.15,0.00,0.000,6,0.177,0.042,2917,1840,1857,0,0,0,0,0,0
$GC,9466,0.56,277.9,717.1,11.8,735,9494,0.00,0.00,26.00,1.239,6,0.000,0.000,2917,1840,1751,0,0,0,0,0,0
$GC,9793,0.60,300.1,678.0,11.9,751,9820,0.00,2.28,21.85,1.191,4,0.000,0.056,2914,3271,1659,0,0,0,0,0,0
$GC,9837,0.64,320.4,672.4,12.0,753,9862,0.00,2.20,19.98,1.162,6,0.000,0.040,2922,1851,1578,0,0,0,0,0,0
$GC,10189,0.66,322.4,628.5,12.6,770,10193,0.10,2.17,0.00,0.000,4,0.103,0.051,2990,439,1574,0,0,0,0,0,0
$GC,10216,0.65,322.4,623.7,14.3,771,10221,0.12,2.20,0.00,0.000,6,0.165,0.044,2957,1859,1573,0,0,0,0,0,0
$GC,10538,0.63,322.4,572.8,15.5,794,10542,0.00,2.15,0.00,0.000,4,0.000,0.056,2952,3268,1572,0,0,0,0,0,0
$GC,10571,0.63,322.4,567.0,15.7,796,10579,0.00,2.15,0.00,0.000,6,0.000,0.039,2961,1839,1572,0,0,0,0,0,0
$GC,10897,0.63,322.4,513.3,17.5,827,10901,0.00,2.22,0.00,0.000,4,0.000,0.054,2958,3272,1571,0,0,0,0,0,0
$GC,10959,0.63,322.4,502.8,16.4,832,10963,0.00,2.15,0.00,0.000,6,0.000,0.039,2966,1847,1571,0,0,0,0,0,0
$GC,11284,0.62,322.4,454.2,13.8,862,11288,0.00,2.15,0.00,0.000,4,0.000,0.050,2977,444,1571,0,0,0,0,0,0
$GC,11313,0.62,322.4,449.6,15.9,864,11318,0.12,2.12,0.00,0.000,6,0.156,0.040,2943,1853,1569,0,0,0,0,0,0
$GC,11639,0.68,359.1,412.0,11.4,894,11678,0.00,2.20,34.00,1.018,4,0.000,0.052,2935,3263,1419,0,0,0,0,0,0
$GC,11774,0.84,436.2,397.5,10.0,905,11848,0.20,2.17,67.80,1.000,6,0.061,0.038,3048,1840,1104,0,0,0,0,0,0
$GC,12167,0.78,436.2,307.8,24.0,942,12172,0.17,2.15,0.00,0.000,4,0.164,0.048,3016,440,1100,0,0,0,0,0,0
$GC,12220,0.80,436.2,297.5,16.6,946,12224,0.00,2.17,0.00,0.000,6,0.000,0.037,3010,1867,1099,0,0,0,0,0,0
$GC,12548,0.80,436.2,244.5,16.0,979,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1868,1098,0,0,0,0,0,0
$GC,12876,0.80,436.2,194.1,15.3,1040,12885,0.00,2.15,0.00,0.000,4,0.000,0.049,3009,3246,1099,0,0,0,0,0,0
$GC,12914,0.82,436.2,188.1,15.2,1046,12922,0.00,2.12,0.00,0.000,6,0.000,0.035,3018,1850,1098,0,0,0,0,0,0
$GC,13241,0.82,436.2,137.8,15.7,1107,13249,0.00,2.20,0.00,0.000,4,0.000,0.046,3029,441,1098,0,0,0,0,0,0
$GC,13305,0.85,436.2,128.4,13.5,1118,13313,0.00,2.15,0.00,0.000,6,0.000,0.034,3029,1859,1098,0,0,0,0,0,0
$GC,13634,0.87,436.2,81.0,14.3,1179,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1859,1098,0,0,0,0,0,0
$GC,13965,1.15,594.7,46.8,7.1,1240,14108,0.22,2.25,130.43,0.672,4,0.057,0.042,3166,443,455,0,0,0,0,0,0
$GC,14137,1.13,594.7,12.8,22.1,1264,14147,0.17,2.17,0.00,0.000,6,0.119,0.034,3107,1841,449,0,0,0,0,0,0
$STATE,14199,end climb,SURFACE_DEPTH_REACHED
$STATE,14199,begin surface coast
$FINISH,1.1,1.021440
$STATE,14225,end surface coast,CONTROL_FINISHED_OK
$STATE,14226,begin surface
$SM_CCo,14303,0.00,0.000,0,0,444,598.53
$SM_GC,1.86,7.78,0.00,0.00,0.035,0.000,0.000,154,1492,444,-8.04,-0.23,598.53,0,0,0,0,0,0
$IRIDIUM_FIX,2054.83,12336.28,140911,020235
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.67
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.10
$XPDR_PINGS,73
$24V_AH,23.0,52.337
$10V_AH,10.0,37.052
$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,20.750,130.325,729.825,0.000,0.000,27.717,23.092,206.059,18.250,0.000,46.043,3186.646,7157.387,738.485,3209.369,441.628,0.000,2048.500,0.000,2934.039,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,60.435,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.575,1309.287,1453.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73542,1279
$CAP_FILE_SIZE,161088,0
$CFSIZE,260165632,127819776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242, 94.4,1
$GPS,140911,102127,2102.788,12341.136,48,99.0,67,-2.7