version: 66.09
glider: 166
mission: 6
dive: 225
start: 9 14 111 14 48 22
data:
$ID,166
$MISSION,6
$DIVE,225
$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,-24681.982
$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,52
$R_STBD_OVSHOOT,43
$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
$GPS1,140911,143945,2103.657,12340.723,42,2.8,61,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-65.3
$GPS2,140911,144758,2103.634,12340.813,34,2.5,53,-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,287.4,319783,-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,14,begin dive
$GC,17,-0.68,-243.3,0.0,0.0,0,125,0.00,0.00,-105.40,0.000,2,0.000,0.000,116,1479,3131,0,0,0,0,0,0
$GC,128,-0.68,-243.3,6.1,-10.4,14,160,9.45,2.17,-13.35,0.000,4,0.226,0.054,2509,2915,3879,0,0,0,0,0,0
$GC,280,-0.60,-243.3,65.1,-28.3,40,289,0.10,2.15,0.00,0.000,6,0.142,0.036,2542,1509,3881,0,0,0,0,0,0
$GC,607,-0.54,-243.3,139.8,-19.8,101,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1508,3882,0,0,0,0,0,0
$GC,936,-0.50,-243.3,202.7,-16.7,162,945,0.12,2.17,0.00,0.000,4,0.164,0.047,2569,2894,3883,0,0,0,0,0,0
$GC,1007,-0.55,-243.3,212.6,-11.2,174,1015,0.00,2.12,0.00,0.000,6,0.000,0.037,2569,1508,3882,0,0,0,0,0,0
$GC,1343,-0.56,-243.3,260.5,-13.6,229,1347,0.00,2.15,0.00,0.000,4,0.000,0.047,2560,2911,3882,0,0,0,0,0,0
$GC,1365,-0.58,-243.3,264.0,-13.8,230,1373,0.00,2.15,0.00,0.000,6,0.000,0.037,2560,1494,3882,0,0,0,0,0,0
$GC,1692,-0.58,-243.3,308.5,-13.6,261,1696,0.00,2.17,0.00,0.000,4,0.000,0.049,2552,2909,3881,0,0,0,0,0,0
$GC,1773,-0.63,-243.3,317.7,-10.7,267,1780,0.00,2.12,0.00,0.000,6,0.000,0.037,2554,1496,3881,0,0,0,0,0,0
$GC,2098,-0.63,-243.3,360.2,-13.1,298,2102,0.00,2.12,0.00,0.000,4,0.000,0.049,2555,2900,3880,0,0,0,0,0,0
$GC,2176,-0.67,-243.3,368.3,-10.1,304,2180,0.00,2.10,0.00,0.000,6,0.000,0.037,2557,1500,3878,0,0,0,0,0,0
$GC,2501,-0.67,-243.3,408.5,-13.6,334,2505,0.00,2.17,0.00,0.000,4,0.000,0.051,2550,2903,3877,0,0,0,0,0,0
$GC,2575,-0.71,-243.3,416.8,-10.1,340,2584,0.10,2.12,0.00,0.000,6,0.093,0.038,2482,1490,3876,0,0,0,0,0,0
$GC,2900,-0.66,-243.3,475.6,-18.5,371,2905,0.17,2.17,0.00,0.000,4,0.159,0.051,2523,2900,3875,0,0,0,0,0,0
$GC,3021,-0.69,-243.3,490.2,-10.2,381,3028,0.00,2.12,0.00,0.000,6,0.000,0.040,2524,1493,3874,0,0,0,0,0,0
$GC,3347,-0.69,-243.3,530.2,-12.6,412,3350,0.00,1.95,0.00,0.000,4,0.000,0.050,2523,202,3872,0,0,0,0,0,0
$GC,3394,-0.71,-243.3,536.3,-13.5,416,3398,0.00,1.95,0.00,0.000,6,0.000,0.038,2514,1495,3872,0,0,0,0,0,0
$GC,3724,-0.71,-243.3,583.9,-14.9,447,3728,0.00,2.15,0.00,0.000,4,0.000,0.050,2504,2904,3870,0,0,0,0,0,0
$GC,3847,-0.73,-243.3,599.3,-12.3,457,3851,0.00,2.12,0.00,0.000,6,0.000,0.040,2504,1496,3869,0,0,0,0,0,0
$GC,4162,-0.73,-243.3,644.8,-14.2,472,4166,0.00,2.00,0.00,0.000,4,0.000,0.052,2504,205,3865,0,0,0,0,0,0
$GC,4195,-0.73,-243.3,649.5,-13.5,473,4199,0.00,1.98,0.00,0.000,6,0.000,0.040,2494,1495,3865,0,0,0,0,0,0
$GC,4520,-0.72,-243.3,694.2,-13.8,489,4524,0.00,2.15,0.00,0.000,4,0.000,0.053,2483,2908,3861,0,0,0,0,0,0
$GC,4619,-0.72,-243.3,707.0,-11.9,493,4626,0.00,2.15,0.00,0.000,6,0.000,0.042,2483,1490,3861,0,0,0,0,0,0
$GC,4938,-0.70,-243.3,751.1,-14.2,509,4943,0.12,2.00,0.00,0.000,4,0.164,0.054,2519,200,3858,0,0,0,0,0,0
$GC,5016,-0.73,-243.3,760.8,-11.0,512,5020,0.00,2.00,0.00,0.000,6,0.000,0.041,2511,1509,3857,0,0,0,0,0,0
$GC,5341,-0.74,-243.3,796.4,-11.4,528,5345,0.00,2.12,0.00,0.000,4,0.000,0.054,2500,2906,3854,0,0,0,0,0,0
$GC,5430,-0.78,-243.3,806.0,-10.6,532,5434,0.00,2.15,0.00,0.000,6,0.000,0.042,2500,1490,3853,0,0,0,0,0,0
$GC,5754,-0.78,-243.3,840.1,-10.2,548,5758,0.00,2.20,0.00,0.000,4,0.000,0.060,2490,2904,3851,0,0,0,0,0,0
$GC,5787,-0.79,-243.3,843.6,-10.1,549,5791,0.00,2.15,0.00,0.000,6,0.000,0.043,2490,1493,3851,0,0,0,0,0,0
$GC,6103,-0.79,-243.3,876.6,-10.2,564,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1493,3848,0,0,0,0,0,0
$GC,6415,-0.79,-243.3,908.1,-10.2,579,6419,0.00,2.20,0.00,0.000,4,0.000,0.057,2480,2903,3845,0,0,0,0,0,0
$GC,6465,-0.81,-243.3,913.7,-10.4,581,6469,0.00,2.15,0.00,0.000,6,0.000,0.044,2480,1499,3845,0,0,0,0,0,0
$GC,6789,-0.81,-243.3,951.1,-12.1,597,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1499,3843,0,0,0,0,0,0
$GC,7095,-0.81,-243.3,988.4,-12.1,612,7099,0.00,2.22,0.00,0.000,4,0.000,0.061,2457,2910,3841,0,0,0,0,0,0
$STATE,7109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7109,begin apogee
$GC,7116,-0.11,0.0,990.6,12.1,612,7324,0.75,0.00,202.93,1.432,6,0.121,0.000,2703,1844,2883,0,0,0,0,0,0
$STATE,7325,end apogee,CONTROL_FINISHED_OK
$STATE,7325,begin climb
$GC,7328,0.68,243.3,998.9,0.0,622,7559,0.70,2.45,221.55,1.371,4,0.047,0.062,2975,3247,1892,0,0,0,0,0,0
$GC,7650,0.64,243.3,954.6,17.9,637,7655,0.12,2.20,0.00,0.000,6,0.182,0.044,2955,1852,1887,0,0,0,0,0,0
$GC,7972,0.60,243.3,903.5,15.5,653,7976,0.00,2.22,0.00,0.000,4,0.000,0.056,2964,434,1884,0,0,0,0,0,0
$GC,7999,0.56,243.3,898.9,15.6,654,8003,0.00,2.20,0.00,0.000,6,0.000,0.046,2957,1847,1883,0,0,0,0,0,0
$GC,8317,0.53,243.3,849.0,15.9,669,8322,0.15,2.20,0.00,0.000,4,0.171,0.059,2910,3263,1882,0,0,0,0,0,0
$GC,8386,0.56,259.6,839.7,12.1,672,8408,0.00,2.17,14.93,1.232,6,0.000,0.043,2918,1836,1825,0,0,0,0,0,0
$GC,8722,0.56,259.6,795.0,13.6,688,8726,0.00,2.15,0.00,0.000,4,0.000,0.053,2930,444,1822,0,0,0,0,0,0
$GC,8739,0.56,259.6,791.8,13.7,689,8743,0.00,2.17,0.00,0.000,6,0.000,0.043,2929,1850,1821,0,0,0,0,0,0
$GC,9068,0.56,259.6,744.6,14.7,705,9072,0.00,2.22,0.00,0.000,4,0.000,0.058,2929,3269,1821,0,0,0,0,0,0
$GC,9140,0.56,259.6,733.5,14.1,708,9144,0.00,2.17,0.00,0.000,6,0.000,0.041,2938,1854,1820,0,0,0,0,0,0
$GC,9461,0.55,259.6,684.6,14.8,724,9465,0.00,2.20,0.00,0.000,4,0.000,0.056,2939,3261,1820,0,0,0,0,0,0
$GC,9504,0.55,259.6,678.6,14.9,726,9508,0.00,2.15,0.00,0.000,6,0.000,0.039,2948,1838,1820,0,0,0,0,0,0
$GC,9832,0.53,259.6,629.1,14.9,742,9834,0.12,0.00,0.00,0.000,6,0.178,0.000,2916,1838,1819,0,0,0,0,0,0
$GC,10142,0.61,319.2,594.2,10.6,759,10202,0.00,2.22,54.58,1.181,4,0.000,0.049,2926,442,1581,0,0,0,0,0,0
$GC,10252,0.71,364.1,581.8,11.1,768,10304,0.15,2.22,41.00,1.132,6,0.076,0.038,2999,1859,1398,0,0,0,0,0,0
$GC,10622,0.68,364.1,513.5,18.0,803,10626,0.12,2.20,0.00,0.000,4,0.171,0.054,2968,3255,1394,0,0,0,0,0,0
$GC,10811,0.69,364.1,485.1,13.9,819,10815,0.00,2.15,0.00,0.000,6,0.000,0.038,2976,1840,1393,0,0,0,0,0,0
$GC,11138,0.67,364.1,433.9,16.5,849,11142,0.00,2.15,0.00,0.000,4,0.000,0.049,2988,439,1392,0,0,0,0,0,0
$GC,11167,0.66,364.1,428.6,17.1,851,11172,0.12,2.15,0.00,0.000,6,0.147,0.039,2954,1857,1391,0,0,0,0,0,0
$GC,11494,0.68,364.1,386.3,13.5,881,11498,0.00,2.12,0.00,0.000,4,0.000,0.052,2951,3249,1391,0,0,0,0,0,0
$GC,11562,0.76,393.5,377.6,11.7,886,11593,0.00,2.10,25.70,0.970,6,0.000,0.037,2963,1849,1278,0,0,0,0,0,0
$GC,11921,0.79,393.5,331.5,13.1,920,11926,0.10,2.15,0.00,0.000,4,0.102,0.049,3037,444,1276,0,0,0,0,0,0
$GC,11996,0.78,393.5,318.5,18.0,926,12001,0.15,2.12,0.00,0.000,6,0.148,0.037,2995,1840,1275,0,0,0,0,0,0
$GC,12321,0.78,393.5,266.3,16.9,956,12325,0.00,2.15,0.00,0.000,4,0.000,0.050,2985,3261,1275,0,0,0,0,0,0
$GC,12358,0.81,393.5,260.4,15.2,959,12365,0.00,2.12,0.00,0.000,6,0.000,0.036,2994,1843,1275,0,0,0,0,0,0
$GC,12683,0.82,393.5,214.2,13.8,1013,12692,0.00,2.15,0.00,0.000,4,0.000,0.047,3004,441,1275,0,0,0,0,0,0
$GC,12770,0.88,416.1,203.0,11.9,1028,12803,0.00,2.15,20.23,0.792,6,0.000,0.034,3004,1860,1186,0,0,0,0,0,0
$GC,13126,0.93,436.2,157.9,12.0,1092,13151,0.12,2.20,18.27,0.737,4,0.084,0.047,3073,3263,1104,0,0,0,0,0,0
$GC,13191,0.91,436.2,145.0,21.4,1102,13200,0.12,2.15,0.00,0.000,6,0.142,0.035,3042,1852,1104,0,0,0,0,0,0
$GC,13522,0.91,436.2,89.5,15.2,1163,13529,0.00,2.15,0.00,0.000,4,0.000,0.044,3051,446,1102,0,0,0,0,0,0
$GC,13561,0.93,436.2,83.8,14.4,1169,13570,0.00,2.12,0.00,0.000,6,0.000,0.034,3044,1841,1102,0,0,0,0,0,0
$GC,13892,1.18,589.5,46.5,7.3,1230,14028,0.22,2.22,125.18,0.664,4,0.057,0.043,3156,3271,479,0,0,0,0,0,0
$GC,14037,1.12,589.5,17.1,23.8,1249,14046,0.17,2.20,0.00,0.000,6,0.139,0.031,3110,1850,475,0,0,0,0,0,0
$STATE,14119,end climb,SURFACE_DEPTH_REACHED
$STATE,14119,begin surface coast
$FINISH,1.0,1.014391
$STATE,14140,end surface coast,CONTROL_FINISHED_OK
$STATE,14140,begin surface
$SM_CCo,14218,0.00,0.000,0,0,469,592.15
$SM_GC,1.81,7.80,0.00,0.00,0.041,0.000,0.000,141,1482,469,-8.04,-0.51,592.15,0,0,0,0,0,0
$IRIDIUM_FIX,2054.83,12341.40,140911,101049
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.28
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.50
$XPDR_PINGS,82
$24V_AH,22.9,52.855
$10V_AH,10.0,37.355
$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,21.025,137.625,724.350,0.000,0.000,31.204,40.524,207.602,20.500,0.000,55.251,3159.570,7126.646,726.174,3256.433,423.769,0.000,2052.812,0.000,2918.453,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,61.965,1432.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.251,1297.136,1407.316,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330172
$DATA_FILE_SIZE,73521,1267
$CAP_FILE_SIZE,162488,0
$CFSIZE,260165632,127647744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.317, 94.6,1
$GPS,140911,184657,2104.131,12341.099,39,99.0,58,-2.7