version: 66.09
glider: 166
mission: 6
dive: 228
start: 9 15 111 3 35 8
data:
$ID,166
$MISSION,6
$DIVE,228
$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,-24685.762
$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,20
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,53
$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
$GPS1,150911,032807,2105.338,12340.480,29,1.2,29,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-72.1
$GPS2,150911,033444,2105.323,12340.535,11,1.3,11,-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,296.3,317275,-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,-105.22,0.000,2,0.000,0.000,154,1488,2928,0,0,0,0,0,0
$GC,128,-0.68,-243.3,5.1,-5.9,14,166,9.32,1.10,-18.65,0.000,4,0.224,0.067,2512,2203,3880,0,0,0,0,0,0
$GC,343,-0.56,-243.3,88.6,-29.7,52,353,0.20,1.05,0.00,0.000,6,0.144,0.038,2558,1500,3882,0,0,0,0,0,0
$GC,669,-0.52,-243.3,152.7,-16.6,113,677,0.00,1.05,0.00,0.000,4,0.000,0.043,2553,2198,3882,0,0,0,0,0,0
$GC,776,-0.49,-243.3,169.9,-16.1,131,784,0.08,1.02,0.00,0.000,6,0.139,0.038,2578,1505,3883,0,0,0,0,0,0
$GC,1102,-0.49,-243.3,221.4,-16.0,192,1111,0.00,1.02,0.00,0.000,4,0.000,0.044,2575,2193,3883,0,0,0,0,0,0
$GC,1267,-0.52,-243.3,244.6,-12.9,222,1275,0.00,1.02,0.00,0.000,6,0.000,0.041,2575,1509,3883,0,0,0,0,0,0
$GC,1595,-0.54,-243.3,288.9,-12.4,256,1598,0.00,1.02,0.00,0.000,4,0.000,0.044,2570,2195,3883,0,0,0,0,0,0
$GC,1732,-0.58,-243.3,305.2,-11.8,268,1736,0.00,1.05,0.00,0.000,6,0.000,0.041,2571,1492,3882,0,0,0,0,0,0
$GC,2063,-0.60,-243.3,346.9,-11.5,299,2067,0.00,1.05,0.00,0.000,4,0.000,0.045,2572,2193,3881,0,0,0,0,0,0
$GC,2262,-0.64,-243.3,367.2,-9.2,316,2270,0.10,1.05,0.00,0.000,6,0.044,0.041,2503,1494,3880,0,0,0,0,0,0
$GC,2587,-0.59,-243.3,422.4,-18.6,347,2591,0.17,1.08,0.00,0.000,4,0.153,0.047,2550,2195,3879,0,0,0,0,0,0
$GC,2669,-0.61,-243.3,433.4,-12.5,354,2673,0.00,1.05,0.00,0.000,6,0.000,0.043,2550,1496,3879,0,0,0,0,0,0
$GC,3000,-0.63,-243.3,478.2,-13.0,385,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1496,3878,0,0,0,0,0,0
$GC,3322,-0.66,-243.3,513.7,-10.6,415,3326,0.00,1.05,0.00,0.000,4,0.000,0.049,2545,2186,3876,0,0,0,0,0,0
$GC,3489,-0.69,-243.3,531.1,-10.4,429,3495,0.00,1.05,0.00,0.000,6,0.000,0.045,2545,1498,3874,0,0,0,0,0,0
$GC,3815,-0.71,-243.3,569.5,-12.0,460,3818,0.00,1.05,0.00,0.000,4,0.000,0.050,2545,800,3871,0,0,0,0,0,0
$GC,3855,-0.74,-243.3,574.6,-12.7,463,3863,0.08,1.05,0.00,0.000,6,0.055,0.044,2484,1493,3871,0,0,0,0,0,0
$GC,4188,-0.72,-243.3,625.0,-15.4,487,4192,0.00,1.05,0.00,0.000,4,0.000,0.050,2479,2199,3869,0,0,0,0,0,0
$GC,4319,-0.69,-243.3,645.7,-15.3,492,4327,0.10,1.08,0.00,0.000,6,0.137,0.044,2513,1493,3868,0,0,0,0,0,0
$GC,4635,-0.69,-243.3,687.9,-12.6,508,4639,0.00,1.05,0.00,0.000,4,0.000,0.051,2514,796,3864,0,0,0,0,0,0
$GC,4716,-0.71,-243.3,697.3,-11.5,511,4719,0.00,1.08,0.00,0.000,6,0.000,0.045,2510,1496,3863,0,0,0,0,0,0
$GC,5037,-0.71,-243.3,731.7,-10.2,527,5041,0.00,1.05,0.00,0.000,4,0.000,0.053,2505,2198,3860,0,0,0,0,0,0
$GC,5140,-0.72,-243.3,741.7,-9.8,531,5144,0.00,1.08,0.00,0.000,6,0.000,0.046,2505,1493,3860,0,0,0,0,0,0
$GC,5462,-0.73,-243.3,776.3,-11.3,547,5466,0.00,1.08,0.00,0.000,4,0.000,0.054,2500,2192,3857,0,0,0,0,0,0
$GC,5496,-0.75,-243.3,780.5,-11.9,548,5500,0.00,1.05,0.00,0.000,6,0.000,0.047,2501,1505,3857,0,0,0,0,0,0
$GC,5820,-0.76,-243.3,819.0,-12.3,564,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1506,3854,0,0,0,0,0,0
$GC,6127,-0.77,-243.3,857.9,-12.5,579,6131,0.00,1.08,0.00,0.000,4,0.000,0.057,2496,2195,3852,0,0,0,0,0,0
$GC,6163,-0.78,-243.3,862.2,-12.1,580,6166,0.00,1.08,0.00,0.000,6,0.000,0.049,2496,1500,3851,0,0,0,0,0,0
$GC,6485,-0.78,-243.3,903.0,-12.5,596,6488,0.00,1.12,0.00,0.000,4,0.000,0.060,2491,2196,3849,0,0,0,0,0,0
$GC,6531,-0.79,-243.3,908.8,-12.4,598,6535,0.00,1.08,0.00,0.000,6,0.000,0.050,2490,1506,3848,0,0,0,0,0,0
$GC,6866,-0.79,-243.3,951.1,-12.4,614,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1506,3846,0,0,0,0,0,0
$GC,7174,-0.79,-243.3,988.5,-11.8,629,7178,0.00,1.08,0.00,0.000,4,0.000,0.059,2486,2187,3844,0,0,0,0,0,0
$STATE,7188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7188,begin apogee
$GC,7196,-0.11,0.0,990.6,11.7,629,7405,0.68,0.00,203.90,1.428,6,0.119,0.000,2703,1840,2884,0,0,0,0,0,0
$STATE,7406,end apogee,CONTROL_FINISHED_OK
$STATE,7406,begin climb
$GC,7411,0.68,243.3,999.7,0.0,639,7640,0.73,1.23,222.18,1.372,4,0.050,0.059,2970,2547,1891,0,0,0,0,0,0
$GC,7761,0.63,243.3,950.9,17.7,655,7768,0.00,1.10,0.00,0.000,6,0.000,0.050,2974,1864,1886,0,0,0,0,0,0
$GC,8077,0.58,243.3,896.1,17.4,671,8079,0.15,0.00,0.00,0.000,6,0.178,0.000,2936,1864,1883,0,0,0,0,0,0
$GC,8389,0.56,243.3,851.5,14.5,686,8393,0.00,1.08,0.00,0.000,4,0.000,0.060,2930,2547,1881,0,0,0,0,0,0
$GC,8438,0.56,243.3,843.3,15.0,688,8442,0.00,1.10,0.00,0.000,6,0.000,0.047,2934,1840,1881,0,0,0,0,0,0
$GC,8768,0.54,243.3,793.3,15.4,704,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1839,1879,0,0,0,0,0,0
$GC,9075,0.53,243.3,746.3,14.9,719,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1840,1878,0,0,0,0,0,0
$GC,9385,0.52,243.3,701.1,14.8,734,9389,0.00,1.10,0.00,0.000,4,0.000,0.057,2932,2549,1878,0,0,0,0,0,0
$GC,9480,0.52,243.3,687.5,13.9,738,9483,0.00,1.08,0.00,0.000,6,0.000,0.046,2935,1849,1877,0,0,0,0,0,0
$GC,9813,0.50,243.3,640.3,14.3,754,9817,0.00,1.05,0.00,0.000,4,0.000,0.048,2940,1144,1876,0,0,0,0,0,0
$GC,9882,0.50,243.3,630.8,13.1,757,9885,0.00,1.08,0.00,0.000,6,0.000,0.046,2937,1852,1876,0,0,0,0,0,0
$GC,10210,0.52,266.5,589.2,11.9,776,10235,0.00,1.10,20.10,1.141,4,0.000,0.056,2933,2546,1796,0,0,0,0,0,0
$GC,10354,0.54,286.0,571.4,12.0,788,10377,0.00,1.08,19.35,1.113,6,0.000,0.043,2936,1849,1717,0,0,0,0,0,0
$GC,10697,0.61,336.1,531.1,10.9,820,10747,0.00,1.15,45.65,1.123,4,0.000,0.047,2941,1131,1513,0,0,0,0,0,0
$GC,10802,0.66,367.9,519.5,11.6,828,10835,0.00,1.10,29.12,1.074,6,0.000,0.044,2938,1840,1384,0,0,0,0,0,0
$GC,11158,0.68,367.9,475.7,13.0,861,11161,0.00,1.08,0.00,0.000,4,0.000,0.051,2936,2551,1379,0,0,0,0,0,0
$GC,11274,0.74,386.7,460.7,12.0,871,11299,0.10,1.08,17.35,1.008,6,0.048,0.042,3013,1848,1307,0,0,0,0,0,0
$GC,11615,0.70,386.7,394.4,18.7,903,11619,0.15,1.08,0.00,0.000,4,0.162,0.047,2980,1140,1304,0,0,0,0,0,0
$GC,11693,0.70,386.7,382.7,13.6,910,11697,0.00,1.08,0.00,0.000,6,0.000,0.044,2980,1853,1303,0,0,0,0,0,0
$GC,12024,0.70,386.7,337.2,14.3,941,12028,0.00,1.05,0.00,0.000,4,0.000,0.050,2983,2559,1303,0,0,0,0,0,0
$GC,12048,0.70,386.7,333.8,14.2,943,12051,0.00,1.08,0.00,0.000,6,0.000,0.039,2986,1845,1303,0,0,0,0,0,0
$GC,12378,0.70,386.7,288.2,14.0,974,12382,0.00,1.02,0.00,0.000,4,0.000,0.044,2991,1145,1302,0,0,0,0,0,0
$GC,12459,0.75,408.9,278.4,11.9,981,12484,0.00,1.05,19.83,0.857,6,0.000,0.039,2992,1856,1216,0,0,0,0,0,0
$GC,12799,0.77,413.7,237.1,12.5,1023,12808,0.00,1.10,5.70,0.637,4,0.000,0.043,2996,1142,1196,0,0,0,0,0,0
$GC,12947,0.87,469.5,220.5,10.7,1049,12999,0.00,1.05,47.35,0.825,6,0.000,0.037,2997,1854,970,0,0,0,0,0,0
$GC,13319,0.94,495.0,176.6,11.8,1116,13350,0.15,1.08,22.55,0.753,4,0.072,0.038,3086,1147,864,0,0,0,0,0,0
$GC,13456,0.90,495.0,146.4,24.1,1139,13464,0.15,1.05,0.00,0.000,6,0.138,0.038,3038,1854,862,0,0,0,0,0,0
$GC,13789,0.91,495.0,90.9,14.2,1200,13798,0.00,1.05,0.00,0.000,4,0.000,0.041,3041,1144,861,0,0,0,0,0,0
$GC,13871,0.94,495.0,79.7,12.9,1214,13879,0.00,1.02,0.00,0.000,6,0.000,0.035,3041,1853,861,0,0,0,0,0,0
$GC,14199,1.20,640.2,48.5,7.6,1275,14290,0.25,1.12,84.20,0.666,4,0.053,0.040,3186,1135,453,0,0,0,0,0,0
$STATE,14392,end climb,SURFACE_DEPTH_REACHED
$STATE,14393,begin surface coast
$FINISH,1.2,1.001784
$STATE,14404,end surface coast,CONTROL_FINISHED_OK
$STATE,14404,begin surface
$SM_CCo,14482,0.00,0.000,0,0,443,598.78
$SM_GC,1.80,8.02,0.00,0.00,0.038,0.000,0.000,154,1522,443,-8.05,0.59,598.78,0,0,0,0,0,0
$IRIDIUM_FIX,2057.14,12339.48,140911,232358
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.12
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.30
$XPDR_PINGS,75
$24V_AH,22.9,53.670
$10V_AH,10.0,37.809
$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,20.425,60.950,737.275,0.000,0.000,31.024,40.894,172.239,18.750,0.000,12.753,3238.389,7232.617,705.955,3260.581,426.774,0.000,2041.501,0.000,3013.365,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,67.320,1428.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.815,1339.564,1450.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330244
$DATA_FILE_SIZE,73510,1308
$CAP_FILE_SIZE,159572,0
$CFSIZE,260165632,127397888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.286,100.2,1
$GPS,150911,073737,2106.423,12340.763,30,0.9,30,-2.7