version: 66.09
glider: 166
mission: 6
dive: 234
start: 9 16 111 5 1 26
data:
$ID,166
$MISSION,6
$DIVE,234
$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,-24693.307
$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,1550
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,54
$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
$GPS1,160911,045424,2110.541,12339.583,25,1.1,42,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-72.0
$GPS2,160911,050102,2110.487,12339.694,14,1.8,14,-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,285.3,309692,-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,-243.3,0.0,0.0,0,118,0.00,0.00,-98.30,0.000,2,0.000,0.000,153,1540,3058,0,0,0,0,0,0
$GC,121,-0.68,-243.3,5.3,-6.5,13,153,9.18,1.02,-15.52,0.000,4,0.217,0.065,2507,2246,3878,0,0,0,0,0,0
$GC,189,-0.47,-243.3,36.5,-46.6,23,198,0.30,1.05,0.00,0.000,6,0.163,0.036,2584,1532,3880,0,0,0,0,0,0
$GC,516,-0.44,-243.3,113.3,-18.2,84,524,0.00,1.05,0.00,0.000,4,0.000,0.041,2581,2244,3881,0,0,0,0,0,0
$GC,637,-0.44,-243.3,134.2,-15.9,106,645,0.00,1.02,0.00,0.000,6,0.000,0.037,2578,1544,3882,0,0,0,0,0,0
$GC,967,-0.44,-243.3,190.8,-14.4,167,976,0.00,1.02,0.00,0.000,4,0.000,0.044,2573,2234,3882,0,0,0,0,0,0
$GC,1067,-0.44,-243.3,204.3,-13.2,184,1076,0.00,1.00,0.00,0.000,6,0.000,0.040,2573,1557,3882,0,0,0,0,0,0
$GC,1395,-0.44,-243.3,247.6,-12.8,245,1403,0.00,1.00,0.00,0.000,4,0.000,0.044,2568,2232,3882,0,0,0,0,0,0
$GC,1455,-0.46,-243.3,255.0,-11.6,252,1458,0.00,1.02,0.00,0.000,6,0.000,0.041,2568,1542,3882,0,0,0,0,0,0
$GC,1789,-0.48,-243.3,299.7,-13.2,283,1793,0.00,1.02,0.00,0.000,4,0.000,0.046,2565,2229,3882,0,0,0,0,0,0
$GC,1880,-0.51,-243.3,311.6,-12.7,291,1884,0.00,1.00,0.00,0.000,6,0.000,0.041,2565,1555,3881,0,0,0,0,0,0
$GC,2213,-0.53,-243.3,350.4,-10.6,322,2217,0.00,1.02,0.00,0.000,4,0.000,0.045,2561,2242,3880,0,0,0,0,0,0
$GC,2294,-0.57,-243.3,358.4,-9.7,329,2297,0.00,1.02,0.00,0.000,6,0.000,0.042,2564,1551,3879,0,0,0,0,0,0
$GC,2626,-0.60,-243.3,392.4,-10.0,360,2629,0.00,1.02,0.00,0.000,4,0.000,0.047,2566,2227,3878,0,0,0,0,0,0
$GC,2732,-0.64,-243.3,403.0,-10.0,369,2738,0.00,1.02,0.00,0.000,6,0.000,0.041,2573,1546,3877,0,0,0,0,0,0
$GC,3058,-0.68,-243.3,439.8,-11.2,400,3062,0.15,1.05,0.00,0.000,4,0.073,0.048,2484,2230,3876,0,0,0,0,0,0
$GC,3116,-0.64,-243.3,449.0,-17.9,405,3120,0.15,1.02,0.00,0.000,6,0.134,0.043,2534,1548,3875,0,0,0,0,0,0
$GC,3447,-0.64,-243.3,496.5,-13.2,436,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1548,3873,0,0,0,0,0,0
$GC,3767,-0.65,-243.3,532.1,-10.7,466,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1548,3872,0,0,0,0,0,0
$GC,4087,-0.67,-243.3,570.0,-12.5,496,4091,0.00,1.05,0.00,0.000,4,0.000,0.051,2531,2228,3869,0,0,0,0,0,0
$GC,4160,-0.70,-243.3,579.6,-12.2,502,4167,0.00,1.02,0.00,0.000,6,0.000,0.045,2531,1556,3869,0,0,0,0,0,0
$GC,4495,-0.72,-243.3,618.5,-10.7,526,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1555,3865,0,0,0,0,0,0
$GC,4801,-0.74,-243.3,649.6,-9.9,541,4805,0.00,1.02,0.00,0.000,4,0.000,0.052,2527,2226,3863,0,0,0,0,0,0
$GC,4920,-0.77,-243.3,660.8,-9.3,546,4924,0.00,1.05,0.00,0.000,6,0.000,0.047,2527,1540,3862,0,0,0,0,0,0
$GC,5248,-0.79,-243.3,695.5,-10.8,562,5250,0.10,0.00,0.00,0.000,6,0.099,0.000,2469,1540,3858,0,0,0,0,0,0
$GC,5559,-0.77,-243.3,742.8,-14.9,577,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1540,3856,0,0,0,0,0,0
$GC,5867,-0.74,-243.3,788.9,-15.3,592,5869,0.12,0.00,0.00,0.000,6,0.165,0.000,2503,1540,3853,0,0,0,0,0,0
$GC,6178,-0.75,-243.3,827.0,-12.4,607,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1540,3851,0,0,0,0,0,0
$GC,6485,-0.77,-243.3,862.7,-11.4,622,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1540,3848,0,0,0,0,0,0
$GC,6795,-0.78,-243.3,897.6,-10.9,637,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1540,3845,0,0,0,0,0,0
$GC,7107,-0.80,-243.3,931.2,-10.9,652,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1540,3844,0,0,0,0,0,0
$GC,7414,-0.82,-243.3,965.8,-11.0,667,7417,0.00,1.08,0.00,0.000,4,0.000,0.060,2500,2225,3842,0,0,0,0,0,0
$GC,7477,-0.84,-243.3,972.4,-10.3,669,7484,0.00,1.05,0.00,0.000,6,0.000,0.050,2499,1551,3841,0,0,0,0,0,0
$STATE,7646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7646,begin apogee
$GC,7652,-0.11,0.0,991.3,11.0,678,7861,0.62,0.00,203.88,1.438,6,0.118,0.000,2705,1804,2884,0,0,0,0,0,0
$STATE,7862,end apogee,CONTROL_FINISHED_OK
$STATE,7862,begin climb
$GC,7865,0.68,243.3,999.8,0.0,687,8098,0.73,0.00,222.38,1.372,6,0.054,0.000,2973,1804,1891,0,0,0,0,0,0
$GC,8406,0.63,243.3,916.9,18.2,713,8410,0.00,1.10,0.00,0.000,4,0.000,0.062,2973,2509,1885,0,0,0,0,0,0
$GC,8525,0.59,243.3,895.4,18.4,718,8529,0.12,1.08,0.00,0.000,6,0.155,0.051,2939,1825,1883,0,0,0,0,0,0
$GC,8854,0.58,243.3,847.6,14.3,734,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1825,1881,0,0,0,0,0,0
$GC,9163,0.57,243.3,805.3,13.6,749,9167,0.00,1.08,0.00,0.000,4,0.000,0.054,2942,1119,1880,0,0,0,0,0,0
$GC,9209,0.56,243.3,799.0,12.9,751,9212,0.00,1.08,0.00,0.000,6,0.000,0.049,2942,1814,1879,0,0,0,0,0,0
$GC,9542,0.54,243.3,755.0,13.0,767,9545,0.00,1.08,0.00,0.000,4,0.000,0.057,2942,2520,1879,0,0,0,0,0,0
$GC,9594,0.54,250.2,748.5,12.5,769,9603,0.00,1.08,5.50,0.955,6,0.000,0.047,2946,1819,1864,0,0,0,0,0,0
$GC,9924,0.55,267.4,706.8,12.1,785,9944,0.00,0.00,18.10,1.212,6,0.000,0.000,2945,1818,1793,0,0,0,0,0,0
$GC,10253,0.55,267.4,665.4,12.9,801,10257,0.00,1.10,0.00,0.000,4,0.000,0.055,2945,2521,1790,0,0,0,0,0,0
$GC,10343,0.55,267.4,653.1,14.0,805,10347,0.00,1.08,0.00,0.000,6,0.000,0.044,2949,1815,1790,0,0,0,0,0,0
$GC,10677,0.55,267.4,606.4,14.1,821,10681,0.00,1.10,0.00,0.000,4,0.000,0.055,2949,2524,1788,0,0,0,0,0,0
$GC,10818,0.55,267.4,587.1,13.1,831,10826,0.08,1.08,0.00,0.000,6,0.154,0.045,2928,1819,1788,0,0,0,0,0,0
$GC,11145,0.64,327.3,551.3,10.6,862,11203,0.00,1.08,54.90,1.154,4,0.000,0.046,2928,1122,1548,0,0,0,0,0,0
$GC,11239,0.75,393.8,541.2,10.4,870,11305,0.15,1.10,60.33,1.115,6,0.045,0.042,3013,1828,1277,0,0,0,0,0,0
$GC,11631,0.71,393.8,461.2,21.2,907,11635,0.15,1.05,0.00,0.000,4,0.162,0.053,2964,2510,1272,0,0,0,0,0,0
$GC,11779,0.73,396.4,440.5,12.6,920,11783,0.00,1.05,0.00,0.000,6,0.000,0.044,2965,1821,1271,0,0,0,0,0,0
$GC,12113,0.74,396.4,396.2,14.2,951,12116,0.00,1.05,0.00,0.000,4,0.000,0.048,2969,1123,1270,0,0,0,0,0,0
$GC,12181,0.75,396.4,386.3,13.9,957,12185,0.00,1.05,0.00,0.000,6,0.000,0.042,2966,1821,1269,0,0,0,0,0,0
$GC,12513,0.77,396.4,340.2,14.2,988,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1821,1269,0,0,0,0,0,0
$GC,12833,0.79,396.4,297.2,13.0,1018,12838,0.10,1.08,0.00,0.000,4,0.103,0.045,3043,1121,1269,0,0,0,0,0,0
$GC,12929,0.76,396.4,280.1,18.2,1026,12937,0.15,1.05,0.00,0.000,6,0.134,0.041,2994,1826,1269,0,0,0,0,0,0
$GC,13256,0.77,396.4,236.1,13.2,1067,13264,0.00,1.08,0.00,0.000,4,0.000,0.044,2998,1115,1269,0,0,0,0,0,0
$GC,13315,0.79,396.4,227.9,13.2,1077,13324,0.00,1.05,0.00,0.000,6,0.000,0.038,2995,1824,1269,0,0,0,0,0,0
$GC,13644,0.81,400.5,184.7,12.5,1138,13660,0.00,1.10,6.12,0.621,4,0.000,0.044,2999,1110,1250,0,0,0,0,0,0
$GC,13695,0.87,428.9,178.3,11.7,1146,13725,0.00,1.05,25.38,0.773,6,0.000,0.037,2999,1820,1135,0,0,0,0,0,0
$GC,14048,1.01,508.7,143.7,9.9,1210,14118,0.20,0.00,66.47,0.754,6,0.062,0.000,3103,1820,809,0,0,0,0,0,0
$GC,14437,0.99,508.7,61.5,18.1,1279,14446,0.15,1.08,0.00,0.000,4,0.152,0.043,3065,1120,803,0,0,0,0,0,0
$GC,14497,1.04,508.7,52.9,13.4,1289,14506,0.00,1.02,0.00,0.000,6,0.000,0.035,3062,1818,802,0,0,0,0,0,0
$GC,14827,1.22,605.1,19.9,9.3,1350,14910,0.20,1.08,73.47,0.643,4,0.060,0.038,3178,1121,451,0,0,0,0,0,0
$STATE,14920,end climb,SURFACE_DEPTH_REACHED
$STATE,14920,begin surface coast
$FINISH,1.1,0.997763
$STATE,14932,end surface coast,CONTROL_FINISHED_OK
$STATE,14932,begin surface
$SM_CCo,15010,0.00,0.000,0,0,443,598.53
$SM_GC,1.75,7.95,0.00,0.00,0.030,0.000,0.000,160,1588,443,-8.05,1.07,598.53,0,0,0,0,0,0
$IRIDIUM_FIX,2101.76,12340.76,160911,000022
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.80
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.60
$XPDR_PINGS,72
$24V_AH,22.9,55.215
$10V_AH,10.0,38.715
$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,20.600,50.500,736.525,0.000,0.000,30.152,38.908,171.691,18.000,0.000,15.455,3355.253,7618.810,704.459,3286.541,425.847,0.000,2036.662,0.000,3047.675,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,65.025,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.766,1395.911,1521.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330228
$DATA_FILE_SIZE,76834,1364
$CAP_FILE_SIZE,158372,0
$CFSIZE,260165632,126885888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.315, 90.9,1
$GPS,160911,091254,2111.236,12339.687,25,1.6,42,-2.7