version: 66.09
glider: 166
mission: 6
dive: 235
start: 9 16 111 9 19 32
data:
$ID,166
$MISSION,6
$DIVE,235
$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,-24694.566
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,160911,091254,2111.236,12339.687,25,1.6,42,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.7
$GPS2,160911,091908,2111.205,12339.800,14,1.6,14,-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,279.0,308928,-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,-243.3,0.0,0.0,0,130,0.00,0.00,-110.00,0.000,2,0.000,0.000,160,1589,3089,0,0,0,0,0,0
$GC,133,-0.68,-243.3,5.9,-9.8,15,165,9.38,0.98,-14.48,0.000,4,0.225,0.069,2513,2244,3879,0,0,0,0,0,0
$GC,233,-0.50,-243.3,51.6,-43.0,31,242,0.25,1.05,0.00,0.000,6,0.156,0.038,2574,1543,3880,0,0,0,0,0,0
$GC,562,-0.47,-243.3,134.2,-18.4,92,570,0.00,1.02,0.00,0.000,4,0.000,0.044,2574,853,3882,0,0,0,0,0,0
$GC,633,-0.47,-243.3,147.1,-17.1,104,641,0.00,1.05,0.00,0.000,6,0.000,0.038,2570,1554,3882,0,0,0,0,0,0
$GC,963,-0.46,-243.3,201.8,-15.4,165,971,0.00,1.02,0.00,0.000,4,0.000,0.046,2565,2249,3883,0,0,0,0,0,0
$GC,1151,-0.46,-243.3,229.4,-12.7,199,1160,0.08,1.05,0.00,0.000,6,0.128,0.041,2592,1555,3882,0,0,0,0,0,0
$GC,1486,-0.50,-243.3,264.2,-10.1,248,1490,0.00,1.05,0.00,0.000,4,0.000,0.045,2589,2246,3882,0,0,0,0,0,0
$GC,1553,-0.56,-243.3,270.5,-9.0,254,1557,0.00,1.05,0.00,0.000,6,0.000,0.041,2589,1552,3882,0,0,0,0,0,0
$GC,1885,-0.60,-243.3,304.8,-11.4,285,1889,0.12,1.08,0.00,0.000,4,0.081,0.046,2504,2248,3881,0,0,0,0,0,0
$GC,2015,-0.57,-243.3,325.9,-15.6,296,2022,0.15,1.05,0.00,0.000,6,0.127,0.041,2556,1549,3880,0,0,0,0,0,0
$GC,2340,-0.59,-243.3,366.0,-11.5,327,2344,0.00,1.08,0.00,0.000,4,0.000,0.048,2565,2244,3879,0,0,0,0,0,0
$GC,2432,-0.62,-243.3,375.3,-10.0,335,2436,0.00,1.05,0.00,0.000,6,0.000,0.041,2569,1543,3878,0,0,0,0,0,0
$GC,2764,-0.65,-243.3,414.3,-11.7,366,2768,0.00,1.05,0.00,0.000,4,0.000,0.047,2564,2239,3877,0,0,0,0,0,0
$GC,2823,-0.69,-243.3,420.6,-10.9,371,2828,0.08,1.02,0.00,0.000,6,0.047,0.043,2491,1554,3876,0,0,0,0,0,0
$GC,3155,-0.65,-243.3,474.0,-15.8,402,3157,0.15,0.00,0.00,0.000,6,0.158,0.000,2534,1555,3875,0,0,0,0,0,0
$GC,3473,-0.67,-243.3,511.4,-11.2,432,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1555,3873,0,0,0,0,0,0
$GC,3794,-0.68,-243.3,549.1,-11.9,462,3797,0.00,1.05,0.00,0.000,4,0.000,0.050,2531,2237,3870,0,0,0,0,0,0
$GC,3980,-0.71,-243.3,570.7,-11.0,478,3987,0.00,1.05,0.00,0.000,6,0.000,0.046,2531,1557,3868,0,0,0,0,0,0
$GC,4318,-0.73,-243.3,610.2,-11.6,506,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1557,3865,0,0,0,0,0,0
$GC,4624,-0.76,-243.3,645.3,-11.0,521,4627,0.00,1.05,0.00,0.000,4,0.000,0.050,2526,2242,3863,0,0,0,0,0,0
$GC,4732,-0.79,-243.3,657.0,-11.0,525,4741,0.08,1.08,0.00,0.000,6,0.053,0.047,2468,1540,3861,0,0,0,0,0,0
$GC,5048,-0.76,-243.3,705.4,-15.1,541,5053,0.12,1.08,0.00,0.000,4,0.168,0.054,2496,848,3859,0,0,0,0,0,0
$GC,5126,-0.77,-243.3,715.3,-11.6,544,5130,0.00,1.08,0.00,0.000,6,0.000,0.047,2489,1543,3858,0,0,0,0,0,0
$GC,5450,-0.77,-243.3,751.7,-11.2,560,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1543,3855,0,0,0,0,0,0
$GC,5757,-0.77,-243.3,786.8,-11.8,575,5761,0.00,1.08,0.00,0.000,4,0.000,0.057,2482,2249,3853,0,0,0,0,0,0
$GC,5815,-0.78,-243.3,793.5,-11.8,577,5819,0.00,1.08,0.00,0.000,6,0.000,0.049,2481,1550,3852,0,0,0,0,0,0
$GC,6137,-0.78,-243.3,833.5,-12.5,593,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1550,3850,0,0,0,0,0,0
$GC,6446,-0.78,-243.3,872.4,-12.5,608,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1550,3847,0,0,0,0,0,0
$GC,6758,-0.78,-243.3,911.8,-12.9,623,6762,0.00,1.10,0.00,0.000,4,0.000,0.060,2477,2239,3845,0,0,0,0,0,0
$GC,6827,-0.79,-243.3,920.9,-12.8,626,6830,0.00,1.08,0.00,0.000,6,0.000,0.052,2479,1545,3844,0,0,0,0,0,0
$GC,7162,-0.79,-243.3,964.0,-12.7,642,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1545,3842,0,0,0,0,0,0
$STATE,7384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7384,begin apogee
$GC,7390,-0.11,0.0,992.4,12.2,653,7599,0.68,0.00,203.85,1.438,6,0.122,0.000,2704,1827,2884,0,0,0,0,0,0
$STATE,7600,end apogee,CONTROL_FINISHED_OK
$STATE,7600,begin climb
$GC,7602,0.68,243.3,1002.2,0.0,662,7833,0.73,1.23,222.77,1.375,4,0.052,0.063,2971,2521,1892,0,0,0,0,0,0
$GC,7895,0.63,243.3,966.5,16.6,675,7902,0.00,1.15,0.00,0.000,6,0.000,0.052,2978,1823,1888,0,0,0,0,0,0
$GC,8213,0.58,243.3,912.8,17.0,691,8218,0.17,1.12,0.00,0.000,4,0.169,0.062,2927,2520,1884,0,0,0,0,0,0
$GC,8304,0.58,243.3,899.6,12.8,695,8308,0.00,1.10,0.00,0.000,6,0.000,0.050,2931,1816,1883,0,0,0,0,0,0
$GC,8637,0.58,243.3,856.2,12.8,711,8640,0.00,1.10,0.00,0.000,4,0.000,0.060,2929,2514,1881,0,0,0,0,0,0
$GC,8694,0.58,243.3,848.9,12.7,713,8698,0.00,1.08,0.00,0.000,6,0.000,0.049,2931,1820,1881,0,0,0,0,0,0
$GC,9015,0.58,243.3,807.1,13.3,729,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1820,1880,0,0,0,0,0,0
$GC,9325,0.58,243.3,766.7,13.0,744,9328,0.00,1.10,0.00,0.000,4,0.000,0.058,2930,2528,1879,0,0,0,0,0,0
$GC,9387,0.59,248.9,758.7,12.5,746,9395,0.00,1.10,4.20,0.820,6,0.000,0.047,2933,1816,1869,0,0,0,0,0,0
$GC,9704,0.61,270.2,719.8,11.9,762,9728,0.00,0.00,21.90,1.235,6,0.000,0.000,2933,1816,1782,0,0,0,0,0,0
$GC,10035,0.68,324.7,682.2,10.8,778,10092,0.00,0.00,51.15,1.237,6,0.000,0.000,2933,1816,1560,0,0,0,0,0,0
$GC,10402,0.76,377.2,642.3,10.9,796,10453,0.15,0.00,47.85,1.196,6,0.080,0.000,3010,1816,1346,0,0,0,0,0,0
$GC,10755,0.71,377.2,574.6,19.8,819,10759,0.12,1.12,0.00,0.000,4,0.169,0.054,2973,2525,1341,0,0,0,0,0,0
$GC,10834,0.71,377.2,561.8,14.8,826,10838,0.00,1.10,0.00,0.000,6,0.000,0.044,2977,1811,1340,0,0,0,0,0,0
$GC,11165,0.70,377.2,509.6,15.6,857,11169,0.00,1.10,0.00,0.000,4,0.000,0.053,2971,2525,1339,0,0,0,0,0,0
$GC,11233,0.70,377.2,498.7,15.5,863,11237,0.00,1.08,0.00,0.000,6,0.000,0.044,2972,1821,1339,0,0,0,0,0,0
$GC,11564,0.70,377.2,444.8,16.1,894,11568,0.00,1.05,0.00,0.000,4,0.000,0.049,2974,1117,1338,0,0,0,0,0,0
$GC,11614,0.70,377.2,437.1,14.3,898,11621,0.00,1.08,0.00,0.000,6,0.000,0.043,2971,1831,1337,0,0,0,0,0,0
$GC,11942,0.70,377.2,391.3,14.3,929,11945,0.00,1.10,0.00,0.000,4,0.000,0.047,2973,1111,1337,0,0,0,0,0,0
$GC,12044,0.70,377.2,377.1,13.1,938,12048,0.00,1.08,0.00,0.000,6,0.000,0.044,2971,1824,1337,0,0,0,0,0,0
$GC,12375,0.70,377.2,330.5,14.5,969,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1825,1337,0,0,0,0,0,0
$GC,12697,0.71,377.2,284.3,14.2,999,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1825,1337,0,0,0,0,0,0
$GC,13027,0.74,379.7,240.7,12.6,1036,13035,0.00,1.08,0.00,0.000,4,0.000,0.045,2984,1111,1337,0,0,0,0,0,0
$GC,13105,0.80,406.2,231.8,11.8,1049,13135,0.00,1.05,24.92,0.833,6,0.000,0.040,2980,1819,1228,0,0,0,0,0,0
$GC,13457,0.90,459.4,193.3,10.8,1113,13510,0.15,1.08,45.40,0.806,4,0.077,0.040,3067,1100,1010,0,0,0,0,0,0
$GC,13569,0.87,459.4,172.0,20.8,1130,13578,0.12,1.10,0.00,0.000,6,0.138,0.038,3026,1832,1009,0,0,0,0,0,0
$GC,13898,0.88,459.4,116.1,14.9,1191,13905,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1833,1008,0,0,0,0,0,0
$GC,14226,1.00,520.6,76.2,10.6,1252,14286,0.12,1.12,50.62,0.702,4,0.086,0.039,3104,1104,759,0,0,0,0,0,0
$GC,14401,1.02,520.6,49.4,13.9,1281,14411,0.08,1.08,0.00,0.000,6,0.126,0.037,3078,1828,756,0,0,0,0,0,0
$GC,14733,1.08,536.8,10.8,12.1,1342,14755,0.00,1.10,14.23,0.588,4,0.000,0.045,3082,1113,693,0,0,0,0,0,0
$STATE,14798,end climb,SURFACE_DEPTH_REACHED
$STATE,14798,begin surface coast
$FINISH,1.3,1.021395
$STATE,14830,end surface coast,CONTROL_FINISHED_OK
$STATE,14830,begin surface
$SM_CCo,14907,0.00,0.000,0,0,690,538.19
$SM_GC,1.82,7.65,0.00,0.00,0.036,0.000,0.000,154,1563,690,-8.04,0.37,538.19,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,12338.84,160911,040448
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.08
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,25.70
$XPDR_PINGS,90
$24V_AH,22.9,55.468
$10V_AH,10.0,38.868
$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,20.375,51.675,686.900,0.000,0.000,27.994,18.022,166.221,22.500,0.000,15.131,3356.891,7531.264,719.859,3230.558,424.565,0.000,1998.515,0.000,3019.486,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,68.850,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,926.809,1389.790,1547.016,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330168
$DATA_FILE_SIZE,76867,1358
$CAP_FILE_SIZE,153636,0
$CFSIZE,260165632,126803968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.255, 86.9,1
$GPS,160911,132907,2111.949,12339.228,32,1.1,32,-2.7