version: 66.09
glider: 166
mission: 6
dive: 238
start: 9 16 111 22 9 1
data:
$ID,166
$MISSION,6
$DIVE,238
$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,-24698.342
$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,38
$R_STBD_OVSHOOT,59
$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
$GPS1,160911,220201,2113.633,12339.446,39,1.1,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.6
$GPS2,160911,220837,2113.606,12339.564,10,1.5,15,-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,270.9,305650,-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,-243.3,0.0,0.0,0,127,0.00,0.00,-107.95,0.000,2,0.000,0.000,154,1549,3148,0,0,0,0,0,0
$GC,130,-0.68,-243.3,6.0,-10.0,14,162,9.32,1.02,-13.05,0.000,4,0.221,0.063,2515,2245,3878,0,0,0,0,0,0
$GC,203,-0.50,-243.3,41.1,-42.8,25,212,0.28,1.05,0.00,0.000,6,0.155,0.038,2580,1540,3881,0,0,0,0,0,0
$GC,529,-0.47,-243.3,114.7,-16.2,86,537,0.00,1.00,0.00,0.000,4,0.000,0.041,2578,852,3881,0,0,0,0,0,0
$GC,568,-0.45,-243.3,121.8,-17.6,92,577,0.00,1.02,0.00,0.000,6,0.000,0.038,2574,1542,3882,0,0,0,0,0,0
$GC,898,-0.43,-243.3,174.3,-17.6,153,906,0.10,1.05,0.00,0.000,4,0.177,0.046,2598,2245,3882,0,0,0,0,0,0
$GC,1149,-0.49,-243.3,201.5,-10.3,199,1157,0.00,1.02,0.00,0.000,6,0.000,0.041,2597,1558,3882,0,0,0,0,0,0
$GC,1478,-0.53,-243.3,238.0,-10.8,260,1487,0.00,1.02,0.00,0.000,4,0.000,0.044,2593,2246,3882,0,0,0,0,0,0
$GC,1589,-0.59,-243.3,248.7,-8.7,280,1599,0.08,1.05,0.00,0.000,6,0.049,0.041,2517,1544,3882,0,0,0,0,0,0
$GC,1924,-0.55,-243.3,309.0,-18.2,312,1929,0.17,1.08,0.00,0.000,4,0.151,0.047,2565,2244,3881,0,0,0,0,0,0
$GC,2017,-0.58,-243.3,320.7,-11.2,320,2021,0.00,1.05,0.00,0.000,6,0.000,0.041,2567,1543,3881,0,0,0,0,0,0
$GC,2349,-0.61,-243.3,360.4,-11.0,351,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1543,3880,0,0,0,0,0,0
$GC,2672,-0.65,-243.3,394.6,-9.3,381,2676,0.15,1.08,0.00,0.000,4,0.070,0.047,2488,2246,3878,0,0,0,0,0,0
$GC,2721,-0.62,-243.3,402.4,-16.0,385,2728,0.15,1.05,0.00,0.000,6,0.130,0.041,2539,1543,3878,0,0,0,0,0,0
$GC,3049,-0.62,-243.3,445.6,-12.5,416,3053,0.00,1.05,0.00,0.000,4,0.000,0.049,2536,2238,3876,0,0,0,0,0,0
$GC,3140,-0.63,-243.3,457.1,-12.4,424,3145,0.00,1.02,0.00,0.000,6,0.000,0.044,2536,1556,3876,0,0,0,0,0,0
$GC,3472,-0.64,-243.3,500.3,-13.1,455,3475,0.00,1.05,0.00,0.000,4,0.000,0.050,2531,2246,3874,0,0,0,0,0,0
$GC,3518,-0.66,-243.3,506.2,-12.4,459,3522,0.00,1.05,0.00,0.000,6,0.000,0.044,2531,1550,3873,0,0,0,0,0,0
$GC,3851,-0.68,-243.3,547.6,-11.1,490,3854,0.00,1.08,0.00,0.000,4,0.000,0.054,2527,2235,3871,0,0,0,0,0,0
$GC,3890,-0.70,-243.3,552.0,-10.3,493,3896,0.00,1.05,0.00,0.000,6,0.000,0.046,2526,1545,3870,0,0,0,0,0,0
$GC,4216,-0.71,-243.3,587.7,-11.4,524,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1545,3868,0,0,0,0,0,0
$GC,4539,-0.73,-243.3,624.3,-11.6,545,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1545,3865,0,0,0,0,0,0
$GC,4850,-0.75,-243.3,658.9,-10.7,560,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1545,3862,0,0,0,0,0,0
$GC,5157,-0.77,-243.3,693.7,-11.3,575,5161,0.00,1.08,0.00,0.000,4,0.000,0.055,2522,2237,3858,0,0,0,0,0,0
$GC,5255,-0.80,-243.3,704.6,-11.3,579,5259,0.08,1.05,0.00,0.000,6,0.057,0.048,2464,1556,3857,0,0,0,0,0,0
$GC,5583,-0.77,-243.3,757.8,-16.4,595,5587,0.15,1.12,0.00,0.000,4,0.161,0.054,2492,842,3855,0,0,0,0,0,0
$GC,5663,-0.78,-243.3,769.3,-13.2,598,5666,0.00,1.08,0.00,0.000,6,0.000,0.049,2489,1534,3854,0,0,0,0,0,0
$GC,5984,-0.78,-243.3,809.4,-12.3,614,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1534,3851,0,0,0,0,0,0
$GC,6295,-0.79,-243.3,846.3,-11.8,629,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1535,3849,0,0,0,0,0,0
$GC,6605,-0.81,-243.3,879.0,-9.7,644,6609,0.00,1.10,0.00,0.000,4,0.000,0.058,2484,2246,3846,0,0,0,0,0,0
$GC,6697,-0.82,-243.3,887.5,-9.0,648,6701,0.00,1.08,0.00,0.000,6,0.000,0.050,2483,1553,3845,0,0,0,0,0,0
$GC,7032,-0.82,-243.3,920.2,-9.7,664,7035,0.00,1.10,0.00,0.000,4,0.000,0.057,2485,842,3843,0,0,0,0,0,0
$GC,7104,-0.82,-243.3,928.0,-10.3,667,7108,0.00,1.10,0.00,0.000,6,0.000,0.051,2482,1546,3843,0,0,0,0,0,0
$GC,7434,-0.82,-243.3,961.3,-10.1,683,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1546,3841,0,0,0,0,0,0
$STATE,7718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7718,begin apogee
$GC,7724,-0.11,0.0,991.2,10.5,697,7939,0.68,0.00,204.43,1.437,6,0.122,0.000,2709,1826,2883,0,0,0,0,0,0
$STATE,7940,end apogee,CONTROL_FINISHED_OK
$STATE,7940,begin climb
$GC,7942,0.68,243.3,999.2,0.0,707,8173,0.70,1.23,222.70,1.379,4,0.045,0.060,2980,2523,1892,0,0,0,0,0,0
$GC,8252,0.63,243.3,957.3,17.6,720,8256,0.12,1.15,0.00,0.000,6,0.157,0.049,2952,1817,1888,0,0,0,0,0,0
$GC,8575,0.60,243.3,910.7,13.8,736,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1817,1884,0,0,0,0,0,0
$GC,8883,0.57,243.3,869.0,13.2,751,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1817,1882,0,0,0,0,0,0
$GC,9194,0.55,243.3,828.6,13.3,766,9196,0.10,0.00,0.00,0.000,6,0.184,0.000,2926,1817,1881,0,0,0,0,0,0
$GC,9501,0.55,243.3,789.0,13.4,781,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1817,1879,0,0,0,0,0,0
$GC,9810,0.55,243.3,745.9,14.0,796,9814,0.00,1.10,0.00,0.000,4,0.000,0.057,2921,2519,1879,0,0,0,0,0,0
$GC,9907,0.55,243.3,732.7,13.2,800,9911,0.00,1.08,0.00,0.000,6,0.000,0.047,2924,1820,1879,0,0,0,0,0,0
$GC,10234,0.55,243.3,689.8,12.7,816,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1820,1878,0,0,0,0,0,0
$GC,10545,0.55,243.3,649.6,13.3,831,10549,0.00,1.10,0.00,0.000,4,0.000,0.055,2922,2519,1877,0,0,0,0,0,0
$GC,10640,0.57,250.8,637.0,12.4,835,10650,0.00,1.08,5.80,0.935,6,0.000,0.047,2924,1822,1861,0,0,0,0,0,0
$GC,10971,0.59,267.8,595.9,12.1,852,10991,0.00,0.00,17.75,1.146,6,0.000,0.000,2924,1822,1792,0,0,0,0,0,0
$GC,11308,0.67,319.2,558.1,10.9,884,11366,0.10,1.12,48.20,1.159,4,0.104,0.050,2986,1114,1581,0,0,0,0,0,0
$GC,11413,0.64,319.2,542.0,16.3,893,11418,0.10,1.12,0.00,0.000,6,0.144,0.047,2955,1826,1579,0,0,0,0,0,0
$GC,11746,0.66,332.3,499.0,12.2,924,11764,0.00,0.00,12.73,1.024,6,0.000,0.000,2955,1827,1528,0,0,0,0,0,0
$GC,12083,0.68,345.4,455.8,12.2,956,12102,0.00,0.00,12.93,0.995,6,0.000,0.000,2955,1829,1474,0,0,0,0,0,0
$GC,12421,0.72,369.4,414.7,11.9,988,12448,0.00,1.15,22.25,1.009,4,0.000,0.048,2950,1111,1377,0,0,0,0,0,0
$GC,12522,0.77,385.3,402.3,12.1,996,12542,0.10,1.10,15.30,0.957,6,0.053,0.042,3016,1825,1313,0,0,0,0,0,0
$GC,12859,0.73,385.3,334.6,20.4,1028,12863,0.15,1.05,0.00,0.000,4,0.164,0.050,2972,2513,1310,0,0,0,0,0,0
$GC,12898,0.73,385.3,327.9,15.5,1031,12905,0.00,1.08,0.00,0.000,6,0.000,0.042,2976,1812,1310,0,0,0,0,0,0
$GC,13223,0.73,385.3,281.4,14.0,1062,13227,0.00,1.05,0.00,0.000,4,0.000,0.046,2985,1109,1309,0,0,0,0,0,0
$GC,13272,0.74,385.3,274.4,13.7,1066,13281,0.00,1.08,0.00,0.000,6,0.000,0.041,2986,1825,1309,0,0,0,0,0,0
$GC,13601,0.75,385.3,230.7,13.1,1111,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1825,1309,0,0,0,0,0,0
$GC,13927,0.77,385.3,189.0,13.6,1172,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1825,1309,0,0,0,0,0,0
$GC,14258,0.89,457.4,149.5,10.2,1233,14325,0.12,1.15,60.80,0.776,4,0.087,0.043,3069,1106,1018,0,0,0,0,0,0
$GC,14399,0.87,457.4,125.0,16.4,1255,14407,0.12,1.08,0.00,0.000,6,0.138,0.037,3028,1821,1016,0,0,0,0,0,0
$GC,14728,1.04,569.3,87.4,8.8,1316,14828,0.15,1.15,92.82,0.706,4,0.074,0.042,3118,1107,561,0,0,0,0,0,0
$GC,14876,1.03,569.3,61.1,19.4,1337,14885,0.12,1.08,0.00,0.000,6,0.129,0.036,3077,1822,555,0,0,0,0,0,0
$GC,15206,1.10,587.0,18.4,12.1,1398,15225,0.00,1.12,15.07,0.594,4,0.000,0.044,3080,1111,490,0,0,0,0,0,0
$GC,15313,1.24,653.2,6.2,10.4,1416,15330,0.15,1.05,10.25,0.551,6,0.037,0.037,3182,1815,453,0,0,0,0,0,0
$STATE,15336,end climb,SURFACE_DEPTH_REACHED
$STATE,15336,begin surface coast
$FINISH,1.3,1.021415
$STATE,15359,end surface coast,CONTROL_FINISHED_OK
$STATE,15359,begin surface
$SM_CCo,15438,0.00,0.000,0,0,445,598.29
$SM_GC,1.92,7.97,0.00,0.00,0.037,0.000,0.000,154,1533,445,-8.05,-0.48,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,11835.33,160911,171712
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.73
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.70
$XPDR_PINGS,79
$24V_AH,22.8,56.255
$10V_AH,10.0,39.336
$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,21.175,50.425,741.025,0.000,0.000,26.148,23.599,179.641,19.750,0.000,16.682,3487.696,7771.342,721.584,3395.686,440.742,0.000,2082.516,0.000,3166.314,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,64.260,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,970.850,1457.501,1656.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330200
$DATA_FILE_SIZE,80242,1423
$CAP_FILE_SIZE,162446,0
$CFSIZE,260165632,126537728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265, 86.3,1
$GPS,170911,022737,2113.878,12339.061,41,1.2,41,-2.7