version: 66.09
glider: 166
mission: 6
dive: 240
start: 9 17 111 6 47 31
data:
$ID,166
$MISSION,6
$DIVE,240
$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,-24700.857
$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,45
$R_STBD_OVSHOOT,56
$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
$GPS1,170911,064101,2114.374,12338.856,42,1.1,42,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-72.0
$GPS2,170911,064707,2114.335,12339.016,10,1.1,15,-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,286.7,304052,-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,-107.35,0.000,2,0.000,0.000,154,1528,3245,0,0,0,0,0,0
$GC,130,-0.68,-243.3,6.6,-10.4,15,156,9.48,1.05,-11.02,0.000,4,0.227,0.067,2506,837,3880,0,0,0,0,0,0
$GC,257,-0.57,-243.3,64.2,-31.3,36,265,0.17,1.05,0.00,0.000,6,0.148,0.037,2556,1538,3882,0,0,0,0,0,0
$GC,584,-0.51,-243.3,144.7,-20.3,97,593,0.00,1.05,0.00,0.000,4,0.000,0.042,2552,2255,3885,0,0,0,0,0,0
$GC,722,-0.49,-243.3,167.7,-14.9,121,731,0.10,1.05,0.00,0.000,6,0.135,0.037,2584,1546,3885,0,0,0,0,0,0
$GC,1052,-0.50,-243.3,211.6,-13.8,182,1060,0.00,1.05,0.00,0.000,4,0.000,0.044,2580,2248,3885,0,0,0,0,0,0
$GC,1139,-0.53,-243.3,222.7,-12.7,197,1148,0.00,1.02,0.00,0.000,6,0.000,0.040,2580,1556,3885,0,0,0,0,0,0
$GC,1470,-0.55,-243.3,268.3,-12.6,245,1473,0.00,1.05,0.00,0.000,4,0.000,0.044,2576,2245,3885,0,0,0,0,0,0
$GC,1563,-0.59,-243.3,279.3,-10.6,253,1571,0.00,1.02,0.00,0.000,6,0.000,0.041,2577,1557,3884,0,0,0,0,0,0
$GC,1889,-0.62,-243.3,309.9,-8.3,284,1893,0.00,1.05,0.00,0.000,4,0.000,0.045,2573,2245,3883,0,0,0,0,0,0
$GC,2027,-0.67,-243.3,322.0,-9.5,296,2031,0.10,1.02,0.00,0.000,6,0.044,0.041,2498,1552,3883,0,0,0,0,0,0
$GC,2358,-0.61,-243.3,385.8,-20.1,327,2362,0.15,1.08,0.00,0.000,4,0.158,0.047,2552,843,3882,0,0,0,0,0,0
$GC,2392,-0.61,-243.3,392.0,-17.8,330,2396,0.00,1.05,0.00,0.000,6,0.000,0.042,2549,1540,3882,0,0,0,0,0,0
$GC,2723,-0.61,-243.3,435.6,-11.7,361,2727,0.00,1.05,0.00,0.000,4,0.000,0.047,2545,2251,3880,0,0,0,0,0,0
$GC,2803,-0.63,-243.3,444.2,-10.1,368,2807,0.00,1.05,0.00,0.000,6,0.000,0.041,2545,1548,3880,0,0,0,0,0,0
$GC,3135,-0.65,-243.3,480.7,-11.0,399,3139,0.00,1.05,0.00,0.000,4,0.000,0.050,2540,2242,3878,0,0,0,0,0,0
$GC,3232,-0.68,-243.3,491.4,-10.6,407,3238,0.00,1.05,0.00,0.000,6,0.000,0.044,2540,1547,3877,0,0,0,0,0,0
$GC,3558,-0.70,-243.3,528.7,-10.6,438,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1546,3875,0,0,0,0,0,0
$GC,3880,-0.72,-243.3,563.9,-10.9,468,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1546,3872,0,0,0,0,0,0
$GC,4207,-0.74,-243.3,599.7,-10.3,499,4212,0.10,1.10,0.00,0.000,4,0.097,0.050,2473,2249,3870,0,0,0,0,0,0
$GC,4281,-0.72,-243.3,609.7,-13.9,503,4286,0.10,1.08,0.00,0.000,6,0.139,0.045,2506,1550,3869,0,0,0,0,0,0
$GC,4609,-0.72,-243.3,650.3,-12.4,519,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1550,3866,0,0,0,0,0,0
$GC,4921,-0.72,-243.3,684.5,-10.9,534,4924,0.00,1.12,0.00,0.000,4,0.000,0.056,2503,2247,3863,0,0,0,0,0,0
$GC,4999,-0.72,-243.3,693.1,-10.2,537,5003,0.00,1.08,0.00,0.000,6,0.000,0.046,2503,1545,3863,0,0,0,0,0,0
$GC,5323,-0.72,-243.3,730.1,-11.6,553,5327,0.00,1.10,0.00,0.000,4,0.000,0.056,2499,2245,3859,0,0,0,0,0,0
$GC,5378,-0.72,-243.3,736.9,-11.5,555,5382,0.00,1.08,0.00,0.000,6,0.000,0.047,2498,1544,3859,0,0,0,0,0,0
$GC,5700,-0.72,-243.3,775.1,-12.0,571,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1544,3856,0,0,0,0,0,0
$GC,6012,-0.72,-243.3,814.0,-12.7,586,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1544,3854,0,0,0,0,0,0
$GC,6318,-0.72,-243.3,853.6,-12.7,601,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1544,3852,0,0,0,0,0,0
$GC,6629,-0.73,-243.3,892.5,-12.4,616,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1544,3850,0,0,0,0,0,0
$GC,6940,-0.73,-243.3,929.5,-11.8,631,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1544,3847,0,0,0,0,0,0
$GC,7248,-0.75,-243.3,965.0,-11.4,646,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1544,3846,0,0,0,0,0,0
$STATE,7471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7471,begin apogee
$GC,7479,-0.11,0.0,990.1,11.0,657,7695,0.62,0.00,204.95,1.435,6,0.118,0.000,2698,1814,2883,0,0,0,0,0,0
$STATE,7696,end apogee,CONTROL_FINISHED_OK
$STATE,7696,begin climb
$GC,7700,0.68,243.3,998.9,0.0,667,7927,0.75,0.00,223.60,1.376,6,0.048,0.000,2974,1814,1892,0,0,0,0,0,0
$GC,8223,0.62,243.3,917.0,18.7,693,8227,0.00,1.10,0.00,0.000,4,0.000,0.059,2973,2517,1885,0,0,0,0,0,0
$GC,8363,0.57,243.3,891.7,18.2,699,8368,0.12,1.08,0.00,0.000,6,0.160,0.048,2938,1826,1884,0,0,0,0,0,0
$GC,8698,0.55,243.3,840.1,14.9,715,8701,0.00,1.08,0.00,0.000,4,0.000,0.052,2941,1118,1881,0,0,0,0,0,0
$GC,8746,0.53,243.3,833.1,14.6,717,8750,0.00,1.08,0.00,0.000,6,0.000,0.049,2940,1812,1881,0,0,0,0,0,0
$GC,9079,0.51,243.3,784.8,14.6,733,9082,0.00,1.08,0.00,0.000,4,0.000,0.057,2939,2518,1880,0,0,0,0,0,0
$GC,9186,0.49,243.3,769.1,14.2,737,9193,0.10,1.08,0.00,0.000,6,0.149,0.046,2909,1816,1880,0,0,0,0,0,0
$GC,9502,0.54,283.1,731.0,11.3,753,9546,0.00,1.08,36.03,1.267,4,0.000,0.048,2915,1114,1729,0,0,0,0,0,0
$GC,9600,0.61,324.6,720.2,11.2,757,9644,0.00,1.10,39.55,1.240,6,0.000,0.045,2913,1817,1560,0,0,0,0,0,0
$GC,9969,0.68,364.4,677.7,11.3,775,10013,0.15,1.08,36.35,1.213,4,0.078,0.054,2986,2524,1397,0,0,0,0,0,0
$GC,10111,0.66,364.4,652.5,18.2,781,10115,0.10,1.10,0.00,0.000,6,0.151,0.044,2962,1818,1395,0,0,0,0,0,0
$GC,10439,0.64,364.4,600.7,16.6,797,10443,0.00,1.05,0.00,0.000,4,0.000,0.050,2962,1119,1392,0,0,0,0,0,0
$GC,10486,0.64,364.4,592.9,16.3,800,10490,0.00,1.08,0.00,0.000,6,0.000,0.044,2959,1824,1391,0,0,0,0,0,0
$GC,10817,0.64,364.4,540.4,16.2,831,10821,0.00,1.05,0.00,0.000,4,0.000,0.054,2958,2521,1391,0,0,0,0,0,0
$GC,10875,0.64,364.4,531.2,15.9,836,10879,0.00,1.08,0.00,0.000,6,0.000,0.044,2962,1813,1391,0,0,0,0,0,0
$GC,11206,0.64,364.4,480.1,14.6,867,11210,0.00,1.05,0.00,0.000,4,0.000,0.048,2968,1113,1389,0,0,0,0,0,0
$GC,11267,0.64,364.4,472.1,13.7,872,11270,0.00,1.08,0.00,0.000,6,0.000,0.044,2964,1824,1389,0,0,0,0,0,0
$GC,11598,0.64,364.4,425.7,14.4,903,11602,0.00,1.02,0.00,0.000,4,0.000,0.053,2960,2505,1389,0,0,0,0,0,0
$GC,11657,0.65,364.4,417.7,14.0,908,11661,0.00,1.05,0.00,0.000,6,0.000,0.043,2963,1810,1389,0,0,0,0,0,0
$GC,11989,0.65,364.4,369.8,14.1,939,11993,0.00,1.02,0.00,0.000,4,0.000,0.047,2972,1120,1389,0,0,0,0,0,0
$GC,12059,0.67,364.4,359.9,14.6,945,12062,0.00,1.05,0.00,0.000,6,0.000,0.041,2972,1825,1389,0,0,0,0,0,0
$GC,12390,0.69,373.1,314.9,12.4,976,12403,0.00,1.12,7.78,0.789,4,0.000,0.047,2979,1110,1362,0,0,0,0,0,0
$GC,12432,0.71,378.1,309.5,12.5,979,12443,0.00,1.05,6.32,0.733,6,0.000,0.040,2975,1813,1341,0,0,0,0,0,0
$GC,12771,0.74,378.1,268.1,12.8,1011,12774,0.00,1.05,0.00,0.000,4,0.000,0.046,2979,1118,1340,0,0,0,0,0,0
$GC,12843,0.80,403.9,259.8,11.8,1017,12871,0.00,1.05,23.75,0.855,6,0.000,0.040,2975,1824,1236,0,0,0,0,0,0
$GC,13196,0.91,453.6,219.8,11.0,1074,13243,0.17,0.00,42.97,0.825,6,0.069,0.000,3068,1825,1033,0,0,0,0,0,0
$GC,13564,0.86,453.6,142.0,20.7,1140,13572,0.15,1.05,0.00,0.000,4,0.163,0.046,3023,2516,1030,0,0,0,0,0,0
$GC,13618,0.88,453.6,133.5,13.5,1149,13626,0.00,1.05,0.00,0.000,6,0.000,0.039,3026,1819,1030,0,0,0,0,0,0
$GC,13947,0.90,453.6,92.3,12.9,1210,13956,0.00,1.02,0.00,0.000,4,0.000,0.043,3031,1121,1030,0,0,0,0,0,0
$GC,14026,1.09,574.4,85.3,8.5,1223,14131,0.15,1.02,99.78,0.708,6,0.041,0.035,3129,1826,542,0,0,0,0,0,0
$GC,14451,1.08,574.4,5.0,19.9,1297,14460,0.12,1.08,0.00,0.000,4,0.158,0.042,3098,1112,530,0,0,0,0,0,0
$STATE,14467,end climb,SURFACE_DEPTH_REACHED
$STATE,14467,begin surface coast
$FINISH,1.1,1.006832
$STATE,14484,end surface coast,CONTROL_FINISHED_OK
$STATE,14484,begin surface
$SM_CCo,14563,0.00,0.000,0,0,530,577.44
$SM_GC,1.84,7.65,0.00,0.00,0.032,0.000,0.000,159,1582,530,-8.04,0.90,577.44,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,12342.05,170911,020259
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.95
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.10
$XPDR_PINGS,75
$24V_AH,22.8,56.770
$10V_AH,10.0,39.624
$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,20.300,55.225,721.075,0.000,0.000,27.120,17.518,161.002,18.750,0.000,16.149,3230.334,7421.669,740.238,3097.501,423.569,0.000,1995.226,0.000,2889.787,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,66.555,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.484,1333.650,1394.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330184
$DATA_FILE_SIZE,73446,1302
$CAP_FILE_SIZE,153502,0
$CFSIZE,260165632,126382080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273, 87.3,1
$GPS,170911,105131,2115.208,12338.609,41,1.2,41,-2.7