version: 66.09
glider: 166
mission: 6
dive: 242
start: 9 17 111 15 12 20
data:
$ID,166
$MISSION,6
$DIVE,242
$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,-24703.373
$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,52
$R_STBD_OVSHOOT,58
$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
$GPS1,170911,150537,2116.145,12338.245,26,1.4,26,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-69.9
$GPS2,170911,151156,2116.112,12338.355,18,1.4,18,-2.8
$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,284.9,301028,-17.2,-12.692
$D_GRID,4985
$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,-107.38,0.000,2,0.000,0.000,139,1526,3176,0,0,0,0,0,0
$GC,130,-0.68,-243.3,6.1,-9.7,15,162,9.45,1.10,-12.57,0.000,4,0.226,0.065,2517,2252,3880,0,0,0,0,0,0
$GC,227,-0.50,-243.3,51.9,-43.0,30,236,0.22,1.02,0.00,0.000,6,0.159,0.037,2572,1555,3882,0,0,0,0,0,0
$GC,555,-0.47,-243.3,131.9,-18.8,91,563,0.00,1.00,0.00,0.000,4,0.000,0.041,2568,2232,3883,0,0,0,0,0,0
$GC,625,-0.45,-243.3,143.8,-14.9,103,634,0.08,1.00,0.00,0.000,6,0.135,0.037,2594,1548,3883,0,0,0,0,0,0
$GC,955,-0.47,-243.3,185.6,-14.0,164,963,0.00,1.02,0.00,0.000,4,0.000,0.044,2591,2239,3884,0,0,0,0,0,0
$GC,1076,-0.52,-243.3,200.1,-12.3,185,1085,0.00,1.02,0.00,0.000,6,0.000,0.040,2591,1545,3884,0,0,0,0,0,0
$GC,1406,-0.56,-243.3,242.1,-11.8,246,1414,0.00,1.02,0.00,0.000,4,0.000,0.046,2587,2229,3884,0,0,0,0,0,0
$GC,1533,-0.62,-243.3,256.3,-10.1,264,1541,0.08,1.02,0.00,0.000,6,0.051,0.041,2517,1543,3884,0,0,0,0,0,0
$GC,1858,-0.58,-243.3,313.5,-18.0,295,1860,0.12,0.00,0.00,0.000,6,0.163,0.000,2552,1544,3883,0,0,0,0,0,0
$GC,2179,-0.60,-243.3,354.5,-11.4,325,2183,0.00,1.02,0.00,0.000,4,0.000,0.047,2560,2226,3882,0,0,0,0,0,0
$GC,2297,-0.63,-243.3,367.1,-9.5,335,2304,0.00,1.00,0.00,0.000,6,0.000,0.041,2562,1556,3881,0,0,0,0,0,0
$GC,2625,-0.65,-243.3,403.5,-11.7,366,2629,0.00,1.02,0.00,0.000,4,0.000,0.047,2561,2235,3880,0,0,0,0,0,0
$GC,2685,-0.69,-243.3,410.3,-10.8,371,2693,0.08,1.05,0.00,0.000,6,0.050,0.044,2497,1541,3879,0,0,0,0,0,0
$GC,3011,-0.65,-243.3,465.0,-16.9,402,3013,0.12,0.00,0.00,0.000,6,0.164,0.000,2531,1541,3877,0,0,0,0,0,0
$GC,3329,-0.65,-243.3,507.6,-13.3,432,3332,0.00,1.05,0.00,0.000,4,0.000,0.050,2528,2231,3875,0,0,0,0,0,0
$GC,3389,-0.67,-243.3,514.4,-11.6,437,3392,0.00,1.02,0.00,0.000,6,0.000,0.044,2528,1553,3875,0,0,0,0,0,0
$GC,3720,-0.68,-243.3,554.3,-11.9,468,3724,0.00,1.02,0.00,0.000,4,0.000,0.050,2523,2226,3872,0,0,0,0,0,0
$GC,3805,-0.69,-243.3,564.1,-11.2,475,3811,0.00,1.02,0.00,0.000,6,0.000,0.045,2523,1553,3871,0,0,0,0,0,0
$GC,4140,-0.71,-243.3,605.8,-12.6,505,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1552,3870,0,0,0,0,0,0
$GC,4451,-0.72,-243.3,646.2,-13.4,520,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1552,3866,0,0,0,0,0,0
$GC,4759,-0.74,-243.3,687.8,-13.5,535,4762,0.00,1.05,0.00,0.000,4,0.000,0.054,2518,2229,3864,0,0,0,0,0,0
$GC,4879,-0.77,-243.3,703.0,-11.7,540,4882,0.00,1.05,0.00,0.000,6,0.000,0.047,2518,1545,3862,0,0,0,0,0,0
$GC,5206,-0.79,-243.3,743.2,-11.8,556,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1545,3859,0,0,0,0,0,0
$GC,5518,-0.81,-243.3,776.8,-10.9,571,5521,0.00,1.05,0.00,0.000,4,0.000,0.057,2513,2221,3856,0,0,0,0,0,0
$GC,5568,-0.83,-243.3,782.3,-10.2,573,5573,0.08,1.02,0.00,0.000,6,0.058,0.049,2459,1557,3855,0,0,0,0,0,0
$GC,5897,-0.81,-243.3,828.1,-13.6,589,5900,0.00,1.08,0.00,0.000,4,0.000,0.054,2459,852,3853,0,0,0,0,0,0
$GC,6028,-0.78,-243.3,845.7,-13.4,594,6036,0.10,1.05,0.00,0.000,6,0.151,0.048,2487,1527,3852,0,0,0,0,0,0
$GC,6345,-0.78,-243.3,879.0,-10.5,610,6349,0.00,1.10,0.00,0.000,4,0.000,0.057,2483,2248,3849,0,0,0,0,0,0
$GC,6397,-0.78,-243.3,884.6,-10.4,612,6401,0.00,1.08,0.00,0.000,6,0.000,0.049,2483,1547,3849,0,0,0,0,0,0
$GC,6724,-0.78,-243.3,921.5,-11.2,628,6727,0.00,1.10,0.00,0.000,4,0.000,0.059,2478,2250,3846,0,0,0,0,0,0
$GC,6776,-0.78,-243.3,927.4,-11.1,630,6780,0.00,1.08,0.00,0.000,6,0.000,0.050,2478,1554,3846,0,0,0,0,0,0
$GC,7104,-0.78,-243.3,967.6,-12.6,646,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1554,3844,0,0,0,0,0,0
$STATE,7286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7286,begin apogee
$GC,7292,-0.11,0.0,992.4,13.5,655,7504,0.70,0.00,204.62,1.431,6,0.125,0.000,2704,1822,2883,0,0,0,0,0,0
$STATE,7505,end apogee,CONTROL_FINISHED_OK
$STATE,7505,begin climb
$GC,7508,0.68,243.3,1005.1,0.0,665,7744,0.73,1.25,222.55,1.375,4,0.052,0.055,2972,1117,1891,0,0,0,0,0,0
$GC,7841,0.63,243.3,968.3,15.1,680,7845,0.00,1.12,0.00,0.000,6,0.000,0.050,2971,1813,1887,0,0,0,0,0,0
$GC,8168,0.58,243.3,915.5,16.6,696,8172,0.15,1.12,0.00,0.000,4,0.174,0.060,2928,2530,1884,0,0,0,0,0,0
$GC,8316,0.57,243.3,895.9,13.1,702,8320,0.00,1.10,0.00,0.000,6,0.000,0.049,2930,1823,1883,0,0,0,0,0,0
$GC,8639,0.55,243.3,851.3,13.7,718,8642,0.00,1.10,0.00,0.000,4,0.000,0.058,2927,2531,1882,0,0,0,0,0,0
$GC,8709,0.54,243.3,841.9,13.5,721,8713,0.00,1.10,0.00,0.000,6,0.000,0.047,2930,1818,1881,0,0,0,0,0,0
$GC,9042,0.52,243.3,793.4,14.8,737,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1818,1879,0,0,0,0,0,0
$GC,9352,0.51,243.3,744.1,16.2,752,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1818,1879,0,0,0,0,0,0
$GC,9661,0.49,243.3,695.7,15.4,767,9665,0.00,1.10,0.00,0.000,4,0.000,0.054,2927,2525,1879,0,0,0,0,0,0
$GC,9757,0.49,243.3,682.0,13.5,771,9760,0.00,1.10,0.00,0.000,6,0.000,0.045,2930,1816,1878,0,0,0,0,0,0
$GC,10087,0.50,257.3,641.1,12.2,787,10102,0.00,1.10,12.18,1.122,4,0.000,0.050,2936,1114,1834,0,0,0,0,0,0
$GC,10136,0.54,292.8,634.7,11.5,788,10174,0.00,1.10,34.42,1.196,6,0.000,0.045,2933,1833,1690,0,0,0,0,0,0
$GC,10488,0.56,309.7,593.3,12.1,808,10509,0.00,0.00,16.25,1.115,6,0.000,0.000,2933,1833,1621,0,0,0,0,0,0
$GC,10826,0.58,325.8,552.8,12.1,840,10850,0.00,1.15,15.88,1.086,4,0.000,0.046,2937,1112,1554,0,0,0,0,0,0
$GC,10877,0.63,352.9,547.0,11.7,844,10911,0.00,1.10,25.52,1.106,6,0.000,0.042,2935,1824,1445,0,0,0,0,0,0
$GC,11232,0.66,364.1,503.7,12.3,877,11249,0.00,0.00,11.15,0.997,6,0.000,0.000,2934,1825,1398,0,0,0,0,0,0
$GC,11569,0.76,426.8,465.3,10.5,909,11629,0.17,1.12,55.88,1.068,4,0.074,0.045,3033,1112,1142,0,0,0,0,0,0
$GC,11687,0.71,426.8,440.4,22.8,919,11695,0.17,1.10,0.00,0.000,6,0.142,0.043,2978,1827,1140,0,0,0,0,0,0
$GC,12013,0.71,426.8,384.3,16.4,950,12016,0.00,1.10,0.00,0.000,4,0.000,0.047,2986,1111,1138,0,0,0,0,0,0
$GC,12063,0.71,426.8,376.4,14.9,954,12069,0.00,1.08,0.00,0.000,6,0.000,0.043,2988,1820,1137,0,0,0,0,0,0
$GC,12390,0.71,426.8,322.5,15.2,985,12391,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1821,1138,0,0,0,0,0,0
$GC,12709,0.72,426.8,278.5,12.8,1015,12713,0.00,1.08,0.00,0.000,4,0.000,0.046,2993,1114,1138,0,0,0,0,0,0
$GC,12816,0.77,445.1,264.9,12.1,1024,12836,0.00,1.08,16.05,0.838,6,0.000,0.039,2993,1831,1069,0,0,0,0,0,0
$GC,13156,0.80,445.1,222.0,13.2,1076,13164,0.00,1.10,0.00,0.000,4,0.000,0.044,2998,1111,1066,0,0,0,0,0,0
$GC,13246,0.87,468.2,210.6,11.9,1092,13276,0.00,1.05,20.48,0.800,6,0.000,0.037,2998,1815,974,0,0,0,0,0,0
$GC,13597,0.97,522.8,166.2,10.8,1156,13654,0.17,1.10,46.47,0.776,4,0.067,0.043,3097,1115,749,0,0,0,0,0,0
$GC,13744,0.92,522.8,133.1,24.5,1179,13753,0.15,1.08,0.00,0.000,6,0.142,0.037,3048,1835,747,0,0,0,0,0,0
$GC,14075,0.96,531.9,80.6,12.4,1240,14092,0.00,1.12,8.10,0.594,4,0.000,0.041,3052,1102,714,0,0,0,0,0,0
$GC,14143,1.08,582.8,72.1,10.9,1251,14196,0.10,1.05,44.85,0.689,6,0.046,0.034,3131,1816,506,0,0,0,0,0,0
$STATE,14500,end climb,SURFACE_DEPTH_REACHED
$STATE,14500,begin surface coast
$FINISH,1.1,1.021466
$STATE,14518,end surface coast,CONTROL_FINISHED_OK
$STATE,14518,begin surface
$SM_CCo,14596,0.00,0.000,0,0,496,585.78
$SM_GC,1.91,7.78,0.00,0.00,0.035,0.000,0.000,155,1529,496,-8.04,-0.59,585.78,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12338.84,170911,101055
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.95
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.10
$XPDR_PINGS,87
$24V_AH,22.8,57.287
$10V_AH,10.0,39.920
$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,20.450,54.450,734.400,0.000,0.000,29.923,19.296,164.689,21.750,0.000,19.192,3252.742,7341.335,727.137,3208.447,428.266,0.000,2049.998,0.000,2991.516,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,65.025,1431.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,898.516,1352.155,1455.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73607,1318
$CAP_FILE_SIZE,158058,0
$CFSIZE,260165632,126210048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248, 85.2,1
$GPS,170911,191654,2117.249,12337.689,24,0.9,41,-2.8