version: 66.09
glider: 166
mission: 6
dive: 6
start: 8 5 111 13 56 54
data:
$ID,166
$MISSION,6
$DIVE,6
$N_DIVES,10
$D_SURF,3
$D_FLARE,5
$D_TGT,660
$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,220
$T_MISSION,275
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,1
$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,9
$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,-24381.799
$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,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$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,4
$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,0
$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,3
$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
$GPS1,050811,135036,2045.674,12121.466,39,1.8,50,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.8
$GPS2,050811,135630,2045.720,12121.523,28,2.7,47,-2.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,75.8,285124,-16.8,-10.000
$D_GRID,3610
$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,16,-0.68,-170.3,0.0,0.0,0,111,0.00,0.00,-92.07,0.000,2,0.000,0.000,166,2022,3038,0,0,0,0,0,0
$GC,114,-0.68,-170.3,5.0,-7.6,13,144,9.07,1.80,-10.30,0.000,4,0.228,0.062,2526,3198,3580,0,0,0,0,0,0
$GC,381,-0.52,-170.3,90.0,-22.0,62,390,0.22,2.10,0.00,0.000,6,0.137,0.037,2586,1802,3582,0,0,0,0,0,0
$GC,706,-0.49,-170.3,147.8,-13.4,123,714,0.00,2.15,0.00,0.000,4,0.000,0.047,2587,390,3583,0,0,0,0,0,0
$GC,802,-0.53,-170.3,158.7,-10.4,140,810,0.00,2.08,0.00,0.000,6,0.000,0.037,2579,1771,3583,0,0,0,0,0,0
$GC,1124,-0.53,-170.3,196.1,-13.5,201,1132,0.00,2.08,0.00,0.000,4,0.000,0.047,2579,399,3584,0,0,0,0,0,0
$GC,1217,-0.58,-170.3,208.7,-13.8,218,1225,0.00,2.10,0.00,0.000,6,0.000,0.038,2570,1797,3584,0,0,0,0,0,0
$GC,1541,-0.58,-170.3,254.6,-13.9,277,1545,0.00,2.08,0.00,0.000,4,0.000,0.047,2578,394,3584,0,0,0,0,0,0
$GC,1728,-0.64,-170.3,278.1,-11.7,293,1732,0.00,2.08,0.00,0.000,6,0.000,0.038,2566,1808,3583,0,0,0,0,0,0
$GC,2053,-0.68,-170.3,312.2,-10.5,323,2057,0.00,2.10,0.00,0.000,4,0.000,0.047,2576,386,3583,0,0,0,0,0,0
$GC,2201,-0.72,-170.3,328.5,-10.6,335,2208,0.00,2.10,0.00,0.000,6,0.000,0.038,2554,1798,3582,0,0,0,0,0,0
$GC,2527,-0.75,-170.3,364.1,-11.3,366,2531,0.10,2.12,0.00,0.000,4,0.099,0.049,2491,396,3580,0,0,0,0,0,0
$GC,2745,-0.58,-170.3,401.0,-17.4,385,2753,0.30,2.10,0.00,0.000,6,0.149,0.041,2572,1808,3579,0,0,0,0,0,0
$GC,3072,-0.72,-170.3,439.1,-11.2,416,3077,0.15,2.12,0.00,0.000,4,0.078,0.050,2499,395,3577,0,0,0,0,0,0
$GC,3161,-0.62,-170.3,452.8,-14.7,423,3169,0.22,2.10,0.00,0.000,6,0.151,0.042,2555,1796,3576,0,0,0,0,0,0
$GC,3487,-0.68,-170.3,475.1,-6.2,454,3491,0.00,2.12,0.00,0.000,4,0.000,0.050,2558,392,3574,0,0,0,0,0,0
$GC,3595,-0.72,-170.3,484.2,-9.1,463,3599,0.00,2.12,0.00,0.000,6,0.000,0.041,2549,1812,3573,0,0,0,0,0,0
$GC,3920,-0.77,-170.3,518.8,-11.7,493,3925,0.10,2.17,0.00,0.000,4,0.100,0.052,2496,391,3571,0,0,0,0,0,0
$GC,4040,-0.65,-170.3,539.0,-18.2,503,4045,0.22,2.12,0.00,0.000,6,0.157,0.044,2551,1805,3570,0,0,0,0,0,0
$GC,4366,-0.72,-170.3,576.4,-9.9,533,4370,0.00,2.15,0.00,0.000,4,0.000,0.053,2548,392,3567,0,0,0,0,0,0
$GC,4429,-0.80,-170.3,582.9,-10.4,538,4434,0.12,2.12,0.00,0.000,6,0.091,0.044,2483,1798,3567,0,0,0,0,0,0
$GC,4753,-0.69,-170.3,625.4,-13.5,559,4758,0.22,2.15,0.00,0.000,4,0.161,0.051,2545,394,3564,0,0,0,0,0,0
$GC,4951,-0.78,-170.3,645.9,-9.9,568,4955,0.00,2.12,0.00,0.000,6,0.000,0.044,2537,1803,3563,0,0,0,0,0,0
$STATE,5110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5110,begin apogee
$GC,5116,-0.14,0.0,661.6,9.4,576,5255,0.52,0.00,131.48,1.177,6,0.134,0.000,2710,1993,2883,0,0,0,0,0,0
$STATE,5256,end apogee,CONTROL_FINISHED_OK
$STATE,5256,begin climb
$GC,5258,0.68,170.3,666.2,0.0,582,5413,0.75,2.30,142.45,1.131,4,0.080,0.059,2975,3363,2187,0,0,0,0,0,0
$GC,5541,0.42,170.3,631.9,17.4,595,5549,0.32,2.15,0.00,0.000,6,0.190,0.044,2901,1970,2183,0,0,0,0,0,0
$GC,5859,0.38,172.2,598.4,9.9,611,5863,0.00,2.15,0.00,0.000,4,0.000,0.057,2909,563,2179,0,0,0,0,0,0
$GC,5928,0.30,172.2,591.2,10.5,617,5933,0.17,2.15,0.00,0.000,6,0.169,0.045,2862,1960,2178,0,0,0,0,0,0
$GC,6255,0.52,289.7,570.2,5.4,647,6366,0.17,2.33,101.68,1.105,4,0.078,0.057,2937,3380,1700,0,0,0,0,0,0
$GC,6379,0.45,289.7,557.3,11.2,658,6384,0.15,2.22,0.00,0.000,6,0.192,0.043,2911,1970,1700,0,0,0,0,0,0
$GC,6705,0.48,289.7,519.3,12.1,688,6709,0.00,2.15,0.00,0.000,4,0.000,0.053,2920,562,1694,0,0,0,0,0,0
$GC,6849,0.54,289.7,502.3,11.4,700,6853,0.00,2.17,0.00,0.000,6,0.000,0.044,2916,1981,1692,0,0,0,0,0,0
$GC,7174,0.57,289.7,461.9,12.4,730,7178,0.00,2.15,0.00,0.000,4,0.000,0.059,2916,3380,1691,0,0,0,0,0,0
$GC,7227,0.63,289.7,455.1,13.2,734,7232,0.12,2.12,0.00,0.000,6,0.091,0.045,2984,1962,1691,0,0,0,0,0,0
$GC,7558,0.47,289.7,400.6,15.1,765,7560,0.25,0.00,0.00,0.000,6,0.187,0.000,2917,1962,1690,0,0,0,0,0,0
$GC,7877,0.53,289.7,367.2,10.8,795,7881,0.00,2.10,0.00,0.000,4,0.000,0.055,2926,566,1689,0,0,0,0,0,0
$GC,7917,0.58,289.7,362.5,11.6,798,7921,0.00,2.12,0.00,0.000,6,0.000,0.047,2924,1969,1688,0,0,0,0,0,0
$GC,8243,0.64,297.7,324.7,9.7,828,8256,0.12,2.15,5.78,0.735,4,0.099,0.050,2996,568,1669,0,0,0,0,0,0
$GC,8325,0.51,297.7,313.0,15.7,835,8330,0.25,2.12,0.00,0.000,6,0.168,0.044,2925,1966,1669,0,0,0,0,0,0
$GC,8652,0.58,316.7,282.4,9.2,865,8672,0.00,0.00,18.02,0.874,6,0.000,0.000,2925,1969,1592,0,0,0,0,0,0
$GC,8990,0.67,316.7,253.7,10.3,897,8995,0.15,2.15,0.00,0.000,4,0.086,0.050,3009,557,1589,0,0,0,0,0,0
$GC,9011,0.67,316.7,250.7,11.1,898,9021,0.08,2.17,0.00,0.000,6,0.155,0.041,2982,1974,1589,0,0,0,0,0,0
$GC,9340,0.60,316.7,205.0,12.7,959,9348,0.00,2.15,0.00,0.000,4,0.000,0.054,2973,3378,1588,0,0,0,0,0,0
$GC,9463,0.60,316.7,189.9,11.1,982,9471,0.00,2.12,0.00,0.000,6,0.000,0.041,2981,1969,1588,0,0,0,0,0,0
$GC,9784,0.60,319.9,162.0,9.9,1043,9793,0.00,2.17,4.07,0.510,4,0.000,0.049,2992,563,1578,0,0,0,0,0,0
$GC,9869,0.60,319.9,152.3,11.9,1058,9877,0.00,2.15,0.00,0.000,6,0.000,0.040,2984,1974,1578,0,0,0,0,0,0
$GC,10189,0.64,319.9,116.1,12.1,1119,10197,0.00,2.15,0.00,0.000,4,0.000,0.047,2994,564,1578,0,0,0,0,0,0
$GC,10272,0.73,342.6,107.9,9.1,1134,10301,0.00,2.12,20.35,0.707,6,0.000,0.038,2988,1972,1485,0,0,0,0,0,0
$GC,10615,0.86,383.7,75.0,8.4,1198,10659,0.15,2.20,34.53,0.682,4,0.085,0.046,3077,570,1318,0,0,0,0,0,0
$GC,10712,0.78,383.7,62.1,15.3,1213,10721,0.17,2.15,0.00,0.000,6,0.141,0.036,3015,1975,1317,0,0,0,0,0,0
$GC,11033,0.91,388.6,32.5,9.8,1274,11042,0.12,0.00,5.55,0.483,6,0.091,0.000,3085,1977,1298,0,0,0,0,0,0
$STATE,11238,end climb,SURFACE_DEPTH_REACHED
$STATE,11238,begin surface coast
$FINISH,1.0,1.021492
$STATE,11255,end surface coast,CONTROL_FINISHED_OK
$STATE,11255,begin surface
$SM_CCo,11272,47.03,0.490,1,0,1047,450.13
$SM_GC,1.70,0.00,0.00,47.03,0.000,0.000,0.490,148,1780,1047,-8.19,-0.57,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2034.08,12120.75,050811,121236
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.11
$INTERNAL_PRESSURE,9.46784
$TCM_TEMP,26.10
$XPDR_PINGS,112
$24V_AH,24.0,3.596
$10V_AH,10.3,2.664
$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,21.950,98.650,463.900,47.025,0.000,30.716,25.584,145.316,28.000,0.000,51.915,3089.267,4319.818,569.966,3368.180,333.696,0.000,1789.694,0.000,3136.106,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,68.850,1176.570,490.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.784,1345.857,1872.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323928
$DATA_FILE_SIZE,73512,1316
$CAP_FILE_SIZE,143082,0
$CFSIZE,260165632,146681856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050811,170721,2047.422,12122.089,43,99.0,62,-2.5