version: 66.09
glider: 166
mission: 6
dive: 7
start: 8 5 111 17 14 58
data:
$ID,166
$MISSION,6
$DIVE,7
$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,-24383.061
$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,56
$R_STBD_OVSHOOT,38
$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
$GPS1,050811,170721,2047.422,12122.089,43,99.0,62,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.9
$GPS2,050811,171437,2047.429,12122.000,32,1.9,43,-2.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,NINNER
$TGT_LATLONG,2114.000,12117.000
$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,352.6,49961,-16.8,-10.000
$D_GRID,3418
$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,19,-0.68,-170.3,0.0,0.0,0,111,0.00,0.00,-89.12,0.000,2,0.000,0.000,167,1781,3101,0,0,0,0,0,0
$GC,114,-0.68,-170.3,5.3,-7.6,13,139,9.10,2.12,-9.15,0.000,4,0.224,0.055,2530,398,3581,0,0,0,0,0,0
$GC,372,-0.33,-170.3,97.2,-27.8,61,381,0.40,2.15,0.00,0.000,6,0.145,0.040,2645,1798,3582,0,0,0,0,0,0
$GC,694,-0.43,-170.3,137.4,-8.9,122,702,0.00,2.12,0.00,0.000,4,0.000,0.046,2642,404,3583,0,0,0,0,0,0
$GC,759,-0.58,-170.3,142.8,-8.1,133,767,0.15,2.10,0.00,0.000,6,0.041,0.036,2543,1804,3584,0,0,0,0,0,0
$GC,1081,-0.46,-170.3,193.9,-15.4,194,1090,0.22,2.12,0.00,0.000,4,0.153,0.044,2615,414,3584,0,0,0,0,0,0
$GC,1221,-0.61,-170.3,206.8,-7.9,220,1230,0.12,2.08,0.00,0.000,6,0.043,0.037,2524,1790,3584,0,0,0,0,0,0
$GC,1550,-0.49,-170.3,259.8,-15.1,276,1554,0.25,2.08,0.00,0.000,4,0.153,0.044,2608,408,3584,0,0,0,0,0,0
$GC,1748,-0.68,-170.3,279.9,-9.2,294,1753,0.20,2.05,0.00,0.000,6,0.063,0.038,2509,1803,3584,0,0,0,0,0,0
$GC,2075,-0.52,-170.3,330.0,-16.4,324,2080,0.28,2.10,0.00,0.000,4,0.151,0.046,2600,409,3584,0,0,0,0,0,0
$GC,2207,-0.66,-170.3,342.4,-8.1,335,2211,0.12,2.08,0.00,0.000,6,0.086,0.039,2512,1803,3583,0,0,0,0,0,0
$GC,2532,-0.58,-170.3,382.3,-13.6,365,2537,0.20,2.10,0.00,0.000,4,0.154,0.046,2578,412,3581,0,0,0,0,0,0
$GC,2656,-0.69,-170.3,396.1,-10.9,375,2664,0.10,2.08,0.00,0.000,6,0.099,0.041,2511,1798,3580,0,0,0,0,0,0
$GC,2982,-0.63,-170.3,438.6,-11.5,406,2986,0.15,2.12,0.00,0.000,4,0.161,0.050,2566,404,3579,0,0,0,0,0,0
$GC,3238,-0.74,-170.3,463.0,-9.3,428,3245,0.00,2.10,0.00,0.000,6,0.000,0.041,2555,1807,3576,0,0,0,0,0,0
$GC,3565,-0.81,-170.3,490.3,-7.8,459,3570,0.17,2.12,0.00,0.000,4,0.072,0.057,2468,3202,3573,0,0,0,0,0,0
$GC,3784,-0.73,-170.3,520.3,-13.7,478,3792,0.20,2.08,0.00,0.000,6,0.164,0.041,2521,1807,3571,0,0,0,0,0,0
$GC,4109,-0.73,-170.3,557.4,-10.8,509,4113,0.00,2.12,0.00,0.000,4,0.000,0.053,2522,398,3569,0,0,0,0,0,0
$GC,4331,-0.73,-170.3,579.7,-9.3,528,4335,0.00,2.10,0.00,0.000,6,0.000,0.043,2513,1808,3567,0,0,0,0,0,0
$GC,4654,-0.73,-170.3,611.2,-10.5,553,4658,0.00,2.15,0.00,0.000,4,0.000,0.054,2512,399,3564,0,0,0,0,0,0
$GC,4750,-0.73,-170.3,623.7,-13.3,557,4754,0.00,2.12,0.00,0.000,6,0.000,0.045,2501,1804,3564,0,0,0,0,0,0
$STATE,5007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5007,begin apogee
$GC,5013,-0.14,0.0,660.5,14.2,570,5150,0.65,0.00,132.23,1.169,6,0.142,0.000,2712,1976,2883,0,0,0,0,0,0
$STATE,5151,end apogee,CONTROL_FINISHED_OK
$STATE,5151,begin climb
$GC,5153,0.68,170.3,668.1,0.0,576,5305,0.75,2.35,143.48,1.128,4,0.074,0.060,2981,3370,2188,0,0,0,0,0,0
$GC,5417,0.39,170.3,639.6,16.7,588,5425,0.38,2.15,0.00,0.000,6,0.189,0.044,2892,1978,2183,0,0,0,0,0,0
$GC,5733,0.39,170.3,606.7,10.0,604,5737,0.00,2.20,0.00,0.000,4,0.000,0.060,2900,553,2179,0,0,0,0,0,0
$GC,5784,0.36,177.7,601.7,9.7,606,5795,0.00,2.15,5.95,0.848,6,0.000,0.050,2897,1956,2159,0,0,0,0,0,0
$GC,6114,0.33,177.7,569.3,10.4,635,6118,0.00,2.17,0.00,0.000,4,0.000,0.060,2896,3381,2156,0,0,0,0,0,0
$GC,6132,0.28,177.7,567.3,10.8,636,6137,0.20,2.15,0.00,0.000,6,0.177,0.045,2852,1958,2156,0,0,0,0,0,0
$GC,6463,0.45,227.3,538.2,8.0,667,6513,0.15,2.22,43.60,1.096,4,0.083,0.053,2928,566,1955,0,0,0,0,0,0
$GC,6571,0.41,227.3,525.1,13.3,676,6576,0.12,2.22,0.00,0.000,6,0.174,0.049,2897,1984,1953,0,0,0,0,0,0
$GC,6897,0.41,227.3,486.8,11.5,706,6901,0.00,2.20,0.00,0.000,4,0.000,0.054,2905,560,1950,0,0,0,0,0,0
$GC,6937,0.41,227.3,482.0,12.0,709,6941,0.00,2.15,0.00,0.000,6,0.000,0.049,2905,1967,1950,0,0,0,0,0,0
$GC,7262,0.42,236.3,445.5,9.6,739,7275,0.00,2.25,7.97,0.897,4,0.000,0.059,2905,3379,1920,0,0,0,0,0,0
$GC,7322,0.42,236.7,439.6,10.0,744,7327,0.00,2.12,0.00,0.000,6,0.000,0.043,2915,1962,1919,0,0,0,0,0,0
$GC,7647,0.42,236.7,407.6,10.6,774,7651,0.00,2.15,0.00,0.000,4,0.000,0.054,2925,560,1918,0,0,0,0,0,0
$GC,7692,0.37,236.7,402.6,10.9,777,7699,0.15,2.15,0.00,0.000,6,0.166,0.042,2885,1980,1917,0,0,0,0,0,0
$GC,8019,0.58,345.9,383.3,5.7,808,8122,0.17,2.35,94.10,0.996,4,0.080,0.055,2971,572,1472,0,0,0,0,0,0
$GC,8209,0.55,345.9,358.4,14.6,825,8213,0.00,2.17,0.00,0.000,6,0.000,0.043,2966,1972,1469,0,0,0,0,0,0
$GC,8534,0.50,345.9,307.4,15.3,855,8539,0.15,2.20,0.00,0.000,4,0.184,0.059,2916,3383,1467,0,0,0,0,0,0
$GC,8549,0.50,345.9,304.8,15.7,856,8556,0.00,2.17,0.00,0.000,6,0.000,0.041,2925,1951,1466,0,0,0,0,0,0
$GC,8877,0.59,345.9,264.9,13.0,887,8881,0.00,2.10,0.00,0.000,4,0.000,0.052,2935,566,1465,0,0,0,0,0,0
$GC,8964,0.68,345.9,253.6,12.2,894,8973,0.12,2.15,0.00,0.000,6,0.060,0.041,2998,1964,1464,0,0,0,0,0,0
$GC,9286,0.59,345.9,206.2,14.1,952,9295,0.17,2.17,0.00,0.000,4,0.165,0.056,2941,3378,1464,0,0,0,0,0,0
$GC,9320,0.66,345.9,201.8,14.1,957,9328,0.00,2.12,0.00,0.000,6,0.000,0.041,2949,1979,1464,0,0,0,0,0,0
$GC,9642,0.74,350.0,167.4,9.8,1018,9651,0.15,2.20,0.00,0.000,4,0.080,0.050,3035,563,1464,0,0,0,0,0,0
$GC,9730,0.64,350.0,153.4,17.2,1034,9740,0.20,2.15,3.60,0.457,6,0.142,0.041,2969,1978,1457,0,0,0,0,0,0
$GC,10056,0.75,381.2,119.1,8.8,1095,10093,0.00,2.22,27.00,0.737,4,0.000,0.049,2977,566,1329,0,0,0,0,0,0
$GC,10114,0.88,414.0,114.0,8.7,1103,10151,0.15,2.15,28.17,0.718,6,0.044,0.038,3059,1966,1196,0,0,0,0,0,0
$GC,10469,0.79,414.0,48.9,19.4,1168,10478,0.17,2.20,0.00,0.000,4,0.168,0.051,3001,3380,1193,0,0,0,0,0,0
$GC,10593,1.01,414.0,34.0,10.6,1190,10602,0.17,2.15,0.00,0.000,6,0.043,0.037,3114,1958,1193,0,0,0,0,0,0
$STATE,10768,end climb,SURFACE_DEPTH_REACHED
$STATE,10768,begin surface coast
$FINISH,0.7,1.009718
$STATE,10785,end surface coast,CONTROL_FINISHED_OK
$STATE,10785,begin surface
$SM_CCo,10803,35.45,0.456,1,0,1048,450.13
$SM_GC,1.78,0.00,0.00,35.45,0.000,0.000,0.456,137,1754,1048,-8.20,-1.30,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2038.68,12123.92,050811,131333
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.37
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,24.80
$XPDR_PINGS,132
$24V_AH,23.9,3.764
$10V_AH,10.3,2.810
$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,23.325,103.725,486.100,35.450,0.000,24.954,24.986,209.978,33.000,0.000,44.684,2897.324,4265.157,567.712,3181.809,356.039,0.000,1741.869,0.000,2902.673,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,73.440,1168.920,455.940,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.863,1253.518,1613.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324000
$DATA_FILE_SIZE,70282,1226
$CAP_FILE_SIZE,140572,0
$CFSIZE,260165632,146595840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050811,201721,2050.428,12120.193,40,2.8,59,-2.5