version: 66.09
glider: 166
mission: 6
dive: 8
start: 8 5 111 20 24 19
data:
$ID,166
$MISSION,6
$DIVE,8
$N_DIVES,15
$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,280
$T_MISSION,320
$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,250
$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,-24384.414
$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,0.015
$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,73
$R_STBD_OVSHOOT,35
$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,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
$GPS1,050811,201721,2050.428,12120.193,40,2.8,59,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.3
$GPS2,050811,202355,2050.511,12120.226,33,1.9,44,-2.5
$SPEED_LIMITS,0.204,0.345
$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,355.2,43856,-16.1,-11.786
$D_GRID,3356
$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,-0.75,-243.3,0.0,0.0,0,103,0.00,0.00,-84.62,0.000,2,0.000,0.000,133,1754,2995,0,0,0,0,0,0
$GC,107,-0.75,-243.3,5.2,-7.8,12,137,9.07,2.08,-16.12,0.000,4,0.224,0.057,2533,417,3878,0,0,0,0,0,0
$GC,343,-0.62,-243.3,85.9,-28.9,55,352,0.10,2.12,0.00,0.000,6,0.148,0.042,2557,1797,3879,0,0,0,0,0,0
$GC,668,-0.54,-243.3,154.9,-17.9,116,676,0.00,2.10,0.00,0.000,4,0.000,0.047,2542,427,3881,0,0,0,0,0,0
$GC,747,-0.51,-243.3,168.7,-15.2,130,756,0.15,2.10,0.00,0.000,6,0.130,0.041,2591,1804,3881,0,0,0,0,0,0
$GC,1070,-0.51,-243.3,210.2,-14.8,191,1078,0.00,2.10,0.00,0.000,4,0.000,0.047,2597,426,3882,0,0,0,0,0,0
$GC,1170,-0.57,-243.3,222.3,-10.6,209,1178,0.00,2.08,0.00,0.000,6,0.000,0.040,2590,1802,3882,0,0,0,0,0,0
$GC,1491,-0.57,-243.3,261.6,-13.1,262,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1802,3881,0,0,0,0,0,0
$GC,1810,-0.61,-243.3,299.8,-10.6,292,1814,0.00,2.08,0.00,0.000,4,0.000,0.049,2588,429,3881,0,0,0,0,0,0
$GC,2059,-0.67,-243.3,324.8,-9.9,314,2063,0.00,2.05,0.00,0.000,6,0.000,0.041,2567,1810,3880,0,0,0,0,0,0
$GC,2391,-0.72,-243.3,356.8,-7.4,345,2395,0.10,2.10,0.00,0.000,4,0.100,0.048,2512,421,3879,0,0,0,0,0,0
$GC,2430,-0.72,-243.3,360.7,-9.5,348,2437,0.00,2.05,0.00,0.000,6,0.000,0.041,2499,1808,3878,0,0,0,0,0,0
$GC,2756,-0.68,-243.3,409.4,-17.4,379,2760,0.15,2.10,0.00,0.000,4,0.165,0.049,2546,426,3877,0,0,0,0,0,0
$GC,3013,-0.72,-243.3,445.4,-12.5,401,3020,0.00,2.05,0.00,0.000,6,0.000,0.042,2542,1800,3875,0,0,0,0,0,0
$GC,3339,-0.76,-243.3,484.9,-12.3,432,3342,0.00,2.10,0.00,0.000,4,0.000,0.052,2542,430,3873,0,0,0,0,0,0
$GC,3557,-0.80,-243.3,513.7,-12.6,451,3564,0.00,2.03,0.00,0.000,6,0.000,0.043,2529,1800,3872,0,0,0,0,0,0
$GC,3883,-0.84,-243.3,550.3,-11.2,482,3888,0.10,2.10,0.00,0.000,4,0.105,0.054,2475,432,3868,0,0,0,0,0,0
$GC,4057,-0.80,-243.3,576.8,-14.8,497,4062,0.12,2.05,0.00,0.000,6,0.180,0.046,2499,1796,3867,0,0,0,0,0,0
$GC,4386,-0.80,-243.3,618.9,-12.7,521,4390,0.00,2.08,0.00,0.000,4,0.000,0.058,2499,429,3865,0,0,0,0,0,0
$GC,4423,-0.80,-243.3,624.5,-13.4,522,4431,0.00,2.10,0.00,0.000,6,0.000,0.046,2491,1799,3864,0,0,0,0,0,0
$GC,4740,-0.80,-243.3,665.5,-13.1,538,4744,0.00,2.10,0.00,0.000,4,0.000,0.054,2492,427,3861,0,0,0,0,0,0
$GC,4982,-0.80,-243.3,698.5,-13.0,549,4986,0.00,2.10,0.00,0.000,6,0.000,0.047,2481,1811,3860,0,0,0,0,0,0
$GC,5311,-0.78,-243.3,739.8,-12.5,565,5315,0.00,2.12,0.00,0.000,4,0.000,0.054,2481,421,3857,0,0,0,0,0,0
$GC,5355,-0.77,-243.3,745.8,-13.0,567,5359,0.15,2.10,0.00,0.000,6,0.173,0.047,2512,1805,3857,0,0,0,0,0,0
$GC,5678,-0.80,-243.3,773.7,-8.6,583,5682,0.00,2.10,0.00,0.000,4,0.000,0.055,2512,424,3854,0,0,0,0,0,0
$GC,5793,-0.84,-243.3,785.3,-10.3,588,5797,0.00,2.08,0.00,0.000,6,0.000,0.048,2504,1801,3853,0,0,0,0,0,0
$GC,6121,-0.86,-243.3,820.5,-10.9,604,6125,0.00,2.10,0.00,0.000,4,0.000,0.057,2503,423,3850,0,0,0,0,0,0
$GC,6235,-0.89,-243.3,834.4,-12.3,609,6239,0.00,2.12,0.00,0.000,6,0.000,0.050,2493,1810,3849,0,0,0,0,0,0
$GC,6563,-0.89,-243.3,873.3,-11.7,625,6567,0.00,2.12,0.00,0.000,4,0.000,0.057,2493,421,3848,0,0,0,0,0,0
$GC,6734,-0.90,-243.3,892.2,-10.5,632,6738,0.00,2.12,0.00,0.000,6,0.000,0.050,2482,1804,3847,0,0,0,0,0,0
$GC,7050,-0.90,-243.3,924.2,-10.1,647,7054,0.00,2.10,0.00,0.000,4,0.000,0.057,2482,433,3846,0,0,0,0,0,0
$GC,7223,-0.90,-243.3,943.4,-11.4,654,7230,0.00,2.10,0.00,0.000,6,0.000,0.051,2472,1804,3844,0,0,0,0,0,0
$GC,7539,-0.90,-243.3,980.7,-12.4,670,7543,0.00,2.12,0.00,0.000,4,0.000,0.058,2472,427,3843,0,0,0,0,0,0
$STATE,7609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7609,begin apogee
$GC,7618,-0.14,0.0,990.6,13.6,673,7823,0.77,0.00,198.75,1.429,6,0.148,0.000,2709,1971,2883,0,0,0,0,0,0
$STATE,7824,end apogee,CONTROL_FINISHED_OK
$STATE,7824,begin climb
$GC,7828,0.75,243.3,1001.8,0.0,683,8055,0.80,2.40,216.20,1.372,4,0.055,0.063,3013,3376,1891,0,0,0,0,0,0
$GC,8173,0.56,243.3,943.6,23.8,698,8178,0.32,2.17,0.00,0.000,6,0.200,0.047,2943,2007,1886,0,0,0,0,0,0
$GC,8497,0.46,243.3,889.4,16.4,714,8502,0.12,2.28,0.00,0.000,4,0.212,0.058,2921,557,1882,0,0,0,0,0,0
$GC,8546,0.41,243.3,881.6,13.7,716,8550,0.00,2.22,0.00,0.000,6,0.000,0.048,2918,1981,1881,0,0,0,0,0,0
$GC,8870,0.36,245.4,841.3,11.7,732,8875,0.15,2.22,0.00,0.000,4,0.182,0.057,2886,562,1881,0,0,0,0,0,0
$GC,8910,0.41,288.2,837.0,10.4,734,8956,0.00,2.17,40.78,1.305,6,0.000,0.047,2887,1972,1709,0,0,0,0,0,0
$GC,9285,0.41,288.2,791.7,13.1,752,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1972,1705,0,0,0,0,0,0
$GC,9594,0.45,314.1,756.5,10.9,767,9624,0.00,2.33,24.17,1.248,4,0.000,0.057,2896,559,1602,0,0,0,0,0,0
$GC,9683,0.48,314.1,746.0,12.2,771,9687,0.00,2.22,0.00,0.000,6,0.000,0.046,2896,1975,1601,0,0,0,0,0,0
$GC,10010,0.48,314.1,701.9,14.3,787,10014,0.00,2.20,0.00,0.000,4,0.000,0.062,2897,3390,1600,0,0,0,0,0,0
$GC,10028,0.48,314.1,699.1,14.8,788,10032,0.00,2.17,0.00,0.000,6,0.000,0.044,2906,1957,1600,0,0,0,0,0,0
$GC,10356,0.48,314.1,647.1,16.0,804,10360,0.00,2.15,0.00,0.000,4,0.000,0.057,2917,556,1600,0,0,0,0,0,0
$GC,10450,0.48,314.1,632.0,15.2,808,10454,0.00,2.22,0.00,0.000,6,0.000,0.047,2917,2013,1598,0,0,0,0,0,0
$GC,10778,0.46,314.1,581.4,15.2,829,10783,0.00,2.22,0.00,0.000,4,0.000,0.056,2926,564,1598,0,0,0,0,0,0
$GC,10796,0.43,314.1,578.1,15.4,830,10800,0.00,2.15,0.00,0.000,6,0.000,0.047,2927,1971,1597,0,0,0,0,0,0
$GC,11127,0.41,314.1,528.8,14.5,861,11129,0.12,0.00,0.00,0.000,6,0.185,0.000,2895,1974,1598,0,0,0,0,0,0
$GC,11446,0.59,434.0,498.9,7.9,891,11562,0.15,2.38,104.28,1.113,4,0.090,0.056,2967,572,1113,0,0,0,0,0,0
$GC,11617,0.59,434.0,474.3,15.0,906,11625,0.00,2.22,0.00,0.000,6,0.000,0.047,2966,1969,1110,0,0,0,0,0,0
$GC,11945,0.54,434.0,415.2,17.7,937,11949,0.12,2.25,0.00,0.000,4,0.194,0.056,2945,554,1108,0,0,0,0,0,0
$GC,12001,0.56,434.0,406.6,13.6,941,12008,0.00,2.20,0.00,0.000,6,0.000,0.046,2941,1980,1106,0,0,0,0,0,0
$GC,12329,0.56,434.0,358.2,14.5,972,12333,0.00,2.20,0.00,0.000,4,0.000,0.054,2949,556,1106,0,0,0,0,0,0
$GC,12384,0.59,434.0,350.2,13.2,976,12391,0.00,2.20,0.00,0.000,6,0.000,0.044,2949,1978,1105,0,0,0,0,0,0
$GC,12710,0.59,434.0,298.3,16.3,1007,12714,0.00,2.17,0.00,0.000,4,0.000,0.059,2949,3380,1106,0,0,0,0,0,0
$GC,12751,0.62,434.0,291.9,15.2,1010,12755,0.00,2.12,0.00,0.000,6,0.000,0.043,2957,1964,1106,0,0,0,0,0,0
$GC,13081,0.62,434.0,242.2,13.8,1045,13089,0.00,2.17,0.00,0.000,4,0.000,0.054,2968,560,1106,0,0,0,0,0,0
$GC,13138,0.62,434.0,233.8,14.3,1055,13146,0.00,2.17,0.00,0.000,6,0.000,0.043,2968,1966,1106,0,0,0,0,0,0
$GC,13462,0.62,434.0,183.6,13.2,1116,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1966,1106,0,0,0,0,0,0
$GC,13783,0.64,434.0,146.7,12.7,1177,13790,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1967,1106,0,0,0,0,0,0
$GC,14106,0.85,562.5,106.8,7.6,1238,14220,0.17,2.30,101.97,0.745,4,0.078,0.050,3064,569,588,0,0,0,0,0,0
$GC,14229,0.82,562.5,87.4,16.8,1255,14238,0.10,2.22,0.00,0.000,6,0.147,0.037,3030,1969,588,0,0,0,0,0,0
$GC,14559,0.86,562.5,39.1,15.0,1316,14567,0.00,2.20,0.00,0.000,4,0.000,0.047,3038,564,586,0,0,0,0,0,0
$GC,14612,0.91,562.5,31.2,13.0,1325,14620,0.00,2.17,0.00,0.000,6,0.000,0.037,3039,1971,585,0,0,0,0,0,0
$STATE,14876,end climb,SURFACE_DEPTH_REACHED
$STATE,14876,begin surface coast
$FINISH,0.8,1.021512
$STATE,14908,end surface coast,CONTROL_FINISHED_OK
$STATE,14911,begin surface
$SM_CCo,14988,0.00,0.000,0,0,585,563.94
$SM_GC,1.64,7.65,0.00,0.00,0.044,0.000,0.000,152,1785,585,-8.08,-0.42,563.94,0,0,0,0,0,0
$IRIDIUM_FIX,2040.99,12123.92,050811,171727
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.87
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,25.20
$XPDR_PINGS,106
$24V_AH,23.4,4.020
$10V_AH,10.3,2.972
$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,20.450,129.700,686.150,0.000,0.000,27.423,18.047,176.634,26.500,0.000,45.377,3282.610,7423.205,687.589,3593.727,386.467,0.000,2120.144,0.000,3331.308,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,63.495,1429.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,944.253,1415.201,1613.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323900
$DATA_FILE_SIZE,76992,1382
$CAP_FILE_SIZE,166596,0
$CFSIZE,260165632,146489344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060811,003600,2056.026,12120.280,72,1.2,77,-2.5