version: 66.09
glider: 166
mission: 6
dive: 10
start: 8 6 111 5 15 16
data:
$ID,166
$MISSION,6
$DIVE,10
$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,-8
$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,-24386.928
$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,36
$R_STBD_OVSHOOT,45
$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
$GPS1,060811,050537,2100.554,12120.835,43,2.0,43,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-64.0
$GPS2,060811,051437,2100.619,12120.804,36,2.0,47,-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,347.7,25637,-16.1,-11.786
$D_GRID,3330
$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,15,begin dive
$GC,18,-0.75,-243.3,0.0,0.0,0,124,0.00,0.00,-103.12,0.000,2,0.000,0.000,149,1816,3129,0,0,0,0,0,0
$GC,127,-0.75,-243.3,6.0,-11.5,15,158,8.95,2.20,-12.88,0.000,4,0.222,0.054,2526,387,3878,0,0,0,0,0,0
$GC,312,-0.59,-243.3,79.3,-31.8,48,321,0.15,2.15,0.00,0.000,6,0.148,0.038,2564,1789,3879,0,0,0,0,0,0
$GC,639,-0.53,-243.3,156.2,-24.3,109,647,0.00,2.17,0.00,0.000,4,0.000,0.048,2552,3212,3880,0,0,0,0,0,0
$GC,683,-0.53,-243.3,165.1,-18.2,116,692,0.10,2.15,0.00,0.000,6,0.125,0.037,2585,1788,3881,0,0,0,0,0,0
$GC,1007,-0.55,-243.3,196.3,-10.5,177,1015,0.00,2.12,0.00,0.000,4,0.000,0.047,2584,391,3882,0,0,0,0,0,0
$GC,1209,-0.59,-243.3,224.0,-13.9,215,1217,0.00,2.12,0.00,0.000,6,0.000,0.037,2570,1803,3881,0,0,0,0,0,0
$GC,1538,-0.63,-243.3,259.7,-10.0,268,1542,0.00,2.15,0.00,0.000,4,0.000,0.047,2570,384,3880,0,0,0,0,0,0
$GC,1698,-0.68,-243.3,276.0,-9.7,282,1702,0.00,2.12,0.00,0.000,6,0.000,0.039,2558,1806,3880,0,0,0,0,0,0
$GC,2024,-0.71,-243.3,313.9,-13.2,312,2028,0.00,2.12,0.00,0.000,4,0.000,0.047,2559,396,3877,0,0,0,0,0,0
$GC,2058,-0.74,-243.3,318.7,-13.8,314,2065,0.00,2.10,0.00,0.000,6,0.000,0.039,2549,1803,3877,0,0,0,0,0,0
$GC,2386,-0.78,-243.3,356.4,-9.3,345,2390,0.12,2.15,0.00,0.000,4,0.088,0.050,2479,393,3875,0,0,0,0,0,0
$GC,2416,-0.74,-243.3,360.3,-12.1,347,2420,0.17,2.10,0.00,0.000,6,0.161,0.040,2519,1806,3875,0,0,0,0,0,0
$GC,2746,-0.74,-243.3,407.2,-15.5,378,2750,0.00,2.15,0.00,0.000,4,0.000,0.049,2519,391,3872,0,0,0,0,0,0
$GC,2896,-0.76,-243.3,429.3,-13.8,391,2900,0.00,2.12,0.00,0.000,6,0.000,0.041,2511,1809,3871,0,0,0,0,0,0
$GC,3221,-0.76,-243.3,465.4,-10.5,421,3225,0.00,2.15,0.00,0.000,4,0.000,0.050,2511,392,3869,0,0,0,0,0,0
$GC,3296,-0.78,-243.3,474.2,-11.5,427,3300,0.00,2.10,0.00,0.000,6,0.000,0.042,2501,1804,3869,0,0,0,0,0,0
$GC,3622,-0.78,-243.3,512.9,-11.4,457,3626,0.00,2.15,0.00,0.000,4,0.000,0.051,2502,392,3866,0,0,0,0,0,0
$GC,3735,-0.78,-243.3,525.2,-10.8,466,3743,0.00,2.10,0.00,0.000,6,0.000,0.044,2492,1798,3864,0,0,0,0,0,0
$GC,4062,-0.76,-243.3,562.9,-11.4,497,4066,0.00,2.15,0.00,0.000,4,0.000,0.053,2492,390,3862,0,0,0,0,0,0
$GC,4129,-0.74,-243.3,571.3,-11.7,502,4136,0.15,2.15,0.00,0.000,6,0.167,0.046,2523,1806,3861,0,0,0,0,0,0
$GC,4455,-0.77,-243.3,599.4,-9.1,533,4458,0.00,2.17,0.00,0.000,4,0.000,0.054,2524,390,3858,0,0,0,0,0,0
$GC,4567,-0.81,-243.3,611.4,-10.8,538,4571,0.00,2.12,0.00,0.000,6,0.000,0.045,2515,1803,3856,0,0,0,0,0,0
$GC,4890,-0.83,-243.3,648.3,-12.6,554,4894,0.00,2.17,0.00,0.000,4,0.000,0.055,2514,388,3854,0,0,0,0,0,0
$GC,4945,-0.86,-243.3,656.5,-13.9,556,4952,0.00,2.15,0.00,0.000,6,0.000,0.053,2503,1800,3854,0,0,0,0,0,0
$GC,5261,-0.86,-243.3,696.4,-12.0,572,5265,0.00,2.17,0.00,0.000,4,0.000,0.057,2502,392,3851,0,0,0,0,0,0
$GC,5397,-0.86,-243.3,713.1,-12.1,578,5401,0.00,2.12,0.00,0.000,6,0.000,0.047,2492,1801,3850,0,0,0,0,0,0
$GC,5724,-0.86,-243.3,751.7,-12.1,594,5728,0.00,2.15,0.00,0.000,4,0.000,0.056,2491,401,3848,0,0,0,0,0,0
$GC,5792,-0.86,-243.3,760.9,-14.1,597,5796,0.00,2.12,0.00,0.000,6,0.000,0.049,2481,1804,3847,0,0,0,0,0,0
$GC,6113,-0.86,-243.3,801.5,-12.0,613,6117,0.00,2.17,0.00,0.000,4,0.000,0.057,2481,391,3845,0,0,0,0,0,0
$GC,6186,-0.86,-243.3,810.8,-12.1,616,6190,0.00,2.15,0.00,0.000,6,0.000,0.050,2471,1806,3844,0,0,0,0,0,0
$GC,6508,-0.84,-243.3,849.9,-12.2,632,6512,0.00,2.17,0.00,0.000,4,0.000,0.057,2471,398,3842,0,0,0,0,0,0
$GC,6678,-0.82,-243.3,871.5,-12.3,639,6686,0.12,2.15,0.00,0.000,6,0.184,0.050,2494,1799,3841,0,0,0,0,0,0
$GC,6994,-0.82,-243.3,904.7,-10.4,655,6998,0.00,2.20,0.00,0.000,4,0.000,0.060,2494,390,3839,0,0,0,0,0,0
$GC,7067,-0.83,-243.3,913.3,-12.4,658,7071,0.00,2.15,0.00,0.000,6,0.000,0.051,2485,1806,3838,0,0,0,0,0,0
$GC,7384,-0.83,-243.3,951.1,-12.1,673,7388,0.00,2.17,0.00,0.000,4,0.000,0.059,2486,401,3837,0,0,0,0,0,0
$GC,7516,-0.83,-243.3,967.0,-11.8,679,7520,0.00,2.17,0.00,0.000,6,0.000,0.052,2476,1809,3836,0,0,0,0,0,0
$STATE,7737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7737,begin apogee
$GC,7744,-0.14,0.0,991.2,10.2,690,7949,0.73,0.00,198.32,1.450,6,0.142,0.000,2713,1986,2883,0,0,0,0,0,0
$STATE,7949,end apogee,CONTROL_FINISHED_OK
$STATE,7949,begin climb
$GC,7953,0.75,243.3,993.8,0.0,699,8183,0.77,2.42,216.62,1.368,4,0.052,0.065,3015,3367,1891,0,0,0,0,0,0
$GC,8401,0.57,243.3,899.2,24.0,720,8407,0.30,2.17,0.00,0.000,6,0.198,0.047,2947,1972,1885,0,0,0,0,0,0
$GC,8719,0.48,243.3,844.8,16.1,735,8724,0.12,2.20,0.00,0.000,4,0.205,0.057,2924,563,1882,0,0,0,0,0,0
$GC,8779,0.43,243.3,835.9,13.2,737,8786,0.00,2.20,0.00,0.000,6,0.000,0.048,2923,1971,1881,0,0,0,0,0,0
$GC,9097,0.38,243.3,791.1,15.0,753,9102,0.15,2.20,0.00,0.000,4,0.183,0.063,2878,3375,1880,0,0,0,0,0,0
$GC,9113,0.34,243.3,788.4,15.1,753,9120,0.00,2.15,0.00,0.000,6,0.000,0.044,2887,1966,1879,0,0,0,0,0,0
$GC,9430,0.36,256.1,752.1,11.4,769,9446,0.00,2.20,11.25,1.164,4,0.000,0.056,2897,555,1838,0,0,0,0,0,0
$GC,9530,0.36,256.1,739.9,12.0,772,9537,0.00,2.22,0.00,0.000,6,0.000,0.047,2897,1975,1836,0,0,0,0,0,0
$GC,9846,0.36,256.1,699.9,13.3,788,9850,0.00,2.20,0.00,0.000,4,0.000,0.056,2907,556,1836,0,0,0,0,0,0
$GC,9871,0.36,256.1,696.9,13.2,789,9876,0.12,2.20,0.00,0.000,6,0.175,0.048,2876,1992,1835,0,0,0,0,0,0
$GC,10199,0.40,273.5,661.6,11.2,805,10223,0.00,2.33,16.88,1.179,4,0.000,0.056,2884,565,1768,0,0,0,0,0,0
$GC,10286,0.48,305.2,651.9,10.8,808,10322,0.00,2.20,30.55,1.194,6,0.000,0.047,2884,1971,1638,0,0,0,0,0,0
$GC,10645,0.67,441.4,622.2,7.4,826,10775,0.28,2.40,120.35,1.176,4,0.070,0.057,3009,568,1083,0,0,0,0,0,0
$GC,10783,0.56,441.4,596.0,22.0,833,10788,0.25,2.28,0.00,0.000,6,0.177,0.045,2947,1973,1082,0,0,0,0,0,0
$GC,11108,0.56,441.4,534.3,18.0,863,11112,0.00,2.22,0.00,0.000,4,0.000,0.056,2955,557,1079,0,0,0,0,0,0
$GC,11125,0.56,441.4,531.2,17.9,864,11129,0.00,2.22,0.00,0.000,6,0.000,0.046,2955,1971,1078,0,0,0,0,0,0
$GC,11452,0.55,441.4,476.6,14.9,894,11456,0.00,2.20,0.00,0.000,4,0.000,0.062,2954,3386,1077,0,0,0,0,0,0
$GC,11469,0.53,441.4,473.6,15.2,895,11474,0.12,2.15,0.00,0.000,6,0.194,0.044,2934,1968,1077,0,0,0,0,0,0
$GC,11796,0.53,441.4,431.2,13.3,925,11800,0.00,2.17,0.00,0.000,4,0.000,0.057,2942,565,1077,0,0,0,0,0,0
$GC,11880,0.56,441.4,419.8,12.3,932,11885,0.00,2.17,0.00,0.000,6,0.000,0.045,2935,1976,1076,0,0,0,0,0,0
$GC,12206,0.58,441.4,377.0,14.8,962,12210,0.00,2.20,0.00,0.000,4,0.000,0.053,2944,560,1076,0,0,0,0,0,0
$GC,12302,0.63,441.4,364.0,12.9,970,12306,0.00,2.17,0.00,0.000,6,0.000,0.045,2945,1972,1076,0,0,0,0,0,0
$GC,12627,0.65,441.4,320.7,14.6,1000,12631,0.00,2.17,0.00,0.000,4,0.000,0.054,2956,558,1076,0,0,0,0,0,0
$GC,12683,0.69,441.4,312.0,15.2,1004,12690,0.00,2.17,0.00,0.000,6,0.000,0.044,2955,1977,1076,0,0,0,0,0,0
$GC,13009,0.69,441.4,263.1,13.0,1035,13013,0.00,2.17,0.00,0.000,4,0.000,0.054,2961,563,1076,0,0,0,0,0,0
$GC,13062,0.72,441.4,256.7,12.0,1039,13066,0.00,2.15,0.00,0.000,6,0.000,0.043,2961,1979,1076,0,0,0,0,0,0
$GC,13384,0.72,441.4,215.5,13.2,1094,13392,0.00,2.20,0.00,0.000,4,0.000,0.053,2969,563,1076,0,0,0,0,0,0
$GC,13453,0.75,441.4,206.1,13.5,1106,13461,0.00,2.15,0.00,0.000,6,0.000,0.042,2968,1971,1076,0,0,0,0,0,0
$GC,13777,0.77,441.4,159.8,12.1,1167,13785,0.10,2.15,0.00,0.000,4,0.106,0.056,3018,3370,1077,0,0,0,0,0,0
$GC,13794,0.77,441.4,157.5,12.4,1169,13802,0.00,2.12,0.00,0.000,6,0.000,0.040,3026,1963,1076,0,0,0,0,0,0
$GC,14121,0.74,441.4,102.1,19.1,1230,14128,0.00,2.15,0.00,0.000,4,0.000,0.051,3037,558,1076,0,0,0,0,0,0
$GC,14215,0.74,441.4,85.9,14.1,1247,14223,0.10,2.15,0.00,0.000,6,0.130,0.041,3001,1976,1076,0,0,0,0,0,0
$GC,14537,0.94,548.9,57.3,8.3,1308,14631,0.17,2.20,85.70,0.692,4,0.071,0.049,3090,3380,644,0,0,0,0,0,0
$GC,14678,0.98,548.9,34.4,15.7,1329,14688,0.00,2.20,0.00,0.000,6,0.000,0.038,3100,1969,641,0,0,0,0,0,0
$STATE,14859,end climb,SURFACE_DEPTH_REACHED
$STATE,14859,begin surface coast
$FINISH,1.0,1.021467
$STATE,14877,end surface coast,CONTROL_FINISHED_OK
$STATE,14877,begin surface
$SM_CCo,14956,0.00,0.000,0,0,640,550.45
$SM_GC,1.66,7.82,0.00,0.00,0.045,0.000,0.000,154,1783,640,-8.08,-0.48,550.45,0,0,0,0,0,0
$IRIDIUM_FIX,2047.91,12118.01,060811,000007
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.69
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.90
$XPDR_PINGS,90
$24V_AH,23.3,4.541
$10V_AH,10.3,3.295
$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,20.825,152.700,679.675,0.000,0.000,61.655,28.593,205.164,22.500,0.000,48.069,3278.241,7492.922,714.425,3598.551,410.410,0.000,2142.675,0.000,3261.745,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,76.500,1450.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,934.078,1398.244,1569.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324688
$DATA_FILE_SIZE,76813,1366
$CAP_FILE_SIZE,174110,0
$CFSIZE,260165632,146296832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060811,092556,2103.824,12119.603,26,99.0,45,-2.5