version: 66.09
glider: 166
mission: 6
dive: 12
start: 8 6 111 13 47 28
data:
$ID,166
$MISSION,6
$DIVE,12
$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,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,-24389.643
$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,2755
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,1600
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,39
$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
$GPS1,060811,134006,2107.626,12118.410,57,1.9,62,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.4
$GPS2,060811,134704,2107.757,12118.422,11,99.0,30,-2.6
$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,350.6,11819,-16.1,-11.786
$D_GRID,3403
$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,-0.87,-243.3,0.0,0.0,0,112,0.00,0.00,-92.68,0.000,2,0.000,0.000,126,1793,3156,0,0,0,0,0,0
$GC,115,-0.87,-243.3,5.7,-8.7,13,145,9.05,2.45,-12.65,0.000,4,0.230,0.057,2477,198,3877,0,0,0,0,0,0
$GC,365,-0.73,-243.3,115.7,-30.3,59,374,0.15,2.15,0.00,0.000,6,0.157,0.037,2513,1601,3879,0,0,0,0,0,0
$GC,690,-0.60,-243.3,194.3,-25.4,120,698,0.17,2.17,0.00,0.000,4,0.164,0.047,2583,207,3880,0,0,0,0,0,0
$GC,755,-0.60,-243.3,208.4,-18.3,131,763,0.00,2.12,0.00,0.000,6,0.000,0.038,2567,1598,3881,0,0,0,0,0,0
$GC,1087,-0.60,-243.3,263.6,-14.0,184,1090,0.00,2.12,0.00,0.000,4,0.000,0.050,2552,3006,3880,0,0,0,0,0,0
$GC,1130,-0.62,-243.3,268.2,-11.6,187,1134,0.00,2.08,0.00,0.000,6,0.000,0.038,2554,1598,3881,0,0,0,0,0,0
$GC,1455,-0.62,-243.3,306.9,-12.0,217,1459,0.00,2.10,0.00,0.000,4,0.000,0.050,2554,202,3881,0,0,0,0,0,0
$GC,1621,-0.65,-243.3,327.6,-12.3,231,1629,0.00,2.08,0.00,0.000,6,0.000,0.037,2541,1605,3880,0,0,0,0,0,0
$GC,1947,-0.65,-243.3,368.1,-12.3,262,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1605,3878,0,0,0,0,0,0
$GC,2269,-0.66,-243.3,397.3,-8.5,292,2273,0.00,2.10,0.00,0.000,4,0.000,0.053,2530,3006,3876,0,0,0,0,0,0
$GC,2298,-0.69,-243.3,400.1,-8.7,294,2303,0.00,2.10,0.00,0.000,6,0.000,0.041,2531,1593,3876,0,0,0,0,0,0
$GC,2624,-0.69,-243.3,433.6,-8.8,324,2628,0.00,2.10,0.00,0.000,4,0.000,0.051,2530,204,3874,0,0,0,0,0,0
$GC,2827,-0.72,-243.3,451.2,-8.8,341,2834,0.00,2.08,0.00,0.000,6,0.000,0.040,2521,1595,3872,0,0,0,0,0,0
$GC,3152,-0.72,-243.3,483.9,-11.4,372,3156,0.00,2.15,0.00,0.000,4,0.000,0.054,2519,199,3869,0,0,0,0,0,0
$GC,3205,-0.72,-243.3,490.7,-13.4,376,3209,0.00,2.10,0.00,0.000,6,0.000,0.041,2509,1605,3869,0,0,0,0,0,0
$GC,3531,-0.72,-243.3,532.2,-12.1,406,3535,0.00,2.15,0.00,0.000,4,0.000,0.052,2509,203,3866,0,0,0,0,0,0
$GC,3630,-0.73,-243.3,544.2,-11.5,414,3634,0.00,2.12,0.00,0.000,6,0.000,0.041,2499,1612,3865,0,0,0,0,0,0
$GC,3955,-0.73,-243.3,580.0,-11.1,444,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1612,3863,0,0,0,0,0,0
$GC,4281,-0.73,-243.3,618.8,-12.1,468,4285,0.00,2.17,0.00,0.000,4,0.000,0.055,2498,202,3860,0,0,0,0,0,0
$GC,4366,-0.73,-243.3,629.9,-12.7,472,4370,0.10,2.10,0.00,0.000,6,0.181,0.044,2514,1601,3859,0,0,0,0,0,0
$GC,4695,-0.75,-243.3,663.1,-9.8,488,4699,0.00,2.12,0.00,0.000,4,0.000,0.057,2505,3001,3856,0,0,0,0,0,0
$GC,4729,-0.79,-243.3,666.8,-10.1,489,4733,0.00,2.12,0.00,0.000,6,0.000,0.044,2505,1591,3856,0,0,0,0,0,0
$GC,5045,-0.79,-243.3,698.7,-10.0,504,5049,0.00,2.12,0.00,0.000,4,0.000,0.063,2505,198,3854,0,0,0,0,0,0
$GC,5163,-0.81,-243.3,711.1,-10.7,509,5167,0.00,2.12,0.00,0.000,6,0.000,0.044,2495,1593,3853,0,0,0,0,0,0
$GC,5485,-0.81,-243.3,743.8,-10.4,525,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1595,3851,0,0,0,0,0,0
$GC,5796,-0.81,-243.3,776.9,-10.7,540,5800,0.00,2.15,0.00,0.000,4,0.000,0.060,2484,3008,3848,0,0,0,0,0,0
$GC,5846,-0.83,-243.3,782.0,-9.4,542,5850,0.00,2.10,0.00,0.000,6,0.000,0.046,2484,1602,3848,0,0,0,0,0,0
$GC,6168,-0.83,-243.3,811.9,-9.0,558,6172,0.00,2.15,0.00,0.000,4,0.000,0.060,2484,205,3847,0,0,0,0,0,0
$GC,6254,-0.83,-243.3,820.8,-10.4,562,6258,0.00,2.12,0.00,0.000,6,0.000,0.047,2473,1611,3846,0,0,0,0,0,0
$GC,6582,-0.81,-243.3,857.6,-11.7,578,6586,0.00,2.17,0.00,0.000,4,0.000,0.059,2473,208,3844,0,0,0,0,0,0
$GC,6632,-0.81,-243.3,864.9,-14.3,580,6636,0.00,2.15,0.00,0.000,6,0.000,0.049,2463,1593,3844,0,0,0,0,0,0
$GC,6954,-0.78,-243.3,908.8,-13.6,596,6959,0.15,2.22,0.00,0.000,4,0.182,0.063,2496,3018,3841,0,0,0,0,0,0
$GC,7001,-0.83,-243.3,914.6,-12.0,598,7005,0.00,2.12,0.00,0.000,6,0.000,0.047,2496,1601,3841,0,0,0,0,0,0
$GC,7328,-0.84,-243.3,948.3,-10.1,614,7332,0.00,2.15,0.00,0.000,4,0.000,0.061,2496,207,3839,0,0,0,0,0,0
$GC,7380,-0.86,-243.3,954.1,-11.2,616,7384,0.00,2.15,0.00,0.000,6,0.000,0.050,2486,1605,3839,0,0,0,0,0,0
$GC,7702,-0.86,-243.3,987.1,-10.3,632,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1605,3837,0,0,0,0,0,0
$STATE,7740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7740,begin apogee
$GC,7746,-0.18,0.0,991.3,10.2,634,7950,0.62,0.00,198.55,1.436,6,0.138,0.000,2690,1910,2884,0,0,0,0,0,0
$STATE,7951,end apogee,CONTROL_FINISHED_OK
$STATE,7951,begin climb
$GC,7953,0.87,243.3,997.3,0.0,643,8181,0.98,2.38,217.90,1.369,4,0.061,0.063,3040,3300,1891,0,0,0,0,0,0
$GC,8277,0.65,243.3,929.0,29.6,657,8283,0.32,2.25,0.00,0.000,6,0.201,0.052,2968,1898,1886,0,0,0,0,0,0
$GC,8601,0.52,243.3,860.8,20.2,673,8606,0.17,2.25,0.00,0.000,4,0.205,0.064,2914,3297,1882,0,0,0,0,0,0
$GC,8665,0.47,243.3,849.7,15.5,676,8669,0.00,2.15,0.00,0.000,6,0.000,0.046,2922,1897,1882,0,0,0,0,0,0
$GC,8992,0.41,243.3,798.4,15.2,692,8997,0.12,2.20,0.00,0.000,4,0.194,0.057,2900,484,1881,0,0,0,0,0,0
$GC,9030,0.38,243.3,792.9,13.4,693,9037,0.00,2.17,0.00,0.000,6,0.000,0.047,2893,1895,1880,0,0,0,0,0,0
$GC,9348,0.36,243.3,753.6,12.8,709,9352,0.00,2.20,0.00,0.000,4,0.000,0.061,2893,3306,1880,0,0,0,0,0,0
$GC,9397,0.36,243.3,746.2,14.1,711,9401,0.00,2.17,0.00,0.000,6,0.000,0.045,2901,1902,1880,0,0,0,0,0,0
$GC,9720,0.34,243.3,702.2,13.4,727,9722,0.12,0.00,0.00,0.000,6,0.190,0.000,2871,1901,1879,0,0,0,0,0,0
$GC,10029,0.41,284.4,669.4,10.5,742,10072,0.00,2.28,36.42,1.227,4,0.000,0.057,2880,495,1723,0,0,0,0,0,0
$GC,10109,0.50,317.1,661.1,10.7,745,10145,0.10,2.22,31.02,1.180,6,0.106,0.045,2923,1911,1590,0,0,0,0,0,0
$GC,10468,0.46,317.1,606.7,15.0,763,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1912,1587,0,0,0,0,0,0
$GC,10787,0.44,317.1,556.7,15.7,790,10791,0.00,2.22,0.00,0.000,4,0.000,0.062,2923,3313,1586,0,0,0,0,0,0
$GC,10827,0.44,317.1,550.0,15.2,793,10832,0.15,2.15,0.00,0.000,6,0.183,0.044,2896,1898,1586,0,0,0,0,0,0
$GC,11152,0.48,330.2,515.0,11.4,823,11169,0.00,2.20,12.12,1.042,4,0.000,0.057,2903,495,1537,0,0,0,0,0,0
$GC,11217,0.51,330.2,507.1,12.6,828,11222,0.00,2.20,0.00,0.000,6,0.000,0.046,2904,1910,1536,0,0,0,0,0,0
$GC,11543,0.54,335.4,466.9,11.6,858,11556,0.00,2.22,6.28,0.869,4,0.000,0.054,2912,492,1516,0,0,0,0,0,0
$GC,11580,0.57,335.4,462.2,12.5,861,11584,0.00,2.17,0.00,0.000,6,0.000,0.044,2912,1891,1516,0,0,0,0,0,0
$GC,11905,0.59,352.8,421.6,11.2,891,11926,0.00,0.00,16.67,1.010,6,0.000,0.000,2912,1892,1445,0,0,0,0,0,0
$GC,12246,0.61,352.8,386.1,12.7,923,12251,0.12,2.20,0.00,0.000,4,0.099,0.056,2982,487,1443,0,0,0,0,0,0
$GC,12267,0.59,352.8,382.4,14.3,924,12275,0.12,2.20,0.00,0.000,6,0.179,0.044,2945,1913,1442,0,0,0,0,0,0
$GC,12594,0.57,352.8,330.9,14.6,955,12598,0.00,2.15,0.00,0.000,4,0.000,0.059,2936,3301,1442,0,0,0,0,0,0
$GC,12635,0.59,352.8,325.0,13.2,958,12639,0.00,2.12,0.00,0.000,6,0.000,0.044,2944,1891,1442,0,0,0,0,0,0
$GC,12962,0.59,352.8,280.6,13.3,988,12966,0.00,2.15,0.00,0.000,4,0.000,0.054,2956,492,1442,0,0,0,0,0,0
$GC,13068,0.59,352.8,266.9,12.5,997,13073,0.00,2.12,0.00,0.000,6,0.000,0.044,2948,1905,1441,0,0,0,0,0,0
$GC,13392,0.59,352.8,226.6,13.2,1044,13400,0.00,2.15,0.00,0.000,4,0.000,0.056,2939,3297,1441,0,0,0,0,0,0
$GC,13454,0.65,352.8,218.3,12.5,1055,13462,0.00,2.12,0.00,0.000,6,0.000,0.042,2945,1902,1441,0,0,0,0,0,0
$GC,13779,0.73,401.6,183.2,10.2,1116,13831,0.12,2.25,41.60,0.822,4,0.090,0.052,3022,495,1245,0,0,0,0,0,0
$GC,13852,0.67,401.6,171.9,17.6,1126,13861,0.15,2.20,0.00,0.000,6,0.137,0.040,2971,1900,1243,0,0,0,0,0,0
$GC,14180,0.69,422.1,130.6,11.1,1187,14203,0.00,2.25,18.02,0.729,4,0.000,0.053,2969,3307,1162,0,0,0,0,0,0
$GC,14257,0.84,495.8,122.4,9.4,1200,14329,0.10,2.17,60.72,0.741,6,0.048,0.039,3043,1901,860,0,0,0,0,0,0
$GC,14644,0.84,495.8,56.6,14.5,1270,14652,0.00,2.20,0.00,0.000,4,0.000,0.049,3054,502,858,0,0,0,0,0,0
$GC,14686,0.84,495.8,51.0,12.9,1277,14694,0.00,2.15,0.00,0.000,6,0.000,0.037,3054,1894,857,0,0,0,0,0,0
$GC,15010,0.86,495.8,10.3,11.9,1338,15018,0.00,2.17,0.00,0.000,4,0.000,0.048,3065,501,857,0,0,0,0,0,0
$GC,15057,0.90,508.1,4.8,11.4,1346,15073,0.00,2.15,10.68,0.568,6,0.000,0.038,3064,1912,812,0,0,0,0,0,0
$STATE,15079,end climb,SURFACE_DEPTH_REACHED
$STATE,15079,begin surface coast
$FINISH,0.8,1.012454
$STATE,15101,end surface coast,CONTROL_FINISHED_OK
$STATE,15101,begin surface
$SM_CCo,15180,0.00,0.000,0,0,809,509.00
$SM_GC,1.61,7.68,0.00,0.00,0.044,0.000,0.000,151,1590,809,-8.07,-0.28,509.00,0,0,0,0,0,0
$IRIDIUM_FIX,2054.83,12055.45,060811,090906
$TT8_MAMPS,0.026964,0.026964
$HUMID,32.39
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.30
$XPDR_PINGS,106
$24V_AH,23.3,5.024
$10V_AH,10.3,3.605
$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,20.525,139.625,650.000,0.000,0.000,29.645,63.491,157.715,26.500,0.000,32.660,3222.678,7986.897,653.233,3323.682,395.895,0.000,2020.499,0.000,3046.845,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,64.260,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.878,1384.228,1404.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324460
$DATA_FILE_SIZE,76897,1353
$CAP_FILE_SIZE,170019,0
$CFSIZE,260165632,146120704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060811,180206,2111.627,12116.599,60,1.8,60,-2.6