version: 66.09
glider: 166
mission: 6
dive: 14
start: 8 6 111 22 7 51
data:
$ID,166
$MISSION,6
$DIVE,14
$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,-24392.16
$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,42
$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,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
$GPS1,060811,215827,2115.277,12115.906,27,2.4,46,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.5
$GPS2,060811,220730,2115.522,12116.056,15,2.0,18,-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,152.6,3256,-28.0,-11.786
$D_GRID,3394
$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,-1.10,-80.6,0.0,0.0,0,105,0.00,0.00,-85.32,0.000,2,0.000,0.000,143,1620,3060,0,0,0,0,0,0
$GC,108,-1.14,-115.3,5.4,-8.4,12,131,8.65,2.15,-5.88,0.000,4,0.227,0.055,2383,3011,3356,0,0,0,0,0,0
$GC,177,-0.88,-115.3,40.7,-51.9,23,186,0.25,2.17,0.00,0.000,6,0.182,0.040,2459,1604,3358,0,0,0,0,0,0
$GC,497,-0.82,-115.3,139.1,-25.1,84,506,0.12,2.17,0.00,0.000,4,0.197,0.046,2505,198,3359,0,0,0,0,0,0
$GC,703,-0.82,-115.3,180.5,-17.6,122,710,0.00,2.12,0.00,0.000,6,0.000,0.036,2489,1596,3360,0,0,0,0,0,0
$GC,1025,-0.84,-115.3,239.9,-18.4,183,1033,0.00,2.15,0.00,0.000,4,0.000,0.050,2476,3002,3361,0,0,0,0,0,0
$GC,1054,-0.87,-115.3,244.7,-18.2,187,1062,0.00,2.12,0.00,0.000,6,0.000,0.039,2477,1598,3360,0,0,0,0,0,0
$GC,1389,-0.90,-115.3,303.8,-15.7,220,1393,0.00,2.10,0.00,0.000,4,0.000,0.048,2476,206,3360,0,0,0,0,0,0
$GC,1646,-0.90,-115.3,346.6,-15.7,242,1653,0.00,2.10,0.00,0.000,6,0.000,0.037,2463,1599,3360,0,0,0,0,0,0
$GC,1972,-0.94,-115.3,391.3,-14.5,273,1976,0.00,2.12,0.00,0.000,4,0.000,0.050,2464,202,3358,0,0,0,0,0,0
$GC,2230,-0.94,-115.3,440.3,-18.9,295,2237,0.00,2.10,0.00,0.000,6,0.000,0.038,2452,1605,3357,0,0,0,0,0,0
$GC,2555,-0.98,-115.3,486.8,-13.3,326,2559,0.00,2.12,0.00,0.000,4,0.000,0.050,2453,208,3354,0,0,0,0,0,0
$GC,2730,-0.99,-115.3,513.6,-15.5,341,2734,0.00,2.08,0.00,0.000,6,0.000,0.040,2442,1603,3353,0,0,0,0,0,0
$GC,3060,-1.02,-115.3,562.3,-14.5,372,3064,0.00,2.12,0.00,0.000,4,0.000,0.052,2442,205,3351,0,0,0,0,0,0
$GC,3253,-1.02,-115.3,592.3,-14.5,389,3257,0.00,2.08,0.00,0.000,6,0.000,0.041,2430,1597,3348,0,0,0,0,0,0
$GC,3581,-1.05,-115.3,636.3,-13.5,407,3585,0.00,2.15,0.00,0.000,4,0.000,0.054,2430,196,3345,0,0,0,0,0,0
$GC,3644,-1.05,-115.3,646.0,-16.0,410,3648,0.00,2.12,0.00,0.000,6,0.000,0.043,2420,1609,3344,0,0,0,0,0,0
$GC,3977,-1.05,-115.3,697.0,-15.0,426,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1610,3342,0,0,0,0,0,0
$GC,4288,-1.06,-115.3,744.5,-15.3,441,4292,0.00,2.17,0.00,0.000,4,0.000,0.054,2420,198,3339,0,0,0,0,0,0
$GC,4455,-1.06,-115.3,773.8,-16.5,448,4462,0.00,2.15,0.00,0.000,6,0.000,0.044,2409,1601,3336,0,0,0,0,0,0
$GC,4773,-1.06,-115.3,822.5,-15.9,464,4777,0.00,2.15,0.00,0.000,4,0.000,0.055,2409,205,3334,0,0,0,0,0,0
$GC,5031,-1.04,-115.3,869.9,-19.1,475,5038,0.00,2.12,0.00,0.000,6,0.000,0.047,2398,1602,3333,0,0,0,0,0,0
$GC,5348,-1.04,-115.3,917.7,-13.5,491,5352,0.00,2.15,0.00,0.000,4,0.000,0.057,2398,209,3330,0,0,0,0,0,0
$GC,5607,-1.01,-115.3,953.5,-13.4,502,5614,0.15,2.12,0.00,0.000,6,0.210,0.047,2425,1597,3329,0,0,0,0,0,0
$GC,5923,-1.05,-120.2,988.6,-11.3,518,5927,0.00,2.15,0.00,0.000,4,0.000,0.058,2427,208,3327,0,0,0,0,0,0
$STATE,5932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5932,begin apogee
$GC,5940,-0.18,0.0,990.1,11.3,518,6041,0.90,0.00,91.40,1.446,6,0.170,0.000,2691,1906,2883,0,0,0,0,0,0
$STATE,6042,end apogee,CONTROL_FINISHED_OK
$STATE,6042,begin climb
$GC,6044,1.15,120.2,992.5,0.0,523,6165,1.23,2.35,108.25,1.390,4,0.073,0.061,3117,3310,2391,0,0,0,0,0,0
$GC,6347,0.97,120.2,926.0,27.5,537,6352,0.22,2.22,0.00,0.000,6,0.226,0.047,3073,1898,2384,0,0,0,0,0,0
$GC,6677,0.84,120.2,845.6,24.5,553,6681,0.17,2.22,0.00,0.000,4,0.225,0.060,3021,3307,2381,0,0,0,0,0,0
$GC,6754,0.78,120.2,825.6,23.6,556,6761,0.00,2.15,0.00,0.000,6,0.000,0.046,3029,1896,2380,0,0,0,0,0,0
$GC,7072,0.70,120.2,755.2,22.5,572,7074,0.17,0.00,0.00,0.000,6,0.213,0.000,2987,1896,2380,0,0,0,0,0,0
$GC,7380,0.68,120.2,699.9,16.0,587,7384,0.00,2.22,0.00,0.000,4,0.000,0.057,2977,3312,2378,0,0,0,0,0,0
$GC,7435,0.67,120.2,690.7,15.8,589,7442,0.00,2.17,0.00,0.000,6,0.000,0.044,2985,1889,2377,0,0,0,0,0,0
$GC,7752,0.67,120.2,647.7,13.4,605,7756,0.00,2.22,0.00,0.000,4,0.000,0.058,2977,3315,2376,0,0,0,0,0,0
$GC,7836,0.67,120.2,633.8,16.9,609,7840,0.00,2.15,0.00,0.000,6,0.000,0.044,2985,1900,2376,0,0,0,0,0,0
$GC,8159,0.67,120.2,571.5,19.5,631,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1900,2375,0,0,0,0,0,0
$GC,8477,0.67,120.2,511.0,17.9,661,8481,0.00,2.15,0.00,0.000,4,0.000,0.054,2995,486,2375,0,0,0,0,0,0
$GC,8586,0.65,120.2,492.0,17.3,670,8590,0.00,2.17,0.00,0.000,6,0.000,0.045,2987,1907,2374,0,0,0,0,0,0
$GC,8911,0.65,121.6,445.7,11.7,700,8915,0.00,2.15,0.00,0.000,4,0.000,0.059,2977,3309,2373,0,0,0,0,0,0
$GC,9104,0.70,155.4,426.5,8.5,716,9137,0.00,2.12,27.10,1.048,6,0.000,0.044,2985,1898,2249,0,0,0,0,0,0
$GC,9458,0.70,155.4,381.4,16.6,749,9462,0.00,2.15,0.00,0.000,4,0.000,0.052,2996,497,2246,0,0,0,0,0,0
$GC,9503,0.72,155.4,373.6,16.6,752,9510,0.00,2.17,0.00,0.000,6,0.000,0.044,2987,1913,2245,0,0,0,0,0,0
$GC,9830,0.75,155.4,328.8,13.8,783,9834,0.00,2.12,0.00,0.000,4,0.000,0.057,2977,3306,2245,0,0,0,0,0,0
$GC,9914,0.79,158.0,318.1,11.5,790,9920,0.00,2.15,0.00,0.000,6,0.000,0.041,2986,1888,2244,0,0,0,0,0,0
$GC,10241,0.84,166.7,287.3,10.9,821,10256,0.12,2.15,10.23,0.836,4,0.103,0.053,3053,489,2204,0,0,0,0,0,0
$GC,10332,0.80,166.7,272.5,18.7,829,10337,0.12,2.15,0.00,0.000,6,0.199,0.042,3014,1907,2203,0,0,0,0,0,0
$GC,10655,0.83,166.7,224.5,12.1,878,10663,0.00,2.15,0.00,0.000,4,0.000,0.054,3003,3297,2202,0,0,0,0,0,0
$GC,10900,0.86,166.7,195.2,12.0,924,10908,0.00,2.12,0.00,0.000,6,0.000,0.040,3011,1901,2202,0,0,0,0,0,0
$GC,11223,0.92,177.5,160.1,10.7,985,11239,0.12,2.22,10.65,0.727,4,0.100,0.051,3055,3306,2159,0,0,0,0,0,0
$GC,11340,0.92,177.5,142.0,15.4,1005,11348,0.00,2.15,0.00,0.000,6,0.000,0.039,3063,1896,2159,0,0,0,0,0,0
$GC,11663,1.03,266.0,111.4,3.1,1066,11746,0.00,2.25,73.78,0.747,4,0.000,0.047,3074,496,1798,0,0,0,0,0,0
$GC,11797,1.08,266.0,101.1,12.4,1086,11805,0.08,2.20,0.00,0.000,6,0.066,0.036,3111,1902,1795,0,0,0,0,0,0
$GC,12121,1.10,266.0,51.9,13.9,1147,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1903,1795,0,0,0,0,0,0
$GC,12444,1.14,266.0,10.9,12.7,1208,12451,0.00,2.17,0.00,0.000,4,0.000,0.046,3101,3310,1795,0,0,0,0,0,0
$STATE,12495,end climb,SURFACE_DEPTH_REACHED
$STATE,12495,begin surface coast
$FINISH,0.8,1.021458
$STATE,12511,end surface coast,CONTROL_FINISHED_OK
$STATE,12512,begin surface
$SM_CCo,12533,98.18,0.548,1,0,1048,450.13
$SM_GC,1.57,0.00,0.00,98.18,0.000,0.000,0.548,145,1596,1048,-8.18,-0.11,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2106.38,12116.46,060811,181819
$TT8_MAMPS,0.026215,0.026215
$HUMID,31.33
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.80
$XPDR_PINGS,106
$24V_AH,23.6,5.335
$10V_AH,10.3,3.900
$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,20.050,108.825,321.400,98.175,0.000,30.104,20.550,332.771,26.500,0.000,19.403,2928.790,5992.847,521.944,3360.069,361.784,0.000,1718.106,0.000,2967.934,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,61.200,1445.850,547.740,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.936,1248.399,1521.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324408
$DATA_FILE_SIZE,70204,1220
$CAP_FILE_SIZE,142105,0
$CFSIZE,260165632,145985536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070811,014007,2116.966,12119.170,60,1.4,60,-2.6