version: 66.09
glider: 166
mission: 6
dive: 16
start: 8 7 111 6 1 25
data:
$ID,166
$MISSION,6
$DIVE,16
$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,-24394.773
$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,55
$R_STBD_OVSHOOT,46
$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
$GPS1,070811,055356,2116.919,12118.884,43,3.2,62,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.2
$GPS2,070811,060104,2116.993,12118.841,14,2.9,33,-2.6
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,6.1,197795,-16.1,-11.786
$D_GRID,2432
$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,20,-0.87,-243.3,0.0,0.0,0,118,0.00,0.00,-95.93,0.000,2,0.000,0.000,143,1582,3182,0,0,0,0,0,0
$GC,121,-0.87,-243.3,6.6,-12.3,14,151,8.93,2.12,-12.20,0.000,4,0.227,0.057,2482,215,3880,0,0,0,0,0,0
$GC,325,-0.69,-243.3,93.2,-28.7,51,334,0.17,2.12,0.00,0.000,6,0.165,0.038,2527,1590,3882,0,0,0,0,0,0
$GC,647,-0.57,-243.3,172.2,-22.7,112,656,0.15,2.15,0.00,0.000,4,0.172,0.049,2578,218,3884,0,0,0,0,0,0
$GC,692,-0.57,-243.3,181.1,-18.0,119,700,0.00,2.12,0.00,0.000,6,0.000,0.038,2561,1608,3884,0,0,0,0,0,0
$GC,1016,-0.55,-243.3,224.3,-13.1,180,1024,0.00,2.15,0.00,0.000,4,0.000,0.048,2561,215,3885,0,0,0,0,0,0
$GC,1120,-0.58,-243.3,239.1,-14.3,199,1128,0.00,2.10,0.00,0.000,6,0.000,0.038,2546,1599,3884,0,0,0,0,0,0
$GC,1452,-0.58,-243.3,285.1,-13.8,237,1456,0.00,2.15,0.00,0.000,4,0.000,0.052,2535,3004,3883,0,0,0,0,0,0
$GC,1583,-0.62,-243.3,301.3,-11.2,248,1587,0.00,2.05,0.00,0.000,6,0.000,0.040,2536,1615,3883,0,0,0,0,0,0
$GC,1911,-0.62,-243.3,339.5,-10.2,278,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1614,3881,0,0,0,0,0,0
$GC,2239,-0.62,-243.3,378.9,-12.5,309,2243,0.00,2.12,0.00,0.000,4,0.000,0.051,2536,209,3879,0,0,0,0,0,0
$GC,2463,-0.63,-243.3,408.0,-12.5,328,2470,0.00,2.08,0.00,0.000,6,0.000,0.039,2525,1613,3877,0,0,0,0,0,0
$GC,2788,-0.63,-243.3,444.5,-10.9,359,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1613,3875,0,0,0,0,0,0
$GC,3110,-0.63,-243.3,483.8,-12.6,389,3114,0.00,2.12,0.00,0.000,4,0.000,0.052,2524,211,3872,0,0,0,0,0,0
$GC,3142,-0.63,-243.3,488.7,-13.2,391,3150,0.08,2.12,0.00,0.000,6,0.135,0.046,2556,1591,3872,0,0,0,0,0,0
$GC,3469,-0.71,-243.3,514.8,-6.7,422,3473,0.00,2.17,0.00,0.000,4,0.000,0.054,2546,3009,3869,0,0,0,0,0,0
$GC,3581,-0.80,-243.3,521.9,-6.1,431,3588,0.15,2.10,0.00,0.000,6,0.080,0.041,2472,1594,3868,0,0,0,0,0,0
$GC,3906,-0.75,-243.3,564.7,-15.1,462,3911,0.15,2.15,0.00,0.000,4,0.172,0.056,2516,199,3865,0,0,0,0,0,0
$GC,4029,-0.79,-243.3,581.0,-12.5,472,4033,0.00,2.12,0.00,0.000,6,0.000,0.043,2507,1614,3864,0,0,0,0,0,0
$GC,4349,-0.79,-243.3,620.9,-12.4,494,4353,0.00,2.10,0.00,0.000,4,0.000,0.058,2496,3002,3862,0,0,0,0,0,0
$GC,4382,-0.81,-243.3,625.1,-12.1,495,4388,0.00,2.10,0.00,0.000,6,0.000,0.044,2496,1594,3862,0,0,0,0,0,0
$GC,4699,-0.81,-243.3,667.0,-13.6,511,4703,0.00,2.12,0.00,0.000,4,0.000,0.057,2496,199,3859,0,0,0,0,0,0
$GC,4776,-0.81,-243.3,678.3,-13.7,514,4780,0.00,2.15,0.00,0.000,6,0.000,0.044,2485,1597,3858,0,0,0,0,0,0
$GC,5100,-0.79,-243.3,718.6,-11.2,530,5104,0.00,2.15,0.00,0.000,4,0.000,0.057,2485,206,3855,0,0,0,0,0,0
$GC,5156,-0.79,-243.3,725.0,-10.8,532,5163,0.00,2.12,0.00,0.000,6,0.000,0.046,2474,1610,3855,0,0,0,0,0,0
$GC,5473,-0.77,-243.3,755.1,-10.0,548,5477,0.12,2.15,0.00,0.000,4,0.186,0.060,2499,3008,3853,0,0,0,0,0,0
$GC,5497,-0.77,-243.3,757.2,-9.8,549,5501,0.00,2.12,0.00,0.000,6,0.000,0.045,2500,1600,3852,0,0,0,0,0,0
$GC,5825,-0.77,-243.3,790.4,-11.5,565,5829,0.00,2.17,0.00,0.000,4,0.000,0.058,2499,201,3850,0,0,0,0,0,0
$GC,5867,-0.79,-243.3,795.6,-13.1,567,5871,0.00,2.12,0.00,0.000,6,0.000,0.047,2489,1607,3850,0,0,0,0,0,0
$GC,6193,-0.79,-243.3,837.8,-12.8,583,6197,0.00,2.15,0.00,0.000,4,0.000,0.062,2479,3010,3848,0,0,0,0,0,0
$GC,6232,-0.79,-243.3,842.8,-12.6,584,6239,0.00,2.15,0.00,0.000,6,0.000,0.046,2479,1578,3848,0,0,0,0,0,0
$GC,6550,-0.79,-243.3,885.2,-13.6,600,6554,0.00,2.12,0.00,0.000,4,0.000,0.060,2478,199,3846,0,0,0,0,0,0
$GC,6616,-0.79,-243.3,895.4,-14.9,603,6621,0.12,2.12,0.00,0.000,6,0.176,0.046,2501,1608,3846,0,0,0,0,0,0
$GC,6947,-0.81,-243.3,928.7,-9.4,619,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1608,3843,0,0,0,0,0,0
$GC,7253,-0.84,-243.3,954.4,-8.0,634,7257,0.00,2.15,0.00,0.000,4,0.000,0.063,2493,3007,3842,0,0,0,0,0,0
$GC,7286,-0.87,-243.3,957.1,-7.8,635,7290,0.00,2.15,0.00,0.000,6,0.000,0.047,2493,1591,3841,0,0,0,0,0,0
$GC,7605,-0.87,-243.3,981.3,-7.8,650,7609,0.00,2.15,0.00,0.000,4,0.000,0.060,2493,199,3839,0,0,0,0,0,0
$GC,7684,-0.88,-243.3,988.9,-9.7,653,7690,0.00,2.15,0.00,0.000,6,0.000,0.049,2483,1599,3839,0,0,0,0,0,0
$STATE,7708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7708,begin apogee
$GC,7716,-0.18,0.0,991.3,9.5,655,7920,0.65,0.00,198.70,1.438,6,0.137,0.000,2694,1904,2884,0,0,0,0,0,0
$STATE,7921,end apogee,CONTROL_FINISHED_OK
$STATE,7921,begin climb
$GC,7925,0.87,243.3,996.6,0.0,664,8158,0.95,2.42,217.45,1.371,4,0.056,0.064,3039,3293,1891,0,0,0,0,0,0
$GC,8345,0.66,243.3,907.3,25.2,683,8350,0.30,2.20,0.00,0.000,6,0.197,0.047,2971,1897,1886,0,0,0,0,0,0
$GC,8668,0.52,243.3,844.4,19.3,699,8673,0.17,2.22,0.00,0.000,4,0.200,0.061,2917,3307,1883,0,0,0,0,0,0
$GC,8703,0.45,243.3,837.7,16.7,700,8710,0.00,2.20,0.00,0.000,6,0.000,0.045,2925,1889,1882,0,0,0,0,0,0
$GC,9019,0.38,243.3,794.0,13.1,716,9024,0.17,2.22,0.00,0.000,4,0.184,0.060,2870,3310,1882,0,0,0,0,0,0
$GC,9048,0.36,243.3,790.7,12.7,717,9052,0.00,2.15,0.00,0.000,6,0.000,0.044,2877,1898,1881,0,0,0,0,0,0
$GC,9364,0.48,344.2,763.5,8.5,732,9461,0.00,2.38,91.10,1.285,4,0.000,0.057,2889,497,1480,0,0,0,0,0,0
$GC,9521,0.64,441.3,750.0,8.6,739,9616,0.22,2.22,87.28,1.247,6,0.069,0.044,2976,1890,1084,0,0,0,0,0,0
$GC,9927,0.56,441.3,664.4,23.6,758,9931,0.15,2.28,0.00,0.000,4,0.188,0.060,2930,3317,1081,0,0,0,0,0,0
$GC,9989,0.60,441.3,653.2,13.7,761,9993,0.00,2.22,0.00,0.000,6,0.000,0.045,2938,1889,1079,0,0,0,0,0,0
$GC,10318,0.57,441.3,598.4,17.3,777,10322,0.00,2.17,0.00,0.000,4,0.000,0.058,2948,492,1078,0,0,0,0,0,0
$GC,10353,0.54,441.3,592.1,17.3,780,10357,0.00,2.20,0.00,0.000,6,0.000,0.046,2948,1912,1077,0,0,0,0,0,0
$GC,10684,0.51,441.3,527.6,20.6,811,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1914,1077,0,0,0,0,0,0
$GC,11004,0.48,441.3,472.4,15.5,841,11009,0.15,2.20,0.00,0.000,4,0.181,0.060,2902,3316,1077,0,0,0,0,0,0
$GC,11027,0.48,441.3,468.6,15.7,842,11034,0.00,2.15,0.00,0.000,6,0.000,0.044,2909,1893,1077,0,0,0,0,0,0
$GC,11353,0.52,441.3,430.2,12.1,873,11357,0.00,2.17,0.00,0.000,4,0.000,0.056,2920,485,1077,0,0,0,0,0,0
$GC,11418,0.60,455.8,422.9,11.3,878,11440,0.00,2.15,12.70,0.996,6,0.000,0.044,2920,1905,1024,0,0,0,0,0,0
$GC,11759,0.63,455.8,380.4,12.7,910,11763,0.10,2.17,0.00,0.000,4,0.106,0.058,2969,3313,1023,0,0,0,0,0,0
$GC,11781,0.63,455.8,377.1,13.7,911,11788,0.00,2.17,0.00,0.000,6,0.000,0.044,2978,1892,1023,0,0,0,0,0,0
$GC,12107,0.57,455.8,311.9,21.4,942,12111,0.15,2.17,0.00,0.000,4,0.184,0.054,2948,491,1022,0,0,0,0,0,0
$GC,12148,0.57,455.8,304.4,17.6,945,12152,0.00,2.12,0.00,0.000,6,0.000,0.043,2945,1895,1022,0,0,0,0,0,0
$GC,12474,0.57,455.8,252.8,15.4,975,12478,0.00,2.17,0.00,0.000,4,0.000,0.057,2945,3310,1022,0,0,0,0,0,0
$GC,12517,0.62,455.8,246.7,14.9,980,12525,0.00,2.17,0.00,0.000,6,0.000,0.042,2953,1895,1022,0,0,0,0,0,0
$GC,12838,0.62,455.8,202.7,15.8,1041,12847,0.00,2.17,0.00,0.000,4,0.000,0.054,2964,495,1022,0,0,0,0,0,0
$GC,12938,0.69,480.9,189.6,11.0,1059,12968,0.00,2.15,21.67,0.832,6,0.000,0.040,2964,1902,922,0,0,0,0,0,0
$GC,13285,0.73,480.9,147.0,14.3,1123,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1903,920,0,0,0,0,0,0
$GC,13609,0.90,568.5,111.8,8.9,1184,13687,0.22,0.00,71.90,0.752,6,0.066,0.000,3067,1904,563,0,0,0,0,0,0
$GC,14003,0.90,568.5,30.3,17.1,1255,14010,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1904,558,0,0,0,0,0,0
$STATE,14175,end climb,SURFACE_DEPTH_REACHED
$STATE,14175,begin surface coast
$FINISH,1.0,1.021440
$STATE,14197,end surface coast,CONTROL_FINISHED_OK
$STATE,14197,begin surface
$SM_CCo,14275,0.00,0.000,0,0,557,570.81
$SM_GC,1.77,7.75,0.00,0.00,0.044,0.000,0.000,139,1598,557,-8.08,-0.08,570.81,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12114.48,070811,010114
$TT8_MAMPS,0.025466,0.025466
$HUMID,34.28
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.40
$XPDR_PINGS,90
$24V_AH,23.3,5.846
$10V_AH,10.3,4.195
$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,20.875,126.275,700.800,0.000,0.000,24.688,18.044,214.369,22.500,0.000,35.522,3051.474,7270.924,711.491,3250.007,400.992,0.000,2035.805,0.000,2976.016,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,64.260,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.813,1320.981,1422.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,73521,1292
$CAP_FILE_SIZE,159122,0
$CFSIZE,260165632,145801216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070811,100124,2120.719,12118.495,68,1.3,86,-2.6