version: 66.09
glider: 166
mission: 6
dive: 17
start: 8 7 111 10 11 19
data:
$ID,166
$MISSION,6
$DIVE,17
$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,-24396.035
$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,37
$R_STBD_OVSHOOT,32
$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
$GPS1,070811,100124,2120.719,12118.495,68,1.3,86,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-63.7
$GPS2,070811,101058,2120.951,12118.430,12,99.0,31,-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,6.4,190525,-16.1,-11.786
$D_GRID,2023
$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,18,-0.87,-243.3,0.0,0.0,0,126,0.00,0.00,-105.60,0.000,2,0.000,0.000,147,1594,3019,0,0,0,0,0,0
$GC,129,-0.87,-243.3,5.3,-8.3,15,160,9.00,2.17,-16.00,0.000,4,0.229,0.056,2465,198,3879,0,0,0,0,0,0
$GC,398,-0.66,-243.3,120.7,-36.1,64,407,0.25,2.17,0.00,0.000,6,0.155,0.044,2532,1590,3882,0,0,0,0,0,0
$GC,724,-0.56,-243.3,192.9,-18.3,125,733,0.15,2.17,0.00,0.000,4,0.173,0.050,2580,208,3884,0,0,0,0,0,0
$GC,853,-0.60,-243.3,207.5,-10.4,148,861,0.00,2.15,0.00,0.000,6,0.000,0.037,2568,1619,3884,0,0,0,0,0,0
$GC,1185,-0.61,-243.3,256.2,-14.3,206,1189,0.00,2.15,0.00,0.000,4,0.000,0.049,2569,205,3884,0,0,0,0,0,0
$GC,1230,-0.66,-243.3,262.6,-13.8,210,1234,0.00,2.08,0.00,0.000,6,0.000,0.037,2557,1606,3884,0,0,0,0,0,0
$GC,1556,-0.69,-243.3,306.5,-13.2,240,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1607,3883,0,0,0,0,0,0
$GC,1877,-0.71,-243.3,344.4,-11.4,270,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1608,3881,0,0,0,0,0,0
$GC,2195,-0.75,-243.3,383.4,-13.0,300,2200,0.12,2.17,0.00,0.000,4,0.089,0.050,2486,200,3878,0,0,0,0,0,0
$GC,2251,-0.69,-243.3,393.0,-17.6,304,2258,0.17,2.10,0.00,0.000,6,0.158,0.040,2527,1603,3878,0,0,0,0,0,0
$GC,2577,-0.69,-243.3,431.1,-11.1,335,2581,0.00,2.15,0.00,0.000,4,0.000,0.050,2527,198,3876,0,0,0,0,0,0
$GC,2605,-0.69,-243.3,434.9,-12.8,337,2609,0.00,2.10,0.00,0.000,6,0.000,0.040,2519,1606,3876,0,0,0,0,0,0
$GC,2936,-0.69,-243.3,481.6,-12.8,368,2940,0.00,2.12,0.00,0.000,4,0.000,0.051,2518,206,3872,0,0,0,0,0,0
$GC,3020,-0.71,-243.3,491.8,-11.2,375,3026,0.00,2.10,0.00,0.000,6,0.000,0.041,2507,1601,3871,0,0,0,0,0,0
$GC,3345,-0.71,-243.3,526.9,-11.9,406,3349,0.00,2.12,0.00,0.000,4,0.000,0.055,2496,3002,3869,0,0,0,0,0,0
$GC,3373,-0.71,-243.3,530.4,-12.9,408,3378,0.10,2.10,0.00,0.000,6,0.167,0.041,2523,1598,3868,0,0,0,0,0,0
$GC,3699,-0.73,-243.3,573.7,-12.9,438,3703,0.00,2.12,0.00,0.000,4,0.000,0.056,2523,204,3866,0,0,0,0,0,0
$GC,3800,-0.76,-243.3,587.6,-13.2,446,3807,0.00,2.10,0.00,0.000,6,0.000,0.042,2515,1605,3865,0,0,0,0,0,0
$GC,4132,-0.77,-243.3,627.0,-11.3,467,4136,0.00,2.12,0.00,0.000,4,0.000,0.058,2504,3002,3862,0,0,0,0,0,0
$GC,4159,-0.79,-243.3,630.6,-11.2,468,4164,0.00,2.10,0.00,0.000,6,0.000,0.042,2503,1589,3862,0,0,0,0,0,0
$GC,4483,-0.79,-243.3,661.2,-7.9,484,4487,0.00,2.17,0.00,0.000,4,0.000,0.057,2492,3001,3858,0,0,0,0,0,0
$GC,4538,-0.82,-243.3,665.4,-7.1,486,4545,0.00,2.12,0.00,0.000,6,0.000,0.043,2492,1591,3857,0,0,0,0,0,0
$GC,4854,-0.82,-243.3,696.3,-10.8,502,4858,0.00,2.12,0.00,0.000,4,0.000,0.057,2492,201,3856,0,0,0,0,0,0
$GC,4940,-0.82,-243.3,706.0,-11.7,505,4947,0.00,2.10,0.00,0.000,6,0.000,0.046,2482,1595,3855,0,0,0,0,0,0
$GC,5256,-0.80,-243.3,742.9,-11.5,521,5260,0.00,2.15,0.00,0.000,4,0.000,0.057,2481,198,3852,0,0,0,0,0,0
$GC,5297,-0.77,-243.3,747.6,-12.1,522,5304,0.12,2.12,0.00,0.000,6,0.174,0.046,2505,1603,3852,0,0,0,0,0,0
$GC,5613,-0.79,-243.3,777.0,-9.6,538,5617,0.00,2.17,0.00,0.000,4,0.000,0.060,2496,3018,3850,0,0,0,0,0,0
$GC,5657,-0.82,-243.3,781.2,-9.3,540,5661,0.00,2.12,0.00,0.000,6,0.000,0.045,2496,1597,3850,0,0,0,0,0,0
$GC,5980,-0.82,-243.3,816.9,-11.1,556,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1597,3848,0,0,0,0,0,0
$GC,6288,-0.82,-243.3,850.6,-11.3,571,6292,0.00,2.15,0.00,0.000,4,0.000,0.060,2496,205,3845,0,0,0,0,0,0
$GC,6345,-0.84,-243.3,858.0,-13.1,573,6352,0.00,2.15,0.00,0.000,6,0.000,0.048,2485,1605,3845,0,0,0,0,0,0
$GC,6662,-0.84,-243.3,900.1,-13.6,589,6666,0.00,2.17,0.00,0.000,4,0.000,0.062,2475,3013,3843,0,0,0,0,0,0
$GC,6696,-0.84,-243.3,905.0,-14.2,590,6702,0.00,2.15,0.00,0.000,6,0.000,0.047,2475,1600,3842,0,0,0,0,0,0
$GC,7014,-0.83,-243.3,948.1,-13.4,606,7017,0.00,2.15,0.00,0.000,4,0.000,0.060,2475,208,3840,0,0,0,0,0,0
$GC,7125,-0.83,-243.3,964.3,-14.2,611,7129,0.00,2.17,0.00,0.000,6,0.000,0.049,2465,1620,3840,0,0,0,0,0,0
$STATE,7326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7327,begin apogee
$GC,7334,-0.18,0.0,990.9,12.9,621,7538,0.70,0.00,198.15,1.434,6,0.142,0.000,2691,1906,2883,0,0,0,0,0,0
$STATE,7539,end apogee,CONTROL_FINISHED_OK
$STATE,7539,begin climb
$GC,7543,0.87,243.3,998.8,0.0,630,7776,0.95,2.47,216.68,1.371,4,0.056,0.058,3054,491,1890,0,0,0,0,0,0
$GC,7782,0.63,243.3,955.2,27.2,641,7787,0.32,2.38,0.00,0.000,6,0.184,0.050,2964,1899,1888,0,0,0,0,0,0
$GC,8105,0.50,243.3,885.8,20.9,657,8110,0.17,2.25,0.00,0.000,4,0.197,0.063,2908,3312,1883,0,0,0,0,0,0
$GC,8179,0.47,243.3,873.3,15.2,660,8183,0.00,2.20,0.00,0.000,6,0.000,0.046,2917,1897,1882,0,0,0,0,0,0
$GC,8495,0.41,243.3,826.8,14.3,675,8499,0.00,2.20,0.00,0.000,4,0.000,0.057,2927,491,1882,0,0,0,0,0,0
$GC,8560,0.35,243.3,817.6,14.1,678,8565,0.20,2.17,0.00,0.000,6,0.163,0.046,2872,1900,1880,0,0,0,0,0,0
$GC,8887,0.46,334.0,787.0,8.8,694,8975,0.00,2.38,81.55,1.300,4,0.000,0.061,2871,3303,1521,0,0,0,0,0,0
$GC,9019,0.60,396.3,774.4,9.8,700,9084,0.20,2.25,56.95,1.263,6,0.068,0.044,2964,1891,1267,0,0,0,0,0,0
$GC,9392,0.51,396.3,700.0,21.3,718,9397,0.17,2.22,0.00,0.000,4,0.185,0.056,2929,493,1262,0,0,0,0,0,0
$GC,9421,0.47,396.3,694.1,20.6,719,9425,0.00,2.22,0.00,0.000,6,0.000,0.045,2929,1903,1261,0,0,0,0,0,0
$GC,9742,0.44,396.3,635.9,18.1,735,9747,0.12,2.20,0.00,0.000,4,0.182,0.060,2885,3309,1260,0,0,0,0,0,0
$GC,9784,0.49,396.3,629.9,13.9,737,9788,0.00,2.17,0.00,0.000,6,0.000,0.044,2893,1894,1260,0,0,0,0,0,0
$GC,10103,0.61,458.8,594.1,9.8,755,10164,0.15,2.33,54.12,1.177,4,0.083,0.057,2974,497,1012,0,0,0,0,0,0
$GC,10210,0.57,458.8,575.2,18.8,764,10217,0.12,2.25,0.00,0.000,6,0.171,0.045,2941,1906,1010,0,0,0,0,0,0
$GC,10535,0.55,458.8,518.6,17.2,795,10539,0.00,2.20,0.00,0.000,4,0.000,0.059,2940,3305,1008,0,0,0,0,0,0
$GC,10555,0.53,458.8,515.5,16.9,796,10559,0.00,2.15,0.00,0.000,6,0.000,0.044,2948,1901,1008,0,0,0,0,0,0
$GC,10886,0.51,458.8,455.7,18.8,827,10890,0.00,2.20,0.00,0.000,4,0.000,0.057,2959,495,1008,0,0,0,0,0,0
$GC,10915,0.49,458.8,450.2,18.9,829,10923,0.15,2.17,0.00,0.000,6,0.161,0.043,2917,1903,1007,0,0,0,0,0,0
$GC,11241,0.53,458.8,403.2,14.8,860,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1904,1007,0,0,0,0,0,0
$GC,11563,0.73,573.4,366.5,8.1,890,11675,0.20,2.40,97.62,0.997,4,0.073,0.055,3017,492,542,0,0,0,0,0,0
$GC,11699,0.67,573.4,339.5,20.8,902,11705,0.15,2.25,0.00,0.000,6,0.155,0.043,2974,1911,539,0,0,0,0,0,0
$GC,12024,0.67,573.4,274.7,20.4,932,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1913,534,0,0,0,0,0,0
$GC,12342,0.69,573.4,217.4,16.1,979,12350,0.00,2.25,0.00,0.000,4,0.000,0.052,2983,490,533,0,0,0,0,0,0
$GC,12364,0.71,573.4,214.0,15.7,982,12373,0.00,2.20,0.00,0.000,6,0.000,0.041,2983,1903,533,0,0,0,0,0,0
$GC,12692,0.73,573.4,159.9,17.0,1043,12700,0.00,2.17,0.00,0.000,4,0.000,0.054,2983,3300,533,0,0,0,0,0,0
$GC,12722,0.78,573.4,155.1,16.7,1047,12730,0.00,2.15,0.00,0.000,6,0.000,0.040,2991,1897,533,0,0,0,0,0,0
$GC,13050,0.93,650.2,111.1,9.3,1108,13074,0.17,2.22,18.17,0.721,4,0.075,0.050,3089,495,452,0,0,0,0,0,0
$GC,13129,0.90,650.2,96.0,20.6,1121,13138,0.12,2.17,0.00,0.000,6,0.132,0.039,3045,1905,448,0,0,0,0,0,0
$GC,13455,0.94,650.2,39.7,13.1,1182,13462,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1906,446,0,0,0,0,0,0
$GC,13773,1.08,693.1,3.2,10.4,1243,13782,0.17,2.20,0.00,0.000,4,0.070,0.049,3153,496,446,0,0,0,0,0,0
$STATE,13788,end climb,SURFACE_DEPTH_REACHED
$STATE,13788,begin surface coast
$FINISH,0.8,1.009761
$STATE,13815,end surface coast,CONTROL_FINISHED_OK
$STATE,13815,begin surface
$SM_CCo,13896,0.00,0.000,0,0,446,598.04
$SM_GC,1.69,7.85,0.00,0.00,0.043,0.000,0.000,138,1631,446,-8.07,0.90,598.04,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12121.61,070811,050503
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.54
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,25.30
$XPDR_PINGS,96
$24V_AH,23.3,6.128
$10V_AH,10.3,4.340
$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,21.875,130.925,723.250,0.000,0.000,61.171,65.553,201.892,24.000,0.000,33.031,2944.726,7182.568,737.974,3183.661,404.066,0.000,2011.858,0.000,2830.419,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,64.260,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,854.165,1278.842,1361.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,70270,1250
$CAP_FILE_SIZE,158039,0
$CFSIZE,260165632,145715200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070811,140426,2125.469,12117.798,33,99.0,52,-2.6