version: 66.09
glider: 166
mission: 6
dive: 18
start: 8 7 111 14 11 19
data:
$ID,166
$MISSION,6
$DIVE,18
$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,-24397.295
$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,38
$R_STBD_OVSHOOT,51
$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
$GPS1,070811,140426,2125.469,12117.798,33,99.0,52,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.7
$GPS2,070811,141058,2125.604,12117.784,14,2.3,33,-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,6.9,182008,-16.1,-11.786
$D_GRID,2069
$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,19,-0.87,-243.3,0.0,0.0,0,139,0.00,0.00,-116.95,0.000,2,0.000,0.000,139,1632,3235,0,0,0,0,0,0
$GC,142,-0.87,-243.3,6.2,-10.6,17,173,9.02,2.22,-11.18,0.000,4,0.232,0.054,2466,195,3880,0,0,0,0,0,0
$GC,408,-0.65,-243.3,119.4,-34.1,66,416,0.28,2.15,0.00,0.000,6,0.166,0.037,2538,1590,3882,0,0,0,0,0,0
$GC,733,-0.55,-243.3,196.0,-20.3,127,742,0.12,2.15,0.00,0.000,4,0.180,0.045,2579,207,3884,0,0,0,0,0,0
$GC,841,-0.58,-243.3,211.6,-11.7,146,849,0.00,2.12,0.00,0.000,6,0.000,0.036,2569,1606,3884,0,0,0,0,0,0
$GC,1164,-0.58,-243.3,249.2,-14.5,207,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1607,3884,0,0,0,0,0,0
$GC,1491,-0.60,-243.3,289.3,-11.0,238,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1608,3884,0,0,0,0,0,0
$GC,1811,-0.64,-243.3,327.2,-11.1,268,1815,0.00,2.15,0.00,0.000,4,0.000,0.049,2567,203,3882,0,0,0,0,0,0
$GC,1851,-0.69,-243.3,331.8,-10.6,271,1855,0.00,2.08,0.00,0.000,6,0.000,0.037,2556,1601,3882,0,0,0,0,0,0
$GC,2177,-0.73,-243.3,366.0,-9.9,301,2179,0.10,0.00,0.00,0.000,6,0.098,0.000,2497,1602,3879,0,0,0,0,0,0
$GC,2495,-0.67,-243.3,417.4,-16.9,331,2500,0.15,2.15,0.00,0.000,4,0.163,0.051,2548,200,3877,0,0,0,0,0,0
$GC,2565,-0.72,-243.3,426.5,-11.7,337,2569,0.00,2.10,0.00,0.000,6,0.000,0.039,2540,1597,3877,0,0,0,0,0,0
$GC,2892,-0.75,-243.3,459.4,-8.0,367,2896,0.00,2.15,0.00,0.000,4,0.000,0.053,2529,3015,3874,0,0,0,0,0,0
$GC,2936,-0.80,-243.3,463.2,-8.0,370,2943,0.00,2.12,0.00,0.000,6,0.000,0.040,2529,1587,3874,0,0,0,0,0,0
$GC,3262,-0.82,-243.3,500.2,-12.3,401,3264,0.10,0.00,0.00,0.000,6,0.102,0.000,2469,1587,3871,0,0,0,0,0,0
$GC,3580,-0.75,-243.3,552.9,-16.6,431,3584,0.15,2.12,0.00,0.000,4,0.175,0.054,2511,203,3868,0,0,0,0,0,0
$GC,3634,-0.75,-243.3,560.1,-13.5,435,3638,0.00,2.12,0.00,0.000,6,0.000,0.042,2502,1608,3867,0,0,0,0,0,0
$GC,3959,-0.75,-243.3,593.9,-9.6,465,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1608,3865,0,0,0,0,0,0
$GC,4272,-0.75,-243.3,633.6,-13.4,483,4276,0.00,2.15,0.00,0.000,4,0.000,0.055,2502,199,3863,0,0,0,0,0,0
$GC,4338,-0.75,-243.3,643.0,-13.4,486,4342,0.00,2.15,0.00,0.000,6,0.000,0.043,2490,1629,3862,0,0,0,0,0,0
$GC,4666,-0.75,-243.3,686.4,-13.2,502,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1630,3858,0,0,0,0,0,0
$GC,4977,-0.75,-243.3,727.4,-13.2,517,4981,0.00,2.17,0.00,0.000,4,0.000,0.056,2491,211,3856,0,0,0,0,0,0
$GC,5048,-0.75,-243.3,737.7,-13.3,520,5053,0.05,2.12,0.00,0.000,6,0.156,0.045,2514,1588,3855,0,0,0,0,0,0
$GC,5378,-0.79,-243.3,772.1,-9.8,536,5382,0.00,2.17,0.00,0.000,4,0.000,0.059,2506,3007,3853,0,0,0,0,0,0
$GC,5435,-0.84,-243.3,777.3,-8.9,538,5442,0.00,2.12,0.00,0.000,6,0.000,0.044,2505,1599,3852,0,0,0,0,0,0
$GC,5752,-0.86,-243.3,805.5,-8.4,554,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1599,3850,0,0,0,0,0,0
$GC,6063,-0.89,-243.3,835.5,-10.3,569,6065,0.10,0.00,0.00,0.000,6,0.107,0.000,2450,1599,3848,0,0,0,0,0,0
$GC,6370,-0.83,-243.3,881.4,-14.9,584,6375,0.12,2.15,0.00,0.000,4,0.188,0.060,2484,210,3846,0,0,0,0,0,0
$GC,6442,-0.83,-243.3,891.1,-12.6,587,6446,0.00,2.15,0.00,0.000,6,0.000,0.048,2476,1610,3845,0,0,0,0,0,0
$GC,6770,-0.81,-243.3,926.5,-10.4,603,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1609,3843,0,0,0,0,0,0
$GC,7080,-0.80,-243.3,959.2,-10.4,618,7084,0.00,2.20,0.00,0.000,4,0.000,0.058,2476,201,3841,0,0,0,0,0,0
$GC,7145,-0.78,-243.3,966.5,-11.4,621,7149,0.12,2.15,0.00,0.000,6,0.177,0.047,2499,1602,3840,0,0,0,0,0,0
$STATE,7413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7413,begin apogee
$GC,7419,-0.18,0.0,990.9,8.9,634,7622,0.57,0.00,197.88,1.440,6,0.136,0.000,2689,1902,2884,0,0,0,0,0,0
$STATE,7623,end apogee,CONTROL_FINISHED_OK
$STATE,7623,begin climb
$GC,7625,0.87,243.3,999.3,0.0,643,7854,1.00,0.00,218.00,1.370,6,0.061,0.000,3044,1902,1892,0,0,0,0,0,0
$GC,8159,0.64,243.3,881.5,26.1,669,8164,0.28,2.25,0.00,0.000,4,0.207,0.062,2960,3301,1883,0,0,0,0,0,0
$GC,8224,0.53,243.3,868.5,18.7,672,8229,0.17,2.17,0.00,0.000,6,0.204,0.046,2927,1899,1883,0,0,0,0,0,0
$GC,8553,0.45,243.3,820.0,14.9,688,8557,0.00,2.20,0.00,0.000,4,0.000,0.057,2937,489,1881,0,0,0,0,0,0
$GC,8582,0.38,243.3,815.0,16.2,689,8587,0.20,2.22,0.00,0.000,6,0.166,0.047,2882,1903,1880,0,0,0,0,0,0
$GC,8898,0.40,263.6,778.8,11.1,704,8921,0.00,2.25,17.95,1.243,4,0.000,0.062,2879,3315,1809,0,0,0,0,0,0
$GC,8970,0.42,263.6,770.6,11.9,707,8974,0.00,2.20,0.00,0.000,6,0.000,0.044,2887,1899,1809,0,0,0,0,0,0
$GC,9302,0.44,281.2,733.0,11.2,723,9325,0.00,2.30,17.17,1.221,4,0.000,0.057,2898,497,1737,0,0,0,0,0,0
$GC,9387,0.45,288.6,723.0,11.5,726,9402,0.00,2.20,8.55,1.079,6,0.000,0.044,2898,1901,1707,0,0,0,0,0,0
$GC,9727,0.45,288.6,679.7,12.8,743,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1901,1704,0,0,0,0,0,0
$GC,10035,0.47,299.2,642.9,11.4,758,10051,0.00,2.22,10.80,1.115,4,0.000,0.055,2907,494,1663,0,0,0,0,0,0
$GC,10063,0.47,303.8,639.7,11.6,758,10076,0.00,2.20,5.90,0.933,6,0.000,0.044,2907,1907,1645,0,0,0,0,0,0
$GC,10384,0.47,303.8,599.7,12.9,774,10388,0.00,2.22,0.00,0.000,4,0.000,0.056,2917,483,1643,0,0,0,0,0,0
$GC,10400,0.46,303.8,597.3,12.9,775,10407,0.00,2.20,0.00,0.000,6,0.000,0.044,2917,1910,1642,0,0,0,0,0,0
$GC,10726,0.45,328.9,556.9,11.0,806,10758,0.00,2.30,22.95,1.147,4,0.000,0.060,2917,3312,1542,0,0,0,0,0,0
$GC,10835,0.52,369.2,545.1,10.5,815,10877,0.00,2.17,36.78,1.139,6,0.000,0.044,2927,1898,1379,0,0,0,0,0,0
$GC,11195,0.50,369.2,496.7,14.9,849,11199,0.00,2.22,0.00,0.000,4,0.000,0.056,2938,489,1375,0,0,0,0,0,0
$GC,11228,0.50,369.2,491.5,15.2,851,11235,0.00,2.22,0.00,0.000,6,0.000,0.044,2938,1915,1374,0,0,0,0,0,0
$GC,11554,0.48,369.2,446.9,13.2,882,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1916,1373,0,0,0,0,0,0
$GC,11876,0.45,369.2,399.6,17.1,912,11883,0.12,0.00,0.00,0.000,6,0.184,0.000,2906,1919,1373,0,0,0,0,0,0
$GC,12204,0.50,374.9,358.9,11.6,943,12212,0.00,0.00,5.53,0.767,6,0.000,0.000,2905,1919,1355,0,0,0,0,0,0
$GC,12531,0.60,408.0,322.2,10.7,974,12568,0.12,2.33,29.42,0.960,4,0.096,0.054,2981,496,1219,0,0,0,0,0,0
$GC,12647,0.57,408.0,302.8,17.0,984,12655,0.15,2.20,0.00,0.000,6,0.158,0.042,2940,1900,1218,0,0,0,0,0,0
$GC,12976,0.59,408.0,257.6,13.1,1015,12980,0.00,2.17,0.00,0.000,4,0.000,0.050,2948,492,1218,0,0,0,0,0,0
$GC,13016,0.61,408.0,251.7,13.6,1018,13020,0.00,2.15,0.00,0.000,6,0.000,0.041,2941,1907,1217,0,0,0,0,0,0
$GC,13340,0.70,436.9,210.1,10.8,1077,13369,0.12,0.00,24.92,0.842,6,0.092,0.000,3010,1911,1101,0,0,0,0,0,0
$GC,13688,0.65,436.9,144.0,17.8,1141,13696,0.15,2.20,0.00,0.000,4,0.167,0.053,2961,3310,1100,0,0,0,0,0,0
$GC,13726,0.69,436.9,138.2,15.6,1147,13734,0.00,2.17,0.00,0.000,6,0.000,0.038,2969,1895,1100,0,0,0,0,0,0
$GC,14052,0.77,462.1,103.3,11.0,1208,14083,0.10,2.20,21.38,0.728,4,0.105,0.046,3043,495,999,0,0,0,0,0,0
$GC,14151,0.77,462.1,88.5,16.0,1224,14160,0.10,2.17,0.00,0.000,6,0.131,0.037,3008,1896,999,0,0,0,0,0,0
$GC,14476,0.92,523.8,48.0,9.8,1285,14534,0.12,0.00,50.65,0.682,6,0.084,0.000,3083,1897,747,0,0,0,0,0,0
$STATE,14744,end climb,SURFACE_DEPTH_REACHED
$STATE,14744,begin surface coast
$FINISH,1.0,1.021482
$STATE,14761,end surface coast,CONTROL_FINISHED_OK
$STATE,14762,begin surface
$SM_CCo,14840,0.00,0.000,0,0,744,524.94
$SM_GC,1.64,7.78,0.00,0.00,0.044,0.000,0.000,147,1592,744,-8.08,-0.23,524.94,0,0,0,0,0,0
$IRIDIUM_FIX,2113.32,12115.68,070811,101017
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.18
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.10
$XPDR_PINGS,99
$24V_AH,23.3,6.376
$10V_AH,10.3,4.487
$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,21.325,101.300,667.875,0.000,0.000,27.873,19.651,178.828,24.750,0.000,35.452,3118.788,7851.236,699.760,3131.427,416.154,0.000,1969.148,0.000,2904.704,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,65.025,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.328,1370.871,1425.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324544
$DATA_FILE_SIZE,76848,1336
$CAP_FILE_SIZE,155027,0
$CFSIZE,260165632,145629184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070811,182027,2129.926,12117.446,52,99.0,71,-2.6