version: 66.09
glider: 166
mission: 6
dive: 19
start: 8 7 111 18 27 16
data:
$ID,166
$MISSION,6
$DIVE,19
$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,-24398.652
$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,2745
$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,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,070811,182027,2129.926,12117.446,52,99.0,71,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.5
$GPS2,070811,182652,2130.107,12117.456,12,99.0,31,-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,7.3,173738,-16.1,-11.786
$D_GRID,2339
$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,-243.3,0.0,0.0,0,119,0.00,0.00,-99.68,0.000,2,0.000,0.000,144,1588,3089,0,0,0,0,0,0
$GC,122,-0.87,-243.3,5.7,-9.0,14,152,8.90,2.12,-14.45,0.000,4,0.228,0.053,2467,184,3878,0,0,0,0,0,0
$GC,391,-0.61,-243.3,119.7,-37.9,63,400,0.25,2.03,0.00,0.000,6,0.171,0.036,2537,1510,3881,0,0,0,0,0,0
$GC,713,-0.52,-243.3,195.5,-21.6,124,722,0.15,2.03,0.00,0.000,4,0.171,0.045,2576,207,3883,0,0,0,0,0,0
$GC,842,-0.57,-243.3,216.2,-12.7,147,850,0.00,1.98,0.00,0.000,6,0.000,0.037,2568,1506,3883,0,0,0,0,0,0
$GC,1167,-0.57,-243.3,255.9,-10.7,203,1171,0.00,2.12,0.00,0.000,4,0.000,0.049,2557,2904,3884,0,0,0,0,0,0
$GC,1277,-0.63,-243.3,267.7,-10.8,212,1285,0.00,2.15,0.00,0.000,6,0.000,0.037,2558,1495,3883,0,0,0,0,0,0
$GC,1603,-0.63,-243.3,306.9,-11.2,243,1607,0.00,1.98,0.00,0.000,4,0.000,0.049,2562,176,3882,0,0,0,0,0,0
$GC,1664,-0.68,-243.3,314.4,-11.7,248,1671,0.00,1.98,0.00,0.000,6,0.000,0.037,2549,1512,3881,0,0,0,0,0,0
$GC,1989,-0.68,-243.3,354.6,-12.6,279,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1515,3880,0,0,0,0,0,0
$GC,2310,-0.70,-243.3,385.6,-8.9,309,2314,0.00,2.10,0.00,0.000,4,0.000,0.050,2536,2902,3877,0,0,0,0,0,0
$GC,2375,-0.75,-243.3,390.8,-8.0,314,2380,0.10,2.10,0.00,0.000,6,0.096,0.038,2477,1488,3878,0,0,0,0,0,0
$GC,2706,-0.67,-243.3,439.9,-14.2,345,2710,0.17,1.95,0.00,0.000,4,0.164,0.050,2529,203,3875,0,0,0,0,0,0
$GC,2835,-0.71,-243.3,453.3,-9.9,356,2839,0.00,1.92,0.00,0.000,6,0.000,0.039,2522,1497,3874,0,0,0,0,0,0
$GC,3165,-0.71,-243.3,494.7,-13.3,387,3169,0.00,2.15,0.00,0.000,4,0.000,0.053,2511,2913,3872,0,0,0,0,0,0
$GC,3245,-0.75,-243.3,504.6,-12.1,393,3252,0.00,2.10,0.00,0.000,6,0.000,0.040,2511,1497,3871,0,0,0,0,0,0
$GC,3570,-0.75,-243.3,549.0,-13.4,424,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1497,3867,0,0,0,0,0,0
$GC,3892,-0.75,-243.3,592.9,-13.3,454,3896,0.00,2.17,0.00,0.000,4,0.000,0.057,2499,2904,3865,0,0,0,0,0,0
$GC,3946,-0.77,-243.3,599.3,-11.2,458,3950,0.00,2.10,0.00,0.000,6,0.000,0.043,2500,1504,3864,0,0,0,0,0,0
$GC,4264,-0.75,-243.3,636.5,-11.8,473,4267,0.00,1.98,0.00,0.000,4,0.000,0.054,2499,202,3862,0,0,0,0,0,0
$GC,4399,-0.75,-243.3,655.2,-13.3,479,4403,0.00,1.95,0.00,0.000,6,0.000,0.042,2488,1506,3860,0,0,0,0,0,0
$GC,4734,-0.73,-243.3,701.8,-13.9,495,4738,0.00,2.12,0.00,0.000,4,0.000,0.057,2478,2908,3857,0,0,0,0,0,0
$GC,4762,-0.71,-243.3,706.0,-13.2,496,4767,0.12,2.10,0.00,0.000,6,0.168,0.042,2511,1497,3857,0,0,0,0,0,0
$GC,5082,-0.73,-243.3,740.4,-10.6,511,5085,0.00,1.98,0.00,0.000,4,0.000,0.056,2512,201,3855,0,0,0,0,0,0
$GC,5151,-0.76,-243.3,748.3,-11.0,514,5154,0.00,1.95,0.00,0.000,6,0.000,0.044,2505,1499,3854,0,0,0,0,0,0
$GC,5486,-0.76,-243.3,781.0,-8.7,530,5490,0.00,2.15,0.00,0.000,4,0.000,0.060,2494,2904,3852,0,0,0,0,0,0
$GC,5571,-0.79,-243.3,787.3,-6.7,533,5578,0.00,2.10,0.00,0.000,6,0.000,0.044,2494,1497,3851,0,0,0,0,0,0
$GC,5887,-0.79,-243.3,811.4,-8.4,549,5891,0.00,2.17,0.00,0.000,4,0.000,0.059,2484,2904,3849,0,0,0,0,0,0
$GC,5922,-0.79,-243.3,814.4,-8.9,550,5926,0.00,2.12,0.00,0.000,6,0.000,0.044,2483,1496,3849,0,0,0,0,0,0
$GC,6243,-0.79,-243.3,848.6,-11.2,566,6247,0.00,2.20,0.00,0.000,4,0.000,0.060,2473,2907,3847,0,0,0,0,0,0
$GC,6284,-0.79,-243.3,852.9,-11.0,568,6288,0.00,2.12,0.00,0.000,6,0.000,0.044,2473,1500,3847,0,0,0,0,0,0
$GC,6613,-0.76,-243.3,890.8,-12.1,584,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1500,3845,0,0,0,0,0,0
$GC,6921,-0.74,-243.3,931.1,-13.4,599,6922,0.12,0.00,0.00,0.000,6,0.180,0.000,2506,1500,3843,0,0,0,0,0,0
$GC,7232,-0.76,-243.3,964.0,-10.9,614,7236,0.00,2.22,0.00,0.000,4,0.000,0.063,2498,2910,3842,0,0,0,0,0,0
$GC,7282,-0.81,-243.3,969.7,-10.8,616,7286,0.00,2.12,0.00,0.000,6,0.000,0.046,2498,1501,3841,0,0,0,0,0,0
$STATE,7456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7456,begin apogee
$GC,7462,-0.18,0.0,991.1,12.6,625,7666,0.55,0.00,198.88,1.437,6,0.133,0.000,2679,1851,2884,0,0,0,0,0,0
$STATE,7667,end apogee,CONTROL_FINISHED_OK
$STATE,7667,begin climb
$GC,7670,0.87,243.3,1004.3,0.0,634,7902,1.00,2.47,217.38,1.372,4,0.068,0.063,3027,3256,1890,0,0,0,0,0,0
$GC,8022,0.67,243.3,943.0,24.0,650,8027,0.28,2.25,0.00,0.000,6,0.194,0.046,2967,1848,1886,0,0,0,0,0,0
$GC,8345,0.54,243.3,877.1,21.6,666,8350,0.17,2.28,0.00,0.000,4,0.194,0.061,2912,3262,1883,0,0,0,0,0,0
$GC,8419,0.51,243.3,863.6,16.3,669,8423,0.00,2.20,0.00,0.000,6,0.000,0.044,2920,1839,1882,0,0,0,0,0,0
$GC,8740,0.45,243.3,807.2,17.5,685,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1839,1881,0,0,0,0,0,0
$GC,9051,0.39,243.3,757.5,15.4,700,9056,0.17,2.22,0.00,0.000,4,0.179,0.060,2864,3263,1880,0,0,0,0,0,0
$GC,9085,0.39,243.3,752.9,12.2,701,9093,0.00,2.17,0.00,0.000,6,0.000,0.044,2872,1824,1878,0,0,0,0,0,0
$GC,9402,0.53,340.2,725.5,8.6,717,9498,0.12,2.33,86.15,1.268,4,0.096,0.054,2939,420,1497,0,0,0,0,0,0
$GC,9543,0.50,340.2,705.9,14.4,723,9548,0.12,2.28,0.00,0.000,6,0.168,0.044,2908,1840,1494,0,0,0,0,0,0
$GC,9866,0.50,340.2,663.0,13.2,739,9870,0.00,2.22,0.00,0.000,4,0.000,0.060,2906,3263,1492,0,0,0,0,0,0
$GC,9887,0.50,340.2,660.1,12.8,740,9891,0.00,2.20,0.00,0.000,6,0.000,0.042,2914,1855,1491,0,0,0,0,0,0
$GC,10214,0.50,340.2,621.7,12.5,756,10218,0.00,2.17,0.00,0.000,4,0.000,0.054,2925,440,1491,0,0,0,0,0,0
$GC,10279,0.50,340.2,613.8,12.4,759,10283,0.00,2.17,0.00,0.000,6,0.000,0.044,2925,1856,1489,0,0,0,0,0,0
$GC,10601,0.47,340.2,571.9,12.1,784,10605,0.00,2.17,0.00,0.000,4,0.000,0.058,2925,3262,1489,0,0,0,0,0,0
$GC,10700,0.50,367.6,560.6,10.9,792,10734,0.00,2.15,24.08,1.144,6,0.000,0.042,2935,1835,1384,0,0,0,0,0,0
$GC,11052,0.47,367.6,506.3,16.2,825,11054,0.15,0.00,0.00,0.000,6,0.178,0.000,2896,1835,1381,0,0,0,0,0,0
$GC,11371,0.53,380.0,469.5,11.4,855,11388,0.00,2.25,12.07,1.024,4,0.000,0.054,2904,440,1333,0,0,0,0,0,0
$GC,11425,0.62,410.0,463.6,10.8,859,11460,0.12,2.20,26.98,1.071,6,0.092,0.048,2961,1863,1211,0,0,0,0,0,0
$GC,11777,0.57,410.0,397.3,16.4,892,11782,0.12,2.20,0.00,0.000,4,0.182,0.057,2921,3254,1209,0,0,0,0,0,0
$GC,11807,0.57,410.0,393.4,14.3,894,11811,0.00,2.15,0.00,0.000,6,0.000,0.041,2929,1843,1209,0,0,0,0,0,0
$GC,12132,0.57,410.0,352.2,14.1,924,12136,0.00,2.17,0.00,0.000,4,0.000,0.053,2940,440,1208,0,0,0,0,0,0
$GC,12174,0.59,410.0,345.8,15.8,927,12178,0.00,2.17,0.00,0.000,6,0.000,0.041,2933,1848,1208,0,0,0,0,0,0
$GC,12499,0.59,410.0,301.9,12.3,957,12503,0.00,2.17,0.00,0.000,4,0.000,0.056,2933,3261,1207,0,0,0,0,0,0
$GC,12554,0.67,423.2,296.0,11.4,961,12570,0.00,2.15,12.05,0.883,6,0.000,0.041,2941,1843,1158,0,0,0,0,0,0
$GC,12891,0.68,423.2,247.3,12.6,993,12899,0.00,2.20,0.00,0.000,4,0.000,0.050,2951,437,1156,0,0,0,0,0,0
$GC,12960,0.74,436.3,239.3,11.4,1005,12983,0.00,2.20,12.52,0.843,6,0.000,0.040,2951,1861,1103,0,0,0,0,0,0
$GC,13301,0.75,447.2,200.7,11.4,1068,13318,0.10,2.22,10.40,0.783,4,0.102,0.053,3009,3255,1059,0,0,0,0,0,0
$GC,13326,0.73,447.2,197.0,13.4,1071,13335,0.10,2.17,0.00,0.000,6,0.152,0.037,2987,1850,1059,0,0,0,0,0,0
$GC,13655,0.73,447.2,139.6,13.4,1132,13663,0.00,2.22,0.00,0.000,4,0.000,0.052,2977,3256,1058,0,0,0,0,0,0
$GC,13671,0.73,447.2,137.0,13.6,1134,13679,0.00,2.15,0.00,0.000,6,0.000,0.037,2985,1850,1058,0,0,0,0,0,0
$GC,13993,0.75,465.3,93.4,11.2,1195,14016,0.00,2.17,16.05,0.720,4,0.000,0.046,2996,442,985,0,0,0,0,0,0
$GC,14062,0.84,500.5,86.3,10.6,1206,14099,0.00,2.17,29.83,0.723,6,0.000,0.037,2994,1854,842,0,0,0,0,0,0
$GC,14414,1.04,588.5,50.6,8.9,1271,14493,0.22,2.30,71.78,0.683,4,0.063,0.049,3103,3259,481,0,0,0,0,0,0
$GC,14521,1.01,588.5,32.0,18.3,1286,14530,0.12,2.22,0.00,0.000,6,0.142,0.034,3075,1849,478,0,0,0,0,0,0
$STATE,14701,end climb,SURFACE_DEPTH_REACHED
$STATE,14701,begin surface coast
$FINISH,1.0,1.001105
$STATE,14723,end surface coast,CONTROL_FINISHED_OK
$STATE,14723,begin surface
$SM_CCo,14802,0.00,0.000,0,0,475,590.93
$SM_GC,1.71,7.72,0.00,0.00,0.040,0.000,0.000,149,1498,475,-8.05,-0.06,590.93,0,0,0,0,0,0
$IRIDIUM_FIX,2117.95,12118.86,070811,141436
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.38
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.80
$XPDR_PINGS,108
$24V_AH,23.3,6.636
$10V_AH,10.3,4.637
$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,20.925,134.175,718.150,0.000,0.000,29.508,16.524,168.325,27.000,0.000,33.276,3129.697,7667.844,706.533,3261.239,408.988,0.000,2064.284,0.000,3017.366,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,63.495,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.794,1356.158,1442.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324448
$DATA_FILE_SIZE,73638,1324
$CAP_FILE_SIZE,165116,0
$CFSIZE,260165632,145534976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070811,223526,2134.498,12117.849,30,99.0,49,-2.7