version: 66.09
glider: 166
mission: 6
dive: 22
start: 8 8 111 7 9 46
data:
$ID,166
$MISSION,6
$DIVE,22
$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,-24405.08
$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,51
$R_STBD_OVSHOOT,40
$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
$GPS1,080811,070315,2145.672,12119.824,45,2.1,64,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.2
$GPS2,080811,070922,2145.859,12119.792,10,2.2,29,-2.7
$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,6.8,144345,-16.1,-11.786
$D_GRID,2681
$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,-243.3,0.0,0.0,0,126,0.00,0.00,-106.88,0.000,2,0.000,0.000,120,1470,2995,0,0,0,0,0,0
$GC,129,-0.87,-243.3,5.0,-7.6,15,166,9.07,1.98,-16.95,0.000,4,0.232,0.058,2461,202,3879,0,0,0,0,0,0
$GC,403,-0.61,-243.3,120.7,-37.6,65,411,0.28,1.98,0.00,0.000,6,0.160,0.036,2544,1497,3881,0,0,0,0,0,0
$GC,722,-0.53,-243.3,185.8,-18.9,126,731,0.12,2.00,0.00,0.000,4,0.174,0.044,2582,212,3884,0,0,0,0,0,0
$GC,872,-0.58,-243.3,205.6,-11.4,153,880,0.00,1.95,0.00,0.000,6,0.000,0.036,2572,1497,3884,0,0,0,0,0,0
$GC,1194,-0.60,-243.3,243.6,-11.6,214,1202,0.00,2.15,0.00,0.000,4,0.000,0.048,2562,2905,3883,0,0,0,0,0,0
$GC,1298,-0.66,-243.3,254.7,-9.0,228,1306,0.00,2.12,0.00,0.000,6,0.000,0.037,2562,1507,3883,0,0,0,0,0,0
$GC,1625,-0.69,-243.3,291.4,-10.9,259,1630,0.12,1.98,0.00,0.000,4,0.083,0.048,2485,202,3882,0,0,0,0,0,0
$GC,1685,-0.61,-243.3,301.5,-16.9,264,1693,0.25,1.95,0.00,0.000,6,0.145,0.042,2548,1506,3882,0,0,0,0,0,0
$GC,2011,-0.61,-243.3,342.8,-10.3,295,2015,0.00,2.12,0.00,0.000,4,0.000,0.050,2538,2911,3880,0,0,0,0,0,0
$GC,2044,-0.63,-243.3,346.4,-10.2,297,2051,0.00,2.12,0.00,0.000,6,0.000,0.038,2538,1494,3879,0,0,0,0,0,0
$GC,2369,-0.63,-243.3,386.4,-12.4,328,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1493,3878,0,0,0,0,0,0
$GC,2690,-0.63,-243.3,421.0,-11.8,358,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1493,3875,0,0,0,0,0,0
$GC,3010,-0.65,-243.3,461.5,-12.1,388,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1493,3873,0,0,0,0,0,0
$GC,3339,-0.68,-243.3,495.8,-8.8,419,3343,0.00,2.17,0.00,0.000,4,0.000,0.054,2528,2907,3870,0,0,0,0,0,0
$GC,3379,-0.71,-243.3,499.3,-8.2,422,3383,0.00,2.10,0.00,0.000,6,0.000,0.040,2528,1500,3870,0,0,0,0,0,0
$GC,3705,-0.71,-243.3,530.3,-10.8,452,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1500,3867,0,0,0,0,0,0
$GC,4027,-0.74,-243.3,564.2,-10.0,482,4031,0.00,2.20,0.00,0.000,4,0.000,0.057,2517,2906,3864,0,0,0,0,0,0
$GC,4082,-0.79,-243.3,570.5,-10.6,486,4089,0.00,2.12,0.00,0.000,6,0.000,0.041,2517,1503,3864,0,0,0,0,0,0
$GC,4409,-0.81,-243.3,610.7,-12.3,513,4413,0.00,2.17,0.00,0.000,4,0.000,0.061,2507,2908,3862,0,0,0,0,0,0
$GC,4436,-0.83,-243.3,614.4,-11.7,514,4440,0.00,2.15,0.00,0.000,6,0.000,0.043,2506,1490,3861,0,0,0,0,0,0
$GC,4753,-0.83,-243.3,650.6,-11.6,529,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1490,3859,0,0,0,0,0,0
$GC,5062,-0.83,-243.3,686.8,-11.7,544,5066,0.00,2.20,0.00,0.000,4,0.000,0.059,2496,2907,3857,0,0,0,0,0,0
$GC,5136,-0.87,-243.3,694.9,-10.4,547,5140,0.00,2.15,0.00,0.000,6,0.000,0.044,2495,1494,3856,0,0,0,0,0,0
$GC,5452,-0.87,-243.3,729.8,-10.5,562,5456,0.00,1.98,0.00,0.000,4,0.000,0.055,2495,199,3854,0,0,0,0,0,0
$GC,5507,-0.87,-243.3,735.8,-10.4,564,5512,0.00,2.00,0.00,0.000,6,0.000,0.044,2485,1502,3853,0,0,0,0,0,0
$GC,5831,-0.85,-243.3,769.1,-10.6,580,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1502,3851,0,0,0,0,0,0
$GC,6139,-0.84,-243.3,804.4,-12.1,595,6143,0.00,2.17,0.00,0.000,4,0.000,0.060,2474,2913,3849,0,0,0,0,0,0
$GC,6190,-0.84,-243.3,811.1,-12.9,597,6194,0.00,2.12,0.00,0.000,6,0.000,0.044,2474,1501,3849,0,0,0,0,0,0
$GC,6511,-0.81,-243.3,856.6,-14.1,613,6515,0.00,1.98,0.00,0.000,4,0.000,0.057,2474,198,3847,0,0,0,0,0,0
$GC,6550,-0.78,-243.3,862.5,-14.7,614,6557,0.00,1.98,0.00,0.000,6,0.000,0.045,2465,1509,3846,0,0,0,0,0,0
$GC,6868,-0.75,-243.3,908.1,-14.2,630,6873,0.15,2.17,0.00,0.000,4,0.180,0.059,2497,2916,3844,0,0,0,0,0,0
$GC,6894,-0.75,-243.3,911.9,-13.2,631,6899,0.00,2.12,0.00,0.000,6,0.000,0.044,2497,1493,3844,0,0,0,0,0,0
$GC,7223,-0.76,-243.3,945.2,-9.7,647,7227,0.00,1.98,0.00,0.000,4,0.000,0.057,2497,202,3842,0,0,0,0,0,0
$GC,7293,-0.78,-243.3,952.2,-10.3,650,7297,0.00,2.00,0.00,0.000,6,0.000,0.045,2488,1496,3842,0,0,0,0,0,0
$GC,7626,-0.78,-243.3,985.3,-10.5,666,7630,0.00,2.17,0.00,0.000,4,0.000,0.060,2477,2908,3840,0,0,0,0,0,0
$STATE,7668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7668,begin apogee
$GC,7677,-0.18,0.0,990.0,10.5,668,7884,0.62,0.00,198.25,1.444,6,0.132,0.000,2684,1841,2883,0,0,0,0,0,0
$STATE,7885,end apogee,CONTROL_FINISHED_OK
$STATE,7885,begin climb
$GC,7889,0.87,243.3,998.4,0.0,678,8114,0.98,2.42,217.52,1.373,4,0.058,0.060,3036,3247,1891,0,0,0,0,0,0
$GC,8183,0.66,243.3,945.3,26.3,692,8189,0.32,2.25,0.00,0.000,6,0.196,0.044,2963,1852,1887,0,0,0,0,0,0
$GC,8500,0.53,243.3,884.3,18.7,707,8502,0.17,0.00,0.00,0.000,6,0.193,0.000,2918,1852,1883,0,0,0,0,0,0
$GC,8811,0.48,243.3,841.6,13.2,722,8815,0.00,2.20,0.00,0.000,4,0.000,0.054,2926,441,1881,0,0,0,0,0,0
$GC,8838,0.41,243.3,837.2,14.0,723,8843,0.15,2.17,0.00,0.000,6,0.164,0.044,2880,1856,1880,0,0,0,0,0,0
$GC,9161,0.43,257.3,801.2,11.3,739,9183,0.00,2.28,11.90,1.198,4,0.000,0.060,2878,3256,1835,0,0,0,0,0,0
$GC,9235,0.45,257.3,791.5,13.1,742,9239,0.00,2.17,0.00,0.000,6,0.000,0.042,2886,1845,1834,0,0,0,0,0,0
$GC,9562,0.43,257.3,746.2,13.8,758,9566,0.00,2.17,0.00,0.000,4,0.000,0.054,2897,436,1833,0,0,0,0,0,0
$GC,9649,0.43,257.3,734.5,13.7,762,9653,0.00,2.20,0.00,0.000,6,0.000,0.044,2897,1851,1832,0,0,0,0,0,0
$GC,9976,0.41,257.3,689.0,14.3,778,9980,0.00,2.20,0.00,0.000,4,0.000,0.058,2897,3268,1832,0,0,0,0,0,0
$GC,10006,0.39,257.3,684.7,14.7,779,10011,0.12,2.15,0.00,0.000,6,0.182,0.042,2877,1848,1831,0,0,0,0,0,0
$GC,10322,0.39,257.3,645.7,12.4,794,10326,0.00,2.17,0.00,0.000,4,0.000,0.052,2885,431,1831,0,0,0,0,0,0
$GC,10343,0.39,257.3,642.8,12.5,795,10347,0.00,2.17,0.00,0.000,6,0.000,0.042,2885,1859,1830,0,0,0,0,0,0
$GC,10671,0.39,257.3,603.2,12.2,811,10675,0.00,2.15,0.00,0.000,4,0.000,0.058,2885,3259,1830,0,0,0,0,0,0
$GC,10710,0.39,257.3,597.8,12.7,812,10717,0.00,2.12,0.00,0.000,6,0.000,0.041,2893,1841,1830,0,0,0,0,0,0
$GC,11037,0.40,267.7,559.6,11.4,843,11053,0.00,2.17,10.77,1.066,4,0.000,0.052,2904,436,1792,0,0,0,0,0,0
$GC,11088,0.43,288.1,553.6,11.1,847,11114,0.00,2.17,19.92,1.127,6,0.000,0.042,2904,1859,1708,0,0,0,0,0,0
$GC,11442,0.43,288.1,507.1,12.6,880,11446,0.00,2.20,0.00,0.000,4,0.000,0.057,2904,3265,1705,0,0,0,0,0,0
$GC,11485,0.43,288.1,501.2,12.5,883,11493,0.00,2.17,0.00,0.000,6,0.000,0.041,2914,1836,1704,0,0,0,0,0,0
$GC,11811,0.41,288.1,455.8,15.2,914,11816,0.12,2.17,0.00,0.000,4,0.183,0.053,2891,435,1704,0,0,0,0,0,0
$GC,11838,0.43,288.1,451.6,14.7,916,11845,0.00,2.17,0.00,0.000,6,0.000,0.041,2890,1852,1704,0,0,0,0,0,0
$GC,12164,0.52,336.4,415.7,10.2,947,12212,0.00,2.30,42.03,1.057,4,0.000,0.057,2891,3255,1512,0,0,0,0,0,0
$GC,12270,0.58,339.3,403.9,11.7,956,12281,0.10,2.20,4.43,0.687,6,0.099,0.040,2948,1850,1499,0,0,0,0,0,0
$GC,12606,0.54,339.3,345.9,18.5,988,12610,0.00,2.22,0.00,0.000,4,0.000,0.051,2959,441,1497,0,0,0,0,0,0
$GC,12628,0.49,339.3,341.7,18.2,989,12636,0.20,2.17,0.00,0.000,6,0.153,0.041,2901,1857,1496,0,0,0,0,0,0
$GC,12954,0.69,459.6,312.0,7.9,1020,13060,0.20,0.00,101.15,0.955,6,0.070,0.000,2990,1860,1009,0,0,0,0,0,0
$GC,13377,0.62,459.6,224.3,17.5,1072,13385,0.15,2.25,0.00,0.000,4,0.173,0.054,2946,3261,1005,0,0,0,0,0,0
$GC,13437,0.69,476.9,216.6,11.2,1082,13460,0.00,2.20,15.10,0.818,6,0.000,0.038,2954,1850,938,0,0,0,0,0,0
$GC,13783,0.73,476.9,166.4,14.4,1145,13791,0.00,2.22,0.00,0.000,4,0.000,0.050,2965,449,936,0,0,0,0,0,0
$GC,13811,0.76,476.9,161.8,14.4,1149,13819,0.00,2.17,0.00,0.000,6,0.000,0.037,2965,1856,935,0,0,0,0,0,0
$GC,14137,0.80,476.9,120.4,12.0,1210,14146,0.12,2.20,0.00,0.000,4,0.089,0.051,3033,3261,935,0,0,0,0,0,0
$GC,14184,0.76,476.9,112.9,18.3,1217,14192,0.15,2.17,0.00,0.000,6,0.148,0.037,2995,1846,935,0,0,0,0,0,0
$GC,14506,0.89,552.4,65.1,9.3,1278,14579,0.10,2.30,61.17,0.720,4,0.101,0.047,3062,440,629,0,0,0,0,0,0
$GC,14610,0.89,552.4,49.4,16.9,1293,14619,0.10,2.22,0.00,0.000,6,0.124,0.037,3029,1855,627,0,0,0,0,0,0
$GC,14939,1.06,623.6,14.3,9.5,1354,14984,0.17,2.20,36.10,0.652,4,0.069,0.047,3119,3258,451,0,0,0,0,0,0
$GC,14994,1.01,623.6,4.9,18.9,1361,15003,0.15,2.20,0.00,0.000,6,0.135,0.035,3079,1852,448,0,0,0,0,0,0
$STATE,15009,end climb,SURFACE_DEPTH_REACHED
$STATE,15009,begin surface coast
$FINISH,1.0,0.998314
$STATE,15021,end surface coast,CONTROL_FINISHED_OK
$STATE,15021,begin surface
$SM_CCo,15098,0.00,0.000,0,0,446,598.04
$SM_GC,1.74,7.82,0.00,0.00,0.042,0.000,0.000,150,1495,446,-8.04,-0.14,598.04,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,12117.31,080811,030323
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.14
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,24.60
$XPDR_PINGS,91
$24V_AH,23.4,7.400
$10V_AH,10.3,5.081
$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,21.775,137.450,718.350,0.000,0.000,30.223,20.657,152.935,22.750,0.000,31.870,3191.074,7858.850,774.234,3209.497,420.702,0.000,2107.575,0.000,2991.135,0.000,0.542,0.000
$DEVICE_MAMPS,231.795,61.200,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.467,1400.457,1450.498,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324424
$DATA_FILE_SIZE,76831,1365
$CAP_FILE_SIZE,166711,0
$CFSIZE,260165632,145276928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080811,112257,2150.828,12119.618,35,2.2,54,-2.7