version: 66.09
glider: 166
mission: 6
dive: 25
start: 8 8 111 19 58 58
data:
$ID,166
$MISSION,6
$DIVE,25
$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,-24408.957
$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,42
$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
$GPS1,080811,195114,2200.467,12119.944,64,3.1,83,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.2
$GPS2,080811,195834,2200.708,12119.906,33,4.2,52,-2.8
$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,7.8,116915,-16.1,-11.786
$D_GRID,1757
$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,-99.68,0.000,2,0.000,0.000,149,1490,3205,0,0,0,0,0,0
$GC,121,-0.87,-243.3,6.5,-11.8,14,152,9.00,2.20,-11.60,0.000,4,0.235,0.053,2441,2913,3879,0,0,0,0,0,0
$GC,313,-0.68,-243.3,88.2,-30.9,48,322,0.25,2.17,0.00,0.000,6,0.164,0.037,2520,1504,3882,0,0,0,0,0,0
$GC,639,-0.56,-243.3,174.2,-22.5,109,648,0.15,2.00,0.00,0.000,4,0.170,0.045,2574,204,3884,0,0,0,0,0,0
$GC,761,-0.58,-243.3,196.1,-16.6,131,769,0.00,1.98,0.00,0.000,6,0.000,0.038,2564,1497,3884,0,0,0,0,0,0
$GC,1084,-0.58,-243.3,244.0,-12.9,192,1092,0.00,2.15,0.00,0.000,4,0.000,0.048,2553,2901,3884,0,0,0,0,0,0
$GC,1177,-0.62,-243.3,254.0,-9.4,205,1184,0.00,2.12,0.00,0.000,6,0.000,0.037,2553,1492,3884,0,0,0,0,0,0
$GC,1502,-0.62,-243.3,295.5,-13.1,236,1506,0.00,1.92,0.00,0.000,4,0.000,0.047,2554,198,3883,0,0,0,0,0,0
$GC,1549,-0.64,-243.3,301.5,-13.2,240,1553,0.00,1.92,0.00,0.000,6,0.000,0.036,2542,1499,3883,0,0,0,0,0,0
$GC,1880,-0.64,-243.3,343.3,-9.6,271,1884,0.00,2.12,0.00,0.000,4,0.000,0.049,2530,2906,3881,0,0,0,0,0,0
$GC,2003,-0.67,-243.3,351.9,-7.1,281,2007,0.00,2.10,0.00,0.000,6,0.000,0.037,2531,1488,3880,0,0,0,0,0,0
$GC,2328,-0.67,-243.3,394.1,-13.0,311,2332,0.00,1.92,0.00,0.000,4,0.000,0.049,2531,207,3879,0,0,0,0,0,0
$GC,2353,-0.67,-243.3,397.2,-12.8,313,2357,0.00,1.92,0.00,0.000,6,0.000,0.037,2521,1507,3879,0,0,0,0,0,0
$GC,2684,-0.67,-243.3,432.5,-11.4,344,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1507,3876,0,0,0,0,0,0
$GC,3006,-0.67,-243.3,473.0,-13.5,374,3010,0.00,2.12,0.00,0.000,4,0.000,0.054,2511,2905,3874,0,0,0,0,0,0
$GC,3058,-0.69,-243.3,479.3,-10.7,378,3062,0.00,2.12,0.00,0.000,6,0.000,0.039,2511,1491,3873,0,0,0,0,0,0
$GC,3385,-0.69,-243.3,519.0,-14.0,408,3388,0.00,1.95,0.00,0.000,4,0.000,0.051,2511,201,3870,0,0,0,0,0,0
$GC,3442,-0.69,-243.3,527.2,-13.6,413,3446,0.00,1.95,0.00,0.000,6,0.000,0.040,2502,1509,3869,0,0,0,0,0,0
$GC,3773,-0.67,-243.3,574.6,-14.5,444,3777,0.00,2.12,0.00,0.000,4,0.000,0.054,2489,2905,3867,0,0,0,0,0,0
$GC,3824,-0.67,-243.3,581.8,-13.7,448,3828,0.15,2.10,0.00,0.000,6,0.155,0.040,2532,1494,3866,0,0,0,0,0,0
$GC,4148,-0.70,-243.3,611.7,-7.6,471,4152,0.00,2.15,0.00,0.000,4,0.000,0.054,2524,2904,3863,0,0,0,0,0,0
$GC,4176,-0.75,-243.3,613.6,-7.0,472,4180,0.00,2.12,0.00,0.000,6,0.000,0.041,2524,1492,3863,0,0,0,0,0,0
$GC,4493,-0.78,-243.3,634.9,-7.4,487,4497,0.00,2.17,0.00,0.000,4,0.000,0.054,2514,2905,3860,0,0,0,0,0,0
$GC,4573,-0.83,-243.3,641.2,-8.0,490,4580,0.10,2.10,0.00,0.000,6,0.102,0.041,2459,1498,3859,0,0,0,0,0,0
$GC,4889,-0.76,-243.3,690.1,-16.2,506,4894,0.15,2.00,0.00,0.000,4,0.174,0.056,2505,198,3858,0,0,0,0,0,0
$GC,4951,-0.78,-243.3,698.6,-13.1,508,4958,0.00,1.95,0.00,0.000,6,0.000,0.041,2497,1499,3857,0,0,0,0,0,0
$GC,5267,-0.78,-243.3,738.9,-12.4,524,5271,0.00,2.12,0.00,0.000,4,0.000,0.057,2486,2904,3855,0,0,0,0,0,0
$GC,5299,-0.78,-243.3,742.8,-11.3,525,5306,0.00,2.12,0.00,0.000,6,0.000,0.041,2487,1492,3855,0,0,0,0,0,0
$GC,5618,-0.76,-243.3,779.8,-11.7,541,5622,0.00,1.98,0.00,0.000,4,0.000,0.055,2486,213,3852,0,0,0,0,0,0
$GC,5645,-0.76,-243.3,783.5,-11.8,542,5649,0.00,1.95,0.00,0.000,6,0.000,0.044,2477,1508,3852,0,0,0,0,0,0
$GC,5974,-0.74,-243.3,825.3,-13.0,558,5979,0.10,2.17,0.00,0.000,4,0.197,0.059,2493,2910,3850,0,0,0,0,0,0
$GC,6018,-0.76,-243.3,830.5,-10.5,560,6022,0.00,2.10,0.00,0.000,6,0.000,0.042,2492,1503,3850,0,0,0,0,0,0
$GC,6340,-0.76,-243.3,868.9,-11.9,576,6344,0.00,2.17,0.00,0.000,4,0.000,0.059,2482,2906,3848,0,0,0,0,0,0
$GC,6397,-0.78,-243.3,875.5,-11.2,578,6401,0.00,2.12,0.00,0.000,6,0.000,0.044,2482,1489,3847,0,0,0,0,0,0
$GC,6713,-0.78,-243.3,915.9,-12.9,593,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1490,3845,0,0,0,0,0,0
$GC,7024,-0.78,-243.3,954.3,-11.8,608,7028,0.00,2.20,0.00,0.000,4,0.000,0.061,2472,2911,3844,0,0,0,0,0,0
$GC,7045,-0.78,-243.3,957.1,-11.4,609,7049,0.00,2.12,0.00,0.000,6,0.000,0.045,2472,1501,3843,0,0,0,0,0,0
$STATE,7350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7350,begin apogee
$GC,7356,-0.18,0.0,992.0,11.2,624,7560,0.65,0.00,198.65,1.450,6,0.142,0.000,2681,1854,2884,0,0,0,0,0,0
$STATE,7560,end apogee,CONTROL_FINISHED_OK
$STATE,7561,begin climb
$GC,7563,0.87,243.3,996.7,0.0,633,7790,0.95,2.40,216.85,1.376,4,0.059,0.061,3030,3257,1891,0,0,0,0,0,0
$GC,7845,0.67,243.3,939.7,28.2,647,7850,0.30,2.28,0.00,0.000,6,0.196,0.045,2965,1852,1887,0,0,0,0,0,0
$GC,8173,0.53,243.3,867.4,20.4,663,8178,0.17,2.22,0.00,0.000,4,0.191,0.065,2909,3249,1883,0,0,0,0,0,0
$GC,8221,0.48,243.3,859.3,15.7,665,8225,0.00,2.20,0.00,0.000,6,0.000,0.041,2917,1836,1882,0,0,0,0,0,0
$GC,8549,0.42,243.3,812.3,14.2,681,8553,0.15,2.22,0.00,0.000,4,0.185,0.055,2869,3252,1881,0,0,0,0,0,0
$GC,8598,0.44,265.7,806.2,11.1,683,8624,0.00,2.15,20.08,1.258,6,0.000,0.041,2877,1839,1799,0,0,0,0,0,0
$GC,8949,0.44,265.7,764.6,13.0,700,8953,0.00,2.17,0.00,0.000,4,0.000,0.053,2888,444,1796,0,0,0,0,0,0
$GC,8976,0.44,265.7,760.3,13.4,701,8980,0.00,2.15,0.00,0.000,6,0.000,0.041,2888,1842,1795,0,0,0,0,0,0
$GC,9299,0.44,265.7,714.2,14.4,717,9303,0.00,2.22,0.00,0.000,4,0.000,0.056,2887,3273,1795,0,0,0,0,0,0
$GC,9342,0.44,265.7,707.2,14.6,719,9347,0.00,2.15,0.00,0.000,6,0.000,0.041,2896,1850,1795,0,0,0,0,0,0
$GC,9671,0.42,265.7,660.8,13.3,735,9675,0.00,2.15,0.00,0.000,4,0.000,0.053,2907,443,1794,0,0,0,0,0,0
$GC,9716,0.42,265.7,654.8,12.9,737,9720,0.00,2.17,0.00,0.000,6,0.000,0.042,2907,1862,1794,0,0,0,0,0,0
$GC,10037,0.39,265.7,613.7,12.8,753,10042,0.12,2.17,0.00,0.000,4,0.180,0.057,2865,3257,1794,0,0,0,0,0,0
$GC,10064,0.39,265.7,610.4,12.8,754,10068,0.00,2.15,0.00,0.000,6,0.000,0.041,2873,1829,1793,0,0,0,0,0,0
$GC,10391,0.47,312.5,578.5,10.3,779,10438,0.00,2.22,42.20,1.180,4,0.000,0.053,2884,436,1608,0,0,0,0,0,0
$GC,10481,0.55,330.6,568.5,11.2,786,10504,0.10,2.20,17.00,1.091,6,0.103,0.041,2932,1845,1535,0,0,0,0,0,0
$GC,10823,0.49,330.6,508.1,17.3,818,10827,0.00,2.22,0.00,0.000,4,0.000,0.056,2932,3263,1533,0,0,0,0,0,0
$GC,10913,0.49,330.6,493.0,15.6,825,10920,0.12,2.17,0.00,0.000,6,0.180,0.041,2910,1852,1533,0,0,0,0,0,0
$GC,11240,0.52,352.2,451.4,11.1,856,11266,0.00,2.28,19.48,1.043,4,0.000,0.051,2919,441,1448,0,0,0,0,0,0
$GC,11296,0.54,366.3,444.8,11.3,861,11319,0.00,2.17,13.73,0.991,6,0.000,0.039,2918,1851,1390,0,0,0,0,0,0
$GC,11639,0.54,366.3,397.5,14.7,893,11643,0.00,2.20,0.00,0.000,4,0.000,0.056,2918,3258,1387,0,0,0,0,0,0
$GC,11713,0.58,366.3,386.7,13.3,899,11717,0.00,2.15,0.00,0.000,6,0.000,0.038,2927,1839,1387,0,0,0,0,0,0
$GC,12040,0.58,366.3,345.8,12.3,929,12044,0.00,2.12,0.00,0.000,4,0.000,0.050,2937,446,1387,0,0,0,0,0,0
$GC,12068,0.58,366.3,341.8,12.9,931,12072,0.00,2.15,0.00,0.000,6,0.000,0.039,2937,1851,1386,0,0,0,0,0,0
$GC,12397,0.56,366.3,295.7,13.7,961,12401,0.00,2.17,0.00,0.000,4,0.000,0.054,2937,3270,1386,0,0,0,0,0,0
$GC,12449,0.56,366.3,288.6,12.4,965,12453,0.00,2.12,0.00,0.000,6,0.000,0.037,2946,1849,1386,0,0,0,0,0,0
$GC,12776,0.53,366.3,241.9,14.9,1000,12785,0.12,2.17,0.00,0.000,4,0.175,0.048,2922,446,1386,0,0,0,0,0,0
$GC,12798,0.53,366.3,238.4,14.7,1003,12806,0.00,2.15,0.00,0.000,6,0.000,0.037,2918,1851,1386,0,0,0,0,0,0
$GC,13120,0.69,457.5,204.5,8.8,1064,13207,0.15,2.30,75.60,0.857,4,0.084,0.047,3008,450,1017,0,0,0,0,0,0
$GC,13226,0.62,457.5,187.3,19.9,1078,13234,0.17,2.22,0.00,0.000,6,0.135,0.037,2949,1849,1015,0,0,0,0,0,0
$GC,13555,0.67,468.7,145.0,11.4,1139,13571,0.00,2.20,9.75,0.703,4,0.000,0.049,2946,3267,973,0,0,0,0,0,0
$GC,13585,0.73,478.0,141.1,11.5,1143,13601,0.00,2.20,9.52,0.691,6,0.000,0.035,2955,1842,934,0,0,0,0,0,0
$GC,13915,0.87,516.2,109.3,10.5,1205,13954,0.20,2.25,32.28,0.744,4,0.068,0.046,3066,446,778,0,0,0,0,0,0
$GC,13975,0.81,516.2,97.9,21.9,1213,13984,0.17,2.20,0.00,0.000,6,0.125,0.037,3006,1845,776,0,0,0,0,0,0
$GC,14301,0.88,519.4,52.8,11.7,1274,14309,0.00,2.17,0.00,0.000,4,0.000,0.047,3009,3252,774,0,0,0,0,0,0
$GC,14363,1.01,534.3,45.1,11.3,1285,14387,0.12,2.15,15.93,0.653,6,0.050,0.034,3105,1844,703,0,0,0,0,0,0
$STATE,14592,end climb,SURFACE_DEPTH_REACHED
$STATE,14592,begin surface coast
$FINISH,1.2,1.021460
$STATE,14612,end surface coast,CONTROL_FINISHED_OK
$STATE,14612,begin surface
$SM_CCo,14690,0.00,0.000,0,0,700,535.74
$SM_GC,1.87,7.88,0.00,0.00,0.044,0.000,0.000,145,1481,700,-8.06,-0.54,535.74,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12041.48,080811,151501
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.09
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.30
$XPDR_PINGS,111
$24V_AH,23.4,8.153
$10V_AH,10.3,5.530
$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,21.300,150.625,671.050,0.000,0.000,27.554,27.649,188.431,27.750,0.000,54.726,3146.660,7578.327,675.416,3292.961,423.997,0.000,2022.466,0.000,2997.018,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,65.025,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,909.352,1362.323,1463.792,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324468
$DATA_FILE_SIZE,76975,1330
$CAP_FILE_SIZE,167335,0
$CFSIZE,260165632,145018880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090811,000526,2205.999,12120.770,59,1.8,60,-2.8