version: 66.09
glider: 166
mission: 6
dive: 26
start: 8 9 111 0 13 25
data:
$ID,166
$MISSION,6
$DIVE,26
$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,-24410.312
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,090811,000526,2205.999,12120.770,59,1.8,60,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.4
$GPS2,090811,001301,2206.350,12120.845,13,1.8,30,-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,7.4,106368,-16.1,-11.786
$D_GRID,1661
$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,-99.88,0.000,2,0.000,0.000,136,1479,3062,0,0,0,0,0,0
$GC,122,-0.87,-243.3,5.5,-8.5,14,153,9.02,1.98,-15.18,0.000,4,0.230,0.054,2455,201,3879,0,0,0,0,0,0
$GC,376,-0.69,-243.3,106.9,-30.1,60,384,0.22,2.00,0.00,0.000,6,0.156,0.037,2516,1500,3882,0,0,0,0,0,0
$GC,700,-0.56,-243.3,192.0,-22.4,121,709,0.15,2.00,0.00,0.000,4,0.171,0.043,2570,217,3884,0,0,0,0,0,0
$GC,806,-0.59,-243.3,205.1,-9.6,139,814,0.00,1.95,0.00,0.000,6,0.000,0.034,2558,1502,3884,0,0,0,0,0,0
$GC,1129,-0.59,-243.3,243.6,-12.9,200,1137,0.00,1.98,0.00,0.000,4,0.000,0.044,2560,217,3884,0,0,0,0,0,0
$GC,1210,-0.62,-243.3,255.2,-13.0,211,1217,0.00,1.92,0.00,0.000,6,0.000,0.035,2551,1503,3884,0,0,0,0,0,0
$GC,1538,-0.62,-243.3,295.1,-11.5,242,1542,0.00,2.10,0.00,0.000,4,0.000,0.047,2541,2908,3883,0,0,0,0,0,0
$GC,1656,-0.66,-243.3,308.9,-11.9,252,1660,0.00,2.08,0.00,0.000,6,0.000,0.035,2541,1510,3883,0,0,0,0,0,0
$GC,1986,-0.66,-243.3,354.3,-13.9,283,1990,0.00,2.10,0.00,0.000,4,0.000,0.048,2531,2902,3881,0,0,0,0,0,0
$GC,2012,-0.66,-243.3,358.1,-14.2,285,2020,0.00,2.12,0.00,0.000,6,0.000,0.036,2531,1500,3880,0,0,0,0,0,0
$GC,2338,-0.66,-243.3,400.1,-12.2,316,2342,0.00,1.98,0.00,0.000,4,0.000,0.050,2531,205,3878,0,0,0,0,0,0
$GC,2398,-0.69,-243.3,407.3,-12.6,321,2402,0.00,1.92,0.00,0.000,6,0.000,0.039,2522,1496,3878,0,0,0,0,0,0
$GC,2729,-0.69,-243.3,442.6,-11.3,352,2733,0.00,2.15,0.00,0.000,4,0.000,0.051,2511,2915,3876,0,0,0,0,0,0
$GC,2821,-0.72,-243.3,452.3,-9.9,359,2827,0.00,2.12,0.00,0.000,6,0.000,0.039,2511,1501,3875,0,0,0,0,0,0
$GC,3146,-0.72,-243.3,493.0,-13.1,390,3149,0.00,1.98,0.00,0.000,4,0.000,0.051,2511,196,3873,0,0,0,0,0,0
$GC,3204,-0.72,-243.3,500.9,-13.7,395,3208,0.00,2.00,0.00,0.000,6,0.000,0.039,2501,1534,3873,0,0,0,0,0,0
$GC,3535,-0.70,-243.3,544.3,-12.7,426,3539,0.00,2.10,0.00,0.000,4,0.000,0.054,2489,2904,3870,0,0,0,0,0,0
$GC,3594,-0.70,-243.3,550.8,-10.9,431,3599,0.10,2.10,0.00,0.000,6,0.169,0.039,2516,1491,3869,0,0,0,0,0,0
$GC,3920,-0.70,-243.3,587.0,-10.3,461,3924,0.00,2.15,0.00,0.000,4,0.000,0.054,2507,2904,3866,0,0,0,0,0,0
$GC,3943,-0.71,-243.3,589.3,-10.2,462,3950,0.00,2.12,0.00,0.000,6,0.000,0.041,2507,1493,3866,0,0,0,0,0,0
$GC,4272,-0.71,-243.3,626.9,-11.8,483,4276,0.00,1.98,0.00,0.000,4,0.000,0.054,2507,198,3864,0,0,0,0,0,0
$GC,4342,-0.71,-243.3,636.0,-13.1,486,4346,0.00,1.95,0.00,0.000,6,0.000,0.041,2497,1496,3863,0,0,0,0,0,0
$GC,4675,-0.71,-243.3,678.9,-12.5,502,4679,0.00,2.15,0.00,0.000,4,0.000,0.056,2486,2911,3860,0,0,0,0,0,0
$GC,4701,-0.71,-243.3,682.6,-12.6,503,4705,0.00,2.15,0.00,0.000,6,0.000,0.041,2486,1473,3860,0,0,0,0,0,0
$GC,5031,-0.69,-243.3,724.3,-12.5,519,5036,0.12,2.22,0.00,0.000,4,0.172,0.057,2512,2911,3857,0,0,0,0,0,0
$GC,5094,-0.75,-243.3,730.9,-9.2,522,5098,0.00,2.15,0.00,0.000,6,0.000,0.042,2512,1491,3857,0,0,0,0,0,0
$GC,5423,-0.78,-243.3,765.3,-10.9,538,5427,0.00,2.20,0.00,0.000,4,0.000,0.057,2501,2909,3855,0,0,0,0,0,0
$GC,5468,-0.81,-243.3,770.5,-10.7,540,5472,0.00,2.12,0.00,0.000,6,0.000,0.042,2501,1493,3854,0,0,0,0,0,0
$GC,5789,-0.81,-243.3,807.0,-11.8,556,5793,0.00,2.17,0.00,0.000,4,0.000,0.059,2491,2905,3852,0,0,0,0,0,0
$GC,5812,-0.81,-243.3,809.9,-11.9,557,5816,0.00,2.12,0.00,0.000,6,0.000,0.043,2491,1500,3852,0,0,0,0,0,0
$GC,6138,-0.81,-243.3,851.5,-12.6,573,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1500,3850,0,0,0,0,0,0
$GC,6448,-0.81,-243.3,887.1,-10.7,588,6452,0.00,2.22,0.00,0.000,4,0.000,0.061,2480,2908,3848,0,0,0,0,0,0
$GC,6477,-0.81,-243.3,890.0,-10.7,589,6481,0.00,2.12,0.00,0.000,6,0.000,0.044,2480,1503,3848,0,0,0,0,0,0
$GC,6799,-0.80,-243.3,924.0,-10.7,605,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1503,3846,0,0,0,0,0,0
$GC,7109,-0.80,-243.3,956.4,-10.3,620,7113,0.00,2.00,0.00,0.000,4,0.000,0.060,2480,192,3844,0,0,0,0,0,0
$GC,7133,-0.78,-243.3,959.2,-10.3,621,7137,0.00,2.00,0.00,0.000,6,0.000,0.047,2470,1510,3844,0,0,0,0,0,0
$STATE,7402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7402,begin apogee
$GC,7408,-0.18,0.0,990.1,11.4,634,7613,0.65,0.00,198.57,1.444,6,0.135,0.000,2682,1861,2884,0,0,0,0,0,0
$STATE,7613,end apogee,CONTROL_FINISHED_OK
$STATE,7613,begin climb
$GC,7616,0.87,243.3,994.8,0.0,643,7842,0.95,2.42,216.77,1.372,4,0.060,0.062,3029,3246,1891,0,0,0,0,0,0
$GC,7853,0.64,243.3,952.8,26.3,655,7859,0.32,2.30,0.00,0.000,6,0.193,0.044,2958,1846,1889,0,0,0,0,0,0
$GC,8178,0.51,243.3,885.8,20.3,671,8183,0.17,2.25,0.00,0.000,4,0.187,0.060,2903,3255,1883,0,0,0,0,0,0
$GC,8206,0.42,243.3,879.5,19.6,672,8210,0.00,2.17,0.00,0.000,6,0.000,0.041,2910,1845,1882,0,0,0,0,0,0
$GC,8524,0.36,243.3,830.0,15.8,687,8528,0.17,2.22,0.00,0.000,4,0.175,0.058,2854,3254,1881,0,0,0,0,0,0
$GC,8539,0.32,243.3,827.2,15.2,687,8546,0.00,2.15,0.00,0.000,6,0.000,0.041,2863,1840,1881,0,0,0,0,0,0
$GC,8856,0.46,346.4,798.1,8.4,703,8957,0.00,2.33,92.38,1.310,4,0.000,0.055,2874,439,1472,0,0,0,0,0,0
$GC,9004,0.64,436.5,785.8,8.9,709,9095,0.22,2.25,81.38,1.274,6,0.065,0.041,2970,1852,1104,0,0,0,0,0,0
$GC,9423,0.55,436.5,695.7,21.5,729,9428,0.17,2.25,0.00,0.000,4,0.177,0.057,2919,3264,1098,0,0,0,0,0,0
$GC,9514,0.66,478.9,683.3,10.4,733,9557,0.00,2.20,37.05,1.209,6,0.000,0.042,2926,1848,931,0,0,0,0,0,0
$GC,9878,0.66,478.9,629.2,16.0,751,9882,0.00,2.17,0.00,0.000,4,0.000,0.051,2938,443,926,0,0,0,0,0,0
$GC,9930,0.69,478.9,621.8,13.6,753,9934,0.00,2.17,0.00,0.000,6,0.000,0.042,2938,1854,925,0,0,0,0,0,0
$GC,10252,0.68,478.9,571.2,15.9,776,10256,0.00,2.15,0.00,0.000,4,0.000,0.057,2938,3253,925,0,0,0,0,0,0
$GC,10321,0.72,478.9,561.1,13.1,781,10328,0.00,2.15,0.00,0.000,6,0.000,0.041,2947,1848,925,0,0,0,0,0,0
$GC,10647,0.70,478.9,503.5,18.5,812,10651,0.00,2.17,0.00,0.000,4,0.000,0.051,2958,433,925,0,0,0,0,0,0
$GC,10686,0.70,478.9,496.7,16.7,815,10691,0.00,2.15,0.00,0.000,6,0.000,0.041,2958,1854,924,0,0,0,0,0,0
$GC,11012,0.66,478.9,437.6,17.7,845,11016,0.00,2.15,0.00,0.000,4,0.000,0.057,2958,3253,924,0,0,0,0,0,0
$GC,11051,0.66,478.9,430.6,17.3,848,11055,0.00,2.10,0.00,0.000,6,0.000,0.039,2968,1845,924,0,0,0,0,0,0
$GC,11377,0.62,478.9,370.1,19.6,878,11381,0.00,2.12,0.00,0.000,4,0.000,0.051,2978,438,924,0,0,0,0,0,0
$GC,11398,0.59,478.9,365.5,19.6,879,11406,0.15,2.12,0.00,0.000,6,0.153,0.041,2936,1847,923,0,0,0,0,0,0
$GC,11724,0.62,478.9,319.7,13.5,910,11728,0.00,2.17,0.00,0.000,4,0.000,0.056,2935,3268,923,0,0,0,0,0,0
$GC,11746,0.67,478.9,316.4,13.8,911,11753,0.00,2.12,0.00,0.000,6,0.000,0.039,2943,1841,923,0,0,0,0,0,0
$GC,12072,0.69,478.9,270.5,15.0,942,12076,0.00,2.15,0.00,0.000,4,0.000,0.051,2954,433,923,0,0,0,0,0,0
$GC,12091,0.71,478.9,267.8,15.2,943,12095,0.00,2.12,0.00,0.000,6,0.000,0.038,2953,1860,923,0,0,0,0,0,0
$GC,12414,0.71,478.9,217.0,16.3,992,12422,0.00,2.20,0.00,0.000,4,0.000,0.049,2964,438,923,0,0,0,0,0,0
$GC,12442,0.74,478.9,213.1,15.3,996,12450,0.00,2.15,0.00,0.000,6,0.000,0.037,2964,1853,923,0,0,0,0,0,0
$GC,12769,0.75,478.9,168.2,12.9,1057,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1854,924,0,0,0,0,0,0
$GC,13090,0.86,522.5,127.7,10.4,1118,13134,0.17,2.20,36.10,0.780,4,0.073,0.045,3064,430,751,0,0,0,0,0,0
$GC,13149,0.80,522.5,118.2,18.9,1126,13158,0.17,2.20,0.00,0.000,6,0.129,0.037,3004,1858,750,0,0,0,0,0,0
$GC,13473,0.86,522.5,72.4,12.9,1187,13481,0.00,2.12,0.00,0.000,4,0.000,0.048,3004,3241,748,0,0,0,0,0,0
$GC,13507,0.95,522.5,68.0,12.8,1192,13515,0.08,2.12,0.00,0.000,6,0.060,0.035,3073,1843,748,0,0,0,0,0,0
$GC,13833,0.95,522.5,15.8,13.8,1253,13841,0.00,2.15,0.00,0.000,4,0.000,0.047,3085,440,748,0,0,0,0,0,0
$GC,13887,1.00,522.5,8.5,13.1,1262,13895,0.00,2.12,0.00,0.000,6,0.000,0.034,3084,1845,748,0,0,0,0,0,0
$STATE,13926,end climb,SURFACE_DEPTH_REACHED
$STATE,13926,begin surface coast
$FINISH,0.9,1.007800
$STATE,13949,end surface coast,CONTROL_FINISHED_OK
$STATE,13949,begin surface
$SM_CCo,14027,0.00,0.000,0,0,748,523.96
$SM_GC,1.86,7.70,0.00,0.00,0.044,0.000,0.000,137,1503,748,-8.06,0.08,523.96,0,0,0,0,0,0
$IRIDIUM_FIX,2152.74,12125.33,080811,191934
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.81
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.10
$XPDR_PINGS,105
$24V_AH,23.3,8.419
$10V_AH,10.3,5.676
$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,20.575,141.350,662.250,0.000,0.000,38.273,43.850,200.107,26.250,0.000,31.601,3022.846,7151.523,692.684,3189.983,410.408,0.000,1976.346,0.000,2886.866,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,61.965,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.257,1305.724,1425.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324416
$DATA_FILE_SIZE,73595,1273
$CAP_FILE_SIZE,159033,0
$CFSIZE,260165632,144945152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090811,040850,2213.199,12122.654,40,2.3,59,-2.8