version: 66.09
glider: 166
mission: 6
dive: 28
start: 8 9 111 8 28 13
data:
$ID,166
$MISSION,6
$DIVE,28
$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,-24412.922
$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,41
$R_STBD_OVSHOOT,52
$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
$GPS1,090811,082007,2219.240,12123.860,54,1.9,59,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.9
$GPS2,090811,082749,2219.486,12123.974,41,1.5,53,-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,5.0,81761,-16.1,-11.786
$D_GRID,1793
$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,-243.3,0.0,0.0,0,112,0.00,0.00,-92.88,0.000,2,0.000,0.000,146,1515,3028,0,0,0,0,0,0
$GC,115,-0.87,-243.3,5.3,-8.1,13,146,9.40,2.05,-16.00,0.000,4,0.246,0.054,2458,198,3879,0,0,0,0,0,0
$GC,379,-0.67,-243.3,109.8,-31.1,62,388,0.22,1.98,0.00,0.000,6,0.160,0.033,2517,1498,3882,0,0,0,0,0,0
$GC,703,-0.57,-243.3,182.5,-20.9,123,712,0.15,2.00,0.00,0.000,4,0.169,0.043,2569,203,3885,0,0,0,0,0,0
$GC,880,-0.60,-243.3,207.7,-12.2,155,888,0.00,1.95,0.00,0.000,6,0.000,0.034,2556,1500,3885,0,0,0,0,0,0
$GC,1203,-0.60,-243.3,246.4,-12.2,216,1212,0.00,2.15,0.00,0.000,4,0.000,0.045,2546,2903,3884,0,0,0,0,0,0
$GC,1306,-0.65,-243.3,258.5,-11.0,228,1310,0.00,2.10,0.00,0.000,6,0.000,0.034,2546,1488,3884,0,0,0,0,0,0
$GC,1631,-0.65,-243.3,297.6,-11.3,258,1635,0.00,1.92,0.00,0.000,4,0.000,0.044,2546,199,3883,0,0,0,0,0,0
$GC,1698,-0.65,-243.3,305.8,-12.1,264,1702,0.00,1.92,0.00,0.000,6,0.000,0.034,2536,1507,3882,0,0,0,0,0,0
$GC,2029,-0.65,-243.3,355.9,-16.2,295,2033,0.00,2.12,0.00,0.000,4,0.000,0.047,2527,2906,3880,0,0,0,0,0,0
$GC,2103,-0.68,-243.3,366.0,-13.0,301,2107,0.00,2.10,0.00,0.000,6,0.000,0.035,2528,1495,3879,0,0,0,0,0,0
$GC,2428,-0.68,-243.3,405.5,-11.9,331,2431,0.00,1.95,0.00,0.000,4,0.000,0.047,2529,198,3878,0,0,0,0,0,0
$GC,2511,-0.68,-243.3,416.5,-13.0,338,2518,0.00,1.98,0.00,0.000,6,0.000,0.038,2518,1496,3877,0,0,0,0,0,0
$GC,2837,-0.68,-243.3,461.8,-13.6,369,2840,0.00,2.12,0.00,0.000,4,0.000,0.050,2507,2905,3875,0,0,0,0,0,0
$GC,2960,-0.70,-243.3,477.1,-11.8,379,2966,0.00,2.08,0.00,0.000,6,0.000,0.037,2508,1501,3874,0,0,0,0,0,0
$GC,3285,-0.68,-243.3,521.4,-14.4,410,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1501,3872,0,0,0,0,0,0
$GC,3605,-0.66,-243.3,568.2,-14.6,440,3609,0.00,1.98,0.00,0.000,4,0.000,0.053,2505,204,3869,0,0,0,0,0,0
$GC,3686,-0.66,-243.3,580.3,-14.4,447,3691,0.12,1.95,0.00,0.000,6,0.164,0.041,2530,1509,3868,0,0,0,0,0,0
$GC,4019,-0.70,-243.3,610.4,-7.9,472,4023,0.00,2.12,0.00,0.000,4,0.000,0.054,2520,2904,3865,0,0,0,0,0,0
$GC,4106,-0.76,-243.3,616.5,-7.0,476,4110,0.00,2.10,0.00,0.000,6,0.000,0.040,2520,1491,3865,0,0,0,0,0,0
$GC,4439,-0.79,-243.3,644.2,-8.3,492,4443,0.00,2.17,0.00,0.000,4,0.000,0.054,2510,2903,3862,0,0,0,0,0,0
$GC,4490,-0.84,-243.3,648.2,-7.9,494,4495,0.10,2.12,0.00,0.000,6,0.102,0.041,2455,1496,3861,0,0,0,0,0,0
$GC,4807,-0.77,-243.3,692.3,-14.3,509,4811,0.15,1.98,0.00,0.000,4,0.177,0.055,2499,207,3859,0,0,0,0,0,0
$GC,4853,-0.77,-243.3,699.1,-13.8,511,4857,0.00,1.95,0.00,0.000,6,0.000,0.043,2490,1504,3858,0,0,0,0,0,0
$GC,5185,-0.77,-243.3,748.0,-15.0,527,5189,0.00,2.15,0.00,0.000,4,0.000,0.057,2480,2906,3856,0,0,0,0,0,0
$GC,5229,-0.77,-243.3,754.6,-13.7,529,5233,0.00,2.15,0.00,0.000,6,0.000,0.041,2479,1503,3856,0,0,0,0,0,0
$GC,5559,-0.75,-243.3,799.4,-12.4,545,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1503,3854,0,0,0,0,0,0
$GC,5867,-0.72,-243.3,831.2,-9.4,560,5869,0.12,0.00,0.00,0.000,6,0.173,0.000,2513,1503,3851,0,0,0,0,0,0
$GC,6176,-0.76,-243.3,854.1,-7.8,575,6180,0.00,2.20,0.00,0.000,4,0.000,0.060,2505,2910,3850,0,0,0,0,0,0
$GC,6222,-0.80,-243.3,857.8,-7.9,577,6226,0.00,2.15,0.00,0.000,6,0.000,0.044,2505,1500,3849,0,0,0,0,0,0
$GC,6549,-0.83,-243.3,887.5,-9.2,593,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1500,3847,0,0,0,0,0,0
$GC,6860,-0.85,-243.3,914.8,-9.0,608,6864,0.00,2.22,0.00,0.000,4,0.000,0.063,2495,2908,3846,0,0,0,0,0,0
$GC,6899,-0.89,-243.3,918.7,-9.0,609,6906,0.10,2.15,0.00,0.000,6,0.107,0.046,2444,1495,3845,0,0,0,0,0,0
$GC,7217,-0.82,-243.3,966.8,-16.2,625,7221,0.12,2.03,0.00,0.000,4,0.185,0.061,2478,198,3843,0,0,0,0,0,0
$GC,7283,-0.82,-243.3,977.0,-13.8,628,7287,0.00,1.98,0.00,0.000,6,0.000,0.047,2470,1504,3843,0,0,0,0,0,0
$STATE,7381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7381,begin apogee
$GC,7387,-0.18,0.0,991.0,14.0,633,7596,0.65,0.00,198.82,1.448,6,0.138,0.000,2679,1859,2883,0,0,0,0,0,0
$STATE,7597,end apogee,CONTROL_FINISHED_OK
$STATE,7597,begin climb
$GC,7599,0.87,243.3,1002.8,0.0,643,7822,0.98,0.00,218.40,1.381,6,0.062,0.000,3032,1858,1892,0,0,0,0,0,0
$GC,8131,0.64,243.3,874.1,30.0,669,8136,0.28,2.22,0.00,0.000,4,0.206,0.060,2947,3248,1884,0,0,0,0,0,0
$GC,8264,0.54,243.3,844.7,21.1,675,8269,0.15,2.20,0.00,0.000,6,0.202,0.043,2921,1842,1882,0,0,0,0,0,0
$GC,8593,0.46,243.3,786.5,16.6,691,8597,0.00,2.22,0.00,0.000,4,0.000,0.059,2919,3252,1881,0,0,0,0,0,0
$GC,8620,0.39,243.3,781.4,16.4,692,8625,0.20,2.17,0.00,0.000,6,0.180,0.043,2875,1838,1881,0,0,0,0,0,0
$GC,8943,0.43,271.2,744.8,10.9,708,8973,0.00,2.28,24.60,1.261,4,0.000,0.055,2883,446,1778,0,0,0,0,0,0
$GC,9003,0.47,306.1,737.7,10.7,710,9044,0.00,2.20,33.62,1.246,6,0.000,0.043,2882,1847,1635,0,0,0,0,0,0
$GC,9360,0.49,306.1,695.4,11.8,728,9364,0.00,2.22,0.00,0.000,4,0.000,0.058,2882,3259,1630,0,0,0,0,0,0
$GC,9424,0.55,319.9,688.1,11.3,731,9446,0.00,2.17,13.12,1.158,6,0.000,0.042,2891,1847,1579,0,0,0,0,0,0
$GC,9758,0.55,320.8,649.1,11.8,747,9762,0.00,2.20,0.00,0.000,4,0.000,0.054,2901,432,1577,0,0,0,0,0,0
$GC,9796,0.55,326.5,644.1,11.6,748,9808,0.00,2.20,7.07,1.008,6,0.000,0.042,2901,1860,1553,0,0,0,0,0,0
$GC,10133,0.55,326.5,602.1,12.9,765,10137,0.00,2.17,0.00,0.000,4,0.000,0.059,2901,3267,1551,0,0,0,0,0,0
$GC,10155,0.55,326.5,598.7,13.0,766,10162,0.00,2.17,0.00,0.000,6,0.000,0.041,2911,1849,1551,0,0,0,0,0,0
$GC,10484,0.53,326.5,560.3,12.3,797,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1849,1551,0,0,0,0,0,0
$GC,10812,0.51,326.5,516.4,12.8,828,10816,0.00,2.20,0.00,0.000,4,0.000,0.052,2922,432,1551,0,0,0,0,0,0
$GC,10852,0.51,326.5,510.8,12.7,831,10856,0.00,2.17,0.00,0.000,6,0.000,0.042,2922,1859,1550,0,0,0,0,0,0
$GC,11178,0.48,326.5,467.1,12.6,861,11182,0.00,2.17,0.00,0.000,4,0.000,0.057,2922,3268,1550,0,0,0,0,0,0
$GC,11276,0.49,334.7,455.2,11.5,869,11291,0.00,2.15,8.70,0.965,6,0.000,0.041,2932,1840,1519,0,0,0,0,0,0
$GC,11617,0.45,334.7,407.8,16.7,901,11622,0.15,2.17,0.00,0.000,4,0.177,0.053,2902,432,1518,0,0,0,0,0,0
$GC,11652,0.48,334.7,402.8,13.8,903,11659,0.00,2.17,0.00,0.000,6,0.000,0.041,2899,1854,1517,0,0,0,0,0,0
$GC,11977,0.51,334.7,361.6,13.0,934,11981,0.00,2.15,0.00,0.000,4,0.000,0.056,2899,3264,1517,0,0,0,0,0,0
$GC,12007,0.54,334.7,357.8,13.3,936,12011,0.00,2.12,0.00,0.000,6,0.000,0.040,2907,1849,1517,0,0,0,0,0,0
$GC,12333,0.68,417.7,322.5,9.1,966,12409,0.15,0.00,71.20,0.978,6,0.079,0.000,2984,1848,1180,0,0,0,0,0,0
$GC,12728,0.60,417.7,244.1,21.0,1005,12736,0.17,0.00,0.00,0.000,6,0.169,0.000,2939,1847,1177,0,0,0,0,0,0
$GC,13052,0.64,448.1,198.5,10.8,1066,13089,0.00,2.33,25.52,0.844,4,0.000,0.053,2939,3267,1056,0,0,0,0,0,0
$GC,13120,0.80,531.2,192.1,9.1,1076,13200,0.12,2.22,69.85,0.837,6,0.044,0.037,3027,1848,715,0,0,0,0,0,0
$GC,13517,0.75,531.2,103.1,19.5,1147,13526,0.15,2.25,0.00,0.000,4,0.158,0.050,2978,3259,710,0,0,0,0,0,0
$GC,13568,0.80,543.6,96.3,11.4,1155,13585,0.00,2.20,10.77,0.687,6,0.000,0.036,2985,1840,666,0,0,0,0,0,0
$GC,13900,0.99,588.1,70.3,10.3,1217,13945,0.22,2.20,37.88,0.716,4,0.063,0.044,3115,440,482,0,0,0,0,0,0
$GC,14017,0.97,588.1,46.9,18.6,1236,14026,0.15,2.20,0.00,0.000,6,0.125,0.037,3064,1855,477,0,0,0,0,0,0
$STATE,14337,end climb,SURFACE_DEPTH_REACHED
$STATE,14337,begin surface coast
$FINISH,1.1,1.021550
$STATE,14359,end surface coast,CONTROL_FINISHED_OK
$STATE,14359,begin surface
$SM_CCo,14436,0.00,0.000,0,0,474,591.17
$SM_GC,1.77,7.70,0.00,0.00,0.037,0.000,0.000,146,1498,474,-8.06,-0.03,591.17,0,0,0,0,0,0
$IRIDIUM_FIX,2204.37,12125.77,090811,040445
$TT8_MAMPS,0.025466,0.025466
$HUMID,34.72
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,24.10
$XPDR_PINGS,89
$24V_AH,23.3,8.931
$10V_AH,10.3,5.975
$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,21.575,120.075,719.575,0.000,0.000,29.981,18.654,221.371,22.250,0.000,54.199,3057.773,7481.118,743.732,3207.425,394.926,0.000,2016.139,0.000,2893.083,0.000,0.542,0.000
$DEVICE_MAMPS,245.565,62.730,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.089,1330.939,1403.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324492
$DATA_FILE_SIZE,73459,1301
$CAP_FILE_SIZE,155861,0
$CFSIZE,260165632,144777216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090811,123026,2224.527,12124.710,39,99.0,58,-2.9