version: 66.09
glider: 166
mission: 6
dive: 33
start: 8 10 111 4 19 19
data:
$ID,166
$MISSION,6
$DIVE,33
$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,260
$T_MISSION,300
$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,275
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,285
$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,595.83368
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-24421.879
$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,43
$R_STBD_OVSHOOT,42
$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,100
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$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,4
$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
$GPS1,100811,035936,2237.905,12124.033,38,1.3,49,-2.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.6
$GPS2,100811,041855,2238.525,12124.098,11,1.7,16,-2.9
$SPEED_LIMITS,0.220,0.369
$TGT_NAME,HEADING
$TGT_LATLONG,2241.320,12112.791
$TGT_RADIUS,1852.000
$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,287.9,20000,-16.3,-12.692
$D_GRID,1278
$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,-0.91,-267.6,0.0,0.0,0,119,0.00,0.00,-99.95,0.000,2,0.000,0.000,137,1485,3047,0,0,0,0,0,0
$GC,122,-0.91,-267.6,5.1,-6.9,14,153,8.93,2.00,-16.80,0.000,4,0.227,0.053,2438,185,3964,0,0,0,0,0,0
$GC,184,-0.60,-267.6,35.4,-53.0,23,193,0.38,2.03,0.00,0.000,6,0.158,0.038,2543,1494,3965,0,0,0,0,0,0
$GC,508,-0.49,-267.6,127.5,-22.4,84,516,0.15,2.00,0.00,0.000,4,0.172,0.043,2588,211,3965,0,0,0,0,0,0
$GC,627,-0.56,-267.6,148.3,-12.3,105,635,0.00,1.95,0.00,0.000,6,0.000,0.031,2580,1506,3966,0,0,0,0,0,0
$GC,953,-0.58,-267.6,191.1,-11.9,166,960,0.00,2.10,0.00,0.000,4,0.000,0.043,2569,2894,3966,0,0,0,0,0,0
$GC,974,-0.62,-267.6,193.5,-11.2,169,983,0.00,2.10,0.00,0.000,6,0.000,0.033,2572,1498,3966,0,0,0,0,0,0
$GC,1300,-0.66,-267.6,230.0,-10.7,230,1308,0.12,2.15,0.00,0.000,4,0.082,0.042,2487,2901,3965,0,0,0,0,0,0
$GC,1324,-0.66,-267.6,233.1,-12.6,233,1333,0.12,2.10,0.00,0.000,6,0.134,0.034,2530,1504,3965,0,0,0,0,0,0
$GC,1654,-0.63,-267.6,284.4,-15.7,273,1658,0.00,1.95,0.00,0.000,4,0.000,0.042,2534,190,3963,0,0,0,0,0,0
$GC,1725,-0.65,-267.6,295.2,-14.0,279,1732,0.00,1.95,0.00,0.000,6,0.000,0.033,2526,1512,3963,0,0,0,0,0,0
$GC,2053,-0.62,-267.6,341.4,-14.9,310,2056,0.00,1.98,0.00,0.000,4,0.000,0.042,2526,196,3960,0,0,0,0,0,0
$GC,2099,-0.64,-267.6,348.3,-13.6,314,2103,0.00,1.95,0.00,0.000,6,0.000,0.033,2517,1497,3960,0,0,0,0,0,0
$GC,2431,-0.64,-267.6,394.7,-13.2,345,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1497,3958,0,0,0,0,0,0
$GC,2749,-0.64,-267.6,435.0,-11.8,375,2753,0.00,1.98,0.00,0.000,4,0.000,0.044,2520,201,3955,0,0,0,0,0,0
$GC,2777,-0.64,-267.6,438.6,-11.2,377,2783,0.00,1.92,0.00,0.000,6,0.000,0.035,2514,1500,3954,0,0,0,0,0,0
$GC,3102,-0.64,-267.6,479.6,-13.5,408,3106,0.00,2.10,0.00,0.000,4,0.000,0.047,2499,2902,3951,0,0,0,0,0,0
$GC,3157,-0.66,-267.6,486.9,-12.6,412,3165,0.12,2.08,0.00,0.000,6,0.152,0.035,2535,1500,3950,0,0,0,0,0,0
$GC,3483,-0.70,-267.6,521.5,-10.8,443,3487,0.00,2.15,0.00,0.000,4,0.000,0.050,2526,2905,3947,0,0,0,0,0,0
$GC,3519,-0.75,-267.6,525.2,-10.5,446,3523,0.00,2.10,0.00,0.000,6,0.000,0.037,2527,1493,3947,0,0,0,0,0,0
$GC,3852,-0.78,-267.6,560.0,-10.5,477,3855,0.00,2.15,0.00,0.000,4,0.000,0.049,2513,2905,3943,0,0,0,0,0,0
$GC,3874,-0.82,-267.6,562.5,-10.2,478,3881,0.10,2.08,0.00,0.000,6,0.101,0.037,2456,1501,3943,0,0,0,0,0,0
$GC,4197,-0.75,-267.6,615.9,-17.9,505,4201,0.17,1.98,0.00,0.000,4,0.167,0.052,2506,207,3940,0,0,0,0,0,0
$GC,4259,-0.78,-267.6,625.0,-13.0,508,4263,0.00,1.95,0.00,0.000,6,0.000,0.041,2498,1497,3940,0,0,0,0,0,0
$GC,4594,-0.78,-267.6,668.9,-12.8,524,4598,0.00,2.15,0.00,0.000,4,0.000,0.054,2487,2911,3937,0,0,0,0,0,0
$GC,4638,-0.80,-267.6,674.4,-11.5,526,4642,0.00,2.12,0.00,0.000,6,0.000,0.039,2487,1493,3936,0,0,0,0,0,0
$GC,4961,-0.80,-267.6,715.3,-13.3,542,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1492,3933,0,0,0,0,0,0
$GC,5269,-0.80,-267.6,756.8,-13.7,557,5273,0.00,2.20,0.00,0.000,4,0.000,0.057,2477,2911,3931,0,0,0,0,0,0
$GC,5309,-0.80,-267.6,762.1,-13.4,559,5313,0.00,2.15,0.00,0.000,6,0.000,0.042,2477,1495,3930,0,0,0,0,0,0
$GC,5638,-0.78,-267.6,807.2,-13.4,575,5642,0.00,1.98,0.00,0.000,4,0.000,0.055,2477,196,3928,0,0,0,0,0,0
$GC,5687,-0.78,-267.6,814.7,-14.1,577,5691,0.00,1.98,0.00,0.000,6,0.000,0.043,2467,1499,3927,0,0,0,0,0,0
$GC,6015,-0.74,-267.6,860.0,-13.7,593,6020,0.12,2.17,0.00,0.000,4,0.181,0.058,2492,2904,3925,0,0,0,0,0,0
$GC,6038,-0.74,-267.6,862.8,-13.1,594,6042,0.00,2.12,0.00,0.000,6,0.000,0.043,2492,1499,3925,0,0,0,0,0,0
$GC,6359,-0.74,-267.6,897.6,-11.1,610,6363,0.00,2.20,0.00,0.000,4,0.000,0.058,2482,2913,3922,0,0,0,0,0,0
$GC,6383,-0.74,-267.6,900.2,-11.0,611,6387,0.00,2.15,0.00,0.000,6,0.000,0.043,2482,1497,3922,0,0,0,0,0,0
$GC,6710,-0.74,-267.6,937.2,-11.4,627,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1497,3920,0,0,0,0,0,0
$GC,7019,-0.74,-267.6,973.2,-11.7,642,7024,0.00,2.20,0.00,0.000,4,0.000,0.060,2471,2906,3919,0,0,0,0,0,0
$GC,7049,-0.74,-267.6,976.6,-11.6,643,7053,0.12,2.15,0.00,0.000,6,0.163,0.044,2506,1496,3918,0,0,0,0,0,0
$STATE,7197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7197,begin apogee
$GC,7203,-0.18,0.0,991.3,9.3,650,7424,0.52,0.00,212.90,1.434,6,0.123,0.000,2683,1853,2883,0,0,0,0,0,0
$STATE,7425,end apogee,CONTROL_FINISHED_OK
$STATE,7426,begin climb
$GC,7429,0.91,267.6,998.7,0.0,660,7678,0.98,2.42,240.02,1.369,4,0.050,0.060,3052,3242,1792,0,0,0,0,0,0
$GC,7708,0.67,267.6,944.1,29.3,674,7713,0.40,2.30,0.00,0.000,6,0.196,0.044,2962,1848,1789,0,0,0,0,0,0
$GC,8038,0.53,267.6,874.7,20.9,690,8040,0.17,0.00,0.00,0.000,6,0.185,0.000,2916,1847,1784,0,0,0,0,0,0
$GC,8344,0.47,267.6,824.1,15.8,705,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1848,1782,0,0,0,0,0,0
$GC,8654,0.42,267.6,772.4,16.9,720,8656,0.12,0.00,0.00,0.000,6,0.181,0.000,2882,1847,1781,0,0,0,0,0,0
$GC,8964,0.42,267.6,730.3,12.9,735,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1848,1780,0,0,0,0,0,0
$GC,9272,0.47,311.5,693.7,11.3,750,9316,0.00,2.33,38.47,1.254,4,0.000,0.053,2891,439,1613,0,0,0,0,0,0
$GC,9346,0.57,367.4,685.2,10.9,753,9406,0.12,2.22,51.03,1.217,6,0.092,0.041,2947,1837,1386,0,0,0,0,0,0
$GC,9715,0.48,367.4,612.5,19.7,771,9720,0.17,2.25,0.00,0.000,4,0.174,0.057,2894,3263,1380,0,0,0,0,0,0
$GC,9830,0.59,400.6,596.4,11.6,777,9869,0.00,2.20,29.40,1.158,6,0.000,0.041,2902,1841,1249,0,0,0,0,0,0
$GC,10190,0.63,410.4,549.7,12.4,811,10206,0.12,2.25,9.68,1.015,4,0.091,0.053,2979,444,1209,0,0,0,0,0,0
$GC,10239,0.56,410.4,540.7,19.3,815,10247,0.17,2.22,0.00,0.000,6,0.161,0.043,2931,1865,1208,0,0,0,0,0,0
$GC,10565,0.52,410.4,483.0,18.2,846,10569,0.00,2.17,0.00,0.000,4,0.000,0.056,2928,3263,1208,0,0,0,0,0,0
$GC,10639,0.55,410.4,470.7,15.2,852,10643,0.00,2.17,0.00,0.000,6,0.000,0.040,2937,1845,1208,0,0,0,0,0,0
$GC,10964,0.52,410.4,412.7,17.5,882,10968,0.00,2.17,0.00,0.000,4,0.000,0.050,2947,434,1207,0,0,0,0,0,0
$GC,11008,0.52,410.4,405.2,16.6,885,11016,0.12,2.17,0.00,0.000,6,0.156,0.042,2910,1848,1206,0,0,0,0,0,0
$GC,11334,0.55,410.4,362.3,13.3,916,11338,0.00,2.20,0.00,0.000,4,0.000,0.056,2909,3262,1206,0,0,0,0,0,0
$GC,11375,0.61,410.4,356.7,13.8,919,11379,0.00,2.15,0.00,0.000,6,0.000,0.040,2917,1842,1206,0,0,0,0,0,0
$GC,11701,0.67,427.5,316.1,12.1,949,11724,0.12,2.17,15.35,0.939,4,0.086,0.051,2993,434,1140,0,0,0,0,0,0
$GC,11772,0.61,427.5,303.5,20.0,955,11778,0.17,2.20,0.00,0.000,6,0.158,0.042,2943,1865,1138,0,0,0,0,0,0
$GC,12099,0.61,427.5,248.4,17.2,985,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1867,1138,0,0,0,0,0,0
$GC,12420,0.61,427.5,198.7,15.9,1046,12428,0.00,2.15,0.00,0.000,4,0.000,0.054,2938,3250,1138,0,0,0,0,0,0
$GC,12484,0.72,449.7,190.1,12.0,1057,12514,0.00,2.12,19.58,0.845,6,0.000,0.037,2946,1854,1048,0,0,0,0,0,0
$GC,12831,0.90,553.2,149.3,9.4,1121,12924,0.25,2.33,85.57,0.810,4,0.058,0.045,3077,437,626,0,0,0,0,0,0
$GC,12954,0.83,553.2,120.9,27.1,1139,12963,0.17,2.25,0.00,0.000,6,0.135,0.039,3021,1847,622,0,0,0,0,0,0
$GC,13281,0.89,553.2,61.0,12.9,1200,13289,0.00,2.20,0.00,0.000,4,0.000,0.049,3020,3256,619,0,0,0,0,0,0
$GC,13315,0.99,574.7,56.9,12.0,1205,13339,0.08,2.17,18.02,0.686,6,0.060,0.037,3089,1852,540,0,0,0,0,0,0
$STATE,13618,end climb,SURFACE_DEPTH_REACHED
$STATE,13618,begin surface coast
$FINISH,1.1,1.014605
$STATE,13635,end surface coast,CONTROL_FINISHED_OK
$STATE,13635,begin surface
$SM_CCo,13652,26.67,0.316,1,0,454,595.83
$SM_GC,1.80,0.00,0.00,26.67,0.000,0.000,0.316,138,1489,454,-8.15,-0.31,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2230.01,12126.66,100811,040427
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.17
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,23.40
$XPDR_PINGS,69
$ALTIM_BOTTOM_PING,890.6,999.0
$24V_AH,23.4,10.302
$10V_AH,10.3,6.686
$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,21.825,120.225,720.025,26.675,0.000,145.831,129.626,428.744,17.500,0.000,20.173,2959.850,7135.631,775.769,3536.558,427.910,0.000,2013.373,0.000,2792.607,0.000,3.604,0.000
$DEVICE_MAMPS,227.205,60.435,1434.375,315.945,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,864.268,1292.023,1428.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324512
$DATA_FILE_SIZE,70252,1264
$CAP_FILE_SIZE,162838,0
$CFSIZE,260165632,144334848
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100811,080926,2241.629,12122.347,61,2.1,80,-2.9