version: 66.09
glider: 166
mission: 6
dive: 37
start: 8 10 111 15 39 36
data:
$ID,166
$MISSION,6
$DIVE,37
$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,2
$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,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,-24427.01
$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,45
$R_STBD_OVSHOOT,46
$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
$GPS1,100811,153314,2248.924,12130.427,33,1.3,45,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.9
$GPS2,100811,153913,2249.130,12130.576,11,1.3,28,-3.0
$SPEED_LIMITS,0.220,0.369
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,113.3,269386,-16.3,-12.692
$D_GRID,1147
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.91,-267.6,0.0,0.0,0,128,0.00,0.00,-109.53,0.000,2,0.000,0.000,146,1498,3126,0,0,0,0,0,0
$GC,131,-0.91,-267.6,6.3,-11.0,15,163,8.90,2.12,-14.70,0.000,4,0.231,0.048,2436,2910,3964,0,0,0,0,0,0
$GC,231,-0.70,-267.6,48.3,-34.2,31,240,0.22,2.17,0.00,0.000,6,0.154,0.039,2510,1509,3965,0,0,0,0,0,0
$GC,558,-0.54,-267.6,142.4,-25.3,92,567,0.20,1.98,0.00,0.000,4,0.152,0.036,2570,192,3966,0,0,0,0,0,0
$GC,684,-0.54,-267.6,161.6,-16.0,114,692,0.00,1.98,0.00,0.000,6,0.000,0.036,2559,1498,3967,0,0,0,0,0,0
$GC,1010,-0.54,-267.6,210.1,-13.2,175,1018,0.00,2.12,0.00,0.000,4,0.000,0.044,2550,2902,3967,0,0,0,0,0,0
$GC,1087,-0.58,-267.6,218.3,-10.6,188,1095,0.00,2.12,0.00,0.000,6,0.000,0.034,2549,1495,3968,0,0,0,0,0,0
$GC,1416,-0.58,-267.6,260.3,-13.7,242,1420,0.00,2.12,0.00,0.000,4,0.000,0.046,2539,2905,3968,0,0,0,0,0,0
$GC,1564,-0.61,-267.6,274.7,-9.3,255,1571,0.00,2.08,0.00,0.000,6,0.000,0.035,2539,1501,3968,0,0,0,0,0,0
$GC,1890,-0.61,-267.6,315.5,-13.7,286,1894,0.00,2.15,0.00,0.000,4,0.000,0.050,2529,2903,3966,0,0,0,0,0,0
$GC,1939,-0.63,-267.6,323.2,-15.2,290,1946,0.00,2.10,0.00,0.000,6,0.000,0.037,2531,1493,3966,0,0,0,0,0,0
$GC,2265,-0.63,-267.6,368.0,-12.1,321,2269,0.00,2.15,0.00,0.000,4,0.000,0.049,2523,2904,3964,0,0,0,0,0,0
$GC,2305,-0.66,-267.6,372.5,-11.2,324,2309,0.00,2.10,0.00,0.000,6,0.000,0.037,2524,1501,3963,0,0,0,0,0,0
$GC,2631,-0.66,-267.6,415.7,-13.0,354,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1501,3962,0,0,0,0,0,0
$GC,2950,-0.66,-267.6,454.1,-12.8,384,2954,0.00,2.17,0.00,0.000,4,0.000,0.054,2516,2909,3959,0,0,0,0,0,0
$GC,3002,-0.70,-267.6,460.7,-12.1,388,3008,0.00,2.12,0.00,0.000,6,0.000,0.040,2520,1501,3958,0,0,0,0,0,0
$GC,3327,-0.70,-267.6,505.9,-13.8,419,3330,0.00,1.98,0.00,0.000,4,0.000,0.051,2517,195,3955,0,0,0,0,0,0
$GC,3376,-0.70,-267.6,513.5,-14.6,423,3383,0.00,1.98,0.00,0.000,6,0.000,0.040,2505,1488,3955,0,0,0,0,0,0
$GC,3703,-0.68,-267.6,558.6,-12.9,454,3707,0.00,2.15,0.00,0.000,4,0.000,0.054,2493,2905,3952,0,0,0,0,0,0
$GC,3759,-0.68,-267.6,565.7,-11.3,458,3767,0.12,2.12,0.00,0.000,6,0.158,0.041,2528,1488,3951,0,0,0,0,0,0
$GC,4085,-0.71,-267.6,600.2,-10.8,489,4089,0.00,2.17,0.00,0.000,4,0.000,0.054,2519,2904,3948,0,0,0,0,0,0
$GC,4107,-0.75,-267.6,602.6,-10.7,490,4111,0.00,2.10,0.00,0.000,6,0.000,0.041,2518,1498,3948,0,0,0,0,0,0
$GC,4436,-0.77,-267.6,636.3,-10.0,506,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1498,3945,0,0,0,0,0,0
$GC,4743,-0.79,-267.6,666.8,-10.0,521,4747,0.00,2.17,0.00,0.000,4,0.000,0.057,2501,2910,3943,0,0,0,0,0,0
$GC,4770,-0.82,-267.6,669.1,-9.9,522,4774,0.00,2.12,0.00,0.000,6,0.000,0.042,2501,1502,3942,0,0,0,0,0,0
$GC,5097,-0.82,-267.6,704.8,-10.9,538,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1502,3940,0,0,0,0,0,0
$GC,5406,-0.82,-267.6,739.0,-11.4,553,5410,0.00,2.20,0.00,0.000,4,0.000,0.059,2490,2911,3938,0,0,0,0,0,0
$GC,5453,-0.86,-267.6,744.1,-11.2,555,5457,0.00,2.15,0.00,0.000,6,0.000,0.044,2490,1490,3938,0,0,0,0,0,0
$GC,5774,-0.86,-267.6,783.9,-12.0,571,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1490,3936,0,0,0,0,0,0
$GC,6086,-0.86,-267.6,821.2,-12.3,586,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1490,3933,0,0,0,0,0,0
$GC,6393,-0.86,-267.6,859.8,-12.6,601,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1489,3932,0,0,0,0,0,0
$GC,6702,-0.86,-267.6,898.3,-12.1,616,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1489,3929,0,0,0,0,0,0
$GC,7014,-0.86,-267.6,936.4,-12.2,631,7018,0.00,2.20,0.00,0.000,4,0.000,0.061,2479,2901,3928,0,0,0,0,0,0
$GC,7070,-0.89,-267.6,942.9,-10.9,633,7074,0.00,2.15,0.00,0.000,6,0.000,0.046,2479,1504,3928,0,0,0,0,0,0
$GC,7387,-0.89,-267.6,979.6,-11.6,648,7391,0.00,2.00,0.00,0.000,4,0.000,0.057,2479,200,3926,0,0,0,0,0,0
$GC,7434,-0.89,-267.6,985.5,-12.3,650,7438,0.00,1.98,0.00,0.000,6,0.000,0.044,2469,1495,3925,0,0,0,0,0,0
$STATE,7476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7476,begin apogee
$GC,7482,-0.18,0.0,990.8,12.2,652,7701,0.65,0.00,213.65,1.441,6,0.133,0.000,2681,1868,2884,0,0,0,0,0,0
$STATE,7702,end apogee,CONTROL_FINISHED_OK
$STATE,7702,begin climb
$GC,7706,0.91,267.6,998.0,0.0,662,7949,0.98,0.00,237.73,1.370,6,0.053,0.000,3047,1868,1792,0,0,0,0,0,0
$GC,8256,0.66,267.6,859.2,29.9,689,8261,0.30,2.20,0.00,0.000,4,0.203,0.057,2956,3247,1785,0,0,0,0,0,0
$GC,8352,0.56,267.6,836.3,20.0,693,8357,0.15,2.20,0.00,0.000,6,0.192,0.043,2929,1840,1784,0,0,0,0,0,0
$GC,8669,0.48,267.6,784.0,16.4,708,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1840,1782,0,0,0,0,0,0
$GC,8980,0.40,267.6,733.8,16.3,723,8984,0.17,2.20,0.00,0.000,4,0.174,0.056,2869,3253,1781,0,0,0,0,0,0
$GC,9036,0.50,319.6,725.9,11.0,725,9091,0.00,2.15,45.90,1.258,6,0.000,0.041,2877,1848,1580,0,0,0,0,0,0
$GC,9399,0.64,400.4,687.8,10.1,743,9478,0.20,2.33,71.80,1.229,4,0.070,0.053,2976,443,1250,0,0,0,0,0,0
$GC,9514,0.54,400.4,664.6,23.3,748,9520,0.20,2.25,0.00,0.000,6,0.164,0.044,2920,1844,1248,0,0,0,0,0,0
$GC,9838,0.51,400.4,606.7,17.8,764,9842,0.00,2.20,0.00,0.000,4,0.000,0.057,2919,3261,1245,0,0,0,0,0,0
$GC,9928,0.55,400.4,590.9,15.1,770,9935,0.00,2.17,0.00,0.000,6,0.000,0.040,2927,1848,1245,0,0,0,0,0,0
$GC,10254,0.51,400.4,532.6,19.3,801,10258,0.00,2.17,0.00,0.000,4,0.000,0.050,2937,442,1245,0,0,0,0,0,0
$GC,10275,0.46,400.4,528.1,19.9,802,10283,0.12,2.17,0.00,0.000,6,0.165,0.040,2898,1868,1243,0,0,0,0,0,0
$GC,10601,0.51,400.4,482.5,12.9,833,10605,0.00,2.12,0.00,0.000,4,0.000,0.056,2898,3257,1243,0,0,0,0,0,0
$GC,10642,0.58,400.4,477.4,12.8,836,10646,0.00,2.15,0.00,0.000,6,0.000,0.039,2906,1839,1243,0,0,0,0,0,0
$GC,10968,0.66,446.3,438.0,11.2,866,11014,0.15,2.20,38.22,1.080,4,0.080,0.049,2989,446,1063,0,0,0,0,0,0
$GC,11058,0.58,446.3,420.4,21.7,873,11066,0.17,2.20,0.00,0.000,6,0.163,0.041,2938,1845,1062,0,0,0,0,0,0
$GC,11384,0.55,446.3,358.2,18.1,904,11388,0.00,2.20,0.00,0.000,4,0.000,0.055,2928,3259,1061,0,0,0,0,0,0
$GC,11500,0.64,461.2,343.1,12.2,913,11519,0.00,2.15,13.62,0.946,6,0.000,0.038,2936,1848,1002,0,0,0,0,0,0
$GC,11839,0.64,461.2,289.7,17.2,945,11843,0.00,2.15,0.00,0.000,4,0.000,0.050,2947,438,1000,0,0,0,0,0,0
$GC,11868,0.64,461.2,284.2,17.4,947,11873,0.00,2.17,0.00,0.000,6,0.000,0.040,2942,1860,999,0,0,0,0,0,0
$GC,12198,0.65,461.2,239.2,13.4,983,12207,0.00,2.17,0.00,0.000,4,0.000,0.054,2942,3246,999,0,0,0,0,0,0
$GC,12233,0.67,461.2,234.5,13.4,988,12241,0.00,2.15,0.00,0.000,6,0.000,0.037,2950,1842,999,0,0,0,0,0,0
$GC,12563,0.71,461.2,183.6,13.8,1049,12571,0.00,2.17,0.00,0.000,4,0.000,0.050,2961,440,998,0,0,0,0,0,0
$GC,12606,0.70,461.2,175.9,19.0,1056,12614,0.00,2.15,0.00,0.000,6,0.000,0.040,2961,1841,997,0,0,0,0,0,0
$GC,12933,0.70,461.2,126.2,14.2,1117,12941,0.00,2.17,0.00,0.000,4,0.000,0.051,2961,3253,997,0,0,0,0,0,0
$GC,13024,0.74,461.2,113.2,15.3,1133,13032,0.00,2.12,0.00,0.000,6,0.000,0.036,2970,1852,997,0,0,0,0,0,0
$GC,13353,1.01,635.7,65.0,7.1,1194,13475,0.25,2.30,108.65,0.738,4,0.059,0.046,3094,3257,450,0,0,0,0,0,0
$GC,13499,1.01,635.7,41.2,17.2,1214,13507,0.10,2.22,0.00,0.000,6,0.142,0.035,3074,1855,447,0,0,0,0,0,0
$STATE,13750,end climb,SURFACE_DEPTH_REACHED
$STATE,13750,begin surface coast
$FINISH,1.0,1.021114
$STATE,13773,end surface coast,CONTROL_FINISHED_OK
$STATE,13773,begin surface
$SM_CCo,13852,0.00,0.000,0,0,443,598.78
$SM_GC,1.78,7.80,0.00,0.00,0.041,0.000,0.000,153,1485,443,-8.04,-0.42,598.78,0,0,0,0,0,0
$IRIDIUM_FIX,2239.35,12129.10,100811,131325
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.69
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.30
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,890.7,999.0
$24V_AH,23.5,11.203
$10V_AH,10.3,7.200
$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,20.700,116.950,729.575,0.000,0.000,24.279,28.580,161.379,14.750,0.000,31.696,3116.870,6897.921,744.963,3064.397,383.713,0.000,2002.828,0.000,2833.041,0.000,2.996,0.000
$DEVICE_MAMPS,231.030,61.200,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.428,1294.445,1435.526,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324436
$DATA_FILE_SIZE,73370,1265
$CAP_FILE_SIZE,152159,0
$CFSIZE,260165632,144101376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167, 25.1,1
$GPS,100811,193137,2249.617,12133.563,33,1.5,33,-3.0