version: 66.09
glider: 166
mission: 6
dive: 38
start: 8 10 111 19 44 18
data:
$ID,166
$MISSION,6
$DIVE,38
$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,-24431.4
$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,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,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
$GPS1,100811,193137,2249.617,12133.563,33,1.5,33,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.6
$GPS2,100811,194352,2250.019,12133.466,11,2.7,30,-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,85.0,264251,-16.3,-12.692
$D_GRID,2059
$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,-267.6,0.0,0.0,0,126,0.00,0.00,-106.05,0.000,2,0.000,0.000,134,1482,3016,0,0,0,0,0,0
$GC,129,-0.91,-267.6,5.5,-8.7,15,161,9.10,2.22,-17.67,0.000,4,0.233,0.050,2430,2918,3963,0,0,0,0,0,0
$GC,291,-0.72,-267.6,73.5,-30.7,43,300,0.22,2.20,0.00,0.000,6,0.158,0.035,2510,1491,3965,0,0,0,0,0,0
$GC,617,-0.61,-267.6,149.5,-19.2,104,626,0.12,2.17,0.00,0.000,4,0.177,0.037,2536,2913,3967,0,0,0,0,0,0
$GC,657,-0.61,-267.6,157.1,-17.9,110,665,0.00,2.12,0.00,0.000,6,0.000,0.031,2540,1497,3967,0,0,0,0,0,0
$GC,984,-0.57,-267.6,208.4,-15.0,171,994,0.00,2.17,0.00,0.000,4,0.000,0.043,2530,2905,3967,0,0,0,0,0,0
$GC,1035,-0.55,-267.6,216.9,-16.6,179,1043,0.10,2.10,0.00,0.000,6,0.128,0.033,2564,1505,3967,0,0,0,0,0,0
$GC,1362,-0.57,-267.6,257.7,-11.9,234,1366,0.00,2.10,0.00,0.000,4,0.000,0.042,2551,2915,3966,0,0,0,0,0,0
$GC,1487,-0.63,-267.6,269.9,-9.4,244,1495,0.00,2.12,0.00,0.000,6,0.000,0.034,2551,1507,3965,0,0,0,0,0,0
$GC,1814,-0.67,-267.6,305.9,-9.8,275,1818,0.00,1.95,0.00,0.000,4,0.000,0.044,2551,189,3964,0,0,0,0,0,0
$GC,1886,-0.73,-267.6,313.8,-10.3,281,1894,0.00,1.98,0.00,0.000,6,0.000,0.034,2542,1520,3963,0,0,0,0,0,0
$GC,2212,-0.75,-267.6,348.6,-11.6,312,2217,0.12,2.08,0.00,0.000,4,0.086,0.044,2466,2902,3961,0,0,0,0,0,0
$GC,2289,-0.71,-267.6,359.7,-15.7,318,2297,0.15,2.08,0.00,0.000,6,0.159,0.035,2511,1488,3960,0,0,0,0,0,0
$GC,2615,-0.69,-267.6,404.8,-13.2,349,2618,0.00,1.92,0.00,0.000,4,0.000,0.045,2513,196,3957,0,0,0,0,0,0
$GC,2676,-0.69,-267.6,413.6,-13.8,354,2683,0.00,1.92,0.00,0.000,6,0.000,0.035,2506,1508,3957,0,0,0,0,0,0
$GC,3003,-0.67,-267.6,458.7,-14.0,385,3007,0.00,2.10,0.00,0.000,4,0.000,0.049,2494,2904,3955,0,0,0,0,0,0
$GC,3046,-0.67,-267.6,465.2,-13.3,388,3054,0.12,2.10,0.00,0.000,6,0.159,0.036,2531,1502,3954,0,0,0,0,0,0
$GC,3373,-0.70,-267.6,498.5,-9.3,419,3377,0.00,2.15,0.00,0.000,4,0.000,0.050,2521,2907,3951,0,0,0,0,0,0
$GC,3402,-0.73,-267.6,501.2,-9.4,421,3406,0.00,2.12,0.00,0.000,6,0.000,0.036,2522,1488,3951,0,0,0,0,0,0
$GC,3728,-0.75,-267.6,537.8,-11.4,451,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1488,3948,0,0,0,0,0,0
$GC,4050,-0.77,-267.6,573.8,-11.8,481,4054,0.00,2.15,0.00,0.000,4,0.000,0.050,2510,2905,3945,0,0,0,0,0,0
$GC,4081,-0.79,-267.6,577.6,-11.6,483,4085,0.00,2.10,0.00,0.000,6,0.000,0.039,2510,1501,3945,0,0,0,0,0,0
$GC,4409,-0.79,-267.6,619.0,-12.4,507,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1501,3942,0,0,0,0,0,0
$GC,4719,-0.79,-267.6,656.8,-12.1,522,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1501,3939,0,0,0,0,0,0
$GC,5026,-0.79,-267.6,694.0,-11.7,537,5030,0.00,2.15,0.00,0.000,4,0.000,0.055,2494,2907,3937,0,0,0,0,0,0
$GC,5059,-0.82,-267.6,698.0,-11.8,538,5066,0.00,2.12,0.00,0.000,6,0.000,0.041,2494,1492,3937,0,0,0,0,0,0
$GC,5377,-0.82,-267.6,737.8,-12.9,554,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1492,3934,0,0,0,0,0,0
$GC,5685,-0.82,-267.6,774.0,-10.8,569,5689,0.00,2.17,0.00,0.000,4,0.000,0.057,2483,2895,3933,0,0,0,0,0,0
$GC,5740,-0.85,-267.6,779.6,-9.6,571,5747,0.00,2.10,0.00,0.000,6,0.000,0.043,2483,1502,3931,0,0,0,0,0,0
$GC,6058,-0.85,-267.6,815.6,-11.4,587,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1502,3930,0,0,0,0,0,0
$GC,6366,-0.85,-267.6,851.2,-11.3,602,6370,0.00,2.17,0.00,0.000,4,0.000,0.058,2472,2900,3928,0,0,0,0,0,0
$GC,6394,-0.85,-267.6,854.5,-11.1,603,6398,0.00,2.15,0.00,0.000,6,0.000,0.045,2472,1494,3928,0,0,0,0,0,0
$GC,6713,-0.82,-267.6,889.1,-10.9,618,6718,0.00,2.00,0.00,0.000,4,0.000,0.056,2473,185,3926,0,0,0,0,0,0
$GC,6746,-0.79,-267.6,893.5,-11.4,619,6750,0.00,2.00,0.00,0.000,6,0.000,0.044,2462,1509,3925,0,0,0,0,0,0
$GC,7069,-0.76,-267.6,932.5,-12.1,635,7071,0.12,0.00,0.00,0.000,6,0.184,0.000,2497,1509,3923,0,0,0,0,0,0
$GC,7380,-0.78,-267.6,960.3,-8.8,650,7384,0.00,2.17,0.00,0.000,4,0.000,0.061,2488,2911,3922,0,0,0,0,0,0
$GC,7460,-0.82,-267.6,967.4,-8.4,653,7468,0.00,2.15,0.00,0.000,6,0.000,0.045,2488,1502,3921,0,0,0,0,0,0
$STATE,7691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7691,begin apogee
$GC,7697,-0.18,0.0,991.3,10.5,665,7916,0.57,0.00,213.88,1.450,6,0.129,0.000,2678,1856,2884,0,0,0,0,0,0
$STATE,7917,end apogee,CONTROL_FINISHED_OK
$STATE,7917,begin climb
$GC,7921,0.91,267.6,999.9,0.0,675,8171,1.00,2.40,239.68,1.379,4,0.054,0.061,3048,3250,1790,0,0,0,0,0,0
$GC,8257,0.68,267.6,928.3,29.6,691,8262,0.35,2.28,0.00,0.000,6,0.195,0.044,2969,1850,1787,0,0,0,0,0,0
$GC,8581,0.53,267.6,857.6,20.7,707,8583,0.17,0.00,0.00,0.000,6,0.190,0.000,2923,1850,1784,0,0,0,0,0,0
$GC,8889,0.46,267.6,806.7,16.0,722,8893,0.00,2.22,0.00,0.000,4,0.000,0.055,2913,3261,1782,0,0,0,0,0,0
$GC,8924,0.41,267.6,801.0,15.7,723,8932,0.15,2.20,0.00,0.000,6,0.177,0.042,2882,1839,1782,0,0,0,0,0,0
$GC,9240,0.41,272.9,762.4,12.5,739,9250,0.00,2.22,4.20,0.827,4,0.000,0.054,2891,440,1771,0,0,0,0,0,0
$GC,9280,0.42,275.1,757.4,12.6,740,9287,0.00,2.15,0.00,0.000,6,0.000,0.041,2888,1856,1770,0,0,0,0,0,0
$GC,9596,0.42,275.1,715.9,13.7,756,9600,0.00,2.17,0.00,0.000,4,0.000,0.056,2888,3258,1771,0,0,0,0,0,0
$GC,9673,0.44,275.1,704.9,13.8,759,9677,0.00,2.15,0.00,0.000,6,0.000,0.041,2896,1848,1770,0,0,0,0,0,0
$GC,9991,0.44,275.1,660.8,13.8,774,9995,0.00,2.15,0.00,0.000,4,0.000,0.051,2906,439,1770,0,0,0,0,0,0
$GC,10007,0.44,275.1,657.9,13.3,774,10014,0.00,2.17,0.00,0.000,6,0.000,0.041,2906,1838,1769,0,0,0,0,0,0
$GC,10324,0.41,275.1,611.8,14.7,790,10328,0.00,2.17,0.00,0.000,4,0.000,0.056,2906,3262,1769,0,0,0,0,0,0
$GC,10394,0.41,275.1,601.7,14.2,793,10399,0.15,2.15,0.00,0.000,6,0.175,0.041,2876,1843,1769,0,0,0,0,0,0
$GC,10720,0.49,313.7,563.6,11.5,823,10766,0.00,2.22,37.55,1.177,4,0.000,0.052,2885,448,1605,0,0,0,0,0,0
$GC,10804,0.61,369.4,554.6,10.9,830,10861,0.17,2.20,50.25,1.143,6,0.073,0.039,2959,1864,1376,0,0,0,0,0,0
$GC,11178,0.52,369.4,482.4,17.9,865,11183,0.17,2.17,0.00,0.000,4,0.171,0.056,2910,3254,1371,0,0,0,0,0,0
$GC,11256,0.67,457.4,472.6,9.9,871,11337,0.12,2.17,74.85,1.089,6,0.086,0.040,2982,1840,1018,0,0,0,0,0,0
$GC,11655,0.57,457.4,375.8,25.3,908,11660,0.20,2.22,0.00,0.000,4,0.171,0.051,2919,3255,1013,0,0,0,0,0,0
$GC,11732,0.62,457.4,363.4,12.8,914,11736,0.00,2.17,0.00,0.000,6,0.000,0.038,2927,1843,1013,0,0,0,0,0,0
$GC,12059,0.68,484.3,320.7,11.8,944,12088,0.10,2.20,22.83,0.953,4,0.103,0.049,2996,437,907,0,0,0,0,0,0
$GC,12140,0.63,484.3,305.7,19.9,950,12147,0.15,2.20,0.00,0.000,6,0.155,0.039,2953,1851,905,0,0,0,0,0,0
$GC,12466,0.63,484.3,249.1,15.6,981,12475,0.00,2.20,0.00,0.000,4,0.000,0.053,2951,3258,904,0,0,0,0,0,0
$GC,12515,0.66,488.6,243.0,12.6,989,12525,0.00,2.17,4.43,0.618,6,0.000,0.039,2960,1850,891,0,0,0,0,0,0
$GC,12848,0.71,496.4,201.9,12.4,1050,12864,0.00,2.17,8.20,0.752,4,0.000,0.045,2960,3267,859,0,0,0,0,0,0
$GC,12936,0.99,661.3,192.7,7.4,1065,13027,0.22,2.20,84.18,0.847,6,0.041,0.038,3086,1840,455,0,0,0,0,0,0
$GC,13348,0.93,661.3,81.9,23.2,1137,13357,0.15,2.25,0.00,0.000,4,0.163,0.050,3036,3253,444,0,0,0,0,0,0
$GC,13471,1.02,661.3,61.8,17.2,1158,13479,0.00,2.17,0.00,0.000,6,0.000,0.036,3043,1844,443,0,0,0,0,0,0
$GC,13801,1.14,693.7,8.3,11.7,1219,13809,0.17,2.20,0.00,0.000,4,0.071,0.048,3162,437,442,0,0,0,0,0,0
$GC,13830,1.17,693.7,3.9,13.0,1223,13839,0.10,2.17,0.00,0.000,6,0.136,0.034,3127,1857,442,0,0,0,0,0,0
$STATE,13845,end climb,SURFACE_DEPTH_REACHED
$STATE,13845,begin surface coast
$FINISH,1.0,0.999330
$STATE,13863,end surface coast,CONTROL_FINISHED_OK
$STATE,13863,begin surface
$SM_CCo,13942,0.00,0.000,0,0,441,599.27
$SM_GC,1.94,7.88,0.00,0.00,0.043,0.000,0.000,155,1495,441,-8.03,-0.14,599.27,0,0,0,0,0,0
$IRIDIUM_FIX,2239.35,12129.10,100811,191916
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.33
$INTERNAL_PRESSURE,9.29205
$TCM_TEMP,22.90
$XPDR_PINGS,70
$ALTIM_BOTTOM_PING,890.1,999.0
$24V_AH,23.3,11.488
$10V_AH,10.3,7.341
$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,21.925,125.750,740.025,0.000,0.000,82.429,112.749,234.507,17.750,0.000,35.889,3032.439,7267.448,754.446,3194.001,415.577,0.000,2015.871,0.000,2739.766,0.000,3.289,0.000
$DEVICE_MAMPS,233.325,61.200,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.779,1257.413,1295.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324396
$DATA_FILE_SIZE,70286,1228
$CAP_FILE_SIZE,160362,0
$CFSIZE,260165632,144011264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,  0.4,1
$GPS,100811,233807,2252.152,12135.972,49,1.5,49,-3.0