version: 66.09
glider: 166
mission: 6
dive: 39
start: 8 10 111 23 45 14
data:
$ID,166
$MISSION,6
$DIVE,39
$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,225
$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,475
$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,-24432.662
$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,34
$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,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
$GPS1,100811,233807,2252.152,12135.972,49,1.5,49,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.1
$GPS2,100811,234452,2252.404,12135.992,12,99.0,31,-3.0
$SPEED_LIMITS,0.220,0.338
$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,102.4,258521,-18.1,-12.692
$D_GRID,2392
$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,-0.92,-219.0,0.0,0.0,0,126,0.00,0.00,-106.55,0.000,2,0.000,0.000,154,1492,3053,0,0,0,0,0,0
$GC,129,-0.92,-219.0,6.3,-11.3,15,161,8.95,2.00,-13.23,0.000,4,0.230,0.055,2449,192,3780,0,0,0,0,0,0
$GC,363,-0.70,-219.0,107.6,-30.6,57,373,0.22,2.00,0.00,0.000,6,0.162,0.033,2509,1508,3782,0,0,0,0,0,0
$GC,691,-0.61,-219.0,180.6,-19.3,118,700,0.15,2.12,0.00,0.000,4,0.181,0.041,2542,2899,3784,0,0,0,0,0,0
$GC,753,-0.57,-219.0,196.2,-22.0,128,762,0.00,2.12,0.00,0.000,6,0.000,0.034,2539,1505,3784,0,0,0,0,0,0
$GC,1089,-0.52,-219.0,256.8,-19.5,187,1093,0.15,2.10,0.00,0.000,4,0.164,0.042,2564,2905,3784,0,0,0,0,0,0
$GC,1195,-0.58,-219.0,269.4,-8.7,196,1199,0.00,2.08,0.00,0.000,6,0.000,0.032,2567,1492,3784,0,0,0,0,0,0
$GC,1524,-0.64,-219.0,304.3,-10.7,226,1527,0.00,1.92,0.00,0.000,4,0.000,0.043,2566,215,3784,0,0,0,0,0,0
$GC,1547,-0.69,-219.0,307.3,-11.0,228,1552,0.10,1.90,0.00,0.000,6,0.097,0.032,2499,1517,3784,0,0,0,0,0,0
$GC,1878,-0.64,-219.0,364.1,-16.5,259,1883,0.15,2.00,0.00,0.000,4,0.165,0.043,2546,204,3783,0,0,0,0,0,0
$GC,1940,-0.67,-219.0,372.5,-12.9,264,1944,0.00,1.90,0.00,0.000,6,0.000,0.033,2536,1498,3783,0,0,0,0,0,0
$GC,2272,-0.69,-219.0,406.4,-10.3,295,2276,0.00,2.12,0.00,0.000,4,0.000,0.046,2524,2902,3781,0,0,0,0,0,0
$GC,2327,-0.74,-219.0,412.5,-10.6,299,2334,0.00,2.10,0.00,0.000,6,0.000,0.034,2527,1495,3780,0,0,0,0,0,0
$GC,2653,-0.76,-219.0,448.9,-11.1,330,2657,0.00,2.12,0.00,0.000,4,0.000,0.046,2518,2906,3778,0,0,0,0,0,0
$GC,2677,-0.79,-219.0,451.2,-10.4,332,2681,0.00,2.10,0.00,0.000,6,0.000,0.034,2519,1501,3778,0,0,0,0,0,0
$GC,3002,-0.79,-219.0,490.2,-13.8,362,3006,0.00,2.12,0.00,0.000,4,0.000,0.047,2515,2902,3775,0,0,0,0,0,0
$GC,3035,-0.80,-219.0,494.1,-11.4,364,3042,0.00,2.10,0.00,0.000,6,0.000,0.036,2516,1502,3775,0,0,0,0,0,0
$GC,3360,-0.80,-219.0,529.6,-12.0,395,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1501,3772,0,0,0,0,0,0
$GC,3680,-0.80,-219.0,570.0,-12.4,425,3684,0.00,1.98,0.00,0.000,4,0.000,0.051,2503,202,3769,0,0,0,0,0,0
$GC,3761,-0.80,-219.0,580.1,-12.4,432,3765,0.00,1.95,0.00,0.000,6,0.000,0.040,2490,1493,3769,0,0,0,0,0,0
$GC,4100,-0.79,-219.0,621.5,-12.7,456,4104,0.00,2.17,0.00,0.000,4,0.000,0.053,2479,2915,3766,0,0,0,0,0,0
$GC,4127,-0.79,-219.0,625.6,-13.2,457,4131,0.00,2.15,0.00,0.000,6,0.000,0.041,2477,1500,3765,0,0,0,0,0,0
$GC,4451,-0.76,-219.0,673.3,-15.2,473,4454,0.00,1.98,0.00,0.000,4,0.000,0.055,2477,205,3763,0,0,0,0,0,0
$GC,4497,-0.74,-219.0,680.9,-16.0,475,4501,0.15,1.98,0.00,0.000,6,0.164,0.042,2509,1507,3762,0,0,0,0,0,0
$GC,4827,-0.77,-219.0,719.5,-11.2,491,4831,0.00,2.15,0.00,0.000,4,0.000,0.056,2501,2909,3760,0,0,0,0,0,0
$GC,4878,-0.82,-219.0,725.4,-10.5,493,4882,0.00,2.15,0.00,0.000,6,0.000,0.042,2501,1491,3760,0,0,0,0,0,0
$GC,5196,-0.84,-219.0,763.5,-12.3,508,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1491,3758,0,0,0,0,0,0
$GC,5505,-0.86,-219.0,802.7,-12.8,523,5509,0.10,2.22,0.00,0.000,4,0.107,0.058,2441,2907,3756,0,0,0,0,0,0
$GC,5526,-0.86,-219.0,806.2,-13.0,524,5530,0.00,2.15,0.00,0.000,6,0.000,0.044,2441,1508,3756,0,0,0,0,0,0
$GC,5855,-0.80,-219.0,861.2,-17.0,540,5859,0.15,2.00,0.00,0.000,4,0.178,0.057,2486,202,3753,0,0,0,0,0,0
$GC,5916,-0.80,-219.0,870.7,-14.0,543,5920,0.00,1.98,0.00,0.000,6,0.000,0.044,2478,1494,3752,0,0,0,0,0,0
$GC,6250,-0.80,-219.0,914.9,-13.6,559,6254,0.00,2.17,0.00,0.000,4,0.000,0.057,2467,2907,3751,0,0,0,0,0,0
$GC,6305,-0.82,-219.0,922.3,-12.6,561,6313,0.00,2.12,0.00,0.000,6,0.000,0.042,2467,1489,3751,0,0,0,0,0,0
$GC,6621,-0.80,-219.0,965.6,-13.6,577,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1489,3749,0,0,0,0,0,0
$STATE,6805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6805,begin apogee
$GC,6813,-0.18,0.0,990.1,12.9,586,6996,0.65,0.00,177.90,1.446,6,0.137,0.000,2678,1863,2884,0,0,0,0,0,0
$STATE,6997,end apogee,CONTROL_FINISHED_OK
$STATE,6997,begin climb
$GC,7001,0.92,219.0,995.8,0.0,594,7206,1.00,2.40,196.48,1.378,4,0.059,0.060,3043,3250,1990,0,0,0,0,0,0
$GC,7340,0.71,219.0,918.7,29.6,610,7345,0.30,2.25,0.00,0.000,6,0.195,0.044,2978,1850,1985,0,0,0,0,0,0
$GC,7658,0.57,219.0,846.7,22.4,625,7663,0.17,2.22,0.00,0.000,4,0.191,0.056,2928,3247,1981,0,0,0,0,0,0
$GC,7724,0.51,219.0,833.3,17.2,628,7728,0.00,2.17,0.00,0.000,6,0.000,0.041,2937,1847,1980,0,0,0,0,0,0
$GC,8047,0.43,219.0,777.0,17.2,644,8051,0.17,2.20,0.00,0.000,4,0.181,0.054,2880,3252,1979,0,0,0,0,0,0
$GC,8075,0.41,219.0,772.5,15.5,645,8079,0.00,2.17,0.00,0.000,6,0.000,0.040,2889,1838,1978,0,0,0,0,0,0
$GC,8396,0.45,252.7,734.9,11.4,661,8427,0.00,0.00,29.15,1.264,6,0.000,0.000,2889,1838,1853,0,0,0,0,0,0
$GC,8729,0.47,275.1,696.4,11.8,677,8755,0.00,2.25,20.90,1.215,4,0.000,0.051,2900,443,1761,0,0,0,0,0,0
$GC,8777,0.51,290.4,690.1,12.1,679,8798,0.00,2.20,15.40,1.154,6,0.000,0.041,2893,1854,1699,0,0,0,0,0,0
$GC,9126,0.56,304.9,649.9,12.1,696,9148,0.00,2.28,13.85,1.146,4,0.000,0.057,2893,3252,1640,0,0,0,0,0,0
$GC,9210,0.62,313.1,638.9,12.4,699,9226,0.12,2.20,9.32,1.061,6,0.087,0.040,2960,1842,1606,0,0,0,0,0,0
$GC,9542,0.53,313.1,573.0,19.4,721,9544,0.15,0.00,0.00,0.000,6,0.186,0.000,2923,1842,1603,0,0,0,0,0,0
$GC,9862,0.52,313.1,527.1,14.4,751,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1842,1601,0,0,0,0,0,0
$GC,10180,0.52,313.1,479.5,16.1,781,10184,0.00,2.22,0.00,0.000,4,0.000,0.053,2913,3252,1601,0,0,0,0,0,0
$GC,10220,0.52,313.1,472.7,16.2,784,10224,0.00,2.15,0.00,0.000,6,0.000,0.040,2921,1847,1600,0,0,0,0,0,0
$GC,10545,0.52,313.1,417.3,17.2,814,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1848,1600,0,0,0,0,0,0
$GC,10868,0.52,313.1,371.2,14.2,844,10872,0.00,2.17,0.00,0.000,4,0.000,0.053,2920,3249,1600,0,0,0,0,0,0
$GC,10912,0.56,318.3,365.0,12.5,847,10923,0.00,2.10,4.85,0.744,6,0.000,0.037,2927,1849,1586,0,0,0,0,0,0
$GC,11251,0.56,318.3,319.6,13.8,879,11255,0.00,2.15,0.00,0.000,4,0.000,0.050,2939,443,1586,0,0,0,0,0,0
$GC,11318,0.59,318.3,310.4,13.6,885,11322,0.00,2.12,0.00,0.000,6,0.000,0.039,2938,1853,1584,0,0,0,0,0,0
$GC,11647,0.59,318.3,262.7,14.0,915,11651,0.00,2.10,0.00,0.000,4,0.000,0.051,2937,3249,1585,0,0,0,0,0,0
$GC,11723,0.64,335.9,252.4,12.0,921,11748,0.00,2.12,16.62,0.884,6,0.000,0.037,2945,1836,1514,0,0,0,0,0,0
$GC,12067,0.67,335.9,204.1,17.5,983,12075,0.00,2.20,0.00,0.000,4,0.000,0.048,2943,3246,1511,0,0,0,0,0,0
$GC,12168,0.69,335.9,191.3,13.5,1001,12176,0.00,2.15,0.00,0.000,6,0.000,0.037,2950,1846,1511,0,0,0,0,0,0
$GC,12497,0.71,335.9,148.2,13.8,1062,12506,0.00,2.17,0.00,0.000,4,0.000,0.048,2950,3248,1511,0,0,0,0,0,0
$GC,12556,0.75,335.9,139.1,14.5,1072,12564,0.00,2.12,0.00,0.000,6,0.000,0.036,2960,1852,1511,0,0,0,0,0,0
$GC,12885,0.83,376.4,99.3,11.1,1133,12930,0.15,2.22,34.65,0.765,4,0.077,0.045,3045,443,1348,0,0,0,0,0,0
$GC,12991,0.77,376.4,79.9,20.0,1149,13000,0.15,2.17,0.00,0.000,6,0.138,0.036,2994,1853,1346,0,0,0,0,0,0
$GC,13320,0.98,488.1,39.0,8.4,1210,13419,0.17,2.30,90.03,0.705,4,0.070,0.044,3096,438,891,0,0,0,0,0,0
$GC,13444,0.98,488.1,22.1,14.8,1227,13453,0.10,2.22,0.00,0.000,6,0.135,0.032,3060,1849,890,0,0,0,0,0,0
$STATE,13581,end climb,SURFACE_DEPTH_REACHED
$STATE,13581,begin surface coast
$FINISH,1.0,1.020602
$STATE,13604,end surface coast,CONTROL_FINISHED_OK
$STATE,13604,begin surface
$SM_CCo,13682,0.00,0.000,0,0,887,489.86
$SM_GC,1.87,7.72,0.00,0.00,0.035,0.000,0.000,154,1492,887,-8.03,-0.23,489.86,0,0,0,0,0,0
$IRIDIUM_FIX,2241.69,12137.52,100811,191937
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.48
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,23.60
$XPDR_PINGS,82
$24V_AH,23.3,11.712
$10V_AH,10.3,7.484
$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,21.000,120.175,609.150,0.000,0.000,30.506,44.687,164.198,20.500,0.000,33.166,3131.336,6835.251,630.379,3081.964,393.322,0.000,1874.622,0.000,2824.811,0.000,0.539,0.000
$DEVICE_MAMPS,230.265,60.435,1445.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.134,1285.416,1405.078,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324472
$DATA_FILE_SIZE,70181,1256
$CAP_FILE_SIZE,154595,0
$CFSIZE,260165632,143933440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.291, 23.9,1
$GPS,110811,033451,2254.253,12139.467,39,99.0,58,-3.0