version: 66.09
glider: 166
mission: 6
dive: 40
start: 8 11 111 3 45 7
data:
$ID,166
$MISSION,6
$DIVE,40
$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,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,-24433.922
$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,44
$R_STBD_OVSHOOT,37
$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
$GPS1,110811,033451,2254.253,12139.467,39,99.0,58,-3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.6
$GPS2,110811,034444,2254.475,12139.927,12,1.7,12,-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,104.0,250868,-18.1,-12.692
$D_GRID,3198
$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,-219.0,0.0,0.0,0,106,0.00,0.00,-87.22,0.000,2,0.000,0.000,153,1489,2998,0,0,0,0,0,0
$GC,109,-0.92,-219.0,5.3,-8.4,12,141,8.88,2.17,-15.00,0.000,4,0.229,0.057,2432,2920,3776,0,0,0,0,0,0
$GC,156,-0.43,-219.0,26.6,-46.9,18,166,0.55,2.17,0.00,0.000,6,0.185,0.036,2595,1502,3777,0,0,0,0,0,0
$GC,484,-0.43,-219.0,92.8,-12.3,79,492,0.00,1.98,0.00,0.000,4,0.000,0.043,2601,201,3778,0,0,0,0,0,0
$GC,613,-0.47,-219.0,110.1,-13.1,102,622,0.00,1.98,0.00,0.000,6,0.000,0.033,2590,1511,3778,0,0,0,0,0,0
$GC,940,-0.50,-219.0,153.0,-10.2,163,948,0.00,2.10,0.00,0.000,4,0.000,0.043,2576,2893,3779,0,0,0,0,0,0
$GC,1086,-0.59,-219.0,167.8,-10.1,189,1095,0.00,2.12,0.00,0.000,6,0.000,0.034,2577,1491,3779,0,0,0,0,0,0
$GC,1415,-0.61,-219.0,216.6,-13.9,250,1424,0.00,2.15,0.00,0.000,4,0.000,0.044,2564,2899,3779,0,0,0,0,0,0
$GC,1469,-0.66,-219.0,225.0,-13.5,259,1478,0.08,2.12,0.00,0.000,6,0.054,0.034,2499,1495,3779,0,0,0,0,0,0
$GC,1801,-0.58,-219.0,293.3,-17.7,300,1805,0.20,2.15,0.00,0.000,4,0.155,0.044,2548,2907,3779,0,0,0,0,0,0
$GC,1843,-0.61,-219.0,298.5,-12.2,303,1847,0.00,2.10,0.00,0.000,6,0.000,0.036,2548,1504,3779,0,0,0,0,0,0
$GC,2174,-0.64,-219.0,338.4,-12.5,334,2177,0.00,1.95,0.00,0.000,4,0.000,0.048,2550,193,3779,0,0,0,0,0,0
$GC,2201,-0.66,-219.0,342.3,-13.2,336,2208,0.00,1.95,0.00,0.000,6,0.000,0.037,2538,1496,3778,0,0,0,0,0,0
$GC,2528,-0.69,-219.0,378.8,-10.8,367,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1496,3776,0,0,0,0,0,0
$GC,2847,-0.72,-219.0,414.2,-10.9,397,2851,0.00,2.12,0.00,0.000,4,0.000,0.051,2526,2910,3774,0,0,0,0,0,0
$GC,2903,-0.77,-219.0,419.7,-10.1,401,2907,0.00,2.12,0.00,0.000,6,0.000,0.040,2529,1501,3774,0,0,0,0,0,0
$GC,3229,-0.80,-219.0,453.6,-9.8,431,3234,0.15,2.17,0.00,0.000,4,0.078,0.053,2455,2904,3771,0,0,0,0,0,0
$GC,3283,-0.72,-219.0,460.9,-15.5,435,3288,0.20,2.12,0.00,0.000,6,0.164,0.041,2513,1501,3770,0,0,0,0,0,0
$GC,3608,-0.72,-219.0,503.8,-11.4,465,3612,0.00,1.98,0.00,0.000,4,0.000,0.053,2512,200,3768,0,0,0,0,0,0
$GC,3724,-0.70,-219.0,518.1,-12.9,475,3728,0.00,1.98,0.00,0.000,6,0.000,0.040,2505,1511,3767,0,0,0,0,0,0
$GC,4057,-0.68,-219.0,561.6,-12.8,506,4059,0.10,0.00,0.00,0.000,6,0.186,0.000,2520,1512,3764,0,0,0,0,0,0
$GC,4375,-0.71,-219.0,596.0,-11.2,536,4379,0.00,2.12,0.00,0.000,4,0.000,0.056,2511,2902,3761,0,0,0,0,0,0
$GC,4434,-0.76,-219.0,602.3,-10.7,539,4441,0.00,2.12,0.00,0.000,6,0.000,0.042,2511,1498,3761,0,0,0,0,0,0
$GC,4751,-0.78,-219.0,638.7,-11.7,555,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1498,3758,0,0,0,0,0,0
$GC,5060,-0.80,-219.0,673.5,-10.7,570,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1498,3756,0,0,0,0,0,0
$GC,5371,-0.82,-219.0,706.7,-10.8,585,5375,0.00,2.17,0.00,0.000,4,0.000,0.058,2497,2905,3753,0,0,0,0,0,0
$GC,5395,-0.84,-219.0,709.6,-10.6,586,5399,0.00,2.15,0.00,0.000,6,0.000,0.044,2497,1500,3753,0,0,0,0,0,0
$GC,5723,-0.84,-219.0,747.9,-11.8,602,5727,0.00,2.03,0.00,0.000,4,0.000,0.057,2496,198,3751,0,0,0,0,0,0
$GC,5751,-0.84,-219.0,751.7,-11.9,603,5755,0.00,1.95,0.00,0.000,6,0.000,0.042,2487,1495,3750,0,0,0,0,0,0
$GC,6079,-0.84,-219.0,791.0,-12.3,619,6083,0.00,2.17,0.00,0.000,4,0.000,0.057,2476,2908,3748,0,0,0,0,0,0
$GC,6113,-0.84,-219.0,795.0,-11.6,620,6120,0.00,2.15,0.00,0.000,6,0.000,0.043,2476,1495,3748,0,0,0,0,0,0
$GC,6429,-0.83,-219.0,835.9,-12.8,636,6433,0.00,1.98,0.00,0.000,4,0.000,0.057,2476,205,3746,0,0,0,0,0,0
$GC,6507,-0.81,-219.0,846.3,-13.0,639,6510,0.00,1.98,0.00,0.000,6,0.000,0.044,2467,1499,3745,0,0,0,0,0,0
$GC,6831,-0.78,-219.0,888.7,-13.7,655,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1499,3743,0,0,0,0,0,0
$GC,7138,-0.75,-219.0,930.4,-13.4,670,7140,0.12,0.00,0.00,0.000,6,0.184,0.000,2499,1499,3742,0,0,0,0,0,0
$GC,7449,-0.78,-219.0,960.5,-9.2,685,7453,0.00,2.20,0.00,0.000,4,0.000,0.062,2490,2911,3740,0,0,0,0,0,0
$GC,7471,-0.81,-219.0,962.8,-9.2,686,7476,0.00,2.17,0.00,0.000,6,0.000,0.046,2491,1494,3740,0,0,0,0,0,0
$STATE,7770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7770,begin apogee
$GC,7778,-0.18,0.0,992.0,9.9,701,7961,0.57,0.00,176.57,1.450,6,0.132,0.000,2679,1859,2883,0,0,0,0,0,0
$STATE,7962,end apogee,CONTROL_FINISHED_OK
$STATE,7962,begin climb
$GC,7966,0.92,219.0,995.8,0.0,709,8173,1.00,0.00,197.75,1.381,6,0.056,0.000,3049,1859,1991,0,0,0,0,0,0
$GC,8483,0.68,219.0,870.3,28.8,735,8487,0.28,2.25,0.00,0.000,4,0.203,0.060,2963,3252,1982,0,0,0,0,0,0
$GC,8562,0.57,219.0,851.9,20.9,738,8571,0.17,2.22,0.00,0.000,6,0.200,0.045,2930,1846,1981,0,0,0,0,0,0
$GC,8878,0.50,219.0,799.9,15.0,754,8882,0.00,2.20,0.00,0.000,4,0.000,0.054,2939,444,1980,0,0,0,0,0,0
$GC,8903,0.43,219.0,796.4,14.4,755,8908,0.15,2.17,0.00,0.000,6,0.175,0.045,2889,1854,1979,0,0,0,0,0,0
$GC,9232,0.53,304.6,764.2,9.4,771,9318,0.00,2.35,75.68,1.291,4,0.000,0.058,2879,3243,1642,0,0,0,0,0,0
$GC,9359,0.71,396.1,752.0,9.1,776,9453,0.25,2.22,82.38,1.249,6,0.063,0.041,2997,1846,1268,0,0,0,0,0,0
$GC,9759,0.56,396.1,642.2,29.8,796,9764,0.25,2.28,0.00,0.000,4,0.187,0.056,2916,3264,1262,0,0,0,0,0,0
$GC,9861,0.61,396.1,622.9,14.1,800,9868,0.00,2.20,0.00,0.000,6,0.000,0.041,2924,1850,1262,0,0,0,0,0,0
$GC,10182,0.61,396.1,569.5,16.4,824,10186,0.00,2.20,0.00,0.000,4,0.000,0.057,2924,3261,1261,0,0,0,0,0,0
$GC,10216,0.61,396.1,563.6,17.3,826,10224,0.00,2.17,0.00,0.000,6,0.000,0.041,2934,1850,1261,0,0,0,0,0,0
$GC,10542,0.59,396.1,506.5,17.6,857,10546,0.00,2.17,0.00,0.000,4,0.000,0.056,2932,3254,1260,0,0,0,0,0,0
$GC,10565,0.57,396.1,502.0,18.8,858,10573,0.00,2.17,0.00,0.000,6,0.000,0.041,2940,1835,1260,0,0,0,0,0,0
$GC,10891,0.53,396.1,441.5,18.7,889,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1835,1260,0,0,0,0,0,0
$GC,11213,0.51,396.1,383.1,16.7,919,11217,0.00,2.20,0.00,0.000,4,0.000,0.055,2940,3262,1260,0,0,0,0,0,0
$GC,11298,0.54,396.1,367.2,17.3,926,11303,0.12,2.15,0.00,0.000,6,0.178,0.041,2919,1851,1260,0,0,0,0,0,0
$GC,11624,0.63,422.9,326.0,11.6,956,11651,0.00,2.20,22.52,0.982,4,0.000,0.050,2928,440,1158,0,0,0,0,0,0
$GC,11691,0.75,459.6,318.1,11.3,961,11732,0.17,2.17,31.60,0.966,6,0.073,0.039,3009,1857,1009,0,0,0,0,0,0
$GC,12049,0.69,459.6,235.7,23.2,1001,12057,0.15,2.22,0.00,0.000,4,0.169,0.055,2961,3252,1006,0,0,0,0,0,0
$GC,12135,0.75,459.6,221.6,13.3,1016,12144,0.00,2.17,0.00,0.000,6,0.000,0.038,2969,1847,1006,0,0,0,0,0,0
$GC,12462,0.75,459.6,168.9,16.7,1077,12470,0.00,2.22,0.00,0.000,4,0.000,0.052,2962,3257,1005,0,0,0,0,0,0
$GC,12516,0.81,459.6,160.6,14.0,1086,12526,0.08,2.17,0.00,0.000,6,0.057,0.037,3024,1846,1005,0,0,0,0,0,0
$GC,12848,0.81,459.6,94.4,15.5,1147,12856,0.00,2.17,0.00,0.000,4,0.000,0.048,3035,441,1005,0,0,0,0,0,0
$GC,12877,0.81,459.6,89.8,15.1,1151,12885,0.00,2.17,0.00,0.000,6,0.000,0.038,3035,1860,1004,0,0,0,0,0,0
$GC,13204,0.84,459.6,41.2,14.6,1212,13212,0.00,2.17,0.00,0.000,4,0.000,0.050,3035,3256,1004,0,0,0,0,0,0
$GC,13286,0.90,459.6,30.1,13.2,1226,13295,0.00,2.15,0.00,0.000,6,0.000,0.037,3048,1845,1004,0,0,0,0,0,0
$STATE,13557,end climb,SURFACE_DEPTH_REACHED
$STATE,13557,begin surface coast
$FINISH,1.1,1.020722
$STATE,13590,end surface coast,CONTROL_FINISHED_OK
$STATE,13591,begin surface
$SM_CCo,13610,108.45,0.594,1,0,454,595.83
$SM_GC,1.68,0.00,0.00,108.45,0.000,0.000,0.594,148,1471,454,-8.10,-0.82,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2244.02,12138.75,100811,232325
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.57
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,24.10
$XPDR_PINGS,76
$24V_AH,23.3,11.958
$10V_AH,10.3,7.632
$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,21.100,116.575,586.500,108.450,0.000,167.747,28.992,0.000,19.000,0.000,13.797,3194.005,6878.556,803.907,3052.212,376.543,0.000,1982.206,0.000,2845.664,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,61.965,1449.675,593.640,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,878.967,1312.354,1514.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,73710,1283
$CAP_FILE_SIZE,151249,0
$CFSIZE,260165632,143818752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.342, 23.4,1
$GPS,110811,073527,2256.789,12143.470,37,99.0,56,-3.0