version: 66.09
glider: 166
mission: 6
dive: 41
start: 8 11 111 7 44 34
data:
$ID,166
$MISSION,6
$DIVE,41
$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,-24435.182
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,110811,073527,2256.789,12143.470,37,99.0,56,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.6
$GPS2,110811,074410,2257.020,12143.784,14,2.3,33,-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,112.8,242980,-18.1,-12.692
$D_GRID,3897
$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,-219.0,0.0,0.0,0,123,0.00,0.00,-103.75,0.000,2,0.000,0.000,141,1471,2993,0,0,0,0,0,0
$GC,128,-0.92,-219.0,5.7,-10.1,14,159,8.95,2.20,-14.68,0.000,4,0.227,0.052,2432,2911,3780,0,0,0,0,0,0
$GC,259,-0.71,-219.0,61.4,-35.2,36,268,0.22,2.15,0.00,0.000,6,0.169,0.034,2506,1508,3781,0,0,0,0,0,0
$GC,586,-0.56,-219.0,146.7,-23.7,97,594,0.20,1.98,0.00,0.000,4,0.164,0.040,2572,208,3783,0,0,0,0,0,0
$GC,759,-0.56,-219.0,177.3,-16.2,128,768,0.00,1.98,0.00,0.000,6,0.000,0.033,2560,1518,3783,0,0,0,0,0,0
$GC,1086,-0.56,-219.0,225.1,-15.1,189,1095,0.00,2.08,0.00,0.000,4,0.000,0.043,2545,2893,3783,0,0,0,0,0,0
$GC,1207,-0.59,-219.0,240.6,-13.0,211,1215,0.00,2.10,0.00,0.000,6,0.000,0.034,2547,1498,3783,0,0,0,0,0,0
$GC,1540,-0.56,-219.0,293.3,-13.4,248,1544,0.00,2.12,0.00,0.000,4,0.000,0.041,2535,2905,3783,0,0,0,0,0,0
$GC,1606,-0.60,-219.0,301.1,-12.0,253,1613,0.00,2.10,0.00,0.000,6,0.000,0.033,2536,1487,3782,0,0,0,0,0,0
$GC,1931,-0.60,-219.0,349.1,-14.7,284,1935,0.00,1.90,0.00,0.000,4,0.000,0.044,2537,198,3782,0,0,0,0,0,0
$GC,2003,-0.62,-219.0,359.1,-13.6,290,2010,0.00,1.95,0.00,0.000,6,0.000,0.034,2525,1507,3781,0,0,0,0,0,0
$GC,2330,-0.62,-219.0,402.5,-13.1,321,2334,0.00,2.10,0.00,0.000,4,0.000,0.047,2515,2904,3779,0,0,0,0,0,0
$GC,2386,-0.65,-219.0,409.4,-11.4,325,2393,0.00,2.10,0.00,0.000,6,0.000,0.035,2517,1498,3778,0,0,0,0,0,0
$GC,2712,-0.65,-219.0,452.0,-12.7,356,2716,0.00,2.15,0.00,0.000,4,0.000,0.048,2511,2908,3776,0,0,0,0,0,0
$GC,2776,-0.67,-219.0,459.7,-12.3,361,2780,0.00,2.10,0.00,0.000,6,0.000,0.037,2512,1491,3775,0,0,0,0,0,0
$GC,3101,-0.67,-219.0,504.9,-14.0,391,3104,0.00,1.95,0.00,0.000,4,0.000,0.050,2513,198,3772,0,0,0,0,0,0
$GC,3216,-0.64,-219.0,521.5,-14.8,401,3221,0.12,1.98,0.00,0.000,6,0.165,0.040,2539,1505,3771,0,0,0,0,0,0
$GC,3542,-0.68,-219.0,555.3,-9.7,431,3546,0.00,2.15,0.00,0.000,4,0.000,0.053,2519,2913,3768,0,0,0,0,0,0
$GC,3619,-0.74,-219.0,562.1,-8.6,437,3623,0.00,2.10,0.00,0.000,6,0.000,0.037,2521,1503,3767,0,0,0,0,0,0
$GC,3945,-0.77,-219.0,594.7,-10.9,467,3949,0.00,2.15,0.00,0.000,4,0.000,0.059,2509,2906,3764,0,0,0,0,0,0
$GC,4032,-0.82,-219.0,603.8,-10.6,473,4036,0.00,2.12,0.00,0.000,6,0.000,0.041,2510,1503,3763,0,0,0,0,0,0
$GC,4360,-0.82,-219.0,642.5,-11.6,489,4364,0.00,1.98,0.00,0.000,4,0.000,0.060,2507,198,3760,0,0,0,0,0,0
$GC,4415,-0.83,-219.0,649.6,-12.4,491,4419,0.00,1.98,0.00,0.000,6,0.000,0.042,2497,1499,3760,0,0,0,0,0,0
$GC,4739,-0.83,-219.0,688.9,-12.4,507,4743,0.00,2.15,0.00,0.000,4,0.000,0.056,2485,2912,3757,0,0,0,0,0,0
$GC,4777,-0.85,-219.0,694.3,-13.0,508,4785,0.00,2.12,0.00,0.000,6,0.000,0.041,2485,1489,3756,0,0,0,0,0,0
$GC,5095,-0.85,-219.0,736.0,-13.4,524,5098,0.00,1.95,0.00,0.000,4,0.000,0.055,2486,198,3754,0,0,0,0,0,0
$GC,5133,-0.85,-219.0,742.2,-14.9,525,5141,0.00,2.00,0.00,0.000,6,0.000,0.043,2475,1499,3754,0,0,0,0,0,0
$GC,5451,-0.83,-219.0,786.6,-14.0,541,5455,0.00,2.15,0.00,0.000,4,0.000,0.058,2465,2904,3751,0,0,0,0,0,0
$GC,5491,-0.83,-219.0,792.2,-13.7,542,5497,0.00,2.12,0.00,0.000,6,0.000,0.043,2465,1500,3750,0,0,0,0,0,0
$GC,5807,-0.79,-219.0,835.5,-13.3,558,5811,0.00,2.00,0.00,0.000,4,0.000,0.057,2465,198,3749,0,0,0,0,0,0
$GC,5902,-0.75,-219.0,849.3,-14.2,562,5906,0.17,2.00,0.00,0.000,6,0.164,0.044,2505,1510,3749,0,0,0,0,0,0
$GC,6227,-0.78,-219.0,880.9,-9.8,578,6231,0.00,2.15,0.00,0.000,4,0.000,0.058,2496,2906,3746,0,0,0,0,0,0
$GC,6249,-0.82,-219.0,883.5,-9.7,579,6253,0.00,2.12,0.00,0.000,6,0.000,0.043,2496,1501,3746,0,0,0,0,0,0
$GC,6572,-0.84,-219.0,917.5,-10.8,595,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1501,3745,0,0,0,0,0,0
$GC,6880,-0.86,-219.0,948.8,-10.0,610,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1501,3743,0,0,0,0,0,0
$GC,7192,-0.88,-219.0,979.6,-9.9,625,7193,0.10,0.00,0.00,0.000,6,0.108,0.000,2448,1501,3741,0,0,0,0,0,0
$STATE,7289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7290,begin apogee
$GC,7295,-0.18,0.0,992.5,12.5,630,7480,0.73,0.00,176.70,1.452,6,0.145,0.000,2679,1853,2884,0,0,0,0,0,0
$STATE,7480,end apogee,CONTROL_FINISHED_OK
$STATE,7480,begin climb
$GC,7484,0.92,219.0,996.5,0.0,638,7692,1.02,2.42,197.70,1.386,4,0.069,0.062,3037,3252,1990,0,0,0,0,0,0
$GC,7721,0.69,219.0,954.2,26.9,649,7727,0.30,2.33,0.00,0.000,6,0.194,0.045,2973,1858,1987,0,0,0,0,0,0
$GC,8044,0.56,219.0,886.7,20.4,665,8049,0.17,2.25,0.00,0.000,4,0.189,0.060,2918,3253,1982,0,0,0,0,0,0
$GC,8072,0.46,219.0,880.9,19.0,666,8077,0.12,2.22,0.00,0.000,6,0.193,0.044,2897,1837,1981,0,0,0,0,0,0
$GC,8390,0.48,238.2,841.1,11.9,681,8413,0.00,2.30,16.73,1.260,4,0.000,0.055,2907,436,1911,0,0,0,0,0,0
$GC,8442,0.51,261.4,834.3,11.8,683,8470,0.00,2.22,22.33,1.269,6,0.000,0.044,2906,1848,1818,0,0,0,0,0,0
$GC,8789,0.51,261.4,788.0,13.4,700,8793,0.00,2.22,0.00,0.000,4,0.000,0.060,2906,3265,1813,0,0,0,0,0,0
$GC,8878,0.51,261.4,775.4,12.8,704,8883,0.00,2.20,0.00,0.000,6,0.000,0.042,2914,1849,1812,0,0,0,0,0,0
$GC,9209,0.48,261.4,732.1,13.0,720,9213,0.00,2.22,0.00,0.000,4,0.000,0.057,2914,3256,1811,0,0,0,0,0,0
$GC,9252,0.47,261.4,725.7,13.2,722,9256,0.00,2.17,0.00,0.000,6,0.000,0.041,2922,1840,1810,0,0,0,0,0,0
$GC,9576,0.42,261.4,679.3,14.7,738,9578,0.15,0.00,0.00,0.000,6,0.180,0.000,2883,1839,1809,0,0,0,0,0,0
$GC,9884,0.53,314.7,646.4,10.6,753,9933,0.00,0.00,47.05,1.242,6,0.000,0.000,2883,1839,1601,0,0,0,0,0,0
$GC,10239,0.66,364.5,608.6,10.8,770,10292,0.20,2.38,44.38,1.185,4,0.070,0.051,2984,435,1397,0,0,0,0,0,0
$GC,10327,0.59,364.5,591.2,22.0,775,10332,0.17,2.28,0.00,0.000,6,0.172,0.041,2940,1854,1395,0,0,0,0,0,0
$GC,10653,0.55,364.5,529.9,18.1,805,10657,0.00,2.20,0.00,0.000,4,0.000,0.057,2939,3261,1392,0,0,0,0,0,0
$GC,10763,0.55,364.5,510.1,17.1,814,10773,0.00,2.20,0.00,0.000,6,0.000,0.041,2946,1843,1392,0,0,0,0,0,0
$GC,11089,0.51,364.5,448.8,19.3,845,11094,0.15,2.22,0.00,0.000,4,0.181,0.054,2898,3264,1391,0,0,0,0,0,0
$GC,11133,0.56,364.5,441.0,15.1,848,11140,0.00,2.17,0.00,0.000,6,0.000,0.040,2906,1842,1392,0,0,0,0,0,0
$GC,11460,0.66,409.5,401.2,10.9,879,11502,0.15,0.00,38.67,1.047,6,0.081,0.000,2981,1842,1214,0,0,0,0,0,0
$GC,11817,0.62,409.5,328.4,19.0,913,11822,0.15,2.22,0.00,0.000,4,0.168,0.052,2933,3259,1209,0,0,0,0,0,0
$GC,11895,0.72,420.7,316.9,12.3,919,11915,0.10,2.17,10.18,0.876,6,0.099,0.038,3002,1848,1168,0,0,0,0,0,0
$GC,12234,0.65,420.7,244.5,23.0,953,12242,0.17,2.25,0.00,0.000,4,0.167,0.053,2946,3255,1167,0,0,0,0,0,0
$GC,12337,0.75,440.4,229.5,11.9,971,12362,0.00,2.17,17.67,0.856,6,0.000,0.037,2954,1846,1087,0,0,0,0,0,0
$GC,12681,0.79,440.4,180.4,14.5,1034,12689,0.12,0.00,0.00,0.000,6,0.089,0.000,3022,1846,1086,0,0,0,0,0,0
$GC,13009,0.76,440.4,111.6,20.2,1095,13018,0.12,2.22,0.00,0.000,4,0.164,0.050,2979,3258,1086,0,0,0,0,0,0
$GC,13091,0.81,440.4,98.1,14.1,1109,13099,0.00,2.15,0.00,0.000,6,0.000,0.035,2985,1849,1086,0,0,0,0,0,0
$GC,13419,0.96,488.4,61.1,10.8,1170,13466,0.17,2.25,39.67,0.723,4,0.068,0.046,3084,440,890,0,0,0,0,0,0
$GC,13518,0.96,488.4,45.8,17.7,1185,13527,0.08,2.20,0.00,0.000,6,0.135,0.034,3055,1871,889,0,0,0,0,0,0
$STATE,13837,end climb,SURFACE_DEPTH_REACHED
$STATE,13837,begin surface coast
$FINISH,1.1,1.008152
$STATE,13868,end surface coast,CONTROL_FINISHED_OK
$STATE,13868,begin surface
$SM_CCo,13945,0.00,0.000,0,0,887,489.62
$SM_GC,1.78,7.65,0.00,0.00,0.037,0.000,0.000,154,1490,887,-8.04,-0.28,489.62,0,0,0,0,0,0
$IRIDIUM_FIX,2244.02,12138.75,100811,232325
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.68
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.20
$XPDR_PINGS,79
$24V_AH,23.4,12.200
$10V_AH,10.3,7.776
$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,21.525,120.975,611.075,0.000,0.000,30.108,47.847,278.239,19.750,0.000,35.032,3127.905,7067.515,692.226,3165.440,400.458,0.000,1894.939,0.000,2798.579,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,61.965,1451.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.836,1279.507,1397.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324504
$DATA_FILE_SIZE,70148,1250
$CAP_FILE_SIZE,154297,0
$CFSIZE,260165632,143769600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.342, 32.2,1
$GPS,110811,113827,2258.631,12147.849,32,99.0,51,-3.0