version: 66.09
glider: 166
mission: 6
dive: 44
start: 8 11 111 20 22 12
data:
$ID,166
$MISSION,6
$DIVE,44
$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,290
$T_MISSION,320
$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,-24439.059
$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,55
$R_STBD_OVSHOOT,45
$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
$GPS1,110811,200857,2302.678,12155.466,51,2.4,70,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.2
$GPS2,110811,202149,2303.008,12155.699,34,1.9,45,-3.0
$SPEED_LIMITS,0.197,0.326
$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,110.8,220045,-16.5,-11.379
$D_GRID,4528
$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,-0.86,-219.0,0.0,0.0,0,124,0.00,0.00,-104.38,0.000,2,0.000,0.000,131,1473,2987,0,0,0,0,0,0
$GC,128,-0.86,-219.0,5.4,-9.3,14,160,9.00,2.17,-14.65,0.000,4,0.227,0.051,2451,2908,3779,0,0,0,0,0,0
$GC,248,-0.57,-219.0,56.2,-39.6,34,257,0.30,2.12,0.00,0.000,6,0.157,0.035,2554,1519,3780,0,0,0,0,0,0
$GC,576,-0.47,-219.0,134.0,-22.3,95,585,0.15,2.03,0.00,0.000,4,0.162,0.044,2605,202,3781,0,0,0,0,0,0
$GC,767,-0.49,-219.0,162.4,-14.1,129,775,0.00,1.95,0.00,0.000,6,0.000,0.031,2593,1500,3781,0,0,0,0,0,0
$GC,1094,-0.49,-219.0,212.2,-12.5,190,1101,0.00,2.12,0.00,0.000,4,0.000,0.042,2584,2907,3781,0,0,0,0,0,0
$GC,1163,-0.53,-219.0,219.9,-10.4,202,1171,0.00,2.12,0.00,0.000,6,0.000,0.032,2580,1495,3780,0,0,0,0,0,0
$GC,1493,-0.53,-219.0,257.5,-11.3,257,1496,0.00,2.12,0.00,0.000,4,0.000,0.042,2566,2907,3781,0,0,0,0,0,0
$GC,1547,-0.56,-219.0,263.8,-11.6,261,1551,0.00,2.10,0.00,0.000,6,0.000,0.033,2568,1496,3780,0,0,0,0,0,0
$GC,1872,-0.56,-219.0,305.9,-12.6,291,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1496,3779,0,0,0,0,0,0
$GC,2197,-0.60,-219.0,339.7,-9.6,321,2201,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,2902,3778,0,0,0,0,0,0
$GC,2242,-0.66,-219.0,344.5,-9.2,324,2250,0.00,2.10,0.00,0.000,6,0.000,0.034,2554,1498,3777,0,0,0,0,0,0
$GC,2567,-0.68,-219.0,380.9,-11.8,355,2571,0.00,2.12,0.00,0.000,4,0.000,0.045,2544,2905,3775,0,0,0,0,0,0
$GC,2600,-0.72,-219.0,385.1,-12.0,357,2607,0.00,2.10,0.00,0.000,6,0.000,0.034,2546,1497,3775,0,0,0,0,0,0
$GC,2926,-0.74,-219.0,422.1,-10.1,388,2931,0.12,2.15,0.00,0.000,4,0.084,0.046,2473,2901,3773,0,0,0,0,0,0
$GC,2978,-0.67,-219.0,428.7,-13.9,392,2982,0.17,2.10,0.00,0.000,6,0.158,0.037,2523,1500,3772,0,0,0,0,0,0
$GC,3303,-0.65,-219.0,471.1,-13.1,422,3307,0.00,2.17,0.00,0.000,4,0.000,0.050,2515,2905,3769,0,0,0,0,0,0
$GC,3355,-0.65,-219.0,477.6,-12.0,426,3359,0.00,2.10,0.00,0.000,6,0.000,0.037,2517,1494,3769,0,0,0,0,0,0
$GC,3682,-0.63,-219.0,519.0,-12.6,456,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1494,3766,0,0,0,0,0,0
$GC,4000,-0.60,-219.0,562.3,-14.1,486,4005,0.12,2.17,0.00,0.000,4,0.164,0.053,2537,2896,3763,0,0,0,0,0,0
$GC,4023,-0.60,-219.0,565.3,-13.0,487,4030,0.00,2.12,0.00,0.000,6,0.000,0.039,2537,1494,3763,0,0,0,0,0,0
$GC,4349,-0.63,-219.0,599.5,-10.1,518,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1494,3760,0,0,0,0,0,0
$GC,4671,-0.66,-219.0,630.4,-9.3,534,4675,0.00,2.17,0.00,0.000,4,0.000,0.056,2522,2902,3757,0,0,0,0,0,0
$GC,4740,-0.71,-219.0,637.2,-9.1,537,4745,0.00,2.10,0.00,0.000,6,0.000,0.041,2523,1504,3756,0,0,0,0,0,0
$GC,5071,-0.73,-219.0,670.6,-9.8,553,5075,0.00,2.15,0.00,0.000,4,0.000,0.056,2512,2902,3753,0,0,0,0,0,0
$GC,5121,-0.76,-219.0,675.7,-9.4,555,5125,0.00,2.15,0.00,0.000,6,0.000,0.041,2512,1488,3753,0,0,0,0,0,0
$GC,5443,-0.76,-219.0,707.8,-9.8,571,5447,0.00,2.17,0.00,0.000,4,0.000,0.056,2501,2895,3750,0,0,0,0,0,0
$GC,5472,-0.76,-219.0,710.8,-10.1,572,5476,0.00,2.12,0.00,0.000,6,0.000,0.041,2501,1493,3750,0,0,0,0,0,0
$GC,5787,-0.76,-219.0,747.7,-12.0,587,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1492,3748,0,0,0,0,0,0
$GC,6099,-0.76,-219.0,784.5,-11.1,602,6103,0.00,2.17,0.00,0.000,4,0.000,0.057,2490,2904,3746,0,0,0,0,0,0
$GC,6137,-0.76,-219.0,788.8,-10.3,603,6144,0.00,2.15,0.00,0.000,6,0.000,0.044,2490,1492,3745,0,0,0,0,0,0
$GC,6454,-0.74,-219.0,823.4,-11.3,619,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1492,3743,0,0,0,0,0,0
$GC,6765,-0.72,-219.0,859.1,-11.7,634,6769,0.00,2.20,0.00,0.000,4,0.000,0.058,2480,2904,3741,0,0,0,0,0,0
$GC,6808,-0.72,-219.0,864.5,-11.6,636,6813,0.12,2.15,0.00,0.000,6,0.163,0.044,2514,1473,3741,0,0,0,0,0,0
$GC,7139,-0.75,-219.0,896.7,-9.9,652,7143,0.00,2.22,0.00,0.000,4,0.000,0.058,2506,2902,3739,0,0,0,0,0,0
$GC,7183,-0.79,-219.0,901.5,-9.8,654,7187,0.00,2.15,0.00,0.000,6,0.000,0.044,2506,1491,3739,0,0,0,0,0,0
$GC,7505,-0.79,-219.0,935.8,-10.7,670,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1491,3737,0,0,0,0,0,0
$GC,7817,-0.79,-219.0,967.6,-10.1,685,7821,0.00,2.20,0.00,0.000,4,0.000,0.060,2495,2898,3735,0,0,0,0,0,0
$GC,7861,-0.82,-219.0,972.1,-9.4,687,7865,0.00,2.12,0.00,0.000,6,0.000,0.045,2496,1494,3736,0,0,0,0,0,0
$STATE,8057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8057,begin apogee
$GC,8065,-0.18,0.0,991.7,9.9,697,8248,0.57,0.00,175.98,1.463,6,0.129,0.000,2686,1845,2883,0,0,0,0,0,0
$STATE,8249,end apogee,CONTROL_FINISHED_OK
$STATE,8249,begin climb
$GC,8251,0.86,219.0,997.4,0.0,705,8457,0.93,2.45,196.65,1.395,4,0.053,0.063,3028,3245,1990,0,0,0,0,0,0
$GC,8498,0.62,219.0,954.1,26.8,717,8504,0.35,2.28,0.00,0.000,6,0.193,0.044,2950,1857,1986,0,0,0,0,0,0
$GC,8823,0.50,219.0,894.5,18.3,733,8825,0.15,0.00,0.00,0.000,6,0.188,0.000,2911,1857,1981,0,0,0,0,0,0
$GC,9133,0.43,219.0,849.2,14.6,748,9137,0.00,2.22,0.00,0.000,4,0.000,0.057,2908,3261,1980,0,0,0,0,0,0
$GC,9205,0.38,219.0,837.9,14.8,751,9210,0.17,2.20,0.00,0.000,6,0.175,0.043,2871,1842,1979,0,0,0,0,0,0
$GC,9527,0.42,249.8,803.2,10.3,767,9559,0.00,2.25,26.65,1.308,4,0.000,0.054,2880,437,1864,0,0,0,0,0,0
$GC,9583,0.49,293.9,797.5,9.8,769,9633,0.00,2.22,41.47,1.299,6,0.000,0.041,2880,1841,1685,0,0,0,0,0,0
$GC,9946,0.57,332.0,760.8,10.1,787,9989,0.15,2.38,34.28,1.276,4,0.081,0.059,2947,3261,1530,0,0,0,0,0,0
$GC,10045,0.51,332.0,742.8,19.2,791,10050,0.17,2.25,0.00,0.000,6,0.181,0.042,2912,1847,1528,0,0,0,0,0,0
$GC,10365,0.49,332.0,694.2,15.0,806,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1847,1524,0,0,0,0,0,0
$GC,10673,0.48,332.0,649.2,14.2,821,10677,0.00,2.22,0.00,0.000,4,0.000,0.055,2908,3270,1523,0,0,0,0,0,0
$GC,10705,0.48,332.0,643.9,14.2,822,10710,0.00,2.22,0.00,0.000,6,0.000,0.041,2917,1823,1523,0,0,0,0,0,0
$GC,11031,0.45,332.0,595.4,16.1,839,11035,0.00,2.28,0.00,0.000,4,0.000,0.055,2916,3276,1522,0,0,0,0,0,0
$GC,11074,0.45,332.0,587.4,16.3,842,11083,0.12,2.17,0.00,0.000,6,0.177,0.040,2894,1850,1523,0,0,0,0,0,0
$GC,11400,0.49,332.0,548.6,11.6,873,11404,0.00,2.15,0.00,0.000,4,0.000,0.052,2902,444,1522,0,0,0,0,0,0
$GC,11444,0.53,332.0,543.1,12.1,876,11451,0.00,2.17,0.00,0.000,6,0.000,0.041,2902,1860,1521,0,0,0,0,0,0
$GC,11770,0.55,332.0,503.7,12.0,907,11774,0.00,2.17,0.00,0.000,4,0.000,0.057,2902,3268,1521,0,0,0,0,0,0
$GC,11814,0.59,332.0,498.0,11.9,910,11822,0.00,2.15,0.00,0.000,6,0.000,0.040,2911,1851,1521,0,0,0,0,0,0
$GC,12139,0.59,332.0,456.2,12.1,941,12143,0.00,2.12,0.00,0.000,4,0.000,0.051,2921,443,1521,0,0,0,0,0,0
$GC,12178,0.61,332.0,451.7,11.6,944,12183,0.00,2.15,0.00,0.000,6,0.000,0.043,2921,1873,1521,0,0,0,0,0,0
$GC,12504,0.61,332.0,411.5,12.9,974,12507,0.00,2.10,0.00,0.000,4,0.000,0.056,2921,3250,1521,0,0,0,0,0,0
$GC,12581,0.61,332.0,400.9,13.0,980,12588,0.00,2.12,0.00,0.000,6,0.000,0.039,2930,1837,1521,0,0,0,0,0,0
$GC,12908,0.59,332.0,355.8,15.2,1011,12912,0.00,2.17,0.00,0.000,4,0.000,0.052,2930,3250,1521,0,0,0,0,0,0
$GC,12970,0.59,332.0,346.9,13.2,1016,12974,0.00,2.10,0.00,0.000,6,0.000,0.037,2939,1850,1520,0,0,0,0,0,0
$GC,13295,0.59,332.0,304.8,12.9,1046,13299,0.00,2.15,0.00,0.000,4,0.000,0.050,2949,437,1521,0,0,0,0,0,0
$GC,13329,0.59,332.0,300.0,13.5,1048,13336,0.00,2.15,0.00,0.000,6,0.000,0.037,2950,1848,1521,0,0,0,0,0,0
$GC,13658,0.59,332.0,254.8,13.4,1079,13662,0.00,2.12,0.00,0.000,4,0.000,0.053,2951,3261,1520,0,0,0,0,0,0
$GC,13735,0.59,332.0,244.1,12.8,1089,13743,0.00,2.15,0.00,0.000,6,0.000,0.038,2959,1843,1521,0,0,0,0,0,0
$GC,14062,0.59,332.0,196.4,12.9,1150,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1843,1520,0,0,0,0,0,0
$GC,14389,0.59,332.0,152.8,12.4,1211,14396,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1843,1520,0,0,0,0,0,0
$GC,14716,0.70,399.9,118.2,9.0,1272,14783,0.00,2.25,55.67,0.773,4,0.000,0.046,2968,445,1252,0,0,0,0,0,0
$GC,14804,0.84,459.5,110.3,9.3,1284,14865,0.10,2.20,49.53,0.741,6,0.047,0.034,3040,1857,1009,0,0,0,0,0,0
$GC,15187,0.84,459.5,52.5,14.5,1352,15195,0.00,2.17,0.00,0.000,4,0.000,0.047,3042,3255,1007,0,0,0,0,0,0
$GC,15304,0.92,478.4,38.2,10.7,1373,15328,0.00,2.15,15.98,0.643,6,0.000,0.035,3052,1853,933,0,0,0,0,0,0
$STATE,15622,end climb,SURFACE_DEPTH_REACHED
$STATE,15623,begin surface coast
$FINISH,1.0,1.020972
$STATE,15646,end surface coast,CONTROL_FINISHED_OK
$STATE,15646,begin surface
$SM_CCo,15724,0.00,0.000,0,0,929,479.07
$SM_GC,1.72,7.65,0.00,0.00,0.040,0.000,0.000,149,1469,929,-8.03,-0.88,479.07,0,0,0,0,0,0
$IRIDIUM_FIX,2253.38,12154.86,110811,202013
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.34
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.30
$XPDR_PINGS,65
$24V_AH,23.3,12.922
$10V_AH,10.3,8.248
$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,20.375,135.275,596.200,0.000,0.000,90.180,87.280,252.180,16.250,0.000,45.941,3571.275,8136.860,653.196,3675.138,444.562,0.000,2025.315,0.000,3185.548,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,62.730,1462.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.144,1473.748,1623.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324456
$DATA_FILE_SIZE,80245,1436
$CAP_FILE_SIZE,172392,0
$CFSIZE,260165632,143482880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288, 36.6,1
$GPS,120811,004556,2304.271,12159.993,40,2.2,59,-3.1