version: 66.09
glider: 166
mission: 6
dive: 45
start: 8 12 111 0 57 19
data:
$ID,166
$MISSION,6
$DIVE,45
$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,-24440.316
$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,59
$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,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
$GPS1,120811,004556,2304.271,12159.993,40,2.2,59,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.3
$GPS2,120811,005656,2304.511,12200.338,36,1.8,36,-3.1
$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,95.7,211728,-16.5,-11.379
$D_GRID,4204
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.86,-219.0,0.0,0.0,0,113,0.00,0.00,-90.25,0.000,2,0.000,0.000,137,1468,3176,0,0,0,0,0,0
$GC,116,-0.86,-219.0,6.3,-11.4,13,142,9.07,2.28,-10.88,0.000,4,0.230,0.053,2451,2927,3779,0,0,0,0,0,0
$GC,242,-0.61,-219.0,60.6,-33.0,34,251,0.25,2.15,0.00,0.000,6,0.158,0.033,2538,1516,3780,0,0,0,0,0,0
$GC,567,-0.46,-219.0,155.3,-23.8,95,576,0.20,2.00,0.00,0.000,4,0.161,0.040,2604,199,3781,0,0,0,0,0,0
$GC,664,-0.46,-219.0,172.8,-15.4,112,674,0.00,1.98,0.00,0.000,6,0.000,0.034,2596,1508,3782,0,0,0,0,0,0
$GC,991,-0.45,-219.0,220.7,-14.3,173,999,0.00,2.10,0.00,0.000,4,0.000,0.042,2585,2901,3782,0,0,0,0,0,0
$GC,1020,-0.45,-219.0,224.9,-13.7,177,1028,0.00,2.12,0.00,0.000,6,0.000,0.034,2584,1491,3782,0,0,0,0,0,0
$GC,1352,-0.45,-219.0,269.8,-12.8,226,1356,0.00,2.12,0.00,0.000,4,0.000,0.042,2569,2912,3782,0,0,0,0,0,0
$GC,1420,-0.48,-219.0,277.8,-11.5,232,1424,0.00,2.12,0.00,0.000,6,0.000,0.032,2570,1485,3782,0,0,0,0,0,0
$GC,1745,-0.48,-219.0,320.6,-13.4,262,1749,0.00,1.90,0.00,0.000,4,0.000,0.042,2566,205,3782,0,0,0,0,0,0
$GC,1783,-0.51,-219.0,325.6,-12.6,265,1790,0.00,1.92,0.00,0.000,6,0.000,0.033,2552,1509,3782,0,0,0,0,0,0
$GC,2109,-0.51,-219.0,363.5,-10.2,296,2114,0.10,2.10,0.00,0.000,4,0.172,0.044,2569,2907,3780,0,0,0,0,0,0
$GC,2200,-0.59,-219.0,370.4,-6.8,303,2208,0.00,2.08,0.00,0.000,6,0.000,0.034,2570,1491,3780,0,0,0,0,0,0
$GC,2525,-0.65,-219.0,398.8,-9.2,334,2529,0.00,2.12,0.00,0.000,4,0.000,0.044,2560,2908,3778,0,0,0,0,0,0
$GC,2576,-0.72,-219.0,403.5,-8.8,338,2583,0.15,2.10,0.00,0.000,6,0.072,0.034,2477,1498,3777,0,0,0,0,0,0
$GC,2901,-0.63,-219.0,459.3,-16.8,369,2906,0.20,1.92,0.00,0.000,4,0.158,0.044,2548,202,3775,0,0,0,0,0,0
$GC,2933,-0.63,-219.0,464.4,-14.4,371,2942,0.00,1.95,0.00,0.000,6,0.000,0.037,2535,1486,3776,0,0,0,0,0,0
$GC,3259,-0.63,-219.0,504.8,-12.9,402,3263,0.00,2.15,0.00,0.000,4,0.000,0.050,2521,2910,3772,0,0,0,0,0,0
$GC,3303,-0.65,-219.0,510.6,-12.6,405,3309,0.00,2.08,0.00,0.000,6,0.000,0.037,2522,1504,3771,0,0,0,0,0,0
$GC,3628,-0.65,-219.0,551.3,-12.2,436,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1504,3769,0,0,0,0,0,0
$GC,3948,-0.65,-219.0,587.0,-11.0,466,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1504,3766,0,0,0,0,0,0
$GC,4272,-0.65,-219.0,619.6,-10.2,488,4276,0.00,2.17,0.00,0.000,4,0.000,0.061,2506,2910,3763,0,0,0,0,0,0
$GC,4323,-0.67,-219.0,625.2,-10.2,490,4327,0.00,2.15,0.00,0.000,6,0.000,0.041,2506,1491,3762,0,0,0,0,0,0
$GC,4646,-0.67,-219.0,660.4,-11.1,506,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1491,3759,0,0,0,0,0,0
$GC,4953,-0.67,-219.0,694.0,-11.0,521,4957,0.00,2.20,0.00,0.000,4,0.000,0.058,2493,2905,3757,0,0,0,0,0,0
$GC,5026,-0.67,-219.0,701.8,-10.4,524,5030,0.12,2.12,0.00,0.000,6,0.155,0.043,2528,1491,3756,0,0,0,0,0,0
$GC,5346,-0.71,-219.0,733.1,-10.3,539,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1491,3754,0,0,0,0,0,0
$GC,5652,-0.75,-219.0,762.6,-9.2,554,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1491,3751,0,0,0,0,0,0
$GC,5963,-0.78,-219.0,788.8,-8.4,569,5967,0.10,2.22,0.00,0.000,4,0.101,0.060,2466,2906,3749,0,0,0,0,0,0
$GC,6032,-0.76,-219.0,796.3,-11.8,572,6036,0.12,2.15,0.00,0.000,6,0.164,0.044,2499,1501,3749,0,0,0,0,0,0
$GC,6362,-0.76,-219.0,833.4,-11.2,588,6366,0.00,2.22,0.00,0.000,4,0.000,0.060,2491,2908,3747,0,0,0,0,0,0
$GC,6407,-0.76,-219.0,838.9,-10.9,590,6410,0.00,2.12,0.00,0.000,6,0.000,0.045,2491,1500,3746,0,0,0,0,0,0
$GC,6734,-0.76,-219.0,877.4,-11.7,606,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1500,3744,0,0,0,0,0,0
$GC,7045,-0.76,-219.0,911.9,-11.1,621,7049,0.00,2.22,0.00,0.000,4,0.000,0.062,2481,2904,3742,0,0,0,0,0,0
$GC,7072,-0.76,-219.0,915.4,-11.5,622,7076,0.00,2.12,0.00,0.000,6,0.000,0.046,2481,1501,3742,0,0,0,0,0,0
$GC,7396,-0.74,-219.0,953.1,-12.1,638,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1501,3741,0,0,0,0,0,0
$STATE,7703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7703,begin apogee
$GC,7709,-0.18,0.0,990.6,12.3,653,7893,0.60,0.00,176.73,1.452,6,0.132,0.000,2677,1850,2883,0,0,0,0,0,0
$STATE,7894,end apogee,CONTROL_FINISHED_OK
$STATE,7894,begin climb
$GC,7896,0.86,219.0,997.8,0.0,661,8103,0.98,0.00,197.93,1.386,6,0.072,0.000,3022,1849,1990,0,0,0,0,0,0
$GC,8414,0.65,219.0,895.4,23.6,687,8419,0.25,2.25,0.00,0.000,4,0.194,0.060,2944,3250,1982,0,0,0,0,0,0
$GC,8533,0.55,219.0,873.5,16.6,692,8537,0.00,2.20,0.00,0.000,6,0.000,0.044,2952,1847,1981,0,0,0,0,0,0
$GC,8851,0.43,219.0,818.1,17.8,707,8856,0.25,2.22,0.00,0.000,4,0.172,0.058,2868,3253,1979,0,0,0,0,0,0
$GC,8873,0.37,219.0,813.9,17.4,708,8877,0.00,2.17,0.00,0.000,6,0.000,0.041,2876,1838,1978,0,0,0,0,0,0
$GC,9195,0.39,241.7,779.6,10.6,724,9220,0.00,2.30,19.52,1.268,4,0.000,0.056,2870,3249,1897,0,0,0,0,0,0
$GC,9250,0.45,270.6,773.8,10.4,726,9285,0.00,2.15,27.52,1.263,6,0.000,0.040,2878,1853,1780,0,0,0,0,0,0
$GC,9597,0.49,284.8,738.0,10.9,743,9620,0.00,2.30,13.90,1.195,4,0.000,0.054,2888,443,1721,0,0,0,0,0,0
$GC,9678,0.52,284.8,728.5,11.5,746,9682,0.00,2.20,0.00,0.000,6,0.000,0.041,2889,1852,1719,0,0,0,0,0,0
$GC,9994,0.54,284.8,689.6,12.4,761,9998,0.00,2.20,0.00,0.000,4,0.000,0.057,2888,3268,1718,0,0,0,0,0,0
$GC,10027,0.55,284.8,684.8,13.5,762,10034,0.00,2.20,0.00,0.000,6,0.000,0.040,2897,1843,1718,0,0,0,0,0,0
$GC,10342,0.55,284.8,642.2,13.6,778,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1843,1717,0,0,0,0,0,0
$GC,10652,0.55,284.8,601.5,13.6,793,10656,0.00,2.22,0.00,0.000,4,0.000,0.055,2898,3270,1717,0,0,0,0,0,0
$GC,10710,0.57,284.8,593.5,13.9,797,10714,0.00,2.15,0.00,0.000,6,0.000,0.040,2908,1847,1717,0,0,0,0,0,0
$GC,11036,0.57,284.8,547.0,13.9,827,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1847,1716,0,0,0,0,0,0
$GC,11358,0.57,284.8,507.1,11.8,857,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1847,1716,0,0,0,0,0,0
$GC,11684,0.57,284.8,466.6,12.2,888,11688,0.00,2.15,0.00,0.000,4,0.000,0.050,2918,434,1716,0,0,0,0,0,0
$GC,11729,0.57,284.8,460.7,12.3,891,11736,0.00,2.15,0.00,0.000,6,0.000,0.041,2917,1863,1715,0,0,0,0,0,0
$GC,12054,0.57,284.8,421.5,12.0,922,12058,0.00,2.15,0.00,0.000,4,0.000,0.056,2917,3260,1715,0,0,0,0,0,0
$GC,12119,0.57,284.8,413.5,12.8,927,12124,0.00,2.12,0.00,0.000,6,0.000,0.039,2924,1842,1715,0,0,0,0,0,0
$GC,12445,0.55,284.8,369.9,13.1,957,12446,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1841,1714,0,0,0,0,0,0
$GC,12769,0.55,284.8,331.8,11.7,987,12773,0.00,2.17,0.00,0.000,4,0.000,0.050,2925,3256,1715,0,0,0,0,0,0
$GC,12801,0.55,284.8,327.0,11.9,989,12808,0.00,2.12,0.00,0.000,6,0.000,0.038,2934,1837,1714,0,0,0,0,0,0
$GC,13127,0.53,284.8,288.3,12.6,1020,13131,0.00,2.12,0.00,0.000,4,0.000,0.049,2945,434,1714,0,0,0,0,0,0
$GC,13189,0.53,284.8,280.8,11.5,1025,13194,0.00,2.12,0.00,0.000,6,0.000,0.038,2945,1856,1714,0,0,0,0,0,0
$GC,13515,0.51,284.8,244.5,11.9,1059,13523,0.12,0.00,0.00,0.000,6,0.167,0.000,2911,1860,1714,0,0,0,0,0,0
$GC,13845,0.66,365.1,215.8,8.6,1120,13919,0.15,2.33,67.18,0.858,4,0.076,0.047,3000,444,1394,0,0,0,0,0,0
$GC,13935,0.61,365.1,204.4,14.0,1132,13943,0.15,2.22,0.00,0.000,6,0.136,0.037,2946,1855,1392,0,0,0,0,0,0
$GC,14267,0.64,365.1,163.7,12.0,1193,14276,0.00,2.17,0.00,0.000,4,0.000,0.050,2945,3245,1391,0,0,0,0,0,0
$GC,14301,0.69,365.1,159.3,12.4,1198,14310,0.00,2.15,0.00,0.000,6,0.000,0.034,2954,1850,1391,0,0,0,0,0,0
$GC,14632,0.73,372.8,121.1,11.1,1259,14648,0.00,2.20,7.70,0.641,4,0.000,0.044,2968,444,1363,0,0,0,0,0,0
$GC,14709,0.82,405.7,112.7,10.2,1272,14748,0.08,2.15,28.40,0.735,6,0.051,0.034,3033,1857,1228,0,0,0,0,0,0
$GC,15069,0.82,405.7,63.3,13.3,1337,15076,0.00,2.17,0.00,0.000,4,0.000,0.046,3035,3253,1227,0,0,0,0,0,0
$GC,15169,0.84,405.7,51.3,11.8,1355,15177,0.00,2.15,0.00,0.000,6,0.000,0.035,3044,1852,1227,0,0,0,0,0,0
$GC,15497,0.89,428.8,12.8,10.6,1416,15522,0.00,2.25,19.83,0.632,4,0.000,0.045,3062,436,1134,0,0,0,0,0,0
$GC,15557,0.92,428.8,5.9,11.6,1425,15565,0.00,2.15,0.00,0.000,6,0.000,0.031,3061,1851,1133,0,0,0,0,0,0
$STATE,15583,end climb,SURFACE_DEPTH_REACHED
$STATE,15583,begin surface coast
$FINISH,1.0,0.998502
$STATE,15611,end surface coast,CONTROL_FINISHED_OK
$STATE,15611,begin surface
$SM_CCo,15630,45.47,0.460,1,0,946,475.15
$SM_GC,1.73,0.00,0.00,45.47,0.000,0.000,0.460,130,1467,946,-8.16,-0.93,475.15,0,0,0,0,1,0
$IRIDIUM_FIX,2255.72,12158.09,120811,000017
$TT8_MAMPS,0.026964,0.026964
$HUMID,32.59
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.30
$XPDR_PINGS,68
$24V_AH,23.4,13.149
$10V_AH,10.3,8.410
$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,20.475,125.675,558.700,45.475,0.000,57.249,63.353,283.095,17.000,0.000,37.272,3556.325,8082.558,711.248,3527.755,446.107,0.000,2012.024,0.000,3108.009,0.000,0.542,0.000
$DEVICE_MAMPS,229.500,61.965,1451.970,459.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,981.035,1468.532,1608.671,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324416
$DATA_FILE_SIZE,80142,1434
$CAP_FILE_SIZE,167010,0
$CFSIZE,260165632,143409152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.170, 31.1,1
$GPS,120811,052000,2305.600,12203.942,39,1.2,39,-3.1