version: 66.09
glider: 166
mission: 6
dive: 9
start: 8 6 111 0 52 18
data:
$ID,166
$MISSION,6
$DIVE,9
$N_DIVES,15
$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,280
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,1
$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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-24385.674
$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,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,1800
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,31
$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,0
$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,3
$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
$GPS1,060811,003600,2056.026,12120.280,72,1.2,77,-2.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-62.0
$GPS2,060811,005154,2056.479,12120.607,47,99.0,66,-2.5
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,NINNER
$TGT_LATLONG,2114.000,12117.000
$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,351.6,33042,-16.1,-11.786
$D_GRID,3539
$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,16,-0.75,-243.3,0.0,0.0,0,126,0.00,0.00,-107.25,0.000,2,0.000,0.000,133,1781,3125,0,0,0,0,0,0
$GC,129,-0.75,-243.3,6.2,-12.6,15,159,9.07,2.12,-12.73,0.000,4,0.223,0.056,2520,385,3877,0,0,0,0,0,0
$GC,380,-0.59,-243.3,102.5,-32.0,61,388,0.15,2.20,0.00,0.000,6,0.144,0.041,2561,1811,3879,0,0,0,0,0,0
$GC,703,-0.53,-243.3,177.8,-16.8,122,712,0.10,2.22,0.00,0.000,4,0.188,0.048,2571,389,3879,0,0,0,0,0,0
$GC,844,-0.53,-243.3,194.3,-10.7,147,852,0.00,2.15,0.00,0.000,6,0.000,0.037,2563,1806,3879,0,0,0,0,0,0
$GC,1163,-0.53,-243.3,234.7,-15.5,208,1171,0.00,2.17,0.00,0.000,4,0.000,0.048,2567,392,3879,0,0,0,0,0,0
$GC,1349,-0.56,-243.3,262.9,-13.1,234,1353,0.00,2.10,0.00,0.000,6,0.000,0.037,2564,1810,3878,0,0,0,0,0,0
$GC,1682,-0.58,-243.3,299.7,-10.1,265,1686,0.00,2.15,0.00,0.000,4,0.000,0.047,2568,384,3876,0,0,0,0,0,0
$GC,1771,-0.61,-243.3,309.4,-10.5,272,1778,0.00,2.10,0.00,0.000,6,0.000,0.038,2548,1808,3876,0,0,0,0,0,0
$GC,2096,-0.61,-243.3,349.6,-13.1,303,2100,0.00,2.15,0.00,0.000,4,0.000,0.048,2550,383,3873,0,0,0,0,0,0
$GC,2185,-0.64,-243.3,361.1,-12.1,310,2191,0.00,2.10,0.00,0.000,6,0.000,0.041,2542,1808,3872,0,0,0,0,0,0
$GC,2510,-0.64,-243.3,393.1,-10.6,341,2514,0.00,2.12,0.00,0.000,4,0.000,0.048,2543,390,3870,0,0,0,0,0,0
$GC,2673,-0.64,-243.3,415.2,-14.4,355,2680,0.00,2.10,0.00,0.000,6,0.000,0.041,2534,1803,3869,0,0,0,0,0,0
$GC,2998,-0.64,-243.3,465.4,-14.6,386,3002,0.00,2.12,0.00,0.000,4,0.000,0.051,2528,395,3866,0,0,0,0,0,0
$GC,3237,-0.67,-243.3,498.2,-13.5,407,3241,0.00,2.10,0.00,0.000,6,0.000,0.042,2517,1810,3865,0,0,0,0,0,0
$GC,3562,-0.67,-243.3,540.9,-12.1,437,3566,0.00,2.15,0.00,0.000,4,0.000,0.051,2517,393,3862,0,0,0,0,0,0
$GC,3706,-0.67,-243.3,557.9,-11.4,449,3711,0.12,2.12,0.00,0.000,6,0.162,0.044,2542,1810,3861,0,0,0,0,0,0
$GC,4038,-0.71,-243.3,586.0,-8.6,480,4042,0.00,2.17,0.00,0.000,4,0.000,0.052,2542,384,3858,0,0,0,0,0,0
$GC,4105,-0.78,-243.3,592.6,-9.3,485,4112,0.00,2.15,0.00,0.000,6,0.000,0.044,2533,1804,3858,0,0,0,0,0,0
$GC,4436,-0.82,-243.3,626.3,-10.8,505,4440,0.12,2.17,0.00,0.000,4,0.091,0.054,2473,395,3854,0,0,0,0,0,0
$GC,4548,-0.79,-243.3,644.4,-17.2,510,4553,0.15,2.12,0.00,0.000,6,0.173,0.045,2504,1810,3853,0,0,0,0,0,0
$GC,4873,-0.79,-243.3,685.4,-11.3,526,4877,0.00,2.17,0.00,0.000,4,0.000,0.054,2503,388,3851,0,0,0,0,0,0
$GC,5052,-0.79,-243.3,706.4,-11.4,534,5055,0.00,2.12,0.00,0.000,6,0.000,0.048,2496,1800,3849,0,0,0,0,0,0
$GC,5380,-0.79,-243.3,740.4,-10.4,550,5384,0.00,2.17,0.00,0.000,4,0.000,0.055,2492,388,3846,0,0,0,0,0,0
$GC,5516,-0.79,-243.3,755.6,-11.2,556,5520,0.00,2.15,0.00,0.000,6,0.000,0.048,2482,1810,3845,0,0,0,0,0,0
$GC,5845,-0.79,-243.3,794.9,-11.7,572,5849,0.00,2.17,0.00,0.000,4,0.000,0.056,2482,394,3843,0,0,0,0,0,0
$GC,6003,-0.79,-243.3,813.7,-11.5,579,6007,0.12,2.12,0.00,0.000,6,0.177,0.049,2504,1799,3842,0,0,0,0,0,0
$GC,6327,-0.81,-243.3,842.6,-9.1,595,6331,0.00,2.17,0.00,0.000,4,0.000,0.057,2504,387,3840,0,0,0,0,0,0
$GC,6422,-0.84,-243.3,852.9,-10.6,599,6426,0.00,2.17,0.00,0.000,6,0.000,0.050,2496,1804,3839,0,0,0,0,0,0
$GC,6739,-0.84,-243.3,884.1,-9.9,614,6743,0.00,2.17,0.00,0.000,4,0.000,0.057,2495,393,3837,0,0,0,0,0,0
$GC,6868,-0.84,-243.3,900.1,-12.5,620,6872,0.00,2.12,0.00,0.000,6,0.000,0.049,2484,1799,3836,0,0,0,0,0,0
$GC,7197,-0.84,-243.3,936.8,-10.4,636,7201,0.00,2.20,0.00,0.000,4,0.000,0.059,2485,392,3834,0,0,0,0,0,0
$GC,7332,-0.84,-243.3,952.1,-11.4,642,7336,0.00,2.17,0.00,0.000,6,0.000,0.051,2474,1806,3833,0,0,0,0,0,0
$GC,7653,-0.84,-243.3,989.1,-11.4,658,7657,0.00,2.17,0.00,0.000,4,0.000,0.059,2474,394,3832,0,0,0,0,0,0
$STATE,7661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7661,begin apogee
$GC,7670,-0.14,0.0,990.5,11.5,658,7873,0.75,0.00,196.70,1.432,6,0.147,0.000,2706,1975,2884,0,0,0,0,0,0
$STATE,7873,end apogee,CONTROL_FINISHED_OK
$STATE,7873,begin climb
$GC,7877,0.75,243.3,997.6,0.0,668,8109,0.82,2.45,216.43,1.369,4,0.054,0.065,3017,3374,1890,0,0,0,0,0,0
$GC,8255,0.55,243.3,925.4,25.1,685,8261,0.35,2.22,0.00,0.000,6,0.202,0.054,2946,1967,1885,0,0,0,0,0,0
$GC,8573,0.47,243.3,872.2,16.7,700,8578,0.12,2.20,0.00,0.000,4,0.203,0.057,2923,559,1882,0,0,0,0,0,0
$GC,8645,0.43,243.3,859.9,15.7,703,8649,0.00,2.20,0.00,0.000,6,0.000,0.048,2923,1968,1881,0,0,0,0,0,0
$GC,8962,0.38,243.3,814.6,13.8,718,8967,0.15,2.22,0.00,0.000,4,0.180,0.063,2880,3383,1881,0,0,0,0,0,0
$GC,8989,0.38,243.3,810.5,13.9,719,8993,0.00,2.20,0.00,0.000,6,0.000,0.045,2888,1935,1880,0,0,0,0,0,0
$GC,9311,0.41,270.8,774.6,10.9,735,9342,0.00,2.22,24.45,1.261,4,0.000,0.057,2898,565,1779,0,0,0,0,0,0
$GC,9402,0.42,272.1,764.4,11.7,739,9406,0.00,2.20,0.00,0.000,6,0.000,0.047,2898,1971,1777,0,0,0,0,0,0
$GC,9729,0.42,272.1,717.8,16.2,755,9733,0.00,2.20,0.00,0.000,4,0.000,0.056,2907,557,1776,0,0,0,0,0,0
$GC,9757,0.42,272.1,713.0,16.9,756,9761,0.00,2.22,0.00,0.000,6,0.000,0.047,2907,1980,1775,0,0,0,0,0,0
$GC,10073,0.42,272.1,661.0,15.6,771,10077,0.00,2.20,0.00,0.000,4,0.000,0.055,2917,553,1775,0,0,0,0,0,0
$GC,10094,0.42,272.1,657.4,15.3,772,10098,0.00,2.22,0.00,0.000,6,0.000,0.046,2917,1998,1774,0,0,0,0,0,0
$GC,10423,0.46,323.2,614.9,10.1,788,10478,0.00,2.40,47.67,1.196,4,0.000,0.055,2927,565,1565,0,0,0,0,0,0
$GC,10524,0.49,349.5,604.3,10.9,792,10556,0.00,2.22,24.55,1.132,6,0.000,0.047,2926,1971,1458,0,0,0,0,0,0
$GC,10882,0.49,349.5,557.3,14.7,824,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1972,1454,0,0,0,0,0,0
$GC,11203,0.54,392.1,517.6,10.4,854,11246,0.00,0.00,37.47,1.116,6,0.000,0.000,2926,1972,1284,0,0,0,0,0,0
$GC,11565,0.56,392.1,476.0,13.3,888,11569,0.00,2.20,0.00,0.000,4,0.000,0.056,2935,565,1281,0,0,0,0,0,0
$GC,11584,0.58,392.1,473.6,13.5,889,11588,0.00,2.17,0.00,0.000,6,0.000,0.045,2935,1965,1280,0,0,0,0,0,0
$GC,11909,0.58,392.1,427.6,14.2,919,11913,0.00,2.17,0.00,0.000,4,0.000,0.056,2944,563,1280,0,0,0,0,0,0
$GC,11940,0.58,392.1,423.4,15.2,921,11944,0.00,2.20,0.00,0.000,6,0.000,0.045,2944,1987,1279,0,0,0,0,0,0
$GC,12266,0.58,392.1,368.9,14.6,951,12270,0.00,2.22,0.00,0.000,4,0.000,0.054,2952,557,1279,0,0,0,0,0,0
$GC,12334,0.61,394.7,360.1,11.7,956,12341,0.00,2.17,0.00,0.000,6,0.000,0.044,2952,1972,1279,0,0,0,0,0,0
$GC,12659,0.61,394.7,320.0,12.8,987,12663,0.00,2.15,0.00,0.000,4,0.000,0.062,2952,3374,1278,0,0,0,0,0,0
$GC,12709,0.64,394.7,313.3,13.2,991,12716,0.00,2.10,0.00,0.000,6,0.000,0.043,2959,1968,1279,0,0,0,0,0,0
$GC,13035,0.63,394.7,266.7,14.0,1022,13039,0.00,2.15,0.00,0.000,4,0.000,0.053,2969,561,1278,0,0,0,0,0,0
$GC,13077,0.61,394.7,261.3,13.4,1025,13081,0.00,2.15,0.00,0.000,6,0.000,0.049,2969,1985,1278,0,0,0,0,0,0
$GC,13400,0.60,394.7,209.7,15.8,1078,13408,0.00,2.22,0.00,0.000,4,0.000,0.054,2978,558,1278,0,0,0,0,0,0
$GC,13479,0.60,394.7,197.6,14.3,1092,13487,0.00,2.15,0.00,0.000,6,0.000,0.042,2977,1961,1278,0,0,0,0,0,0
$GC,13801,0.61,394.7,152.1,12.0,1153,13809,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1963,1278,0,0,0,0,0,0
$GC,14125,0.78,481.7,118.3,9.0,1214,14204,0.10,2.30,72.50,0.760,4,0.105,0.052,3025,3376,919,0,0,0,0,0,0
$GC,14256,0.83,481.7,101.8,12.6,1234,14264,0.00,2.20,0.00,0.000,6,0.000,0.039,3037,1972,917,0,0,0,0,0,0
$GC,14580,0.88,484.1,58.1,11.7,1295,14588,0.00,2.20,0.00,0.000,4,0.000,0.048,3046,568,917,0,0,0,0,0,0
$GC,14627,0.92,484.1,52.3,12.1,1303,14635,0.00,2.15,0.00,0.000,6,0.000,0.036,3045,1971,915,0,0,0,0,0,0
$GC,14947,1.02,532.9,16.4,10.2,1364,14999,0.12,2.22,41.78,0.630,4,0.090,0.043,3131,557,709,0,0,0,0,0,0
$STATE,15021,end climb,SURFACE_DEPTH_REACHED
$STATE,15021,begin surface coast
$FINISH,1.3,1.021438
$STATE,15039,end surface coast,CONTROL_FINISHED_OK
$STATE,15039,begin surface
$SM_CCo,15119,0.00,0.000,0,0,706,534.26
$SM_GC,1.45,8.00,0.00,0.00,0.050,0.000,0.000,152,1811,706,-8.09,0.31,534.26,0,0,0,0,0,0
$IRIDIUM_FIX,2047.91,12118.01,060811,000009
$TT8_MAMPS,0.026215,0.026215
$HUMID,32.67
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.90
$XPDR_PINGS,96
$24V_AH,23.3,4.282
$10V_AH,10.3,3.135
$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,20.275,143.900,661.550,0.000,0.000,109.401,75.583,372.009,24.000,0.000,68.336,3283.642,7772.877,686.190,3912.680,402.170,0.000,2126.031,0.000,3289.260,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,65.025,1432.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,941.622,1409.008,1542.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323900
$DATA_FILE_SIZE,76838,1378
$CAP_FILE_SIZE,173554,0
$CFSIZE,260165632,146386944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060811,050537,2100.554,12120.835,43,2.0,43,-2.5