version: 66.09
glider: 166
mission: 6
dive: 13
start: 8 6 111 18 6 29
data:
$ID,166
$MISSION,6
$DIVE,13
$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,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,-8
$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,-24390.902
$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,2755
$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,1600
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$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,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
$GPS1,060811,180206,2111.627,12116.599,60,1.8,60,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.4
$GPS2,060811,180608,2111.748,12116.586,14,1.8,14,-2.6
$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,12.3,4231,-22.8,-11.786
$D_GRID,3607
$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,19,-0.97,-122.3,0.0,0.0,0,118,0.00,0.00,-96.03,0.000,2,0.000,0.000,143,1586,3054,0,0,0,0,0,0
$GC,121,-1.00,-152.0,5.6,-9.9,14,145,8.73,2.17,-8.75,0.000,4,0.228,0.060,2451,192,3505,0,0,0,0,0,0
$GC,382,-0.77,-152.0,115.1,-38.3,62,390,0.20,2.15,0.00,0.000,6,0.177,0.041,2497,1588,3507,0,0,0,0,0,0
$GC,705,-0.70,-152.0,198.1,-20.1,123,714,0.12,2.20,0.00,0.000,4,0.187,0.050,2524,3013,3510,0,0,0,0,0,0
$GC,952,-0.72,-152.0,233.5,-13.3,169,960,0.00,2.15,0.00,0.000,6,0.000,0.040,2522,1597,3510,0,0,0,0,0,0
$GC,1279,-0.72,-152.0,282.2,-14.3,210,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1597,3510,0,0,0,0,0,0
$GC,1601,-0.75,-152.0,326.5,-12.7,240,1605,0.00,2.12,0.00,0.000,4,0.000,0.050,2515,196,3510,0,0,0,0,0,0
$GC,1860,-0.78,-152.0,364.3,-14.8,262,1867,0.00,2.12,0.00,0.000,6,0.000,0.039,2501,1609,3509,0,0,0,0,0,0
$GC,2185,-0.82,-152.0,408.1,-12.4,293,2189,0.00,2.15,0.00,0.000,4,0.000,0.050,2501,196,3507,0,0,0,0,0,0
$GC,2443,-0.84,-152.0,443.4,-14.3,315,2450,0.00,2.10,0.00,0.000,6,0.000,0.040,2491,1604,3504,0,0,0,0,0,0
$GC,2768,-0.86,-152.0,485.1,-12.6,346,2772,0.00,2.12,0.00,0.000,4,0.000,0.052,2490,206,3503,0,0,0,0,0,0
$GC,2881,-0.86,-152.0,500.9,-14.2,356,2885,0.00,2.08,0.00,0.000,6,0.000,0.042,2479,1593,3502,0,0,0,0,0,0
$GC,3206,-0.88,-152.0,547.9,-15.8,386,3210,0.00,2.15,0.00,0.000,4,0.000,0.054,2478,195,3499,0,0,0,0,0,0
$GC,3350,-0.88,-152.0,571.1,-15.9,398,3354,0.00,2.10,0.00,0.000,6,0.000,0.041,2467,1605,3498,0,0,0,0,0,0
$GC,3675,-0.88,-152.0,616.6,-12.9,422,3679,0.00,2.15,0.00,0.000,4,0.000,0.054,2467,207,3494,0,0,0,0,0,0
$GC,3849,-0.88,-152.0,642.9,-15.9,430,3853,0.00,2.10,0.00,0.000,6,0.000,0.047,2456,1602,3493,0,0,0,0,0,0
$GC,4183,-0.88,-152.0,691.4,-14.2,446,4187,0.00,2.15,0.00,0.000,4,0.000,0.054,2456,204,3491,0,0,0,0,0,0
$GC,4216,-0.88,-152.0,696.7,-15.4,447,4223,0.00,2.12,0.00,0.000,6,0.000,0.044,2445,1592,3491,0,0,0,0,0,0
$GC,4533,-0.88,-152.0,740.6,-13.8,463,4537,0.00,2.15,0.00,0.000,4,0.000,0.056,2445,196,3488,0,0,0,0,0,0
$GC,4782,-0.85,-152.0,778.0,-15.4,474,4787,0.15,2.12,0.00,0.000,6,0.187,0.045,2474,1608,3487,0,0,0,0,0,0
$GC,5112,-0.90,-162.1,815.9,-11.1,490,5116,0.00,2.15,0.00,0.000,4,0.000,0.057,2474,204,3484,0,0,0,0,0,0
$GC,5195,-0.93,-162.1,827.1,-12.9,493,5202,0.00,2.10,0.00,0.000,6,0.000,0.046,2466,1601,3484,0,0,0,0,0,0
$GC,5513,-0.96,-162.1,868.4,-13.2,509,5517,0.00,2.17,0.00,0.000,4,0.000,0.059,2465,198,3482,0,0,0,0,0,0
$GC,5559,-0.96,-162.1,875.2,-15.3,511,5563,0.00,2.12,0.00,0.000,6,0.000,0.047,2455,1603,3481,0,0,0,0,0,0
$GC,5889,-0.98,-162.1,922.6,-13.9,527,5893,0.00,2.17,0.00,0.000,4,0.000,0.060,2455,202,3478,0,0,0,0,0,0
$GC,5998,-0.98,-162.1,939.9,-16.3,532,6002,0.00,2.15,0.00,0.000,6,0.000,0.048,2445,1605,3477,0,0,0,0,0,0
$STATE,6323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6323,begin apogee
$GC,6329,-0.18,0.0,990.2,14.9,548,6459,0.77,0.00,122.53,1.447,6,0.155,0.000,2688,1910,2884,0,0,0,0,0,0
$STATE,6460,end apogee,CONTROL_FINISHED_OK
$STATE,6460,begin climb
$GC,6462,1.01,162.1,996.8,0.0,554,6618,1.12,2.42,145.65,1.385,4,0.075,0.063,3074,3304,2221,0,0,0,0,0,0
$GC,6758,0.82,162.1,949.3,21.2,567,6766,0.25,2.20,0.00,0.000,6,0.220,0.048,3025,1903,2215,0,0,0,0,0,0
$GC,7076,0.70,162.1,892.7,17.8,583,7081,0.15,2.25,0.00,0.000,4,0.198,0.062,2976,3309,2211,0,0,0,0,0,0
$GC,7139,0.63,162.1,881.4,16.6,586,7143,0.00,2.17,0.00,0.000,6,0.000,0.046,2984,1891,2210,0,0,0,0,0,0
$GC,7467,0.56,162.1,823.4,18.6,602,7472,0.17,2.20,0.00,0.000,4,0.212,0.060,2931,3304,2209,0,0,0,0,0,0
$GC,7485,0.50,162.1,819.8,19.0,603,7489,0.00,2.15,0.00,0.000,6,0.000,0.046,2939,1892,2208,0,0,0,0,0,0
$GC,7812,0.48,162.1,772.9,13.5,619,7816,0.00,2.17,0.00,0.000,4,0.000,0.057,2950,494,2207,0,0,0,0,0,0
$GC,7831,0.45,162.1,770.6,13.1,620,7836,0.15,2.17,0.00,0.000,6,0.194,0.047,2903,1903,2207,0,0,0,0,0,0
$GC,8160,0.52,184.4,736.8,10.4,636,8183,0.00,2.28,18.17,1.234,4,0.000,0.061,2893,3302,2132,0,0,0,0,0,0
$GC,8281,0.59,184.4,721.6,13.3,641,8286,0.12,2.17,0.00,0.000,6,0.098,0.044,2952,1894,2129,0,0,0,0,0,0
$GC,8608,0.57,184.4,661.1,19.3,657,8612,0.00,2.22,0.00,0.000,4,0.000,0.058,2946,3304,2128,0,0,0,0,0,0
$GC,8637,0.57,184.4,655.4,19.3,658,8641,0.00,2.15,0.00,0.000,6,0.000,0.044,2954,1894,2127,0,0,0,0,0,0
$GC,8953,0.55,184.4,599.1,16.9,673,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1894,2127,0,0,0,0,0,0
$GC,9274,0.55,184.4,550.6,14.2,703,9278,0.00,2.15,0.00,0.000,4,0.000,0.056,2965,488,2126,0,0,0,0,0,0
$GC,9349,0.53,184.4,539.3,15.0,709,9352,0.00,2.15,0.00,0.000,6,0.000,0.047,2956,1900,2125,0,0,0,0,0,0
$GC,9676,0.52,184.4,495.7,12.3,739,9680,0.12,2.20,0.00,0.000,4,0.209,0.061,2916,3307,2125,0,0,0,0,0,0
$GC,9785,0.57,184.4,481.8,12.2,748,9789,0.00,2.15,0.00,0.000,6,0.000,0.045,2924,1896,2125,0,0,0,0,0,0
$GC,10110,0.61,184.7,441.4,11.8,778,10114,0.00,2.20,0.00,0.000,4,0.000,0.059,2916,3312,2125,0,0,0,0,0,0
$GC,10211,0.66,184.7,428.5,12.5,786,10218,0.12,2.15,0.00,0.000,6,0.098,0.044,2978,1892,2125,0,0,0,0,0,0
$GC,10536,0.63,184.7,384.1,13.0,817,10540,0.00,2.15,0.00,0.000,4,0.000,0.055,2989,487,2125,0,0,0,0,0,0
$GC,10577,0.59,184.7,378.4,14.3,820,10584,0.12,2.17,0.00,0.000,6,0.197,0.044,2950,1915,2124,0,0,0,0,0,0
$GC,10902,0.61,184.7,339.5,11.8,851,10906,0.00,2.12,0.00,0.000,4,0.000,0.057,2940,3303,2124,0,0,0,0,0,0
$GC,10953,0.66,184.7,333.0,12.4,855,10957,0.00,2.10,0.00,0.000,6,0.000,0.044,2948,1898,2124,0,0,0,0,0,0
$GC,11279,0.74,233.6,302.0,8.6,885,11328,0.12,2.25,41.58,0.953,4,0.102,0.052,3018,504,1931,0,0,0,0,0,0
$GC,11340,0.70,233.6,292.5,17.7,890,11349,0.08,2.20,0.00,0.000,6,0.163,0.043,2989,1894,1928,0,0,0,0,0,0
$GC,11667,0.70,233.6,242.9,14.2,925,11674,0.00,2.22,0.00,0.000,4,0.000,0.056,2979,3310,1924,0,0,0,0,0,0
$GC,11800,0.72,233.6,224.1,13.8,949,11808,0.00,2.17,0.00,0.000,6,0.000,0.042,2989,1901,1924,0,0,0,0,0,0
$GC,12121,0.75,236.8,185.5,11.6,1010,12129,0.00,2.17,0.00,0.000,4,0.000,0.051,2998,497,1924,0,0,0,0,0,0
$GC,12152,0.77,236.8,181.5,11.8,1015,12160,0.00,2.17,0.00,0.000,6,0.000,0.041,2990,1907,1923,0,0,0,0,0,0
$GC,12476,0.84,263.1,143.8,10.1,1076,12507,0.10,2.22,25.10,0.773,4,0.106,0.052,3031,3306,1810,0,0,0,0,0,0
$GC,12617,0.84,263.1,125.9,11.9,1100,12625,0.00,2.17,0.00,0.000,6,0.000,0.039,3038,1892,1810,0,0,0,0,0,0
$GC,12939,0.88,299.2,90.7,9.5,1161,12975,0.00,0.00,31.50,0.719,6,0.000,0.000,3037,1892,1664,0,0,0,0,0,0
$GC,13291,0.93,299.9,49.2,11.7,1226,13299,0.00,2.17,0.00,0.000,4,0.000,0.048,3049,499,1662,0,0,0,0,0,0
$GC,13328,0.98,299.9,44.2,12.2,1232,13336,0.00,2.15,0.00,0.000,6,0.000,0.036,3049,1904,1662,0,0,0,0,0,0
$GC,13648,1.10,341.8,12.1,9.1,1293,13693,0.17,2.20,36.10,0.640,4,0.070,0.045,3145,487,1489,0,0,0,0,0,0
$STATE,13719,end climb,SURFACE_DEPTH_REACHED
$STATE,13719,begin surface coast
$FINISH,1.0,1.021473
$STATE,13730,end surface coast,CONTROL_FINISHED_OK
$STATE,13731,begin surface
$SM_CCo,13749,77.53,0.527,1,0,1048,450.13
$SM_GC,1.56,0.00,0.00,77.53,0.000,0.000,0.527,145,1619,1048,-8.16,0.54,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2057.14,12011.06,060811,131336
$TT8_MAMPS,0.026964,0.026964
$HUMID,31.80
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.80
$XPDR_PINGS,95
$24V_AH,23.5,5.186
$10V_AH,10.3,3.754
$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,20.725,125.725,420.625,77.525,0.000,31.141,39.349,29.351,23.750,0.000,15.582,3125.917,6788.250,574.114,3196.545,372.756,0.000,1859.231,0.000,3083.621,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,63.495,1446.615,527.085,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.681,1335.295,1546.983,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324532
$DATA_FILE_SIZE,73678,1305
$CAP_FILE_SIZE,154197,0
$CFSIZE,260165632,146022400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060811,215827,2115.277,12115.906,27,2.4,46,-2.6