version: 66.09
glider: 166
mission: 6
dive: 27
start: 8 9 111 4 17 16
data:
$ID,166
$MISSION,6
$DIVE,27
$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,-24411.57
$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,37
$R_STBD_OVSHOOT,40
$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
$GPS1,090811,040850,2213.199,12122.654,40,2.3,59,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.8
$GPS2,090811,041655,2213.545,12122.831,29,1.3,47,-2.8
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,6.0,92844,-16.1,-11.786
$D_GRID,2158
$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,-0.87,-243.3,0.0,0.0,0,119,0.00,0.00,-99.38,0.000,2,0.000,0.000,153,1500,3207,0,0,0,0,0,0
$GC,122,-0.87,-243.3,6.5,-11.1,14,152,9.00,2.00,-11.73,0.000,4,0.233,0.056,2464,195,3880,0,0,0,0,0,0
$GC,389,-0.64,-243.3,118.3,-37.3,63,397,0.25,2.00,0.00,0.000,6,0.164,0.036,2528,1501,3883,0,0,0,0,0,0
$GC,711,-0.54,-243.3,192.1,-20.4,124,720,0.15,2.00,0.00,0.000,4,0.171,0.045,2575,204,3885,0,0,0,0,0,0
$GC,869,-0.59,-243.3,214.7,-11.9,153,877,0.00,1.98,0.00,0.000,6,0.000,0.035,2566,1508,3885,0,0,0,0,0,0
$GC,1192,-0.59,-243.3,252.1,-13.0,213,1196,0.00,2.10,0.00,0.000,4,0.000,0.049,2555,2902,3885,0,0,0,0,0,0
$GC,1232,-0.62,-243.3,256.9,-11.4,216,1236,0.00,2.10,0.00,0.000,6,0.000,0.036,2555,1485,3885,0,0,0,0,0,0
$GC,1563,-0.62,-243.3,300.9,-14.4,247,1567,0.00,2.17,0.00,0.000,4,0.000,0.048,2544,2902,3884,0,0,0,0,0,0
$GC,1625,-0.66,-243.3,309.4,-13.2,252,1629,0.00,2.08,0.00,0.000,6,0.000,0.037,2545,1501,3883,0,0,0,0,0,0
$GC,1950,-0.66,-243.3,351.2,-12.1,282,1954,0.00,1.95,0.00,0.000,4,0.000,0.048,2546,202,3882,0,0,0,0,0,0
$GC,2064,-0.66,-243.3,366.1,-13.3,292,2067,0.00,1.92,0.00,0.000,6,0.000,0.037,2535,1502,3881,0,0,0,0,0,0
$GC,2395,-0.66,-243.3,404.1,-10.5,323,2399,0.00,2.12,0.00,0.000,4,0.000,0.051,2525,2907,3879,0,0,0,0,0,0
$GC,2473,-0.70,-243.3,412.5,-10.5,329,2480,0.00,2.10,0.00,0.000,6,0.000,0.038,2525,1489,3878,0,0,0,0,0,0
$GC,2798,-0.70,-243.3,454.3,-12.8,360,2802,0.00,1.92,0.00,0.000,4,0.000,0.050,2526,211,3877,0,0,0,0,0,0
$GC,2856,-0.72,-243.3,461.7,-13.0,365,2859,0.00,1.92,0.00,0.000,6,0.000,0.040,2516,1504,3877,0,0,0,0,0,0
$GC,3186,-0.72,-243.3,505.9,-13.6,396,3190,0.00,2.12,0.00,0.000,4,0.000,0.052,2503,2907,3874,0,0,0,0,0,0
$GC,3264,-0.73,-243.3,515.7,-12.0,402,3271,0.00,2.10,0.00,0.000,6,0.000,0.039,2503,1505,3873,0,0,0,0,0,0
$GC,3590,-0.72,-243.3,556.5,-11.8,433,3594,0.00,1.95,0.00,0.000,4,0.000,0.052,2503,201,3871,0,0,0,0,0,0
$GC,3636,-0.70,-243.3,562.6,-13.5,437,3640,0.00,1.98,0.00,0.000,6,0.000,0.041,2493,1494,3870,0,0,0,0,0,0
$GC,3968,-0.67,-243.3,611.0,-15.3,465,3972,0.12,1.98,0.00,0.000,4,0.175,0.052,2529,204,3867,0,0,0,0,0,0
$GC,3994,-0.67,-243.3,615.4,-14.8,466,3999,0.00,1.98,0.00,0.000,6,0.000,0.041,2522,1502,3867,0,0,0,0,0,0
$GC,4323,-0.69,-243.3,648.5,-9.2,482,4327,0.00,2.15,0.00,0.000,4,0.000,0.056,2510,2911,3864,0,0,0,0,0,0
$GC,4364,-0.72,-243.3,652.0,-8.8,483,4370,0.00,2.10,0.00,0.000,6,0.000,0.041,2510,1498,3864,0,0,0,0,0,0
$GC,4680,-0.72,-243.3,680.7,-9.3,499,4684,0.00,2.17,0.00,0.000,4,0.000,0.055,2500,2908,3862,0,0,0,0,0,0
$GC,4726,-0.74,-243.3,685.2,-9.6,501,4730,0.00,2.10,0.00,0.000,6,0.000,0.041,2500,1498,3861,0,0,0,0,0,0
$GC,5047,-0.74,-243.3,721.3,-11.9,517,5050,0.00,1.98,0.00,0.000,4,0.000,0.055,2499,202,3859,0,0,0,0,0,0
$GC,5119,-0.74,-243.3,731.1,-13.6,520,5123,0.00,1.98,0.00,0.000,6,0.000,0.042,2489,1491,3858,0,0,0,0,0,0
$GC,5448,-0.74,-243.3,774.7,-13.3,536,5452,0.00,2.17,0.00,0.000,4,0.000,0.057,2478,2912,3856,0,0,0,0,0,0
$GC,5503,-0.74,-243.3,782.2,-12.6,538,5510,0.00,2.10,0.00,0.000,6,0.000,0.042,2478,1503,3856,0,0,0,0,0,0
$GC,5819,-0.72,-243.3,825.7,-14.0,554,5824,0.12,2.20,0.00,0.000,4,0.172,0.058,2504,2907,3854,0,0,0,0,0,0
$GC,5854,-0.74,-243.3,830.0,-12.4,555,5860,0.00,2.12,0.00,0.000,6,0.000,0.043,2504,1500,3853,0,0,0,0,0,0
$GC,6170,-0.76,-243.3,863.5,-9.8,571,6174,0.00,2.20,0.00,0.000,4,0.000,0.058,2494,2914,3852,0,0,0,0,0,0
$GC,6194,-0.78,-243.3,865.6,-9.4,572,6198,0.00,2.12,0.00,0.000,6,0.000,0.044,2493,1501,3851,0,0,0,0,0,0
$GC,6518,-0.78,-243.3,894.8,-8.8,588,6521,0.00,1.98,0.00,0.000,4,0.000,0.058,2494,199,3849,0,0,0,0,0,0
$GC,6541,-0.78,-243.3,897.2,-9.2,589,6545,0.00,1.98,0.00,0.000,6,0.000,0.045,2484,1507,3849,0,0,0,0,0,0
$GC,6875,-0.78,-243.3,929.3,-10.0,605,6879,0.00,2.15,0.00,0.000,4,0.000,0.059,2474,2906,3847,0,0,0,0,0,0
$GC,6920,-0.78,-243.3,934.1,-10.1,607,6923,0.00,2.12,0.00,0.000,6,0.000,0.044,2474,1500,3847,0,0,0,0,0,0
$GC,7249,-0.76,-243.3,970.6,-11.6,623,7253,0.00,2.03,0.00,0.000,4,0.000,0.059,2474,198,3845,0,0,0,0,0,0
$GC,7327,-0.76,-243.3,980.6,-12.0,626,7332,0.12,1.98,0.00,0.000,6,0.174,0.046,2498,1507,3844,0,0,0,0,0,0
$STATE,7420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7420,begin apogee
$GC,7426,-0.18,0.0,990.2,10.1,631,7630,0.55,0.00,198.95,1.439,6,0.127,0.000,2682,1865,2884,0,0,0,0,0,0
$STATE,7631,end apogee,CONTROL_FINISHED_OK
$STATE,7631,begin climb
$GC,7633,0.87,243.3,998.5,0.0,640,7860,0.95,2.38,216.80,1.374,4,0.057,0.063,3029,3242,1892,0,0,0,0,0,0
$GC,7954,0.66,243.3,938.4,26.4,654,7959,0.30,2.22,0.00,0.000,6,0.194,0.048,2964,1855,1887,0,0,0,0,0,0
$GC,8284,0.52,243.3,870.3,21.1,670,8289,0.17,2.22,0.00,0.000,4,0.192,0.059,2908,3248,1883,0,0,0,0,0,0
$GC,8335,0.48,243.3,860.6,16.5,672,8340,0.00,2.17,0.00,0.000,6,0.000,0.043,2916,1842,1882,0,0,0,0,0,0
$GC,8657,0.40,243.3,808.6,16.4,688,8662,0.15,2.17,0.00,0.000,4,0.187,0.054,2886,439,1881,0,0,0,0,0,0
$GC,8676,0.35,243.3,805.9,16.5,689,8680,0.00,2.15,0.00,0.000,6,0.000,0.043,2886,1839,1880,0,0,0,0,0,0
$GC,9006,0.33,243.8,765.8,11.8,705,9010,0.12,2.20,0.00,0.000,4,0.181,0.058,2851,3262,1879,0,0,0,0,0,0
$GC,9074,0.49,336.3,759.2,8.8,708,9167,0.12,2.15,83.53,1.291,6,0.086,0.042,2921,1847,1512,0,0,0,0,0,0
$GC,9490,0.44,336.3,688.6,18.2,728,9494,0.12,2.22,0.00,0.000,4,0.176,0.054,2899,434,1506,0,0,0,0,0,0
$GC,9524,0.44,336.3,683.1,15.6,729,9530,0.00,2.20,0.00,0.000,6,0.000,0.043,2899,1850,1505,0,0,0,0,0,0
$GC,9839,0.44,336.3,639.5,13.6,745,9844,0.00,2.17,0.00,0.000,4,0.000,0.058,2899,3257,1505,0,0,0,0,0,0
$GC,9912,0.47,336.3,629.5,13.3,748,9916,0.00,2.15,0.00,0.000,6,0.000,0.041,2907,1842,1505,0,0,0,0,0,0
$GC,10232,0.47,336.3,586.5,13.5,767,10236,0.00,2.15,0.00,0.000,4,0.000,0.053,2918,440,1504,0,0,0,0,0,0
$GC,10271,0.47,336.3,580.8,14.0,770,10275,0.00,2.15,0.00,0.000,6,0.000,0.041,2918,1851,1502,0,0,0,0,0,0
$GC,10597,0.44,336.3,533.0,14.2,800,10601,0.00,2.17,0.00,0.000,4,0.000,0.057,2918,3266,1502,0,0,0,0,0,0
$GC,10614,0.41,336.3,530.4,14.3,801,10619,0.17,2.15,0.00,0.000,6,0.171,0.040,2880,1845,1502,0,0,0,0,0,0
$GC,10945,0.52,378.8,495.4,10.4,832,10987,0.10,0.00,36.22,1.110,6,0.103,0.000,2932,1845,1339,0,0,0,0,0,0
$GC,11307,0.49,378.8,437.5,17.3,866,11311,0.00,2.22,0.00,0.000,4,0.000,0.055,2932,3259,1336,0,0,0,0,0,0
$GC,11339,0.48,378.8,430.9,17.9,868,11347,0.15,2.17,0.00,0.000,6,0.168,0.040,2901,1852,1336,0,0,0,0,0,0
$GC,11667,0.53,383.6,387.6,11.6,899,11679,0.00,2.22,5.03,0.743,4,0.000,0.053,2910,437,1320,0,0,0,0,0,0
$GC,11719,0.63,409.6,381.6,10.9,903,11749,0.12,2.15,23.88,0.993,6,0.088,0.039,2972,1858,1214,0,0,0,0,0,0
$GC,12067,0.55,409.6,311.4,22.5,936,12072,0.17,2.17,0.00,0.000,4,0.168,0.055,2918,3252,1211,0,0,0,0,0,0
$GC,12163,0.61,409.6,296.1,13.3,944,12168,0.00,2.12,0.00,0.000,6,0.000,0.038,2927,1846,1212,0,0,0,0,0,0
$GC,12489,0.64,417.9,253.3,11.5,974,12501,0.00,0.00,8.38,0.789,6,0.000,0.000,2927,1846,1179,0,0,0,0,0,0
$GC,12809,0.70,438.7,217.1,11.1,1033,12835,0.12,2.22,18.62,0.839,4,0.093,0.050,2995,3259,1094,0,0,0,0,0,0
$GC,12864,0.64,438.7,207.6,18.7,1041,12873,0.15,2.20,0.00,0.000,6,0.150,0.037,2957,1845,1093,0,0,0,0,0,0
$GC,13197,0.64,438.7,157.7,14.4,1102,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1845,1093,0,0,0,0,0,0
$GC,13516,0.72,469.0,117.3,10.8,1163,13553,0.00,2.25,25.67,0.759,4,0.000,0.048,2967,447,971,0,0,0,0,0,0
$GC,13605,0.85,504.2,108.0,10.6,1177,13643,0.10,2.17,30.05,0.741,6,0.048,0.035,3036,1857,826,0,0,0,0,0,0
$GC,13957,0.85,504.2,55.2,13.5,1242,13965,0.00,2.17,0.00,0.000,4,0.000,0.049,3035,3250,824,0,0,0,0,0,0
$GC,13994,0.88,504.2,50.3,13.6,1248,14002,0.00,2.17,0.00,0.000,6,0.000,0.034,3043,1837,823,0,0,0,0,0,0
$GC,14318,0.93,511.1,8.5,11.6,1309,14334,0.00,2.17,6.65,0.531,4,0.000,0.047,3054,449,799,0,0,0,0,0,0
$STATE,14365,end climb,SURFACE_DEPTH_REACHED
$STATE,14365,begin surface coast
$FINISH,0.9,1.009072
$STATE,14392,end surface coast,CONTROL_FINISHED_OK
$STATE,14396,begin surface
$SM_CCo,14474,0.00,0.000,0,0,797,511.94
$SM_GC,1.81,7.68,0.00,0.00,0.043,0.000,0.000,135,1515,797,-8.05,0.42,511.94,0,0,0,0,0,0
$IRIDIUM_FIX,2157.39,12121.36,090811,000054
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.34
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.40
$XPDR_PINGS,122
$24V_AH,23.3,8.667
$10V_AH,10.3,5.828
$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,21.050,143.725,653.775,0.000,0.000,62.150,26.384,149.641,30.500,0.000,48.490,3145.703,7399.788,669.520,3315.037,411.835,0.000,2011.288,0.000,3035.715,0.000,0.540,0.000
$DEVICE_MAMPS,232.560,62.730,1438.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.345,1352.690,1507.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324432
$DATA_FILE_SIZE,73424,1322
$CAP_FILE_SIZE,166995,0
$CFSIZE,260165632,144850944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090811,082007,2219.240,12123.860,54,1.9,59,-2.8