version: 66.09
glider: 166
mission: 6
dive: 42
start: 8 11 111 11 50 42
data:
$ID,166
$MISSION,6
$DIVE,42
$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,260
$T_MISSION,300
$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,-24436.445
$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,44
$R_STBD_OVSHOOT,49
$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
$GPS1,110811,113827,2258.631,12147.849,32,99.0,51,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.0
$GPS2,110811,115019,2258.892,12148.140,35,1.3,48,-3.0
$SPEED_LIMITS,0.220,0.338
$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,103.7,234830,-18.1,-12.692
$D_GRID,4093
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.92,-219.0,0.0,0.0,0,104,0.00,0.00,-83.15,0.000,2,0.000,0.000,153,1488,2931,0,0,0,0,0,0
$GC,107,-0.92,-219.0,5.5,-8.8,12,139,8.82,2.22,-16.25,0.000,4,0.224,0.056,2428,2905,3781,0,0,0,0,0,0
$GC,215,-0.69,-219.0,49.1,-33.4,30,225,0.28,2.17,0.00,0.000,6,0.162,0.037,2518,1498,3782,0,0,0,0,0,0
$GC,542,-0.55,-219.0,138.6,-25.6,91,550,0.17,1.98,0.00,0.000,4,0.168,0.042,2567,206,3783,0,0,0,0,0,0
$GC,678,-0.53,-219.0,164.7,-17.8,115,686,0.00,1.95,0.00,0.000,6,0.000,0.033,2554,1503,3783,0,0,0,0,0,0
$GC,1006,-0.48,-219.0,221.4,-16.0,176,1014,0.12,2.12,0.00,0.000,4,0.176,0.044,2576,2897,3783,0,0,0,0,0,0
$GC,1067,-0.53,-219.0,229.3,-11.6,186,1076,0.00,2.10,0.00,0.000,6,0.000,0.034,2578,1500,3784,0,0,0,0,0,0
$GC,1398,-0.57,-219.0,266.8,-10.9,233,1402,0.00,2.12,0.00,0.000,4,0.000,0.041,2565,2904,3783,0,0,0,0,0,0
$GC,1478,-0.63,-219.0,274.7,-9.7,239,1482,0.00,2.08,0.00,0.000,6,0.000,0.033,2567,1498,3783,0,0,0,0,0,0
$GC,1809,-0.65,-219.0,318.6,-12.7,270,1813,0.00,1.92,0.00,0.000,4,0.000,0.043,2566,199,3783,0,0,0,0,0,0
$GC,1861,-0.71,-219.0,325.1,-12.1,274,1869,0.12,1.92,0.00,0.000,6,0.083,0.033,2483,1505,3782,0,0,0,0,0,0
$GC,2186,-0.65,-219.0,379.1,-16.1,305,2191,0.17,2.10,0.00,0.000,4,0.160,0.046,2527,2901,3782,0,0,0,0,0,0
$GC,2269,-0.70,-219.0,389.3,-11.2,312,2273,0.00,2.08,0.00,0.000,6,0.000,0.034,2527,1498,3781,0,0,0,0,0,0
$GC,2595,-0.71,-219.0,429.5,-11.6,342,2599,0.00,2.10,0.00,0.000,4,0.000,0.046,2517,2901,3778,0,0,0,0,0,0
$GC,2631,-0.74,-219.0,433.4,-11.4,345,2635,0.00,2.08,0.00,0.000,6,0.000,0.034,2519,1491,3778,0,0,0,0,0,0
$GC,2961,-0.74,-219.0,475.8,-13.2,376,2965,0.00,2.12,0.00,0.000,4,0.000,0.047,2513,2898,3776,0,0,0,0,0,0
$GC,3020,-0.77,-219.0,482.7,-11.9,381,3024,0.00,2.10,0.00,0.000,6,0.000,0.037,2517,1494,3775,0,0,0,0,0,0
$GC,3346,-0.77,-219.0,523.6,-12.5,411,3350,0.00,2.15,0.00,0.000,4,0.000,0.050,2503,2900,3772,0,0,0,0,0,0
$GC,3380,-0.77,-219.0,527.7,-11.6,413,3387,0.00,2.08,0.00,0.000,6,0.000,0.038,2503,1503,3771,0,0,0,0,0,0
$GC,3706,-0.76,-219.0,574.1,-14.1,444,3709,0.00,1.98,0.00,0.000,4,0.000,0.050,2495,196,3769,0,0,0,0,0,0
$GC,3753,-0.74,-219.0,580.9,-14.8,448,3757,0.00,1.95,0.00,0.000,6,0.000,0.041,2485,1493,3769,0,0,0,0,0,0
$GC,4092,-0.71,-219.0,630.2,-14.2,470,4094,0.12,0.00,0.00,0.000,6,0.174,0.000,2516,1493,3765,0,0,0,0,0,0
$GC,4401,-0.74,-219.0,664.8,-10.8,485,4404,0.00,2.15,0.00,0.000,4,0.000,0.055,2508,2901,3762,0,0,0,0,0,0
$GC,4451,-0.79,-219.0,670.2,-10.1,487,4455,0.00,2.10,0.00,0.000,6,0.000,0.042,2507,1498,3761,0,0,0,0,0,0
$GC,4773,-0.80,-219.0,706.4,-11.4,503,4777,0.00,2.17,0.00,0.000,4,0.000,0.056,2494,2903,3759,0,0,0,0,0,0
$GC,4803,-0.83,-219.0,709.7,-10.9,504,4807,0.00,2.12,0.00,0.000,6,0.000,0.042,2495,1501,3758,0,0,0,0,0,0
$GC,5120,-0.83,-219.0,746.7,-11.4,519,5124,0.00,2.17,0.00,0.000,4,0.000,0.057,2484,2903,3756,0,0,0,0,0,0
$GC,5153,-0.83,-219.0,750.4,-10.6,520,5159,0.00,2.12,0.00,0.000,6,0.000,0.042,2484,1498,3755,0,0,0,0,0,0
$GC,5471,-0.83,-219.0,787.3,-11.8,536,5475,0.00,1.98,0.00,0.000,4,0.000,0.057,2484,198,3753,0,0,0,0,0,0
$GC,5498,-0.83,-219.0,791.3,-11.9,537,5502,0.00,1.98,0.00,0.000,6,0.000,0.044,2475,1496,3752,0,0,0,0,0,0
$GC,5827,-0.81,-219.0,833.7,-13.3,553,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1497,3749,0,0,0,0,0,0
$GC,6135,-0.79,-219.0,877.6,-14.1,568,6139,0.00,2.00,0.00,0.000,4,0.000,0.057,2475,196,3749,0,0,0,0,0,0
$GC,6174,-0.76,-219.0,883.6,-14.8,569,6181,0.12,2.00,0.00,0.000,6,0.176,0.044,2499,1509,3748,0,0,0,0,0,0
$GC,6492,-0.79,-219.0,920.1,-11.8,585,6496,0.00,2.15,0.00,0.000,4,0.000,0.059,2489,2913,3746,0,0,0,0,0,0
$GC,6531,-0.83,-219.0,924.8,-11.2,586,6541,0.00,2.15,0.00,0.000,6,0.000,0.044,2490,1498,3746,0,0,0,0,0,0
$GC,6848,-0.83,-219.0,962.1,-11.6,602,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1499,3744,0,0,0,0,0,0
$STATE,7092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7092,begin apogee
$GC,7098,-0.18,0.0,990.2,11.1,614,7282,0.57,0.00,177.32,1.451,6,0.130,0.000,2680,1850,2883,0,0,0,0,0,0
$STATE,7283,end apogee,CONTROL_FINISHED_OK
$STATE,7283,begin climb
$GC,7285,0.92,219.0,996.2,0.0,622,7492,1.00,2.40,197.48,1.382,4,0.055,0.061,3049,3251,1990,0,0,0,0,0,0
$GC,7504,0.67,219.0,957.9,26.8,632,7510,0.38,2.30,0.00,0.000,6,0.198,0.045,2967,1854,1988,0,0,0,0,0,0
$GC,7821,0.53,219.0,888.1,21.7,647,7825,0.17,2.28,0.00,0.000,4,0.189,0.061,2912,3258,1982,0,0,0,0,0,0
$GC,7917,0.50,219.0,871.2,15.4,651,7921,0.00,2.20,0.00,0.000,6,0.000,0.042,2920,1844,1980,0,0,0,0,0,0
$GC,8233,0.45,219.0,822.6,15.2,666,8238,0.12,2.17,0.00,0.000,4,0.190,0.054,2898,433,1978,0,0,0,0,0,0
$GC,8276,0.45,219.0,816.7,13.3,668,8280,0.00,2.20,0.00,0.000,6,0.000,0.044,2898,1848,1977,0,0,0,0,0,0
$GC,8605,0.43,219.0,775.0,12.9,684,8609,0.00,2.17,0.00,0.000,4,0.000,0.059,2898,3257,1977,0,0,0,0,0,0
$GC,8683,0.43,219.0,764.0,13.2,687,8691,0.00,2.15,0.00,0.000,6,0.000,0.042,2907,1850,1976,0,0,0,0,0,0
$GC,9001,0.40,219.0,721.8,13.2,703,9003,0.12,0.00,0.00,0.000,6,0.183,0.000,2876,1850,1975,0,0,0,0,0,0
$GC,9309,0.56,322.8,693.6,8.7,718,9408,0.15,0.00,91.47,1.256,6,0.085,0.000,2946,1849,1567,0,0,0,0,0,0
$GC,9722,0.47,322.8,617.0,20.7,738,9727,0.17,2.25,0.00,0.000,4,0.172,0.058,2890,3258,1560,0,0,0,0,0,0
$GC,9811,0.59,354.6,603.5,11.5,742,9851,0.10,2.20,28.12,1.160,6,0.100,0.040,2948,1837,1437,0,0,0,0,0,0
$GC,10168,0.53,354.6,536.9,19.4,774,10173,0.12,2.25,0.00,0.000,4,0.184,0.054,2907,3261,1433,0,0,0,0,0,0
$GC,10207,0.53,354.6,529.6,17.1,777,10211,0.00,2.17,0.00,0.000,6,0.000,0.039,2916,1852,1433,0,0,0,0,0,0
$GC,10532,0.53,354.6,479.3,15.7,807,10536,0.00,2.20,0.00,0.000,4,0.000,0.054,2916,3256,1432,0,0,0,0,0,0
$GC,10550,0.54,354.6,476.7,15.3,808,10554,0.00,2.17,0.00,0.000,6,0.000,0.040,2924,1836,1432,0,0,0,0,0,0
$GC,10875,0.54,354.6,426.3,15.5,838,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1835,1432,0,0,0,0,0,0
$GC,11196,0.56,354.6,377.5,13.8,868,11200,0.00,2.20,0.00,0.000,4,0.000,0.054,2924,3264,1431,0,0,0,0,0,0
$GC,11219,0.58,354.6,374.1,13.6,869,11228,0.00,2.15,0.00,0.000,6,0.000,0.040,2932,1852,1431,0,0,0,0,0,0
$GC,11544,0.58,354.6,326.2,15.1,900,11548,0.00,2.17,0.00,0.000,4,0.000,0.052,2933,3257,1430,0,0,0,0,0,0
$GC,11601,0.61,354.6,317.1,15.7,904,11608,0.00,2.15,0.00,0.000,6,0.000,0.038,2942,1836,1431,0,0,0,0,0,0
$GC,11928,0.63,354.6,272.7,13.6,935,11932,0.00,2.20,0.00,0.000,4,0.000,0.050,2942,3265,1430,0,0,0,0,0,0
$GC,11962,0.66,354.6,267.7,14.1,937,11969,0.00,2.15,0.00,0.000,6,0.000,0.037,2952,1842,1430,0,0,0,0,0,0
$GC,12286,0.66,354.6,214.8,15.3,988,12294,0.00,2.20,0.00,0.000,4,0.000,0.049,2952,3256,1430,0,0,0,0,0,0
$GC,12350,0.70,354.6,205.4,14.1,999,12359,0.00,2.15,0.00,0.000,6,0.000,0.037,2960,1846,1430,0,0,0,0,0,0
$GC,12678,0.70,354.6,158.0,14.0,1060,12686,0.00,2.17,0.00,0.000,4,0.000,0.048,2960,3252,1430,0,0,0,0,0,0
$GC,12705,0.70,354.6,153.8,14.6,1064,12713,0.00,2.12,0.00,0.000,6,0.000,0.037,2969,1852,1430,0,0,0,0,0,0
$GC,13034,0.78,396.9,113.4,11.0,1125,13078,0.00,2.22,34.90,0.771,4,0.000,0.046,2980,441,1265,0,0,0,0,0,0
$GC,13111,0.91,443.7,104.9,10.9,1136,13157,0.12,2.17,39.20,0.751,6,0.044,0.034,3056,1851,1075,0,0,0,0,0,0
$GC,13479,0.91,443.7,43.0,14.9,1202,13487,0.00,2.22,0.00,0.000,4,0.000,0.050,3055,3262,1073,0,0,0,0,0,0
$GC,13518,0.93,443.7,37.8,13.9,1208,13526,0.00,2.17,0.00,0.000,6,0.000,0.037,3064,1852,1072,0,0,0,0,0,0
$STATE,13776,end climb,SURFACE_DEPTH_REACHED
$STATE,13777,begin surface coast
$FINISH,1.1,1.019417
$STATE,13804,end surface coast,CONTROL_FINISHED_OK
$STATE,13804,begin surface
$SM_CCo,13822,39.85,0.439,1,0,946,475.15
$SM_GC,1.75,0.00,0.00,39.85,0.000,0.000,0.439,154,1489,946,-8.10,-0.31,475.15,0,0,0,0,1,0
$IRIDIUM_FIX,2253.38,12148.41,110811,111150
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.19
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.10
$XPDR_PINGS,72
$24V_AH,23.4,12.436
$10V_AH,10.3,7.923
$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,20.700,129.100,568.500,39.850,0.000,61.592,120.979,251.004,18.000,0.000,48.890,3149.982,7033.489,716.225,3269.623,400.202,0.000,1896.658,0.000,2778.577,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,61.200,1451.205,439.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.238,1290.402,1438.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324428
$DATA_FILE_SIZE,70279,1261
$CAP_FILE_SIZE,156063,0
$CFSIZE,260165632,143683584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.257, 28.2,1
$GPS,110811,154327,2300.261,12151.736,35,2.3,54,-3.0