version: 66.09
glider: 166
mission: 6
dive: 85
start: 8 19 111 20 2 57
data:
$ID,166
$MISSION,6
$DIVE,85
$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,310
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,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,-24496.553
$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,60
$R_STBD_OVSHOOT,38
$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
$GPS1,190811,195537,2349.156,12353.153,30,1.8,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-69.9
$GPS2,190811,200230,2349.208,12353.122,33,1.2,43,-3.4
$SPEED_LIMITS,0.184,0.333
$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,101.0,3503,-27.9,-10.645
$D_GRID,2788
$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,-1.08,-69.3,0.0,0.0,0,129,0.00,0.00,-109.22,0.000,2,0.000,0.000,128,1467,3088,0,0,0,0,0,0
$GC,132,-1.11,-91.5,5.5,-8.4,14,157,8.70,2.25,-3.45,0.000,4,0.226,0.054,2366,2917,3260,0,0,0,0,0,0
$GC,214,-0.90,-91.5,40.3,-38.4,27,223,0.25,2.15,0.00,0.000,6,0.182,0.035,2446,1511,3261,0,0,0,0,0,0
$GC,541,-0.80,-91.5,142.6,-24.9,88,551,0.15,1.98,0.00,0.000,4,0.190,0.039,2491,206,3262,0,0,0,0,0,0
$GC,666,-0.77,-91.5,170.3,-20.4,110,674,0.00,1.95,0.00,0.000,6,0.000,0.032,2484,1512,3263,0,0,0,0,0,0
$GC,993,-0.75,-91.5,232.4,-17.9,171,1001,0.00,2.00,0.00,0.000,4,0.000,0.041,2491,205,3263,0,0,0,0,0,0
$GC,1075,-0.75,-91.5,247.5,-18.1,185,1083,0.00,1.92,0.00,0.000,6,0.000,0.031,2483,1500,3263,0,0,0,0,0,0
$GC,1410,-0.75,-91.5,301.1,-15.4,217,1414,0.00,1.95,0.00,0.000,4,0.000,0.041,2492,195,3263,0,0,0,0,0,0
$GC,1673,-0.75,-91.5,345.4,-18.1,240,1676,0.00,1.92,0.00,0.000,6,0.000,0.031,2484,1501,3263,0,0,0,0,0,0
$GC,2004,-0.78,-91.5,395.7,-14.6,271,2007,0.00,2.08,0.00,0.000,4,0.000,0.042,2479,2899,3261,0,0,0,0,0,0
$GC,2075,-0.82,-91.5,405.6,-13.6,277,2079,0.00,2.08,0.00,0.000,6,0.000,0.034,2483,1497,3261,0,0,0,0,0,0
$GC,2400,-0.86,-91.5,451.3,-12.2,307,2404,0.00,1.95,0.00,0.000,4,0.000,0.044,2496,200,3259,0,0,0,0,0,0
$GC,2537,-0.86,-91.5,469.5,-13.2,319,2541,0.00,1.92,0.00,0.000,6,0.000,0.033,2489,1503,3259,0,0,0,0,0,0
$GC,2870,-0.90,-91.5,510.5,-12.3,350,2874,0.10,2.00,0.00,0.000,4,0.107,0.046,2450,199,3257,0,0,0,0,0,0
$GC,3130,-0.86,-91.5,552.3,-16.4,373,3134,0.00,1.95,0.00,0.000,6,0.000,0.036,2442,1493,3255,0,0,0,0,0,0
$GC,3460,-0.86,-91.5,598.2,-13.1,404,3464,0.00,1.98,0.00,0.000,4,0.000,0.047,2445,186,3253,0,0,0,0,0,0
$GC,3537,-0.83,-91.5,609.3,-14.3,408,3542,0.10,2.00,0.00,0.000,6,0.177,0.038,2481,1502,3252,0,0,0,0,0,0
$GC,3861,-0.87,-91.5,644.5,-11.0,424,3864,0.00,2.00,0.00,0.000,4,0.000,0.050,2480,205,3250,0,0,0,0,0,0
$GC,3989,-0.89,-91.5,660.9,-12.2,429,3996,0.00,1.95,0.00,0.000,6,0.000,0.040,2470,1503,3248,0,0,0,0,0,0
$GC,4308,-0.92,-91.5,695.8,-11.1,445,4312,0.00,2.12,0.00,0.000,4,0.000,0.052,2459,2908,3245,0,0,0,0,0,0
$GC,4324,-0.96,-91.5,698.0,-10.8,445,4331,0.00,2.10,0.00,0.000,6,0.000,0.041,2458,1498,3245,0,0,0,0,0,0
$GC,4643,-0.99,-92.5,731.9,-10.5,461,4647,0.00,2.00,0.00,0.000,4,0.000,0.057,2457,189,3243,0,0,0,0,0,0
$GC,4711,-0.99,-92.5,740.5,-12.7,464,4715,0.00,1.95,0.00,0.000,6,0.000,0.040,2447,1499,3241,0,0,0,0,0,0
$GC,5044,-1.01,-92.5,777.8,-11.2,480,5048,0.00,2.03,0.00,0.000,4,0.000,0.052,2447,198,3239,0,0,0,0,0,0
$GC,5146,-0.99,-92.5,791.0,-13.5,484,5150,0.00,1.98,0.00,0.000,6,0.000,0.040,2437,1502,3238,0,0,0,0,0,0
$GC,5468,-0.99,-92.5,831.4,-12.5,500,5472,0.00,2.03,0.00,0.000,4,0.000,0.053,2437,189,3236,0,0,0,0,0,0
$GC,5576,-0.96,-92.5,846.0,-13.6,504,5583,0.00,2.00,0.00,0.000,6,0.000,0.042,2427,1504,3234,0,0,0,0,0,0
$GC,5891,-0.96,-92.5,881.8,-11.2,520,5895,0.00,2.00,0.00,0.000,4,0.000,0.053,2428,208,3232,0,0,0,0,0,0
$GC,5960,-0.92,-92.5,889.8,-12.1,523,5964,0.00,1.95,0.00,0.000,6,0.000,0.042,2420,1504,3231,0,0,0,0,0,0
$GC,6295,-0.91,-92.5,927.0,-10.9,539,6300,0.12,2.15,0.00,0.000,4,0.201,0.056,2442,2902,3230,0,0,0,0,0,0
$GC,6322,-0.91,-95.9,930.2,-10.3,540,6326,0.00,2.12,0.00,0.000,6,0.000,0.043,2448,1495,3229,0,0,0,0,0,0
$GC,6651,-0.94,-98.3,963.7,-10.4,556,6655,0.00,2.00,0.00,0.000,4,0.000,0.056,2449,195,3227,0,0,0,0,0,0
$GC,6814,-0.94,-98.3,983.8,-12.6,563,6818,0.00,2.00,0.00,0.000,6,0.000,0.043,2440,1510,3225,0,0,0,0,0,0
$STATE,6871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6871,begin apogee
$GC,6879,-0.18,0.0,990.9,12.0,566,6953,0.77,0.00,70.80,1.457,6,0.156,0.000,2675,1856,2884,0,0,0,0,0,0
$STATE,6954,end apogee,CONTROL_FINISHED_OK
$STATE,6954,begin climb
$GC,6958,1.12,98.3,994.4,0.0,569,7056,1.23,2.38,88.95,1.414,4,0.078,0.060,3088,3246,2482,0,0,0,0,0,0
$GC,7079,0.96,98.3,981.4,17.3,575,7084,0.17,2.25,0.00,0.000,6,0.225,0.043,3058,1847,2480,0,0,0,0,0,0
$GC,7395,0.86,98.3,925.6,17.7,590,7397,0.15,0.00,0.00,0.000,6,0.213,0.000,3021,1846,2475,0,0,0,0,0,0
$GC,7707,0.79,98.3,876.3,16.2,605,7711,0.00,2.22,0.00,0.000,4,0.000,0.057,3011,3255,2472,0,0,0,0,0,0
$GC,7796,0.73,98.3,860.5,16.5,609,7801,0.15,2.15,0.00,0.000,6,0.213,0.043,2985,1843,2471,0,0,0,0,0,0
$GC,8121,0.71,98.3,814.5,14.3,625,8125,0.00,2.20,0.00,0.000,4,0.000,0.057,2976,3245,2470,0,0,0,0,0,0
$GC,8143,0.69,98.3,810.5,14.2,626,8147,0.00,2.15,0.00,0.000,6,0.000,0.042,2984,1838,2469,0,0,0,0,0,0
$GC,8465,0.67,98.3,763.3,14.9,642,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1839,2468,0,0,0,0,0,0
$GC,8777,0.66,98.3,718.5,14.2,657,8781,0.00,2.20,0.00,0.000,4,0.000,0.057,2983,3255,2466,0,0,0,0,0,0
$GC,8854,0.64,98.3,705.8,15.7,660,8859,0.15,2.15,0.00,0.000,6,0.207,0.042,2956,1844,2466,0,0,0,0,0,0
$GC,9172,0.67,98.3,668.1,11.0,675,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1844,2465,0,0,0,0,0,0
$GC,9480,0.72,118.0,637.7,8.6,690,9503,0.00,2.22,15.43,1.174,4,0.000,0.055,2954,3245,2401,0,0,0,0,0,0
$GC,9584,0.76,118.0,626.5,11.5,694,9588,0.00,2.15,0.00,0.000,6,0.000,0.041,2963,1850,2399,0,0,0,0,0,0
$GC,9904,0.79,118.0,586.3,12.9,713,9908,0.10,2.22,0.00,0.000,4,0.111,0.055,3008,3245,2398,0,0,0,0,0,0
$GC,9959,0.76,118.0,577.3,16.4,717,9966,0.00,2.15,0.00,0.000,6,0.000,0.041,3017,1844,2398,0,0,0,0,0,0
$GC,10285,0.73,118.0,530.1,13.5,748,10289,0.15,2.17,0.00,0.000,4,0.198,0.050,2989,433,2398,0,0,0,0,0,0
$GC,10396,0.73,118.0,517.0,12.0,757,10400,0.00,2.17,0.00,0.000,6,0.000,0.042,2980,1854,2397,0,0,0,0,0,0
$GC,10722,0.75,118.0,479.5,10.7,787,10726,0.00,2.17,0.00,0.000,4,0.000,0.049,2989,443,2396,0,0,0,0,0,0
$GC,10780,0.75,118.0,472.4,12.4,792,10785,0.00,2.12,0.00,0.000,6,0.000,0.041,2981,1854,2395,0,0,0,0,0,0
$GC,11106,0.78,118.0,434.5,11.4,822,11110,0.00,2.15,0.00,0.000,4,0.000,0.055,2982,3257,2395,0,0,0,0,0,0
$GC,11196,0.80,118.0,423.7,12.2,829,11203,0.00,2.12,0.00,0.000,6,0.000,0.039,2991,1848,2395,0,0,0,0,0,0
$GC,11522,0.84,130.5,389.6,9.4,860,11535,0.00,0.00,11.25,0.929,6,0.000,0.000,2991,1847,2352,0,0,0,0,0,0
$GC,11850,0.87,130.5,356.9,10.8,891,11855,0.10,2.20,0.00,0.000,4,0.106,0.052,3041,3256,2351,0,0,0,0,0,0
$GC,11951,0.85,130.5,343.7,13.6,899,11959,0.12,2.12,0.00,0.000,6,0.210,0.037,3021,1848,2350,0,0,0,0,0,0
$GC,12277,0.85,134.9,307.0,10.2,930,12289,0.00,2.15,5.53,0.705,4,0.000,0.046,3033,431,2334,0,0,0,0,0,0
$GC,12407,0.85,134.9,293.4,11.2,941,12411,0.00,2.15,0.00,0.000,6,0.000,0.038,3028,1845,2333,0,0,0,0,0,0
$GC,12734,0.87,134.9,259.1,11.1,971,12738,0.00,2.12,0.00,0.000,4,0.000,0.050,3018,3258,2333,0,0,0,0,0,0
$GC,12985,0.89,134.9,232.1,10.8,1008,12994,0.00,2.15,0.00,0.000,6,0.000,0.037,3026,1849,2334,0,0,0,0,0,0
$GC,13314,0.95,154.8,204.3,8.6,1069,13337,0.00,2.25,18.25,0.795,4,0.000,0.047,3019,3270,2253,0,0,0,0,0,0
$GC,13462,1.01,161.9,189.3,9.9,1094,13478,0.08,2.17,7.72,0.675,6,0.058,0.034,3079,1851,2223,0,0,0,0,0,0
$GC,13799,1.01,166.5,149.9,10.2,1156,13809,0.00,2.22,5.30,0.568,4,0.000,0.045,3071,3261,2205,0,0,0,0,0,0
$GC,13928,1.01,166.5,134.4,14.1,1179,13936,0.00,2.15,0.00,0.000,6,0.000,0.036,3079,1852,2205,0,0,0,0,0,0
$GC,14254,1.03,179.8,102.4,9.3,1240,14278,0.00,2.22,12.98,0.673,4,0.000,0.044,3088,421,2149,0,0,0,0,0,0
$GC,14424,1.03,180.4,84.4,10.6,1270,14432,0.00,2.17,0.00,0.000,6,0.000,0.034,3078,1854,2149,0,0,0,0,0,0
$GC,14754,1.16,242.4,61.1,4.3,1331,14815,0.12,2.20,51.28,0.689,4,0.089,0.043,3131,3264,1895,0,0,0,0,0,0
$GC,14999,1.16,242.4,34.7,13.0,1373,15006,0.00,2.17,0.00,0.000,6,0.000,0.034,3142,1839,1894,0,0,0,0,0,0
$STATE,15229,end climb,SURFACE_DEPTH_REACHED
$STATE,15229,begin surface coast
$FINISH,1.0,1.007714
$STATE,15251,end surface coast,CONTROL_FINISHED_OK
$STATE,15251,begin surface
$SM_CCo,15269,139.65,0.582,1,0,946,475.15
$SM_GC,1.84,0.00,0.00,139.65,0.000,0.000,0.582,145,1486,946,-8.11,-0.40,475.15,0,0,0,0,1,0
$IRIDIUM_FIX,2340.34,12347.94,190811,151550
$TT8_MAMPS,0.026964,0.026964
$HUMID,31.45
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.50
$XPDR_PINGS,66
$24V_AH,23.8,22.684
$10V_AH,10.3,14.961
$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,20.575,135.300,287.475,139.650,0.000,27.807,16.876,178.251,16.500,0.000,46.322,3609.035,7619.486,576.088,3563.942,444.734,0.000,1907.886,0.000,3308.687,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,59.670,1457.325,582.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,970.188,1456.679,1689.284,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330204
$DATA_FILE_SIZE,80254,1420
$CAP_FILE_SIZE,167830,0
$CFSIZE,260165632,139784192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185, 46.8,1
$GPS,200811,002131,2350.418,12356.188,59,1.4,59,-3.4