version: 66.09
glider: 166
mission: 6
dive: 145
start: 8 31 111 0 7 46
data:
$ID,166
$MISSION,6
$DIVE,145
$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,340
$T_MISSION,370
$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,160
$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,400
$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,-24577.02
$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,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,36
$R_STBD_OVSHOOT,57
$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
$GPS1,300811,235106,2222.510,12357.576,95,1.9,100,-3.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-65.7
$GPS2,310811,000720,2222.444,12357.647,37,1.7,37,-3.0
$SPEED_LIMITS,0.168,0.265
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,167.3,97210,-17.2,-9.706
$D_GRID,5000
$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,-0.68,-155.7,0.0,0.0,0,94,0.00,0.00,-74.47,0.000,2,0.000,0.000,118,1533,3067,0,0,0,0,0,0
$GC,97,-0.68,-155.7,5.4,-9.2,10,122,9.35,2.15,-9.05,0.000,4,0.223,0.056,2506,2897,3521,0,0,0,0,0,0
$GC,199,-0.68,-155.7,43.4,-30.6,27,207,0.00,2.17,0.00,0.000,6,0.000,0.036,2500,1500,3522,0,0,0,0,0,0
$GC,528,-0.68,-155.7,139.5,-22.0,88,537,0.00,2.03,0.00,0.000,4,0.000,0.046,2498,202,3523,0,0,0,0,0,0
$GC,588,-0.68,-155.7,152.4,-19.0,98,597,0.10,1.98,0.00,0.000,6,0.150,0.037,2521,1487,3524,0,0,0,0,0,0
$GC,916,-0.68,-155.7,208.3,-17.4,159,924,0.00,2.17,0.00,0.000,4,0.000,0.049,2512,2901,3524,0,0,0,0,0,0
$GC,963,-0.68,-155.7,216.3,-15.0,167,971,0.00,2.15,0.00,0.000,6,0.000,0.037,2513,1497,3524,0,0,0,0,0,0
$GC,1292,-0.68,-155.7,263.3,-13.1,219,1296,0.00,2.00,0.00,0.000,4,0.000,0.047,2513,198,3524,0,0,0,0,0,0
$GC,1415,-0.68,-155.7,282.1,-15.3,230,1419,0.00,1.98,0.00,0.000,6,0.000,0.037,2506,1518,3524,0,0,0,0,0,0
$GC,1747,-0.68,-155.7,335.7,-17.1,261,1751,0.00,2.08,0.00,0.000,4,0.000,0.047,2496,2906,3523,0,0,0,0,0,0
$GC,1764,-0.68,-155.7,338.9,-17.3,262,1768,0.00,2.10,0.00,0.000,6,0.000,0.037,2496,1496,3522,0,0,0,0,0,0
$GC,2089,-0.68,-155.7,392.5,-14.8,292,2093,0.00,1.98,0.00,0.000,4,0.000,0.048,2499,208,3520,0,0,0,0,0,0
$GC,2214,-0.68,-155.7,410.7,-14.6,303,2218,0.12,1.95,0.00,0.000,6,0.166,0.038,2524,1511,3520,0,0,0,0,0,0
$GC,2539,-0.68,-155.7,448.0,-12.3,333,2543,0.00,2.03,0.00,0.000,4,0.000,0.048,2524,208,3518,0,0,0,0,0,0
$GC,2585,-0.68,-155.7,454.2,-14.0,337,2589,0.00,1.92,0.00,0.000,6,0.000,0.037,2528,1501,3517,0,0,0,0,0,0
$GC,2916,-0.68,-155.7,494.6,-11.4,368,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1501,3515,0,0,0,0,0,0
$GC,3237,-0.68,-155.7,527.1,-9.6,398,3241,0.00,2.15,0.00,0.000,4,0.000,0.053,2523,2904,3511,0,0,0,0,0,0
$GC,3272,-0.68,-155.7,530.5,-9.3,400,3279,0.00,2.12,0.00,0.000,6,0.000,0.040,2522,1493,3511,0,0,0,0,0,0
$GC,3597,-0.68,-155.7,562.2,-10.0,431,3600,0.00,2.00,0.00,0.000,4,0.000,0.050,2522,197,3509,0,0,0,0,0,0
$GC,3693,-0.68,-155.7,573.2,-11.4,439,3700,0.00,1.98,0.00,0.000,6,0.000,0.039,2513,1504,3508,0,0,0,0,0,0
$GC,4027,-0.68,-155.7,613.3,-12.4,466,4031,0.00,2.15,0.00,0.000,4,0.000,0.053,2500,2904,3505,0,0,0,0,0,0
$GC,4072,-0.68,-155.7,618.9,-12.1,468,4076,0.00,2.12,0.00,0.000,6,0.000,0.040,2501,1490,3505,0,0,0,0,0,0
$GC,4394,-0.68,-155.7,653.0,-9.6,484,4398,0.00,2.00,0.00,0.000,4,0.000,0.053,2500,192,3501,0,0,0,0,0,0
$GC,4494,-0.68,-155.7,663.8,-10.6,488,4498,0.12,1.98,0.00,0.000,6,0.171,0.040,2521,1503,3501,0,0,0,0,0,0
$GC,4817,-0.68,-155.7,688.3,-8.2,504,4821,0.00,2.15,0.00,0.000,4,0.000,0.054,2511,2904,3498,0,0,0,0,0,0
$GC,4861,-0.68,-155.7,692.6,-9.1,506,4865,0.00,2.12,0.00,0.000,6,0.000,0.041,2511,1494,3497,0,0,0,0,0,0
$GC,5190,-0.68,-155.7,729.5,-11.9,522,5194,0.00,2.20,0.00,0.000,4,0.000,0.054,2507,2907,3494,0,0,0,0,0,0
$GC,5211,-0.68,-155.7,732.5,-12.1,523,5215,0.00,2.15,0.00,0.000,6,0.000,0.042,2507,1510,3494,0,0,0,0,0,0
$GC,5538,-0.68,-155.7,775.6,-13.4,539,5541,0.00,2.05,0.00,0.000,4,0.000,0.055,2507,193,3492,0,0,0,0,0,0
$GC,5699,-0.68,-155.7,798.5,-14.3,546,5703,0.00,2.00,0.00,0.000,6,0.000,0.045,2498,1499,3491,0,0,0,0,0,0
$GC,6031,-0.68,-155.7,841.9,-12.4,562,6035,0.00,2.20,0.00,0.000,4,0.000,0.057,2487,2903,3488,0,0,0,0,0,0
$GC,6076,-0.68,-155.7,847.3,-11.8,564,6081,0.12,2.15,0.00,0.000,6,0.165,0.044,2520,1489,3488,0,0,0,0,0,0
$GC,6403,-0.68,-155.7,879.2,-9.3,580,6407,0.00,2.20,0.00,0.000,4,0.000,0.058,2512,2903,3485,0,0,0,0,0,0
$GC,6422,-0.68,-155.7,880.7,-9.2,581,6426,0.00,2.15,0.00,0.000,6,0.000,0.044,2512,1496,3485,0,0,0,0,0,0
$GC,6752,-0.68,-155.7,909.7,-8.5,597,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1496,3484,0,0,0,0,0,0
$GC,7058,-0.68,-155.7,933.7,-7.5,612,7062,0.00,2.22,0.00,0.000,4,0.000,0.060,2501,2903,3481,0,0,0,0,0,0
$GC,7121,-0.68,-155.7,938.5,-7.7,614,7128,0.00,2.17,0.00,0.000,6,0.000,0.045,2501,1493,3481,0,0,0,0,0,0
$GC,7438,-0.68,-155.7,965.2,-8.6,630,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1492,3479,0,0,0,0,0,0
$STATE,7724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7724,begin apogee
$GC,7730,-0.14,0.0,990.7,8.9,644,7863,0.60,0.00,125.05,1.465,6,0.129,0.000,2691,1854,2884,0,0,0,0,0,0
$STATE,7864,end apogee,CONTROL_FINISHED_OK
$STATE,7864,begin climb
$GC,7866,0.68,155.7,992.1,0.0,650,8012,0.80,0.00,141.52,1.402,6,0.075,0.000,2966,1855,2249,0,0,0,0,0,0
$GC,8309,0.68,155.7,930.6,15.6,672,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1854,2240,0,0,0,0,0,0
$GC,8618,0.68,155.7,881.9,15.9,687,8622,0.00,2.22,0.00,0.000,4,0.000,0.063,2966,3258,2238,0,0,0,0,0,0
$GC,8706,0.68,155.7,867.3,17.3,691,8710,0.00,2.15,0.00,0.000,6,0.000,0.044,2975,1850,2237,0,0,0,0,0,0
$GC,9033,0.68,155.7,811.6,17.1,707,9037,0.00,2.25,0.00,0.000,4,0.000,0.058,2967,3265,2236,0,0,0,0,0,0
$GC,9073,0.68,155.7,804.6,17.2,709,9077,0.00,2.17,0.00,0.000,6,0.000,0.043,2976,1836,2235,0,0,0,0,0,0
$GC,9402,0.68,155.7,751.9,15.6,725,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1836,2234,0,0,0,0,0,0
$GC,9709,0.68,155.7,707.1,14.4,740,9713,0.00,2.17,0.00,0.000,4,0.000,0.052,2984,438,2233,0,0,0,0,0,0
$GC,9746,0.68,155.7,701.6,14.3,741,9753,0.00,2.20,0.00,0.000,6,0.000,0.043,2980,1862,2233,0,0,0,0,0,0
$GC,10065,0.68,155.7,655.9,14.6,757,10069,0.00,2.17,0.00,0.000,4,0.000,0.058,2980,3255,2232,0,0,0,0,0,0
$GC,10137,0.68,155.7,644.6,14.8,760,10141,0.00,2.12,0.00,0.000,6,0.000,0.042,2986,1848,2232,0,0,0,0,0,0
$GC,10461,0.68,155.7,597.8,15.2,776,10465,0.00,2.20,0.00,0.000,4,0.000,0.054,2978,3257,2231,0,0,0,0,0,0
$GC,10550,0.68,155.7,584.5,13.9,784,10555,0.00,2.12,0.00,0.000,6,0.000,0.041,2987,1848,2231,0,0,0,0,0,0
$GC,10878,0.68,155.7,539.6,14.0,814,10882,0.00,2.15,0.00,0.000,4,0.000,0.050,3000,443,2230,0,0,0,0,0,0
$GC,10910,0.68,155.7,534.4,14.7,816,10919,0.00,2.15,0.00,0.000,6,0.000,0.040,2992,1869,2230,0,0,0,0,0,0
$GC,11238,0.68,155.7,486.3,15.1,847,11242,0.00,2.15,0.00,0.000,4,0.000,0.053,2993,3260,2230,0,0,0,0,0,0
$GC,11281,0.68,155.7,479.1,14.9,850,11289,0.15,2.12,0.00,0.000,6,0.198,0.040,2965,1849,2230,0,0,0,0,0,0
$GC,11607,0.68,155.7,440.1,11.5,881,11611,0.00,2.20,0.00,0.000,4,0.000,0.052,2961,3253,2230,0,0,0,0,0,0
$GC,11664,0.68,155.7,433.8,11.5,885,11671,0.00,2.12,0.00,0.000,6,0.000,0.039,2970,1838,2229,0,0,0,0,0,0
$GC,11989,0.68,155.7,395.4,13.4,916,11993,0.00,2.12,0.00,0.000,4,0.000,0.049,2982,445,2229,0,0,0,0,0,0
$GC,12045,0.68,155.7,387.5,14.3,920,12053,0.00,2.15,0.00,0.000,6,0.000,0.039,2972,1857,2229,0,0,0,0,0,0
$GC,12370,0.68,155.7,344.9,12.4,951,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1859,2229,0,0,0,0,0,0
$GC,12693,0.70,168.2,311.7,9.2,981,12704,0.00,0.00,8.75,0.840,6,0.000,0.000,2971,1861,2198,0,0,0,0,0,0
$GC,13021,0.70,168.2,281.8,9.9,1012,13025,0.00,2.15,0.00,0.000,4,0.000,0.051,2965,3252,2198,0,0,0,0,0,0
$GC,13155,0.70,168.2,266.3,12.0,1024,13159,0.00,2.15,0.00,0.000,6,0.000,0.037,2973,1839,2198,0,0,0,0,0,0
$GC,13480,0.73,191.3,232.1,8.7,1071,13511,0.00,2.20,21.62,0.852,4,0.000,0.048,2984,448,2103,0,0,0,0,0,0
$GC,13581,0.73,191.3,222.8,9.9,1088,13590,0.00,2.17,0.00,0.000,6,0.000,0.037,2977,1848,2101,0,0,0,0,0,0
$GC,13909,0.74,199.9,190.2,9.3,1149,13924,0.00,2.15,9.05,0.723,4,0.000,0.047,2975,3257,2068,0,0,0,0,0,0
$GC,13984,0.74,203.4,183.1,9.6,1161,14000,0.00,2.17,5.05,0.587,6,0.000,0.037,2983,1843,2053,0,0,0,0,0,0
$GC,14323,0.74,203.4,151.9,11.2,1223,14330,0.00,2.17,0.00,0.000,4,0.000,0.046,2994,440,2052,0,0,0,0,0,0
$GC,14375,0.74,203.4,145.6,11.2,1232,14384,0.00,2.17,0.00,0.000,6,0.000,0.035,2986,1859,2052,0,0,0,0,0,0
$GC,14702,0.87,303.7,120.5,5.5,1293,14791,0.10,0.00,84.90,0.757,6,0.103,0.000,3044,1860,1645,0,0,0,0,0,0
$GC,15113,0.87,307.4,67.8,9.6,1365,15121,0.00,0.00,3.95,0.435,6,0.000,0.000,3044,1862,1629,0,0,0,0,0,0
$GC,15440,0.95,375.9,41.8,6.8,1426,15506,0.00,2.20,57.45,0.672,4,0.000,0.044,3044,3251,1350,0,0,0,0,0,0
$GC,15543,1.02,426.3,34.1,7.6,1441,15590,0.00,2.17,42.17,0.652,6,0.000,0.034,3048,1851,1146,0,0,0,0,0,0
$STATE,15837,end climb,SURFACE_DEPTH_REACHED
$STATE,15837,begin surface coast
$FINISH,1.0,1.021202
$STATE,15861,end surface coast,CONTROL_FINISHED_OK
$STATE,15861,begin surface
$SM_CCo,15938,0.00,0.000,0,0,1139,428.05
$SM_GC,1.74,7.40,0.00,0.00,0.026,0.000,0.000,127,1498,1139,-8.05,-0.06,428.05,0,0,0,0,0,0
$IRIDIUM_FIX,2213.68,12358.21,300811,232339
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.40
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.10
$XPDR_PINGS,90
$24V_AH,23.2,35.102
$10V_AH,10.2,24.708
$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,18.875,132.750,499.525,0.000,0.000,123.260,114.916,352.129,22.500,0.000,38.567,3706.047,8197.000,564.238,3970.924,456.959,0.000,1932.251,0.000,3351.614,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,63.495,1464.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.914,1533.380,1798.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330208
$DATA_FILE_SIZE,83407,1498
$CAP_FILE_SIZE,167626,0
$CFSIZE,260165632,134582272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,249.8,1
$GPS,310811,043457,2219.669,12356.740,35,2.1,54,-3.0