version: 66.09
glider: 166
mission: 6
dive: 140
start: 8 30 111 1 5 46
data:
$ID,166
$MISSION,6
$DIVE,140
$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,-24570.629
$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,35
$R_STBD_OVSHOOT,46
$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
$GPS1,300811,005638,2232.781,12355.649,50,1.5,50,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.2
$GPS2,300811,010523,2232.695,12355.643,36,1.2,39,-3.1
$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,153.4,116353,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-155.7,0.0,0.0,0,101,0.00,0.00,-80.57,0.000,2,0.000,0.000,135,1504,3305,0,0,0,0,0,0
$GC,104,-0.68,-155.7,6.9,-10.8,11,129,9.38,2.17,-3.88,0.000,4,0.227,0.054,2505,2911,3522,0,0,0,0,0,0
$GC,196,-0.68,-155.7,47.9,-32.9,26,204,0.00,2.20,0.00,0.000,6,0.000,0.038,2507,1492,3523,0,0,0,0,0,0
$GC,521,-0.68,-155.7,132.7,-24.4,87,529,0.00,2.00,0.00,0.000,4,0.000,0.047,2504,203,3525,0,0,0,0,0,0
$GC,699,-0.68,-155.7,174.6,-21.4,119,707,0.00,1.98,0.00,0.000,6,0.000,0.035,2496,1492,3526,0,0,0,0,0,0
$GC,1027,-0.68,-155.7,232.8,-17.2,180,1035,0.00,2.17,0.00,0.000,4,0.000,0.047,2485,2902,3526,0,0,0,0,0,0
$GC,1049,-0.68,-155.7,236.9,-18.2,183,1058,0.10,2.15,0.00,0.000,6,0.144,0.038,2518,1508,3526,0,0,0,0,0,0
$GC,1376,-0.68,-155.7,284.1,-14.1,222,1380,0.00,2.03,0.00,0.000,4,0.000,0.047,2520,193,3526,0,0,0,0,0,0
$GC,1403,-0.68,-155.7,288.3,-14.6,224,1411,0.00,1.98,0.00,0.000,6,0.000,0.036,2512,1496,3526,0,0,0,0,0,0
$GC,1728,-0.68,-155.7,333.7,-13.5,255,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1496,3526,0,0,0,0,0,0
$GC,2050,-0.68,-155.7,375.7,-13.2,285,2054,0.00,2.03,0.00,0.000,4,0.000,0.048,2513,193,3524,0,0,0,0,0,0
$GC,2119,-0.68,-155.7,385.4,-14.2,291,2123,0.00,1.95,0.00,0.000,6,0.000,0.037,2504,1504,3524,0,0,0,0,0,0
$GC,2452,-0.68,-155.7,425.1,-12.4,322,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1503,3522,0,0,0,0,0,0
$GC,2771,-0.68,-155.7,463.3,-11.7,352,2774,0.00,2.05,0.00,0.000,4,0.000,0.050,2524,199,3520,0,0,0,0,0,0
$GC,2816,-0.68,-155.7,469.5,-13.1,356,2820,0.00,1.98,0.00,0.000,6,0.000,0.037,2514,1511,3519,0,0,0,0,0,0
$GC,3147,-0.68,-155.7,511.7,-12.5,387,3151,0.00,2.05,0.00,0.000,4,0.000,0.050,2514,195,3517,0,0,0,0,0,0
$GC,3286,-0.68,-155.7,530.1,-13.2,399,3293,0.00,2.00,0.00,0.000,6,0.000,0.039,2503,1496,3516,0,0,0,0,0,0
$GC,3614,-0.68,-155.7,572.7,-13.6,430,3618,0.00,2.15,0.00,0.000,4,0.000,0.050,2494,2905,3513,0,0,0,0,0,0
$GC,3642,-0.68,-155.7,576.7,-12.8,432,3647,0.10,2.12,0.00,0.000,6,0.174,0.040,2519,1495,3513,0,0,0,0,0,0
$GC,3969,-0.68,-155.7,615.5,-11.7,457,3973,0.00,2.00,0.00,0.000,4,0.000,0.052,2521,199,3510,0,0,0,0,0,0
$GC,4046,-0.68,-155.7,625.4,-12.3,460,4051,0.00,2.00,0.00,0.000,6,0.000,0.041,2513,1493,3509,0,0,0,0,0,0
$GC,4370,-0.68,-155.7,660.3,-10.5,476,4374,0.00,2.17,0.00,0.000,4,0.000,0.053,2502,2911,3506,0,0,0,0,0,0
$GC,4459,-0.68,-155.7,669.8,-10.0,480,4463,0.00,2.17,0.00,0.000,6,0.000,0.041,2502,1482,3505,0,0,0,0,0,0
$GC,4786,-0.68,-155.7,705.2,-11.2,496,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1482,3503,0,0,0,0,0,0
$GC,5097,-0.68,-155.7,740.8,-11.5,511,5101,0.00,2.00,0.00,0.000,4,0.000,0.055,2497,199,3500,0,0,0,0,0,0
$GC,5166,-0.68,-155.7,749.9,-13.2,514,5171,0.12,1.98,0.00,0.000,6,0.170,0.043,2520,1502,3500,0,0,0,0,0,0
$GC,5495,-0.68,-155.7,783.8,-10.1,530,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1502,3498,0,0,0,0,0,0
$GC,5803,-0.68,-155.7,812.3,-8.8,545,5807,0.00,2.17,0.00,0.000,4,0.000,0.058,2511,2904,3495,0,0,0,0,0,0
$GC,5881,-0.68,-155.7,819.1,-8.5,548,5885,0.00,2.15,0.00,0.000,6,0.000,0.044,2509,1499,3494,0,0,0,0,0,0
$GC,6204,-0.68,-155.7,848.2,-9.0,564,6208,0.00,2.03,0.00,0.000,4,0.000,0.057,2513,198,3493,0,0,0,0,0,0
$GC,6251,-0.68,-155.7,853.1,-10.5,566,6254,0.00,2.00,0.00,0.000,6,0.000,0.044,2504,1510,3492,0,0,0,0,0,0
$GC,6586,-0.68,-155.7,886.6,-10.0,582,6590,0.00,2.15,0.00,0.000,4,0.000,0.057,2498,2905,3490,0,0,0,0,0,0
$GC,6658,-0.68,-155.7,894.1,-9.5,585,6662,0.00,2.15,0.00,0.000,6,0.000,0.044,2498,1498,3489,0,0,0,0,0,0
$GC,6974,-0.68,-155.7,927.4,-10.7,600,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1499,3488,0,0,0,0,0,0
$GC,7285,-0.68,-155.7,959.9,-10.3,615,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1498,3486,0,0,0,0,0,0
$GC,7594,-0.68,-155.7,990.0,-9.4,630,7597,0.00,2.03,0.00,0.000,4,0.000,0.060,2497,206,3485,0,0,0,0,0,0
$STATE,7602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7602,begin apogee
$GC,7610,-0.14,0.0,991.2,9.2,630,7746,0.65,0.00,127.03,1.463,6,0.137,0.000,2690,1854,2883,0,0,0,0,0,0
$STATE,7747,end apogee,CONTROL_FINISHED_OK
$STATE,7747,begin climb
$GC,7749,0.68,155.7,992.5,0.0,636,7898,0.77,2.45,140.77,1.404,4,0.076,0.062,2961,3252,2249,0,0,0,0,0,0
$GC,7927,0.68,155.7,972.2,16.4,645,7931,0.00,2.28,0.00,0.000,6,0.000,0.044,2969,1852,2245,0,0,0,0,0,0
$GC,8255,0.68,155.7,917.8,16.5,661,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1852,2240,0,0,0,0,0,0
$GC,8563,0.68,155.7,867.9,15.8,676,8567,0.00,2.25,0.00,0.000,4,0.000,0.060,2969,3267,2238,0,0,0,0,0,0
$GC,8657,0.68,155.7,851.9,16.6,680,8661,0.00,2.20,0.00,0.000,6,0.000,0.044,2978,1840,2237,0,0,0,0,0,0
$GC,8981,0.68,155.7,800.0,15.7,696,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1840,2236,0,0,0,0,0,0
$GC,9288,0.68,155.7,752.8,15.1,711,9292,0.00,2.25,0.00,0.000,4,0.000,0.057,2976,3267,2235,0,0,0,0,0,0
$GC,9332,0.68,155.7,745.7,15.7,713,9336,0.00,2.15,0.00,0.000,6,0.000,0.043,2984,1843,2234,0,0,0,0,0,0
$GC,9662,0.68,155.7,694.4,15.7,729,9666,0.00,2.15,0.00,0.000,4,0.000,0.054,2995,440,2234,0,0,0,0,0,0
$GC,9702,0.68,155.7,687.6,16.2,731,9706,0.00,2.17,0.00,0.000,6,0.000,0.044,2986,1853,2233,0,0,0,0,0,0
$GC,10030,0.68,155.7,636.7,15.2,747,10034,0.00,2.17,0.00,0.000,4,0.000,0.058,2983,3259,2232,0,0,0,0,0,0
$GC,10135,0.68,155.7,619.5,15.5,751,10143,0.00,2.17,0.00,0.000,6,0.000,0.041,2992,1818,2232,0,0,0,0,0,0
$GC,10459,0.68,155.7,568.2,16.4,776,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1818,2232,0,0,0,0,0,0
$GC,10779,0.68,155.7,519.6,14.6,806,10783,0.00,2.22,0.00,0.000,4,0.000,0.053,2986,3257,2231,0,0,0,0,0,0
$GC,10802,0.68,155.7,515.5,15.2,808,10806,0.00,2.12,0.00,0.000,6,0.000,0.040,2994,1843,2231,0,0,0,0,0,0
$GC,11127,0.68,155.7,469.2,14.3,838,11131,0.00,2.20,0.00,0.000,4,0.000,0.052,2987,3258,2231,0,0,0,0,0,0
$GC,11183,0.68,155.7,460.8,14.2,842,11190,0.12,2.15,0.00,0.000,6,0.204,0.040,2967,1838,2230,0,0,0,0,0,0
$GC,11508,0.68,155.7,420.8,12.6,873,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1838,2230,0,0,0,0,0,0
$GC,11828,0.68,155.7,380.1,12.7,903,11832,0.00,2.22,0.00,0.000,4,0.000,0.051,2968,3267,2230,0,0,0,0,0,0
$GC,11903,0.68,155.7,370.4,12.8,909,11907,0.00,2.12,0.00,0.000,6,0.000,0.037,2977,1849,2230,0,0,0,0,0,0
$GC,12228,0.68,155.7,330.3,11.6,939,12232,0.00,2.15,0.00,0.000,4,0.000,0.047,2988,443,2230,0,0,0,0,0,0
$GC,12349,0.68,155.7,316.4,11.4,949,12353,0.00,2.15,0.00,0.000,6,0.000,0.037,2987,1863,2230,0,0,0,0,0,0
$GC,12677,0.68,155.7,279.5,11.4,979,12681,0.00,2.12,0.00,0.000,4,0.000,0.052,2980,3252,2230,0,0,0,0,0,0
$GC,12736,0.68,155.7,272.1,11.5,984,12745,0.00,2.15,0.00,0.000,6,0.000,0.037,2988,1839,2230,0,0,0,0,0,0
$GC,13063,0.69,158.1,239.1,9.6,1025,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1839,2230,0,0,0,0,0,0
$GC,13391,0.69,158.1,207.3,9.9,1086,13399,0.00,2.22,0.00,0.000,4,0.000,0.049,2980,3258,2230,0,0,0,0,0,0
$GC,13445,0.69,158.1,201.8,10.0,1095,13454,0.00,2.15,0.00,0.000,6,0.000,0.037,2987,1845,2230,0,0,0,0,0,0
$GC,13774,0.72,181.8,173.5,8.7,1156,13805,0.00,2.22,20.67,0.786,4,0.000,0.048,2980,3254,2142,0,0,0,0,0,0
$GC,13851,0.73,197.0,166.3,9.1,1168,13874,0.00,2.15,14.88,0.750,6,0.000,0.035,2987,1849,2079,0,0,0,0,0,0
$GC,14194,0.74,199.9,134.1,9.6,1231,14202,0.00,0.00,3.80,0.464,6,0.000,0.000,2987,1849,2068,0,0,0,0,0,0
$GC,14521,0.77,225.5,105.7,8.6,1292,14551,0.00,0.00,23.12,0.722,6,0.000,0.000,2988,1849,1963,0,0,0,0,0,0
$GC,14875,0.79,241.4,72.7,9.0,1356,14899,0.00,2.20,14.38,0.662,4,0.000,0.045,2999,447,1899,0,0,0,0,0,0
$GC,14918,0.79,243.7,68.2,9.6,1362,14927,0.00,2.15,3.67,0.409,6,0.000,0.033,2999,1853,1890,0,0,0,0,0,0
$GC,15250,0.92,349.5,42.5,5.3,1423,15349,0.12,2.30,88.93,0.678,4,0.080,0.044,3086,447,1458,0,0,0,0,0,0
$GC,15441,0.92,349.5,24.5,11.9,1452,15450,0.12,2.17,0.00,0.000,6,0.131,0.032,3046,1855,1455,0,0,0,0,0,0
$STATE,15654,end climb,SURFACE_DEPTH_REACHED
$STATE,15654,begin surface coast
$FINISH,0.9,1.010326
$STATE,15688,end surface coast,CONTROL_FINISHED_OK
$STATE,15688,begin surface
$SM_CCo,15707,41.75,0.425,1,0,1252,400.08
$SM_GC,1.66,0.00,0.00,41.75,0.000,0.000,0.425,132,1482,1252,-8.16,-0.54,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2225.34,12354.34,290811,202049
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.15
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,25.80
$XPDR_PINGS,83
$24V_AH,23.1,34.216
$10V_AH,10.2,23.850
$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,19.050,124.625,437.250,41.750,0.000,57.735,35.111,174.986,20.750,0.000,40.385,3721.834,7871.458,544.244,3682.887,443.793,0.000,1918.153,0.000,3381.701,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,61.965,1463.445,424.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.534,1532.691,1856.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330232
$DATA_FILE_SIZE,83449,1498
$CAP_FILE_SIZE,162087,0
$CFSIZE,260165632,135012352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,245.4,1
$GPS,300811,052937,2230.350,12355.721,35,1.8,35,-3.1