version: 66.09
glider: 166
mission: 6
dive: 141
start: 8 30 111 5 39 9
data:
$ID,166
$MISSION,6
$DIVE,141
$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,-24571.889
$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,51
$R_STBD_OVSHOOT,44
$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
$GPS1,300811,052937,2230.350,12355.721,35,1.8,35,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-64.0
$GPS2,300811,053846,2230.280,12355.597,36,99.0,55,-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,147.7,111897,-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,-155.7,0.0,0.0,0,90,0.00,0.00,-70.95,0.000,2,0.000,0.000,118,1482,3019,0,0,0,0,0,0
$GC,93,-0.68,-155.7,6.1,-11.6,10,118,9.50,2.25,-9.70,0.000,4,0.226,0.053,2507,2907,3521,0,0,0,0,0,0
$GC,207,-0.68,-155.7,48.2,-31.1,29,215,0.00,2.15,0.00,0.000,6,0.000,0.037,2503,1520,3523,0,0,0,0,0,0
$GC,532,-0.68,-155.7,124.8,-21.8,90,540,0.00,2.05,0.00,0.000,4,0.000,0.046,2501,206,3525,0,0,0,0,0,0
$GC,666,-0.68,-155.7,153.7,-20.5,114,675,0.08,1.98,0.00,0.000,6,0.155,0.037,2516,1494,3526,0,0,0,0,0,0
$GC,996,-0.68,-155.7,215.7,-17.7,175,1005,0.00,2.17,0.00,0.000,4,0.000,0.048,2507,2906,3526,0,0,0,0,0,0
$GC,1018,-0.68,-155.7,220.2,-17.4,178,1026,0.00,2.15,0.00,0.000,6,0.000,0.037,2507,1507,3526,0,0,0,0,0,0
$GC,1349,-0.68,-155.7,274.3,-15.6,225,1353,0.00,1.98,0.00,0.000,4,0.000,0.047,2507,201,3526,0,0,0,0,0,0
$GC,1465,-0.68,-155.7,292.0,-15.6,235,1469,0.00,1.98,0.00,0.000,6,0.000,0.038,2498,1513,3526,0,0,0,0,0,0
$GC,1796,-0.68,-155.7,342.1,-14.6,266,1800,0.00,2.08,0.00,0.000,4,0.000,0.047,2487,2902,3525,0,0,0,0,0,0
$GC,1813,-0.68,-155.7,344.5,-14.2,267,1818,0.12,2.12,0.00,0.000,6,0.163,0.037,2523,1494,3525,0,0,0,0,0,0
$GC,2138,-0.68,-155.7,385.5,-13.2,297,2142,0.00,1.98,0.00,0.000,4,0.000,0.049,2539,202,3523,0,0,0,0,0,0
$GC,2217,-0.68,-155.7,396.6,-14.2,304,2221,0.00,1.95,0.00,0.000,6,0.000,0.037,2532,1497,3523,0,0,0,0,0,0
$GC,2548,-0.68,-155.7,441.7,-13.7,335,2552,0.00,2.00,0.00,0.000,4,0.000,0.049,2534,202,3520,0,0,0,0,0,0
$GC,2615,-0.68,-155.7,451.2,-14.0,341,2619,0.00,1.98,0.00,0.000,6,0.000,0.039,2526,1506,3520,0,0,0,0,0,0
$GC,2946,-0.68,-155.7,494.0,-12.2,372,2950,0.00,2.12,0.00,0.000,4,0.000,0.050,2515,2916,3518,0,0,0,0,0,0
$GC,2985,-0.68,-155.7,498.8,-12.1,375,2989,0.00,2.15,0.00,0.000,6,0.000,0.041,2515,1494,3517,0,0,0,0,0,0
$GC,3310,-0.68,-155.7,537.7,-12.5,405,3314,0.00,1.98,0.00,0.000,4,0.000,0.051,2515,205,3515,0,0,0,0,0,0
$GC,3405,-0.68,-155.7,550.7,-13.5,413,3412,0.00,2.00,0.00,0.000,6,0.000,0.040,2506,1501,3514,0,0,0,0,0,0
$GC,3731,-0.68,-155.7,594.4,-13.0,444,3735,0.00,2.03,0.00,0.000,4,0.000,0.051,2505,186,3511,0,0,0,0,0,0
$GC,3799,-0.68,-155.7,604.3,-14.6,449,3803,0.00,2.00,0.00,0.000,6,0.000,0.041,2496,1505,3511,0,0,0,0,0,0
$GC,4133,-0.68,-155.7,647.7,-12.5,465,4138,0.12,2.17,0.00,0.000,4,0.175,0.054,2517,2905,3508,0,0,0,0,0,0
$GC,4177,-0.68,-155.7,652.8,-10.6,467,4181,0.00,2.15,0.00,0.000,6,0.000,0.041,2517,1485,3507,0,0,0,0,0,0
$GC,4504,-0.68,-155.7,687.8,-11.0,483,4508,0.00,1.98,0.00,0.000,4,0.000,0.054,2516,202,3505,0,0,0,0,0,0
$GC,4589,-0.68,-155.7,697.9,-12.0,486,4596,0.00,2.00,0.00,0.000,6,0.000,0.041,2503,1507,3504,0,0,0,0,0,0
$GC,4905,-0.68,-155.7,733.1,-10.9,502,4909,0.00,2.15,0.00,0.000,4,0.000,0.055,2492,2911,3501,0,0,0,0,0,0
$GC,4938,-0.68,-155.7,736.9,-11.0,503,4947,0.12,2.15,0.00,0.000,6,0.161,0.042,2526,1498,3501,0,0,0,0,0,0
$GC,5256,-0.68,-155.7,767.2,-9.9,519,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1498,3498,0,0,0,0,0,0
$GC,5564,-0.68,-155.7,797.9,-9.8,534,5567,0.00,2.03,0.00,0.000,4,0.000,0.056,2526,202,3496,0,0,0,0,0,0
$GC,5620,-0.68,-155.7,803.9,-10.8,536,5624,0.00,2.00,0.00,0.000,6,0.000,0.044,2520,1498,3495,0,0,0,0,0,0
$GC,5942,-0.68,-155.7,834.7,-9.2,552,5946,0.00,2.17,0.00,0.000,4,0.000,0.056,2517,2913,3493,0,0,0,0,0,0
$GC,5989,-0.68,-155.7,838.7,-8.9,554,5993,0.00,2.17,0.00,0.000,6,0.000,0.043,2517,1488,3492,0,0,0,0,0,0
$GC,6318,-0.68,-155.7,868.8,-9.1,570,6322,0.00,2.22,0.00,0.000,4,0.000,0.057,2506,2913,3491,0,0,0,0,0,0
$GC,6345,-0.68,-155.7,871.4,-9.2,571,6349,0.00,2.17,0.00,0.000,6,0.000,0.043,2506,1491,3491,0,0,0,0,0,0
$GC,6672,-0.68,-155.7,903.3,-9.9,587,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1491,3489,0,0,0,0,0,0
$GC,6984,-0.68,-155.7,935.5,-10.6,602,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1491,3487,0,0,0,0,0,0
$GC,7291,-0.68,-155.7,969.6,-11.0,617,7295,0.00,2.03,0.00,0.000,4,0.000,0.060,2506,202,3485,0,0,0,0,0,0
$GC,7329,-0.68,-155.7,974.3,-12.0,618,7336,0.00,2.03,0.00,0.000,6,0.000,0.047,2497,1494,3485,0,0,0,0,0,0
$STATE,7478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7478,begin apogee
$GC,7486,-0.14,0.0,991.1,11.3,626,7620,0.62,0.00,126.57,1.463,6,0.133,0.000,2692,1861,2884,0,0,0,0,0,0
$STATE,7621,end apogee,CONTROL_FINISHED_OK
$STATE,7621,begin climb
$GC,7625,0.68,155.7,995.5,0.0,632,7771,0.77,0.00,142.27,1.408,6,0.076,0.000,2962,1860,2249,0,0,0,0,0,0
$GC,8071,0.68,155.7,939.3,14.9,654,8075,0.00,2.22,0.00,0.000,4,0.000,0.063,2961,3252,2240,0,0,0,0,0,0
$GC,8099,0.68,155.7,934.8,15.9,655,8103,0.00,2.20,0.00,0.000,6,0.000,0.044,2970,1847,2240,0,0,0,0,0,0
$GC,8422,0.68,155.7,883.3,16.2,671,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1848,2237,0,0,0,0,0,0
$GC,8731,0.68,155.7,831.8,16.8,686,8735,0.00,2.22,0.00,0.000,4,0.000,0.060,2963,3249,2236,0,0,0,0,0,0
$GC,8810,0.68,155.7,818.2,17.0,689,8817,0.00,2.17,0.00,0.000,6,0.000,0.044,2971,1835,2236,0,0,0,0,0,0
$GC,9126,0.68,155.7,767.1,16.1,705,9130,0.00,2.15,0.00,0.000,4,0.000,0.054,2978,446,2236,0,0,0,0,0,0
$GC,9158,0.68,155.7,761.2,17.0,706,9165,0.00,2.17,0.00,0.000,6,0.000,0.044,2970,1850,2235,0,0,0,0,0,0
$GC,9476,0.68,155.7,711.6,15.3,722,9480,0.00,2.17,0.00,0.000,4,0.000,0.058,2970,3251,2234,0,0,0,0,0,0
$GC,9590,0.68,155.7,694.2,14.7,727,9594,0.00,2.15,0.00,0.000,6,0.000,0.042,2979,1842,2233,0,0,0,0,0,0
$GC,9919,0.68,155.7,647.4,14.1,743,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1842,2233,0,0,0,0,0,0
$GC,10226,0.68,155.7,603.3,13.8,758,10230,0.00,2.20,0.00,0.000,4,0.000,0.054,2973,3252,2231,0,0,0,0,0,0
$GC,10278,0.68,155.7,595.9,14.4,761,10282,0.00,2.15,0.00,0.000,6,0.000,0.041,2982,1838,2231,0,0,0,0,0,0
$GC,10603,0.68,155.7,549.4,14.3,791,10607,0.00,2.12,0.00,0.000,4,0.000,0.050,2993,445,2231,0,0,0,0,0,0
$GC,10633,0.68,155.7,544.9,15.5,793,10637,0.00,2.15,0.00,0.000,6,0.000,0.041,2985,1854,2231,0,0,0,0,0,0
$GC,10958,0.68,155.7,494.9,15.5,823,10962,0.00,2.17,0.00,0.000,4,0.000,0.057,2984,3258,2231,0,0,0,0,0,0
$GC,11057,0.68,155.7,478.9,16.1,831,11064,0.00,2.12,0.00,0.000,6,0.000,0.040,2994,1851,2230,0,0,0,0,0,0
$GC,11383,0.68,155.7,431.6,13.9,862,11387,0.00,2.17,0.00,0.000,4,0.000,0.052,2986,3257,2231,0,0,0,0,0,0
$GC,11422,0.68,155.7,426.0,14.0,865,11430,0.12,2.15,0.00,0.000,6,0.200,0.038,2966,1836,2230,0,0,0,0,0,0
$GC,11747,0.68,155.7,387.1,11.9,896,11751,0.00,2.12,0.00,0.000,4,0.000,0.048,2979,445,2230,0,0,0,0,0,0
$GC,11787,0.68,155.7,382.2,12.3,899,11791,0.00,2.12,0.00,0.000,6,0.000,0.037,2969,1854,2230,0,0,0,0,0,0
$GC,12112,0.68,155.7,342.5,12.6,929,12116,0.00,2.15,0.00,0.000,4,0.000,0.053,2969,3249,2230,0,0,0,0,0,0
$GC,12179,0.68,155.7,334.1,11.5,934,12186,0.00,2.12,0.00,0.000,6,0.000,0.037,2978,1831,2230,0,0,0,0,0,0
$GC,12506,0.68,155.7,298.3,10.4,965,12510,0.00,2.20,0.00,0.000,4,0.000,0.049,2970,3252,2230,0,0,0,0,0,0
$GC,12558,0.68,155.7,292.7,11.0,969,12562,0.00,2.12,0.00,0.000,6,0.000,0.037,2979,1838,2230,0,0,0,0,0,0
$GC,12885,0.70,166.2,259.9,9.3,999,12898,0.00,2.20,7.20,0.751,4,0.000,0.047,2990,442,2206,0,0,0,0,0,0
$GC,12978,0.70,166.2,250.8,10.1,1007,12982,0.00,2.12,0.00,0.000,6,0.000,0.036,2982,1859,2206,0,0,0,0,0,0
$GC,13302,0.70,166.2,219.5,9.7,1067,13310,0.00,2.15,0.00,0.000,4,0.000,0.050,2976,3245,2206,0,0,0,0,0,0
$GC,13435,0.70,166.2,206.3,9.8,1091,13443,0.00,2.12,0.00,0.000,6,0.000,0.036,2984,1850,2206,0,0,0,0,0,0
$GC,13763,0.70,166.2,173.5,10.7,1152,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1850,2206,0,0,0,0,0,0
$GC,14092,0.77,228.5,144.8,7.1,1213,14153,0.00,2.25,54.00,0.789,4,0.000,0.045,2976,3249,1952,0,0,0,0,0,0
$GC,14204,0.81,258.2,136.1,8.5,1230,14235,0.00,2.17,26.33,0.747,6,0.000,0.034,2985,1847,1831,0,0,0,0,0,0
$GC,14553,0.83,277.9,105.7,8.9,1294,14576,0.00,0.00,17.73,0.702,6,0.000,0.000,2985,1848,1751,0,0,0,0,0,0
$GC,14897,0.91,343.3,73.6,7.0,1357,14959,0.15,2.25,55.72,0.702,4,0.075,0.043,3084,446,1484,0,0,0,0,0,0
$GC,15113,0.91,343.3,44.2,11.6,1393,15122,0.12,2.15,0.00,0.000,6,0.125,0.031,3041,1842,1480,0,0,0,0,0,0
$GC,15443,0.91,343.3,13.9,11.1,1454,15451,0.00,2.17,0.00,0.000,4,0.000,0.044,3031,3254,1479,0,0,0,0,0,0
$GC,15469,0.91,343.3,10.8,11.1,1458,15477,0.00,2.15,0.00,0.000,6,0.000,0.034,3039,1847,1479,0,0,0,0,0,0
$STATE,15540,end climb,SURFACE_DEPTH_REACHED
$STATE,15540,begin surface coast
$FINISH,1.0,1.021559
$STATE,15568,end surface coast,CONTROL_FINISHED_OK
$STATE,15571,begin surface
$SM_CCo,15588,42.08,0.428,1,0,1252,400.08
$SM_GC,1.67,0.00,0.00,42.08,0.000,0.000,0.428,146,1477,1252,-8.12,-0.65,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2225.34,12354.34,300811,010138
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.68
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.90
$XPDR_PINGS,94
$24V_AH,23.1,34.384
$10V_AH,10.2,24.021
$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,19.250,140.875,429.825,42.075,0.000,38.711,65.739,212.730,23.500,0.000,57.281,3682.833,7758.392,576.044,3695.997,453.866,0.000,1912.212,0.000,3319.154,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,62.730,1463.445,428.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.558,1513.826,1816.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330212
$DATA_FILE_SIZE,83367,1476
$CAP_FILE_SIZE,163230,0
$CFSIZE,260165632,134926336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.167,268.8,1
$GPS,300811,100125,2228.583,12355.614,59,1.7,59,-3.1