version: 66.09
glider: 166
mission: 6
dive: 146
start: 8 31 111 4 43 32
data:
$ID,166
$MISSION,6
$DIVE,146
$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,-24578.281
$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,40
$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
$GPS1,310811,043457,2219.669,12356.740,35,2.1,54,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.2
$GPS2,310811,044306,2219.597,12356.750,34,1.3,38,-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,136.6,92025,-17.2,-9.706
$D_GRID,4941
$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,-155.7,0.0,0.0,0,99,0.00,0.00,-79.90,0.000,2,0.000,0.000,123,1494,3051,0,0,0,0,0,0
$GC,102,-0.68,-155.7,5.2,-7.3,11,127,9.48,2.28,-9.32,0.000,4,0.229,0.054,2507,2921,3521,0,0,0,0,0,0
$GC,231,-0.68,-155.7,52.2,-30.5,33,240,0.00,2.20,0.00,0.000,6,0.000,0.036,2506,1505,3523,0,0,0,0,0,0
$GC,558,-0.68,-155.7,129.8,-19.9,94,566,0.00,2.03,0.00,0.000,4,0.000,0.046,2503,202,3524,0,0,0,0,0,0
$GC,701,-0.68,-155.7,161.4,-21.4,120,709,0.00,2.00,0.00,0.000,6,0.000,0.037,2495,1506,3524,0,0,0,0,0,0
$GC,1028,-0.68,-155.7,235.5,-22.3,181,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1507,3525,0,0,0,0,0,0
$GC,1357,-0.68,-155.7,299.8,-19.2,218,1361,0.00,2.03,0.00,0.000,4,0.000,0.047,2496,192,3525,0,0,0,0,0,0
$GC,1394,-0.68,-155.7,307.5,-18.4,221,1403,0.10,2.00,0.00,0.000,6,0.142,0.036,2519,1505,3525,0,0,0,0,0,0
$GC,1722,-0.68,-155.7,354.3,-13.6,252,1726,0.00,2.03,0.00,0.000,4,0.000,0.047,2522,196,3525,0,0,0,0,0,0
$GC,1780,-0.68,-155.7,362.7,-14.3,257,1784,0.00,1.98,0.00,0.000,6,0.000,0.036,2514,1512,3524,0,0,0,0,0,0
$GC,2111,-0.68,-155.7,405.0,-12.0,288,2115,0.00,2.12,0.00,0.000,4,0.000,0.048,2504,2913,3523,0,0,0,0,0,0
$GC,2153,-0.68,-155.7,410.1,-13.0,291,2157,0.00,2.15,0.00,0.000,6,0.000,0.038,2508,1493,3522,0,0,0,0,0,0
$GC,2478,-0.68,-155.7,453.1,-13.1,321,2481,0.00,1.98,0.00,0.000,4,0.000,0.049,2516,202,3520,0,0,0,0,0,0
$GC,2675,-0.68,-155.7,481.5,-14.0,338,2682,0.00,1.98,0.00,0.000,6,0.000,0.038,2510,1493,3518,0,0,0,0,0,0
$GC,3003,-0.68,-155.7,524.7,-13.1,369,3006,0.00,2.00,0.00,0.000,4,0.000,0.049,2512,202,3516,0,0,0,0,0,0
$GC,3048,-0.68,-155.7,531.3,-14.2,373,3051,0.00,1.98,0.00,0.000,6,0.000,0.040,2503,1501,3516,0,0,0,0,0,0
$GC,3378,-0.68,-155.7,575.1,-13.3,404,3382,0.00,2.15,0.00,0.000,4,0.000,0.053,2493,2904,3512,0,0,0,0,0,0
$GC,3410,-0.68,-155.7,578.8,-12.8,406,3415,0.12,2.15,0.00,0.000,6,0.164,0.040,2526,1487,3512,0,0,0,0,0,0
$GC,3742,-0.68,-155.7,611.8,-9.1,431,3746,0.00,2.20,0.00,0.000,4,0.000,0.053,2518,2912,3509,0,0,0,0,0,0
$GC,3808,-0.68,-155.7,617.3,-8.5,434,3812,0.00,2.17,0.00,0.000,6,0.000,0.041,2518,1489,3508,0,0,0,0,0,0
$GC,4135,-0.68,-155.7,649.2,-9.9,450,4139,0.00,1.98,0.00,0.000,4,0.000,0.054,2517,202,3505,0,0,0,0,0,0
$GC,4276,-0.68,-155.7,665.7,-12.2,456,4280,0.00,2.03,0.00,0.000,6,0.000,0.042,2505,1520,3504,0,0,0,0,0,0
$GC,4603,-0.68,-155.7,703.0,-11.5,472,4607,0.00,2.15,0.00,0.000,4,0.000,0.054,2489,2912,3501,0,0,0,0,0,0
$GC,4624,-0.68,-155.7,705.6,-11.3,473,4629,0.12,2.15,0.00,0.000,6,0.165,0.041,2522,1494,3501,0,0,0,0,0,0
$GC,4953,-0.68,-155.7,736.8,-9.3,489,4957,0.00,2.22,0.00,0.000,4,0.000,0.059,2514,2913,3498,0,0,0,0,0,0
$GC,5008,-0.68,-155.7,742.4,-9.7,491,5012,0.00,2.15,0.00,0.000,6,0.000,0.043,2514,1505,3498,0,0,0,0,0,0
$GC,5330,-0.68,-155.7,775.9,-10.4,507,5333,0.00,2.03,0.00,0.000,4,0.000,0.055,2514,201,3495,0,0,0,0,0,0
$GC,5387,-0.68,-155.7,782.6,-11.8,509,5391,0.00,2.03,0.00,0.000,6,0.000,0.047,2504,1514,3494,0,0,0,0,0,0
$GC,5708,-0.68,-155.7,817.7,-10.7,525,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1514,3492,0,0,0,0,0,0
$GC,6019,-0.68,-155.7,851.2,-10.6,540,6023,0.00,2.17,0.00,0.000,4,0.000,0.059,2494,2906,3490,0,0,0,0,0,0
$GC,6045,-0.68,-155.7,854.4,-10.5,541,6050,0.00,2.15,0.00,0.000,6,0.000,0.044,2496,1495,3490,0,0,0,0,0,0
$GC,6367,-0.68,-155.7,889.9,-10.9,557,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1495,3488,0,0,0,0,0,0
$GC,6679,-0.68,-155.7,922.5,-10.3,572,6683,0.00,2.05,0.00,0.000,4,0.000,0.059,2503,180,3486,0,0,0,0,0,0
$GC,6711,-0.68,-155.7,926.6,-11.1,573,6716,0.12,2.08,0.00,0.000,6,0.171,0.046,2526,1498,3485,0,0,0,0,0,0
$GC,7033,-0.68,-155.7,954.1,-8.2,589,7037,0.00,2.22,0.00,0.000,4,0.000,0.060,2517,2912,3484,0,0,0,0,0,0
$GC,7056,-0.68,-155.7,956.0,-8.2,590,7060,0.00,2.17,0.00,0.000,6,0.000,0.044,2517,1496,3484,0,0,0,0,0,0
$GC,7383,-0.68,-155.7,984.9,-8.9,606,7388,0.00,2.22,0.00,0.000,4,0.000,0.060,2507,2911,3482,0,0,0,0,0,0
$GC,7411,-0.68,-155.7,987.6,-8.7,607,7415,0.00,2.17,0.00,0.000,6,0.000,0.044,2507,1499,3482,0,0,0,0,0,0
$STATE,7456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7457,begin apogee
$GC,7465,-0.14,0.0,991.7,8.7,609,7599,0.60,0.00,126.50,1.472,6,0.132,0.000,2696,1865,2884,0,0,0,0,0,0
$STATE,7599,end apogee,CONTROL_FINISHED_OK
$STATE,7599,begin climb
$GC,7602,0.68,155.7,994.1,0.0,615,7751,0.75,2.40,141.57,1.407,4,0.073,0.062,2961,3245,2249,0,0,0,0,0,0
$GC,7790,0.68,155.7,972.7,15.9,624,7794,0.00,2.30,0.00,0.000,6,0.000,0.044,2971,1845,2244,0,0,0,0,0,0
$GC,8120,0.68,155.7,918.1,16.9,640,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1845,2239,0,0,0,0,0,0
$GC,8427,0.68,155.7,866.4,16.9,655,8431,0.00,2.20,0.00,0.000,4,0.000,0.057,2978,438,2237,0,0,0,0,0,0
$GC,8454,0.68,155.7,861.3,17.4,656,8458,0.00,2.22,0.00,0.000,6,0.000,0.047,2975,1855,2237,0,0,0,0,0,0
$GC,8777,0.68,155.7,809.0,16.0,672,8781,0.00,2.20,0.00,0.000,4,0.000,0.060,2975,3265,2236,0,0,0,0,0,0
$GC,8832,0.68,155.7,799.2,16.6,674,8837,0.00,2.20,0.00,0.000,6,0.000,0.044,2985,1833,2235,0,0,0,0,0,0
$GC,9156,0.68,155.7,747.5,15.9,690,9160,0.00,2.15,0.00,0.000,4,0.000,0.054,2996,439,2235,0,0,0,0,0,0
$GC,9203,0.68,155.7,740.0,16.3,692,9207,0.00,2.20,0.00,0.000,6,0.000,0.045,2986,1859,2234,0,0,0,0,0,0
$GC,9531,0.68,155.7,690.6,14.3,708,9535,0.00,2.17,0.00,0.000,4,0.000,0.059,2982,3254,2233,0,0,0,0,0,0
$GC,9644,0.68,155.7,674.0,14.9,713,9648,0.00,2.15,0.00,0.000,6,0.000,0.044,2993,1852,2232,0,0,0,0,0,0
$GC,9965,0.68,155.7,630.0,13.6,729,9969,0.00,2.17,0.00,0.000,4,0.000,0.052,3001,433,2232,0,0,0,0,0,0
$GC,10007,0.68,155.7,624.4,14.1,731,10012,0.15,2.20,0.00,0.000,6,0.187,0.044,2966,1862,2231,0,0,0,0,0,0
$GC,10327,0.68,155.7,582.0,14.1,752,10331,0.00,2.15,0.00,0.000,4,0.000,0.057,2955,3255,2231,0,0,0,0,0,0
$GC,10418,0.68,155.7,568.6,15.3,759,10426,0.00,2.15,0.00,0.000,6,0.000,0.041,2966,1845,2231,0,0,0,0,0,0
$GC,10743,0.68,155.7,519.1,14.6,790,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1845,2231,0,0,0,0,0,0
$GC,11066,0.68,155.7,477.0,12.4,820,11070,0.00,2.15,0.00,0.000,4,0.000,0.051,2978,436,2230,0,0,0,0,0,0
$GC,11121,0.68,155.7,468.9,13.3,824,11128,0.00,2.17,0.00,0.000,6,0.000,0.041,2969,1856,2230,0,0,0,0,0,0
$GC,11446,0.68,155.7,430.2,11.6,855,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1857,2230,0,0,0,0,0,0
$GC,11767,0.68,155.7,394.2,12.3,885,11771,0.00,2.15,0.00,0.000,4,0.000,0.056,2960,3260,2230,0,0,0,0,0,0
$GC,11854,0.68,155.7,382.9,13.3,892,11858,0.00,2.12,0.00,0.000,6,0.000,0.041,2968,1845,2230,0,0,0,0,0,0
$GC,12184,0.68,155.7,341.5,12.2,923,12188,0.00,2.15,0.00,0.000,4,0.000,0.049,2980,433,2230,0,0,0,0,0,0
$GC,12207,0.68,155.7,338.6,12.3,925,12211,0.00,2.15,0.00,0.000,6,0.000,0.040,2971,1847,2230,0,0,0,0,0,0
$GC,12532,0.68,155.7,300.4,11.2,955,12536,0.00,2.15,0.00,0.000,4,0.000,0.049,2980,442,2230,0,0,0,0,0,0
$GC,12596,0.68,155.7,292.6,12.3,960,12605,0.00,2.17,0.00,0.000,6,0.000,0.039,2973,1856,2230,0,0,0,0,0,0
$GC,12923,0.68,155.7,258.7,10.3,991,12927,0.00,2.12,0.00,0.000,4,0.000,0.052,2962,3255,2230,0,0,0,0,0,0
$GC,13070,0.68,155.7,243.2,10.8,1009,13078,0.00,2.15,0.00,0.000,6,0.000,0.037,2971,1843,2230,0,0,0,0,0,0
$GC,13396,0.68,155.7,208.2,10.6,1070,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1843,2230,0,0,0,0,0,0
$GC,13722,0.74,202.0,178.5,7.8,1131,13767,0.00,2.22,37.28,0.825,4,0.000,0.047,2981,440,2060,0,0,0,0,0,0
$GC,13781,0.78,236.4,173.6,8.3,1139,13819,0.00,2.20,30.50,0.798,6,0.000,0.037,2972,1850,1918,0,0,0,0,0,0
$GC,14139,0.81,260.4,138.5,8.7,1204,14169,0.00,2.22,20.90,0.755,4,0.000,0.050,2963,3254,1822,0,0,0,0,0,0
$GC,14200,0.85,290.8,133.2,8.4,1213,14239,0.10,2.17,28.20,0.757,6,0.051,0.036,3039,1854,1698,0,0,0,0,0,0
$GC,14559,0.85,290.8,83.2,14.6,1278,14566,0.00,2.20,0.00,0.000,4,0.000,0.046,3051,446,1693,0,0,0,0,0,0
$GC,14716,0.85,290.8,62.7,12.8,1307,14725,0.08,2.15,0.00,0.000,6,0.136,0.034,3023,1854,1692,0,0,0,0,0,0
$GC,15047,0.89,321.7,33.6,8.4,1368,15079,0.00,2.25,26.48,0.665,4,0.000,0.044,3031,437,1571,0,0,0,0,0,0
$GC,15131,0.95,370.9,27.2,7.6,1381,15179,0.00,2.17,41.80,0.660,6,0.000,0.033,3029,1860,1371,0,0,0,0,0,0
$STATE,15420,end climb,SURFACE_DEPTH_REACHED
$STATE,15421,begin surface coast
$FINISH,1.0,1.013698
$STATE,15457,end surface coast,CONTROL_FINISHED_OK
$STATE,15457,begin surface
$SM_CCo,15474,32.75,0.369,1,0,1252,400.08
$SM_GC,2.03,0.00,0.00,32.75,0.000,0.000,0.369,142,1484,1252,-8.13,-0.45,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2216.01,12400.15,310811,000020
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.58
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.70
$XPDR_PINGS,68
$24V_AH,23.1,35.272
$10V_AH,10.2,24.873
$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,19.225,142.475,453.225,32.750,0.000,30.447,41.466,222.634,17.000,0.000,39.780,3590.404,7827.525,548.168,3586.886,432.989,0.000,1911.307,0.000,3250.753,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,61.965,1471.860,369.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,985.707,1473.493,1699.409,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330248
$DATA_FILE_SIZE,80048,1439
$CAP_FILE_SIZE,163033,0
$CFSIZE,260165632,134504448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.217,253.0,1
$GPS,310811,090357,2217.632,12356.640,52,2.1,71,-3.0