version: 66.09
glider: 166
mission: 6
dive: 147
start: 8 31 111 9 14 57
data:
$ID,166
$MISSION,6
$DIVE,147
$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,595.83368
$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,-24579.541
$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,49
$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
$GPS1,310811,090357,2217.632,12356.640,52,2.1,71,-3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-63.7
$GPS2,310811,091434,2217.485,12356.500,12,99.0,31,-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,134.1,88149,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-155.7,0.0,0.0,0,95,0.00,0.00,-74.97,0.000,2,0.000,0.000,139,1482,3075,0,0,0,0,0,0
$GC,97,-0.68,-155.7,5.7,-9.7,10,122,9.32,2.25,-8.62,0.000,4,0.227,0.057,2508,2908,3521,0,0,0,0,0,0
$GC,235,-0.68,-155.7,57.1,-27.5,33,243,0.00,2.17,0.00,0.000,6,0.000,0.038,2509,1510,3523,0,0,0,0,0,0
$GC,560,-0.68,-155.7,129.6,-17.5,94,568,0.00,2.05,0.00,0.000,4,0.000,0.046,2505,198,3525,0,0,0,0,0,0
$GC,615,-0.68,-155.7,140.5,-20.0,103,623,0.00,2.00,0.00,0.000,6,0.000,0.039,2497,1493,3525,0,0,0,0,0,0
$GC,942,-0.68,-155.7,201.5,-17.2,164,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1495,3526,0,0,0,0,0,0
$GC,1273,-0.68,-155.7,258.0,-17.2,222,1277,0.00,2.03,0.00,0.000,4,0.000,0.045,2497,193,3526,0,0,0,0,0,0
$GC,1322,-0.68,-155.7,267.5,-17.8,226,1331,0.10,2.00,0.00,0.000,6,0.143,0.037,2521,1503,3526,0,0,0,0,0,0
$GC,1648,-0.68,-155.7,313.4,-12.2,257,1652,0.00,2.05,0.00,0.000,4,0.000,0.047,2523,180,3525,0,0,0,0,0,0
$GC,1698,-0.68,-155.7,320.1,-13.0,261,1705,0.00,2.03,0.00,0.000,6,0.000,0.037,2515,1510,3525,0,0,0,0,0,0
$GC,2023,-0.68,-155.7,363.8,-13.7,292,2027,0.00,2.03,0.00,0.000,4,0.000,0.047,2516,202,3524,0,0,0,0,0,0
$GC,2073,-0.68,-155.7,371.2,-14.8,296,2081,0.00,1.98,0.00,0.000,6,0.000,0.037,2507,1496,3523,0,0,0,0,0,0
$GC,2400,-0.68,-155.7,418.8,-15.1,327,2404,0.00,2.12,0.00,0.000,4,0.000,0.048,2498,2910,3521,0,0,0,0,0,0
$GC,2453,-0.68,-155.7,426.5,-14.0,331,2457,0.00,2.15,0.00,0.000,6,0.000,0.038,2509,1488,3521,0,0,0,0,0,0
$GC,2779,-0.68,-155.7,471.2,-12.6,361,2783,0.00,1.98,0.00,0.000,4,0.000,0.050,2512,188,3519,0,0,0,0,0,0
$GC,2886,-0.68,-155.7,484.3,-12.0,370,2893,0.00,2.00,0.00,0.000,6,0.000,0.040,2504,1504,3518,0,0,0,0,0,0
$GC,3212,-0.68,-155.7,516.6,-9.3,401,3215,0.00,2.00,0.00,0.000,4,0.000,0.049,2504,199,3515,0,0,0,0,0,0
$GC,3327,-0.68,-155.7,529.2,-12.0,411,3331,0.10,1.98,0.00,0.000,6,0.182,0.039,2519,1505,3514,0,0,0,0,0,0
$GC,3659,-0.68,-155.7,561.9,-10.0,442,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1505,3511,0,0,0,0,0,0
$GC,3977,-0.68,-155.7,594.8,-9.9,472,3981,0.00,2.17,0.00,0.000,4,0.000,0.054,2510,2912,3509,0,0,0,0,0,0
$GC,4005,-0.68,-155.7,597.9,-9.9,474,4009,0.00,2.15,0.00,0.000,6,0.000,0.041,2510,1503,3508,0,0,0,0,0,0
$GC,4323,-0.68,-155.7,635.7,-12.9,490,4327,0.00,2.00,0.00,0.000,4,0.000,0.053,2508,199,3506,0,0,0,0,0,0
$GC,4446,-0.68,-155.7,653.8,-14.4,495,4450,0.00,2.00,0.00,0.000,6,0.000,0.041,2497,1496,3505,0,0,0,0,0,0
$GC,4770,-0.68,-155.7,697.9,-13.4,511,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1496,3501,0,0,0,0,0,0
$GC,5081,-0.68,-155.7,737.2,-12.3,526,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1496,3499,0,0,0,0,0,0
$GC,5387,-0.68,-155.7,771.9,-10.5,541,5392,0.10,2.20,0.00,0.000,4,0.190,0.057,2510,2907,3497,0,0,0,0,0,0
$GC,5438,-0.68,-155.7,776.5,-8.9,543,5442,0.00,2.17,0.00,0.000,6,0.000,0.044,2510,1493,3496,0,0,0,0,0,0
$GC,5755,-0.68,-155.7,804.2,-8.9,558,5759,0.00,2.22,0.00,0.000,4,0.000,0.057,2498,2907,3494,0,0,0,0,0,0
$GC,5790,-0.68,-155.7,807.3,-8.8,559,5796,0.00,2.17,0.00,0.000,6,0.000,0.043,2499,1491,3494,0,0,0,0,0,0
$GC,6106,-0.68,-155.7,837.9,-9.6,575,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1491,3492,0,0,0,0,0,0
$GC,6415,-0.68,-155.7,868.2,-9.8,590,6419,0.00,2.03,0.00,0.000,4,0.000,0.057,2500,199,3490,0,0,0,0,0,0
$GC,6495,-0.68,-155.7,877.0,-11.4,593,6499,0.12,2.03,0.00,0.000,6,0.170,0.044,2526,1517,3489,0,0,0,0,0,0
$GC,6816,-0.68,-155.7,903.4,-8.0,609,6820,0.00,2.15,0.00,0.000,4,0.000,0.058,2517,2910,3487,0,0,0,0,0,0
$GC,6896,-0.68,-155.7,909.7,-7.8,612,6904,0.00,2.17,0.00,0.000,6,0.000,0.044,2519,1494,3487,0,0,0,0,0,0
$GC,7212,-0.68,-155.7,935.2,-7.9,628,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1494,3485,0,0,0,0,0,0
$GC,7522,-0.68,-155.7,958.6,-7.2,643,7526,0.00,2.25,0.00,0.000,4,0.000,0.060,2514,2909,3484,0,0,0,0,0,0
$GC,7557,-0.68,-155.7,961.0,-7.1,644,7561,0.00,2.17,0.00,0.000,6,0.000,0.044,2513,1496,3484,0,0,0,0,0,0
$GC,7879,-0.68,-155.7,986.5,-8.3,660,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1496,3482,0,0,0,0,0,0
$STATE,7917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7917,begin apogee
$GC,7923,-0.14,0.0,990.0,8.5,662,8058,0.57,0.00,126.65,1.470,6,0.128,0.000,2696,1859,2884,0,0,0,0,0,0
$STATE,8058,end apogee,CONTROL_FINISHED_OK
$STATE,8058,begin climb
$GC,8061,0.68,155.7,991.7,0.0,668,8211,0.75,0.00,142.18,1.406,6,0.074,0.000,2960,1859,2249,0,0,0,0,0,0
$GC,8511,0.68,155.7,934.8,14.5,690,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1858,2240,0,0,0,0,0,0
$GC,8823,0.68,155.7,890.5,14.0,705,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1858,2238,0,0,0,0,0,0
$GC,9131,0.68,155.7,849.4,12.8,720,9135,0.00,2.25,0.00,0.000,4,0.000,0.057,2971,445,2237,0,0,0,0,0,0
$GC,9164,0.68,155.7,844.6,13.0,721,9171,0.00,2.20,0.00,0.000,6,0.000,0.047,2966,1845,2236,0,0,0,0,0,0
$GC,9481,0.68,155.7,804.3,12.9,737,9485,0.00,2.22,0.00,0.000,4,0.000,0.062,2963,3273,2236,0,0,0,0,0,0
$GC,9610,0.68,155.7,787.2,13.1,742,9617,0.00,2.20,0.00,0.000,6,0.000,0.043,2970,1844,2234,0,0,0,0,0,0
$GC,9926,0.68,155.7,744.9,13.3,758,9930,0.00,2.25,0.00,0.000,4,0.000,0.060,2960,3267,2234,0,0,0,0,0,0
$GC,9986,0.68,155.7,736.6,13.4,760,9997,0.00,2.20,0.00,0.000,6,0.000,0.044,2969,1843,2233,0,0,0,0,0,0
$GC,10304,0.68,155.7,693.7,14.1,776,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1842,2232,0,0,0,0,0,0
$GC,10612,0.68,155.7,650.2,13.7,791,10616,0.00,2.17,0.00,0.000,4,0.000,0.054,2979,443,2232,0,0,0,0,0,0
$GC,10638,0.68,155.7,646.3,13.7,792,10643,0.00,2.20,0.00,0.000,6,0.000,0.044,2975,1862,2232,0,0,0,0,0,0
$GC,10968,0.68,155.7,600.9,13.9,808,10972,0.00,2.15,0.00,0.000,4,0.000,0.058,2978,3260,2232,0,0,0,0,0,0
$GC,11079,0.68,155.7,585.4,14.6,817,11083,0.00,2.17,0.00,0.000,6,0.000,0.041,2987,1834,2231,0,0,0,0,0,0
$GC,11404,0.68,155.7,539.1,14.3,847,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1834,2231,0,0,0,0,0,0
$GC,11727,0.68,155.7,497.2,12.3,877,11731,0.00,2.12,0.00,0.000,4,0.000,0.050,2999,443,2230,0,0,0,0,0,0
$GC,11782,0.68,155.7,489.4,12.8,881,11789,0.00,2.17,0.00,0.000,6,0.000,0.041,2991,1866,2230,0,0,0,0,0,0
$GC,12108,0.68,155.7,449.4,12.3,912,12112,0.00,2.15,0.00,0.000,4,0.000,0.054,2991,3258,2230,0,0,0,0,0,0
$GC,12239,0.68,155.7,432.4,12.7,923,12244,0.15,2.15,0.00,0.000,6,0.193,0.040,2964,1842,2230,0,0,0,0,0,0
$GC,12567,0.68,155.7,398.8,10.0,953,12571,0.00,2.20,0.00,0.000,4,0.000,0.051,2955,3255,2230,0,0,0,0,0,0
$GC,12631,0.68,155.7,391.8,11.0,958,12635,0.00,2.15,0.00,0.000,6,0.000,0.038,2964,1836,2230,0,0,0,0,0,0
$GC,12958,0.68,155.7,358.8,10.6,988,12962,0.00,2.12,0.00,0.000,4,0.000,0.049,2974,446,2230,0,0,0,0,0,0
$GC,13003,0.68,155.7,353.6,11.5,992,13007,0.00,2.15,0.00,0.000,6,0.000,0.038,2966,1866,2230,0,0,0,0,0,0
$GC,13330,0.68,155.7,316.7,10.7,1022,13334,0.00,2.15,0.00,0.000,4,0.000,0.057,2956,3261,2230,0,0,0,0,0,0
$GC,13458,0.68,155.7,303.1,9.9,1033,13465,0.00,2.12,0.00,0.000,6,0.000,0.037,2964,1848,2229,0,0,0,0,0,0
$GC,13783,0.71,179.2,275.7,8.7,1064,13809,0.00,2.20,18.35,0.879,4,0.000,0.047,2957,3258,2152,0,0,0,0,0,0
$GC,13832,0.73,190.2,271.2,9.2,1068,13850,0.00,2.15,11.62,0.822,6,0.000,0.036,2965,1842,2107,0,0,0,0,0,0
$GC,14174,0.73,190.2,235.7,10.5,1111,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1842,2105,0,0,0,0,0,0
$GC,14500,0.78,231.7,207.3,8.0,1172,14546,0.00,2.30,36.05,0.836,4,0.000,0.047,2956,3254,1938,0,0,0,0,0,0
$GC,14585,0.83,277.8,200.5,7.8,1185,14637,0.10,2.20,40.75,0.817,6,0.053,0.036,3029,1849,1751,0,0,0,0,0,0
$GC,14961,0.83,277.8,142.6,16.1,1252,14970,0.00,2.20,0.00,0.000,4,0.000,0.045,3039,452,1745,0,0,0,0,0,0
$GC,15009,0.83,277.8,134.5,16.5,1260,15018,0.00,2.15,0.00,0.000,6,0.000,0.034,3035,1846,1745,0,0,0,0,0,0
$GC,15336,0.83,277.8,86.3,12.6,1321,15344,0.00,2.17,0.00,0.000,4,0.000,0.047,3037,3253,1745,0,0,0,0,0,0
$GC,15416,0.83,277.8,75.8,12.9,1335,15425,0.08,2.15,0.00,0.000,6,0.142,0.035,3020,1848,1745,0,0,0,0,0,0
$GC,15746,0.91,340.6,48.9,7.1,1396,15807,0.00,2.20,52.85,0.684,4,0.000,0.044,3029,440,1493,0,0,0,0,0,0
$GC,15871,0.95,374.7,39.4,8.3,1415,15910,0.00,2.17,29.40,0.655,6,0.000,0.032,3028,1857,1355,0,0,0,0,0,0
$GC,16230,1.04,448.3,11.8,6.6,1480,16297,0.15,0.00,60.35,0.636,6,0.073,0.000,3114,1860,1054,0,0,0,0,0,0
$STATE,16303,end climb,SURFACE_DEPTH_REACHED
$STATE,16303,begin surface coast
$FINISH,0.9,1.021553
$STATE,16323,end surface coast,CONTROL_FINISHED_OK
$STATE,16324,begin surface
$SM_CCo,16343,93.80,0.541,1,0,454,595.83
$SM_GC,1.55,0.00,0.00,93.80,0.000,0.000,0.541,136,1485,454,-8.16,-0.45,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2209.02,12355.61,310811,040422
$TT8_MAMPS,0.026964,0.026964
$HUMID,32.79
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,26.20
$XPDR_PINGS,81
$24V_AH,23.0,35.456
$10V_AH,10.2,25.040
$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,19.350,129.275,518.200,93.800,0.000,171.644,41.210,0.000,20.250,0.000,32.864,3688.805,8699.938,681.901,3541.159,449.839,0.000,2075.140,0.000,3300.861,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,61.965,1469.565,540.855,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.226,1530.980,1684.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330320
$DATA_FILE_SIZE,83553,1493
$CAP_FILE_SIZE,166098,0
$CFSIZE,260165632,134369280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.121,274.4,1
$GPS,310811,135032,2216.282,12357.322,45,2.0,52,-3.0