version: 66.09
glider: 166
mission: 6
dive: 149
start: 8 31 111 18 50 38
data:
$ID,166
$MISSION,6
$DIVE,149
$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,-24582.059
$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,42
$R_STBD_OVSHOOT,49
$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
$GPS1,310811,184307,2214.282,12357.876,56,1.6,56,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.4
$GPS2,310811,185013,2214.336,12357.871,15,1.7,32,-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,165.3,82192,-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,-155.7,0.0,0.0,0,103,0.00,0.00,-83.05,0.000,2,0.000,0.000,138,1519,3335,0,0,0,0,0,0
$GC,105,-0.68,-155.7,7.1,-12.2,11,130,9.38,2.12,-3.35,0.000,4,0.226,0.051,2506,2906,3522,0,0,0,0,0,0
$GC,219,-0.68,-155.7,58.3,-36.7,30,227,0.00,2.17,0.00,0.000,6,0.000,0.037,2507,1500,3524,0,0,0,0,0,0
$GC,545,-0.68,-155.7,137.4,-15.9,91,553,0.00,2.17,0.00,0.000,4,0.000,0.048,2496,2889,3526,0,0,0,0,0,0
$GC,605,-0.68,-155.7,148.7,-17.8,101,613,0.00,2.15,0.00,0.000,6,0.000,0.037,2495,1494,3526,0,0,0,0,0,0
$GC,936,-0.68,-155.7,226.4,-24.0,162,944,0.10,2.03,0.00,0.000,4,0.185,0.047,2529,205,3528,0,0,0,0,0,0
$GC,1017,-0.68,-155.7,242.6,-17.8,176,1025,0.00,1.98,0.00,0.000,6,0.000,0.038,2522,1492,3528,0,0,0,0,0,0
$GC,1351,-0.68,-155.7,286.8,-12.0,211,1355,0.00,2.00,0.00,0.000,4,0.000,0.045,2522,198,3527,0,0,0,0,0,0
$GC,1411,-0.68,-155.7,295.5,-14.1,216,1420,0.00,1.98,0.00,0.000,6,0.000,0.036,2512,1500,3527,0,0,0,0,0,0
$GC,1738,-0.68,-155.7,345.1,-17.0,247,1742,0.00,2.12,0.00,0.000,4,0.000,0.050,2506,2902,3527,0,0,0,0,0,0
$GC,1789,-0.68,-155.7,353.8,-15.3,251,1793,0.00,2.12,0.00,0.000,6,0.000,0.038,2505,1494,3527,0,0,0,0,0,0
$GC,2114,-0.68,-155.7,401.6,-12.9,281,2118,0.00,1.98,0.00,0.000,4,0.000,0.049,2517,204,3525,0,0,0,0,0,0
$GC,2193,-0.68,-155.7,412.1,-12.7,288,2197,0.00,1.95,0.00,0.000,6,0.000,0.037,2510,1496,3524,0,0,0,0,0,0
$GC,2524,-0.68,-155.7,450.5,-11.5,319,2527,0.00,2.03,0.00,0.000,4,0.000,0.049,2511,197,3522,0,0,0,0,0,0
$GC,2604,-0.68,-155.7,461.3,-13.9,326,2607,0.00,1.98,0.00,0.000,6,0.000,0.037,2502,1503,3522,0,0,0,0,0,0
$GC,2934,-0.68,-155.7,508.2,-14.0,357,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1503,3519,0,0,0,0,0,0
$GC,3254,-0.68,-155.7,550.5,-13.5,387,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1505,3517,0,0,0,0,0,0
$GC,3577,-0.68,-155.7,586.8,-10.3,417,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1505,3514,0,0,0,0,0,0
$GC,3906,-0.68,-155.7,626.1,-12.4,439,3910,0.00,2.05,0.00,0.000,4,0.000,0.053,2499,198,3510,0,0,0,0,0,0
$GC,4079,-0.68,-155.7,651.8,-15.3,447,4084,0.12,1.98,0.00,0.000,6,0.172,0.041,2520,1503,3508,0,0,0,0,0,0
$GC,4406,-0.68,-155.7,694.3,-13.1,463,4410,0.00,2.15,0.00,0.000,4,0.000,0.055,2518,2905,3505,0,0,0,0,0,0
$GC,4448,-0.68,-155.7,699.4,-12.9,465,4452,0.00,2.12,0.00,0.000,6,0.000,0.042,2518,1504,3505,0,0,0,0,0,0
$GC,4776,-0.68,-155.7,738.7,-11.1,481,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1504,3502,0,0,0,0,0,0
$GC,5084,-0.68,-155.7,763.9,-6.9,496,5088,0.00,2.17,0.00,0.000,4,0.000,0.057,2508,2903,3500,0,0,0,0,0,0
$GC,5113,-0.68,-155.7,765.9,-6.8,497,5117,0.00,2.15,0.00,0.000,6,0.000,0.044,2508,1489,3499,0,0,0,0,0,0
$GC,5434,-0.68,-155.7,790.5,-8.1,513,5438,0.00,2.22,0.00,0.000,4,0.000,0.057,2498,2904,3497,0,0,0,0,0,0
$GC,5474,-0.68,-155.7,793.9,-8.4,515,5478,0.00,2.12,0.00,0.000,6,0.000,0.044,2498,1501,3497,0,0,0,0,0,0
$GC,5802,-0.68,-155.7,827.8,-11.0,531,5806,0.00,2.03,0.00,0.000,4,0.000,0.057,2498,205,3494,0,0,0,0,0,0
$GC,5863,-0.68,-155.7,835.8,-12.3,533,5872,0.10,2.00,0.00,0.000,6,0.148,0.044,2520,1489,3494,0,0,0,0,0,0
$GC,6181,-0.68,-155.7,868.7,-10.8,549,6185,0.00,2.20,0.00,0.000,4,0.000,0.057,2511,2912,3492,0,0,0,0,0,0
$GC,6258,-0.68,-155.7,877.7,-11.3,552,6262,0.00,2.15,0.00,0.000,6,0.000,0.044,2511,1493,3491,0,0,0,0,0,0
$GC,6580,-0.68,-155.7,917.2,-12.4,568,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1492,3489,0,0,0,0,0,0
$GC,6891,-0.68,-155.7,954.5,-11.7,583,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1493,3488,0,0,0,0,0,0
$GC,7199,-0.68,-155.7,989.1,-11.1,598,7203,0.00,2.22,0.00,0.000,4,0.000,0.061,2501,2905,3486,0,0,0,0,0,0
$STATE,7208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7208,begin apogee
$GC,7215,-0.14,0.0,990.6,11.0,598,7353,0.60,0.00,126.95,1.457,6,0.129,0.000,2692,1844,2884,0,0,0,0,0,0
$STATE,7354,end apogee,CONTROL_FINISHED_OK
$STATE,7354,begin climb
$GC,7356,0.68,155.7,995.1,0.0,605,7509,0.77,2.53,142.00,1.398,4,0.073,0.063,2963,3254,2249,0,0,0,0,0,0
$GC,7548,0.68,155.7,975.3,16.1,613,7556,0.00,2.30,0.00,0.000,6,0.000,0.045,2972,1852,2245,0,0,0,0,0,0
$GC,7864,0.68,155.7,924.1,16.4,629,7868,0.00,2.22,0.00,0.000,4,0.000,0.057,2986,437,2240,0,0,0,0,0,0
$GC,7892,0.68,155.7,919.1,17.5,630,7897,0.00,2.20,0.00,0.000,6,0.000,0.048,2981,1847,2239,0,0,0,0,0,0
$GC,8214,0.68,155.7,862.4,17.6,646,8218,0.00,2.22,0.00,0.000,4,0.000,0.060,2976,3262,2237,0,0,0,0,0,0
$GC,8300,0.68,155.7,846.8,18.3,650,8304,0.00,2.17,0.00,0.000,6,0.000,0.044,2984,1834,2237,0,0,0,0,0,0
$GC,8629,0.68,155.7,787.6,17.6,666,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1833,2235,0,0,0,0,0,0
$GC,8936,0.68,155.7,739.1,15.2,681,8940,0.00,2.25,0.00,0.000,4,0.000,0.058,2973,3263,2234,0,0,0,0,0,0
$GC,8964,0.68,155.7,734.7,15.2,682,8968,0.00,2.17,0.00,0.000,6,0.000,0.042,2982,1842,2234,0,0,0,0,0,0
$GC,9286,0.68,155.7,686.2,15.7,698,9290,0.00,2.22,0.00,0.000,4,0.000,0.057,2976,3258,2233,0,0,0,0,0,0
$GC,9336,0.68,155.7,678.2,15.3,700,9340,0.00,2.15,0.00,0.000,6,0.000,0.041,2986,1828,2232,0,0,0,0,0,0
$GC,9660,0.68,155.7,631.7,13.6,716,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1828,2232,0,0,0,0,0,0
$GC,9968,0.68,155.7,595.0,11.8,733,9972,0.00,2.10,0.00,0.000,4,0.000,0.051,2994,445,2231,0,0,0,0,0,0
$GC,9990,0.68,155.7,592.2,12.0,734,9997,0.00,2.12,0.00,0.000,6,0.000,0.040,2987,1858,2231,0,0,0,0,0,0
$GC,10315,0.68,155.7,548.1,14.4,765,10319,0.00,2.15,0.00,0.000,4,0.000,0.055,2977,3260,2231,0,0,0,0,0,0
$GC,10478,0.68,155.7,522.8,15.9,779,10482,0.00,2.12,0.00,0.000,6,0.000,0.041,2987,1841,2230,0,0,0,0,0,0
$GC,10803,0.68,155.7,473.4,15.2,809,10807,0.00,2.20,0.00,0.000,4,0.000,0.052,2979,3255,2231,0,0,0,0,0,0
$GC,10928,0.68,155.7,455.1,15.2,819,10934,0.00,2.10,0.00,0.000,6,0.000,0.039,2991,1851,2230,0,0,0,0,0,0
$GC,11253,0.68,155.7,411.8,12.9,850,11257,0.00,2.15,0.00,0.000,4,0.000,0.048,3003,443,2230,0,0,0,0,0,0
$GC,11298,0.68,155.7,405.7,13.7,853,11306,0.00,2.12,0.00,0.000,6,0.000,0.038,2995,1862,2230,0,0,0,0,0,0
$GC,11623,0.68,155.7,363.2,13.2,884,11627,0.00,2.12,0.00,0.000,4,0.000,0.053,2986,3248,2230,0,0,0,0,0,0
$GC,11826,0.68,155.7,335.3,13.5,901,11834,0.00,2.12,0.00,0.000,6,0.000,0.038,2994,1851,2229,0,0,0,0,0,0
$GC,12152,0.68,155.7,293.8,12.5,932,12156,0.00,2.15,0.00,0.000,4,0.000,0.054,3005,441,2229,0,0,0,0,0,0
$GC,12180,0.68,155.7,290.4,12.2,934,12188,0.08,2.15,0.00,0.000,6,0.171,0.037,2972,1848,2229,0,0,0,0,0,0
$GC,12506,0.70,166.4,256.5,9.3,965,12520,0.00,2.22,7.22,0.750,4,0.000,0.047,2982,437,2205,0,0,0,0,0,0
$GC,12580,0.70,172.9,250.1,9.4,971,12592,0.00,2.12,7.40,0.746,6,0.000,0.037,2980,1854,2179,0,0,0,0,0,0
$GC,12914,0.71,178.8,216.4,9.5,1032,12930,0.00,2.17,6.90,0.702,4,0.000,0.050,2980,3251,2155,0,0,0,0,0,0
$GC,13013,0.71,178.8,206.0,10.6,1049,13021,0.00,2.15,0.00,0.000,6,0.000,0.036,2988,1841,2155,0,0,0,0,0,0
$GC,13340,0.75,208.4,172.8,8.5,1110,13370,0.00,0.00,26.80,0.797,6,0.000,0.000,2988,1841,2034,0,0,0,0,0,0
$GC,13692,0.77,228.2,141.2,8.9,1174,13716,0.00,2.25,17.95,0.737,4,0.000,0.045,2980,3252,1953,0,0,0,0,0,0
$GC,13762,0.79,240.5,134.5,9.2,1185,13780,0.00,2.17,11.82,0.692,6,0.000,0.034,2988,1839,1903,0,0,0,0,0,0
$GC,14101,0.79,245.5,94.6,9.5,1247,14117,0.00,2.17,5.50,0.544,4,0.000,0.044,2999,444,1882,0,0,0,0,0,0
$GC,14141,0.82,267.1,91.1,8.8,1253,14172,0.00,2.15,20.12,0.695,6,0.000,0.033,2991,1853,1793,0,0,0,0,0,0
$GC,14491,0.94,363.8,73.6,5.7,1317,14582,0.15,2.20,80.43,0.700,4,0.076,0.043,3070,3263,1398,0,0,0,0,0,0
$GC,14692,0.94,363.8,48.3,13.7,1349,14702,0.08,2.17,0.00,0.000,6,0.146,0.034,3054,1855,1397,0,0,0,0,0,0
$GC,15022,0.95,373.0,13.2,9.3,1410,15038,0.00,2.15,8.40,0.539,4,0.000,0.043,3062,443,1362,0,0,0,0,0,0
$GC,15111,0.95,373.0,4.3,11.7,1425,15120,0.00,2.12,0.00,0.000,6,0.000,0.031,3054,1853,1362,0,0,0,0,0,0
$STATE,15126,end climb,SURFACE_DEPTH_REACHED
$STATE,15126,begin surface coast
$FINISH,1.0,1.010275
$STATE,15154,end surface coast,CONTROL_FINISHED_OK
$STATE,15154,begin surface
$SM_CCo,15171,30.48,0.340,1,0,1253,400.08
$SM_GC,2.04,0.00,0.00,30.48,0.000,0.000,0.340,123,1470,1253,-8.19,-0.85,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2209.02,12358.84,310811,141444
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.48
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,26.30
$XPDR_PINGS,71
$24V_AH,23.1,35.809
$10V_AH,10.1,25.375
$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,18.800,132.700,461.500,30.475,0.000,35.969,21.618,192.197,17.750,0.000,35.698,3553.699,7543.406,582.865,3499.936,439.641,0.000,1925.146,0.000,3237.053,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,62.730,1457.325,339.660,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,979.212,1466.637,1737.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80406,1432
$CAP_FILE_SIZE,159793,0
$CFSIZE,260165632,134242304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,197.1,1
$GPS,310811,230551,2211.387,12358.403,43,99.0,62,-3.0