version: 66.09
glider: 166
mission: 6
dive: 231
start: 9 15 111 16 17 2
data:
$ID,166
$MISSION,6
$DIVE,231
$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,260
$T_MISSION,290
$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,250
$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,450
$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,-24689.535
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,20
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,68
$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
$GPS1,150911,160931,2108.633,12339.953,41,1.0,41,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.5
$GPS2,150911,161638,2108.574,12340.112,16,1.0,16,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,285.2,312620,-17.2,-12.692
$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,-243.3,0.0,0.0,0,126,0.00,0.00,-106.38,0.000,2,0.000,0.000,154,1528,3091,0,0,0,0,0,0
$GC,129,-0.68,-243.3,5.6,-8.1,14,160,9.38,0.00,-14.48,0.000,6,0.225,0.000,2517,1529,3878,0,0,0,0,0,0
$GC,479,-0.57,-243.3,136.7,-25.6,78,487,0.15,0.00,0.00,0.000,6,0.175,0.000,2558,1529,3881,0,0,0,0,0,0
$GC,808,-0.52,-243.3,206.4,-20.2,139,815,0.00,1.02,0.00,0.000,4,0.000,0.046,2545,2221,3882,0,0,0,0,0,0
$GC,896,-0.49,-243.3,223.0,-18.2,154,905,0.12,1.02,0.00,0.000,6,0.130,0.042,2579,1541,3882,0,0,0,0,0,0
$GC,1233,-0.51,-243.3,262.0,-10.8,206,1237,0.00,1.02,0.00,0.000,4,0.000,0.045,2577,2226,3882,0,0,0,0,0,0
$GC,1349,-0.55,-243.3,274.8,-10.0,216,1358,0.00,1.00,0.00,0.000,6,0.000,0.040,2576,1555,3881,0,0,0,0,0,0
$GC,1677,-0.59,-243.3,311.0,-11.2,247,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1555,3880,0,0,0,0,0,0
$GC,1995,-0.62,-243.3,344.2,-9.9,277,1999,0.00,1.00,0.00,0.000,4,0.000,0.046,2574,2221,3878,0,0,0,0,0,0
$GC,2205,-0.68,-243.3,363.4,-8.5,295,2212,0.15,1.00,0.00,0.000,6,0.037,0.042,2489,1553,3877,0,0,0,0,0,0
$GC,2530,-0.61,-243.3,423.5,-19.7,326,2535,0.20,1.08,0.00,0.000,4,0.151,0.043,2551,840,3875,0,0,0,0,0,0
$GC,2554,-0.58,-243.3,427.5,-18.5,328,2557,0.00,1.02,0.00,0.000,6,0.000,0.042,2548,1527,3876,0,0,0,0,0,0
$GC,2885,-0.58,-243.3,469.6,-12.5,359,2888,0.00,1.05,0.00,0.000,4,0.000,0.048,2543,2239,3874,0,0,0,0,0,0
$GC,2946,-0.60,-243.3,477.5,-12.2,364,2954,0.00,1.05,0.00,0.000,6,0.000,0.044,2543,1542,3873,0,0,0,0,0,0
$GC,3272,-0.61,-243.3,518.6,-11.0,395,3276,0.00,1.05,0.00,0.000,4,0.000,0.049,2538,2234,3871,0,0,0,0,0,0
$GC,3433,-0.64,-243.3,534.4,-9.4,409,3436,0.00,1.02,0.00,0.000,6,0.000,0.045,2538,1556,3870,0,0,0,0,0,0
$GC,3764,-0.66,-243.3,569.5,-10.1,440,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1556,3868,0,0,0,0,0,0
$GC,4096,-0.68,-243.3,605.8,-11.8,469,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1556,3865,0,0,0,0,0,0
$GC,4401,-0.71,-243.3,642.1,-11.7,484,4405,0.00,1.05,0.00,0.000,4,0.000,0.052,2533,2238,3862,0,0,0,0,0,0
$GC,4480,-0.75,-243.3,650.9,-10.5,487,4484,0.00,1.05,0.00,0.000,6,0.000,0.047,2533,1552,3861,0,0,0,0,0,0
$GC,4804,-0.78,-243.3,684.9,-10.3,503,4806,0.12,0.00,0.00,0.000,6,0.086,0.000,2466,1552,3858,0,0,0,0,0,0
$GC,5111,-0.74,-243.3,731.2,-15.2,518,5112,0.15,0.00,0.00,0.000,6,0.160,0.000,2507,1552,3855,0,0,0,0,0,0
$GC,5423,-0.76,-243.3,769.9,-12.6,533,5427,0.00,1.08,0.00,0.000,4,0.000,0.055,2504,2243,3853,0,0,0,0,0,0
$GC,5473,-0.77,-243.3,776.6,-12.3,535,5476,0.00,1.08,0.00,0.000,6,0.000,0.048,2504,1546,3852,0,0,0,0,0,0
$GC,5802,-0.78,-243.3,818.3,-12.9,551,5806,0.00,1.08,0.00,0.000,4,0.000,0.057,2500,2236,3849,0,0,0,0,0,0
$GC,5864,-0.80,-243.3,826.4,-12.1,553,5871,0.00,1.05,0.00,0.000,6,0.000,0.049,2499,1557,3849,0,0,0,0,0,0
$GC,6181,-0.80,-243.3,865.5,-11.9,569,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1556,3847,0,0,0,0,0,0
$GC,6492,-0.80,-243.3,899.7,-10.7,584,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1557,3844,0,0,0,0,0,0
$GC,6799,-0.81,-243.3,933.1,-11.0,599,6803,0.00,1.05,0.00,0.000,4,0.000,0.058,2495,2230,3842,0,0,0,0,0,0
$GC,6871,-0.83,-243.3,940.6,-10.5,602,6874,0.00,1.05,0.00,0.000,6,0.000,0.050,2495,1550,3841,0,0,0,0,0,0
$GC,7204,-0.84,-243.3,981.2,-12.2,618,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1550,3839,0,0,0,0,0,0
$STATE,7283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7284,begin apogee
$GC,7290,-0.11,0.0,991.7,12.6,622,7502,0.65,0.00,203.12,1.431,6,0.122,0.000,2704,1817,2883,0,0,0,0,0,0
$STATE,7503,end apogee,CONTROL_FINISHED_OK
$STATE,7503,begin climb
$GC,7505,0.68,243.3,1002.8,0.0,632,7734,0.70,0.00,222.18,1.369,6,0.049,0.000,2966,1817,1892,0,0,0,0,0,0
$GC,8043,0.63,243.3,927.1,16.9,658,8046,0.00,1.10,0.00,0.000,4,0.000,0.063,2965,2517,1885,0,0,0,0,0,0
$GC,8091,0.59,243.3,919.4,16.7,660,8095,0.08,1.10,0.00,0.000,6,0.165,0.050,2945,1816,1885,0,0,0,0,0,0
$GC,8424,0.57,243.3,870.3,14.3,676,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1816,1882,0,0,0,0,0,0
$GC,8735,0.54,243.3,825.0,14.5,691,8739,0.00,1.10,0.00,0.000,4,0.000,0.060,2942,2516,1881,0,0,0,0,0,0
$GC,8840,0.53,243.3,809.2,14.8,695,8847,0.00,1.08,0.00,0.000,6,0.000,0.048,2945,1815,1880,0,0,0,0,0,0
$GC,9157,0.50,243.3,761.6,15.3,711,9159,0.12,0.00,0.00,0.000,6,0.175,0.000,2913,1814,1879,0,0,0,0,0,0
$GC,9468,0.52,253.4,722.9,12.3,726,9478,0.00,0.00,8.32,1.076,6,0.000,0.000,2913,1815,1850,0,0,0,0,0,0
$GC,9795,0.56,280.5,685.0,11.7,742,9826,0.00,1.12,26.90,1.216,4,0.000,0.054,2911,2533,1739,0,0,0,0,0,0
$GC,9916,0.63,313.0,670.4,11.6,747,9952,0.00,1.12,31.08,1.194,6,0.000,0.045,2914,1814,1608,0,0,0,0,0,0
$GC,10277,0.67,326.2,626.8,12.2,765,10300,0.12,1.10,13.02,1.095,4,0.087,0.050,2985,1115,1554,0,0,0,0,0,0
$GC,10339,0.64,326.2,616.0,18.0,767,10347,0.10,1.10,0.00,0.000,6,0.148,0.045,2954,1830,1552,0,0,0,0,0,0
$GC,10662,0.64,326.2,564.7,15.8,793,10665,0.00,1.02,0.00,0.000,4,0.000,0.054,2952,2510,1550,0,0,0,0,0,0
$GC,10729,0.64,326.2,553.8,15.9,799,10733,0.00,1.05,0.00,0.000,6,0.000,0.044,2955,1823,1550,0,0,0,0,0,0
$GC,11060,0.64,326.2,504.6,13.8,830,11064,0.00,1.05,0.00,0.000,4,0.000,0.049,2962,1122,1549,0,0,0,0,0,0
$GC,11120,0.64,326.2,496.3,13.3,835,11127,0.00,1.05,0.00,0.000,6,0.000,0.042,2959,1816,1549,0,0,0,0,0,0
$GC,11446,0.65,334.8,454.5,12.4,866,11459,0.00,1.10,8.55,0.919,4,0.000,0.053,2959,2525,1519,0,0,0,0,0,0
$GC,11575,0.65,338.3,438.8,12.6,877,11587,0.00,1.08,5.22,0.766,6,0.000,0.043,2962,1819,1503,0,0,0,0,0,0
$GC,11905,0.65,338.3,397.1,12.9,908,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1819,1502,0,0,0,0,0,0
$GC,12226,0.65,339.0,354.5,12.7,938,12229,0.00,1.05,0.00,0.000,4,0.000,0.046,2974,1111,1502,0,0,0,0,0,0
$GC,12300,0.68,357.1,345.4,12.1,944,12322,0.00,1.08,17.65,0.916,6,0.000,0.041,2974,1828,1427,0,0,0,0,0,0
$GC,12651,0.73,383.0,303.2,11.8,977,12678,0.00,0.00,23.60,0.885,6,0.000,0.000,2975,1828,1322,0,0,0,0,0,0
$GC,12997,0.78,398.9,262.1,12.1,1010,13022,0.00,1.12,15.35,0.816,4,0.000,0.044,2978,1113,1256,0,0,0,0,0,0
$GC,13144,0.92,483.6,246.8,9.7,1025,13225,0.15,1.05,71.68,0.848,6,0.042,0.038,3068,1823,910,0,0,0,0,0,0
$GC,13550,0.88,483.6,158.8,22.1,1096,13559,0.15,0.00,0.00,0.000,6,0.162,0.000,3028,1827,905,0,0,0,0,0,0
$GC,13881,0.92,492.4,107.3,12.4,1157,13896,0.00,0.00,7.95,0.611,6,0.000,0.000,3028,1827,874,0,0,0,0,0,0
$GC,14217,1.13,612.7,71.6,8.5,1219,14313,0.22,1.12,87.75,0.688,4,0.058,0.039,3152,1112,453,0,0,0,0,0,0
$GC,14388,1.11,612.7,37.9,21.2,1245,14397,0.15,1.08,0.00,0.000,6,0.132,0.037,3103,1830,444,0,0,0,0,0,0
$STATE,14613,end climb,SURFACE_DEPTH_REACHED
$STATE,14613,begin surface coast
$FINISH,1.2,1.021374
$STATE,14630,end surface coast,CONTROL_FINISHED_OK
$STATE,14630,begin surface
$SM_CCo,14708,0.00,0.000,0,0,439,599.76
$SM_GC,1.76,7.60,0.00,0.00,0.028,0.000,0.000,150,1529,439,-8.06,-0.59,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,12349.09,150911,111105
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.59
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.50
$XPDR_PINGS,76
$24V_AH,22.9,54.441
$10V_AH,10.0,38.261
$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,20.325,43.375,742.375,0.000,0.000,27.429,50.267,184.440,19.000,0.000,17.288,3179.039,7696.887,731.700,3100.199,408.696,0.000,1998.964,0.000,2829.938,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,62.730,1431.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.056,1319.954,1287.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330200
$DATA_FILE_SIZE,73567,1290
$CAP_FILE_SIZE,151090,0
$CFSIZE,260165632,127148032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.327, 88.6,1
$GPS,150911,202330,2109.550,12340.163,39,1.1,44,-2.7