version: 66.09
glider: 166
mission: 6
dive: 237
start: 9 16 111 17 54 17
data:
$ID,166
$MISSION,6
$DIVE,237
$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,-24697.082
$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,43
$R_STBD_OVSHOOT,59
$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
$GPS1,160911,174225,2112.727,12339.127,42,1.3,42,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-69.5
$GPS2,160911,175349,2112.605,12339.396,12,1.7,17,-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,282.5,306675,-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,16,-0.68,-243.3,0.0,0.0,0,127,0.00,0.00,-108.25,0.000,2,0.000,0.000,148,1539,3072,0,0,0,0,0,0
$GC,130,-0.68,-243.3,5.4,-6.7,15,162,9.23,0.00,-15.10,0.000,6,0.219,0.000,2515,1538,3878,0,0,0,0,0,0
$GC,483,-0.57,-243.3,131.5,-26.0,79,491,0.15,1.05,0.00,0.000,4,0.173,0.042,2542,2236,3880,0,0,0,0,0,0
$GC,575,-0.53,-243.3,149.4,-18.5,95,583,0.10,1.02,0.00,0.000,6,0.141,0.041,2571,1551,3881,0,0,0,0,0,0
$GC,904,-0.53,-243.3,202.2,-16.0,156,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1551,3881,0,0,0,0,0,0
$GC,1232,-0.54,-243.3,249.2,-12.5,217,1241,0.00,1.02,0.00,0.000,4,0.000,0.044,2568,2230,3881,0,0,0,0,0,0
$GC,1315,-0.58,-243.3,259.2,-11.2,225,1319,0.00,1.02,0.00,0.000,6,0.000,0.040,2569,1543,3880,0,0,0,0,0,0
$GC,1650,-0.60,-243.3,296.2,-9.9,256,1654,0.00,1.02,0.00,0.000,4,0.000,0.046,2568,2228,3879,0,0,0,0,0,0
$GC,1729,-0.63,-243.3,304.0,-9.5,263,1733,0.00,1.00,0.00,0.000,6,0.000,0.041,2567,1556,3878,0,0,0,0,0,0
$GC,2061,-0.66,-243.3,337.5,-10.8,294,2065,0.12,1.02,0.00,0.000,4,0.084,0.047,2496,2226,3877,0,0,0,0,0,0
$GC,2141,-0.61,-243.3,350.7,-17.2,301,2145,0.15,1.02,0.00,0.000,6,0.132,0.043,2547,1543,3876,0,0,0,0,0,0
$GC,2471,-0.61,-243.3,398.4,-13.7,332,2474,0.00,1.02,0.00,0.000,4,0.000,0.047,2550,2225,3874,0,0,0,0,0,0
$GC,2598,-0.63,-243.3,414.4,-12.3,343,2601,0.00,1.02,0.00,0.000,6,0.000,0.043,2550,1542,3873,0,0,0,0,0,0
$GC,2929,-0.65,-243.3,455.7,-11.2,374,2933,0.00,1.05,0.00,0.000,4,0.000,0.049,2545,2231,3872,0,0,0,0,0,0
$GC,3002,-0.68,-243.3,462.9,-9.1,380,3008,0.00,1.02,0.00,0.000,6,0.000,0.044,2545,1553,3871,0,0,0,0,0,0
$GC,3328,-0.69,-243.3,496.8,-11.3,411,3331,0.00,1.02,0.00,0.000,4,0.000,0.048,2540,2227,3869,0,0,0,0,0,0
$GC,3401,-0.72,-243.3,505.4,-11.1,417,3409,0.00,1.02,0.00,0.000,6,0.000,0.043,2540,1551,3868,0,0,0,0,0,0
$GC,3727,-0.74,-243.3,546.0,-13.1,448,3731,0.10,1.05,0.00,0.000,4,0.096,0.052,2476,2225,3866,0,0,0,0,0,0
$GC,3787,-0.72,-243.3,555.8,-16.6,453,3795,0.10,1.02,0.00,0.000,6,0.136,0.045,2509,1553,3865,0,0,0,0,0,0
$GC,4122,-0.72,-243.3,603.7,-13.0,484,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1553,3862,0,0,0,0,0,0
$GC,4432,-0.72,-243.3,640.4,-11.1,499,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1553,3859,0,0,0,0,0,0
$GC,4744,-0.72,-243.3,676.1,-12.2,514,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1553,3856,0,0,0,0,0,0
$GC,5050,-0.72,-243.3,712.5,-11.6,529,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1553,3854,0,0,0,0,0,0
$GC,5362,-0.73,-243.3,747.0,-11.3,544,5366,0.00,1.05,0.00,0.000,4,0.000,0.055,2507,2228,3851,0,0,0,0,0,0
$GC,5423,-0.74,-243.3,754.1,-11.1,546,5429,0.00,1.05,0.00,0.000,6,0.000,0.047,2506,1547,3849,0,0,0,0,0,0
$GC,5740,-0.75,-243.3,790.5,-11.4,562,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1547,3847,0,0,0,0,0,0
$GC,6051,-0.77,-243.3,825.2,-11.0,577,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1547,3845,0,0,0,0,0,0
$GC,6362,-0.78,-243.3,860.4,-11.6,592,6365,0.00,1.05,0.00,0.000,4,0.000,0.058,2502,2218,3842,0,0,0,0,0,0
$GC,6455,-0.80,-243.3,871.3,-11.4,596,6459,0.00,1.02,0.00,0.000,6,0.000,0.051,2502,1557,3842,0,0,0,0,0,0
$GC,6788,-0.81,-243.3,911.1,-11.6,612,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1557,3839,0,0,0,0,0,0
$GC,7100,-0.83,-243.3,944.1,-10.1,627,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1557,3837,0,0,0,0,0,0
$GC,7408,-0.85,-243.3,973.1,-9.4,642,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1557,3835,0,0,0,0,0,0
$STATE,7590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7590,begin apogee
$GC,7596,-0.11,0.0,990.7,9.5,651,7803,0.62,0.00,202.15,1.435,6,0.119,0.000,2706,1794,2884,0,0,0,0,0,0
$STATE,7804,end apogee,CONTROL_FINISHED_OK
$STATE,7804,begin climb
$GC,7807,0.68,243.3,998.0,0.0,660,8037,0.70,1.27,221.98,1.372,4,0.050,0.063,2971,2511,1891,0,0,0,0,0,0
$GC,8230,0.64,243.3,941.1,16.3,680,8235,0.00,1.10,0.00,0.000,6,0.000,0.052,2974,1826,1885,0,0,0,0,0,0
$GC,8558,0.59,243.3,887.6,16.3,696,8560,0.12,0.00,0.00,0.000,6,0.184,0.000,2938,1826,1882,0,0,0,0,0,0
$GC,8869,0.56,243.3,843.1,14.6,711,8873,0.00,1.08,0.00,0.000,4,0.000,0.058,2933,2513,1881,0,0,0,0,0,0
$GC,8975,0.55,243.3,827.3,14.1,715,8982,0.00,1.10,0.00,0.000,6,0.000,0.048,2936,1804,1880,0,0,0,0,0,0
$GC,9293,0.53,243.3,781.0,15.0,731,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1804,1879,0,0,0,0,0,0
$GC,9601,0.51,243.3,734.7,14.6,746,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1804,1878,0,0,0,0,0,0
$GC,9910,0.50,243.3,689.9,14.5,761,9913,0.00,1.12,0.00,0.000,4,0.000,0.054,2933,2522,1877,0,0,0,0,0,0
$GC,10033,0.50,243.3,672.6,13.2,766,10038,0.08,1.10,0.00,0.000,6,0.153,0.045,2910,1811,1877,0,0,0,0,0,0
$GC,10357,0.55,285.6,635.7,11.2,782,10401,0.00,1.12,37.75,1.206,4,0.000,0.050,2914,1113,1718,0,0,0,0,0,0
$GC,10456,0.62,327.0,625.0,11.2,786,10501,0.00,1.12,38.78,1.174,6,0.000,0.046,2911,1827,1550,0,0,0,0,0,0
$GC,10820,0.73,387.3,584.1,10.6,810,10878,0.20,0.00,54.10,1.156,6,0.070,0.000,3005,1828,1304,0,0,0,0,0,0
$GC,11197,0.68,387.3,508.1,20.5,846,11199,0.15,0.00,0.00,0.000,6,0.169,0.000,2966,1831,1299,0,0,0,0,0,0
$GC,11515,0.68,387.3,456.9,16.5,876,11518,0.00,1.05,0.00,0.000,4,0.000,0.053,2966,2516,1298,0,0,0,0,0,0
$GC,11595,0.68,387.3,443.8,16.2,883,11599,0.00,1.08,0.00,0.000,6,0.000,0.042,2970,1810,1298,0,0,0,0,0,0
$GC,11926,0.68,387.3,389.6,16.8,914,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1810,1298,0,0,0,0,0,0
$GC,12248,0.69,387.3,344.4,13.5,944,12252,0.00,1.02,0.00,0.000,4,0.000,0.046,2980,1120,1297,0,0,0,0,0,0
$GC,12351,0.71,387.3,329.6,13.3,953,12355,0.00,1.05,0.00,0.000,6,0.000,0.041,2977,1825,1297,0,0,0,0,0,0
$GC,12682,0.73,387.3,284.7,13.5,984,12686,0.00,1.08,0.00,0.000,4,0.000,0.046,2981,1117,1297,0,0,0,0,0,0
$GC,12741,0.77,393.3,277.0,12.5,989,12751,0.00,1.05,5.40,0.661,6,0.000,0.040,2978,1822,1280,0,0,0,0,0,0
$GC,13071,0.83,420.0,236.1,11.8,1030,13102,0.10,1.12,24.45,0.832,4,0.103,0.044,3047,1108,1170,0,0,0,0,0,0
$GC,13175,0.81,420.0,218.5,19.4,1046,13184,0.12,1.08,0.00,0.000,6,0.129,0.038,3005,1825,1169,0,0,0,0,0,0
$GC,13505,0.82,420.0,169.3,13.6,1107,13512,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1825,1169,0,0,0,0,0,0
$GC,13833,0.88,447.8,128.5,11.7,1168,13863,0.00,1.05,24.55,0.728,4,0.000,0.040,3009,1115,1056,0,0,0,0,0,0
$GC,13926,0.99,502.7,117.8,10.8,1183,13980,0.12,1.05,46.35,0.725,6,0.042,0.036,3092,1829,832,0,0,0,0,0,0
$GC,14303,0.98,502.7,45.0,17.2,1250,14311,0.12,0.00,0.00,0.000,6,0.159,0.000,3059,1832,828,0,0,0,0,0,0
$GC,14629,1.14,589.2,11.7,9.7,1311,14690,0.15,0.00,58.35,0.631,2,0.074,0.000,3150,1832,545,0,0,0,0,0,0
$STATE,14691,end climb,SURFACE_DEPTH_REACHED
$STATE,14691,begin surface coast
$FINISH,1.1,1.021344
$STATE,14710,end surface coast,CONTROL_FINISHED_OK
$STATE,14710,begin surface
$SM_CCo,14789,0.00,0.000,0,0,538,575.47
$SM_GC,1.77,7.95,0.00,0.00,0.035,0.000,0.000,154,1553,538,-8.05,0.08,575.47,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12338.84,160911,171748
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.39
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.40
$XPDR_PINGS,66
$24V_AH,22.9,55.996
$10V_AH,10.0,39.175
$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,20.400,41.075,713.850,0.000,0.000,57.115,82.243,298.819,16.500,0.000,17.924,3257.415,7692.986,679.103,3406.702,422.657,0.000,1969.030,0.000,2956.031,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,63.495,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,902.026,1353.025,1445.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330188
$DATA_FILE_SIZE,73522,1322
$CAP_FILE_SIZE,154543,0
$CFSIZE,260165632,126636032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.330, 84.1,1
$GPS,160911,220201,2113.633,12339.446,39,1.1,39,-2.7