version: 66.11
glider: 166
mission: 7
dive: 6
start: 6 27 112 21 39 53
data:
$ID,166
$MISSION,7
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1030
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,2
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0228
$MASS,52243
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,340
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25887.586
$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,2460
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,1857
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-28.661125
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043150801
$SEABIRD_T_H,0.00063196511
$SEABIRD_T_I,2.3897506e-05
$SEABIRD_T_J,2.561103e-06
$SEABIRD_C_G,-10.001128
$SEABIRD_C_H,1.125791
$SEABIRD_C_I,-0.0024671701
$SEABIRD_C_J,0.00026194067
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,270612,213228,4743.534,-12224.965,15,99.0,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.0
$GPS2,270612,213855,4743.544,-12224.971,10,1.9,15,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,0.193
$KALMAN_X,-325.7,-97.3,31.8,140.4,-142.4
$KALMAN_Y,-470.4,-542.4,-206.7,2901.5,79.8
$MHEAD_RNG_PITCHd_Wd,13.1,693,-21.3,-10.000
$D_GRID,177
$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,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.86,-108.1,0.0,0.0,0,70,0.00,0.00,-50.55,0.000,2,0.000,0.000,167,2089,1697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.87,-117.3,4.0,-6.9,5,105,7.93,1.55,-17.35,0.000,4,0.246,0.078,2175,3088,2337,0,0,0,0,0,0,25.78,26.04,26.39
$GC,223,-0.87,-117.3,24.6,-14.6,20,228,0.00,1.50,0.00,0.000,6,0.000,0.040,2174,2064,2337,0,0,0,0,0,0,28.83,26.19,28.83
$GC,266,-0.87,-117.3,30.9,-14.9,24,271,0.00,1.42,0.00,0.000,4,0.000,0.045,2172,1116,2337,0,0,0,0,0,0,28.83,26.20,28.83
$GC,499,-0.87,-117.3,66.6,-15.8,47,504,0.00,1.50,0.00,0.000,6,0.000,0.048,2166,2121,2336,0,0,0,0,0,0,28.83,26.29,28.83
$GC,542,-0.87,-117.3,73.3,-15.6,51,547,0.00,1.50,0.00,0.000,4,0.000,0.044,2168,1100,2337,0,0,0,0,0,0,28.83,26.33,28.83
$GC,776,-0.87,-117.3,105.2,-12.3,74,781,0.00,1.50,0.00,0.000,6,0.000,0.048,2155,2106,2337,0,0,0,0,0,0,28.83,26.38,28.83
$GC,820,-0.87,-117.3,110.3,-11.8,78,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2106,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,849,-0.87,-117.3,113.9,-12.3,81,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2106,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,879,-0.87,-117.3,117.6,-12.0,84,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2106,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,909,-0.87,-117.3,121.4,-12.6,87,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2104,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,939,-0.87,-117.3,125.1,-12.6,90,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2106,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.87,-117.3,128.9,-12.5,93,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2106,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,999,-0.87,-117.3,132.7,-12.3,96,1004,0.00,1.48,0.00,0.000,4,0.000,0.044,2153,1123,2337,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1025,-0.87,-117.3,135.6,-12.8,98,1033,0.12,1.50,0.00,0.000,6,0.211,0.049,2178,2131,2337,0,0,0,0,0,0,26.25,26.43,28.83
$GC,1063,-0.87,-117.3,140.7,-12.6,102,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2131,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1101,-0.87,-117.3,145.5,-12.1,106,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2131,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1131,-0.87,-117.3,149.2,-12.3,109,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2131,2337,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1140,begin apogee
$GC,1145,-0.19,0.0,150.5,-12.4,110,1263,0.70,0.00,101.50,1.150,6,0.165,0.000,2390,2131,1857,0,0,0,0,1,0,26.27,28.83,23.93
$STATE,1264,end apogee,CONTROL_FINISHED_OK
$STATE,1264,begin climb
$GC,1266,0.87,117.3,155.2,0.0,122,1389,1.05,1.65,108.05,1.137,4,0.114,0.063,2734,3088,1377,0,0,0,0,1,0,24.91,24.63,23.82
$GC,1430,0.87,117.3,142.1,12.4,138,1437,0.00,1.52,0.00,0.000,6,0.000,0.042,2735,2098,1381,0,0,0,0,0,0,28.83,25.26,28.83
$GC,1466,0.87,117.3,137.4,11.8,142,1471,0.00,1.60,0.00,0.000,4,0.000,0.063,2741,3090,1381,0,0,0,0,0,0,28.83,25.40,28.83
$GC,1502,0.87,117.3,133.5,11.6,145,1509,0.00,1.50,0.00,0.000,6,0.000,0.043,2744,2099,1381,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1539,0.87,117.3,128.4,12.8,149,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1569,0.87,117.3,124.5,13.0,152,1574,0.00,1.58,0.00,0.000,4,0.000,0.064,2746,3090,1380,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1636,0.87,117.3,116.2,13.1,158,1642,0.00,1.50,0.00,0.000,6,0.000,0.041,2750,2090,1381,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1672,0.87,117.3,111.0,12.9,162,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2086,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1702,0.87,117.3,107.3,12.3,165,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2086,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1732,0.87,117.3,103.5,12.5,168,1737,0.00,1.58,0.00,0.000,4,0.000,0.063,2752,3088,1381,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1764,0.87,117.3,99.4,12.9,171,1769,0.00,1.50,0.00,0.000,6,0.000,0.042,2756,2078,1381,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1807,0.87,117.3,93.9,12.6,175,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2078,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1837,0.87,117.3,90.0,13.0,178,1842,0.00,1.58,0.00,0.000,4,0.000,0.063,2758,3087,1381,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1909,0.87,117.3,80.0,14.1,185,1914,0.00,1.50,0.00,0.000,6,0.000,0.041,2763,2071,1381,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1952,0.87,117.3,74.5,12.8,189,1957,0.00,1.45,0.00,0.000,4,0.000,0.047,2769,1116,1380,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2060,0.87,117.3,62.0,12.1,199,2067,0.12,1.50,0.00,0.000,6,0.216,0.050,2744,2112,1380,0,0,0,0,0,0,26.04,26.21,28.83
$GC,2095,0.87,117.3,57.3,11.8,203,2100,0.00,1.50,0.00,0.000,4,0.000,0.064,2742,3090,1381,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2258,0.87,117.3,40.0,10.6,219,2263,0.00,1.50,0.00,0.000,6,0.000,0.043,2744,2066,1381,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2301,0.87,133.4,36.1,9.0,223,2312,0.00,1.45,7.12,0.223,4,0.000,0.046,2751,1121,1311,0,0,0,0,0,0,28.83,26.29,26.08
$GC,2466,0.87,133.4,17.9,11.9,239,2471,0.00,1.50,0.00,0.000,6,0.000,0.050,2752,2121,1313,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2508,0.87,133.4,13.5,10.4,243,2513,0.00,1.50,0.00,0.000,4,0.000,0.064,2752,3102,1312,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2555,0.88,142.9,9.5,9.4,247,2566,0.00,1.50,4.43,0.170,6,0.000,0.041,2759,2076,1269,0,0,0,0,0,0,28.83,26.39,26.21
$GC,2604,0.88,164.8,4.6,8.6,252,2619,0.00,1.60,8.88,0.152,4,0.000,0.063,2761,3079,1180,0,0,0,0,0,0,28.83,26.31,26.21
$GC,2849,0.95,336.4,4.8,-0.6,276,2927,0.00,1.48,69.47,0.146,6,0.000,0.041,2766,2093,479,0,0,0,0,0,0,28.83,26.44,26.10
$STATE,2937,end climb,SURFACE_DEPTH_REACHED
$STATE,2937,begin surface coast
$FINISH,0.4,1.007572
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2996,begin surface
$SM_CCo,3013,1.62,0.184,0,0,469,340.23
$SM_GC,2.33,7.03,0.00,1.62,0.060,0.000,0.184,154,2093,469,-7.14,-0.20,340.23,0,0,0,0,0,0,26.29,28.83,26.14
$IRIDIUM_FIX,4726.11,-12225.08,270612,202025
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.02
$INTERNAL_PRESSURE,9.18228
$TCM_TEMP,20.30
$XPDR_PINGS,14
$SC_FREEKB,7767680
$24V_AH,23.8,0.628
$10V_AH,9.8,0.410
$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,16.950,42.425,299.450,1.625,0.000,24.157,28.759,182.457,5.250,0.000,16.266,926.079,932.436,358.701,1025.971,171.880,33.213,845.660,0.000,745.380,0.000,12.199,0.000
$DEVICE_MAMPS,246.330,78.030,1149.795,184.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2999.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.872,0.000,0.000,0.000
$MEM,323356
$DATA_FILE_SIZE,10142,291
$CAP_FILE_SIZE,84598,0
$CFSIZE,260165632,257622016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270612,223102,4743.962,-12224.720,14,1.7,14,18.2