version: 66.09
glider: 166
mission: 6
dive: 81
start: 8 19 111 1 29 10
data:
$ID,166
$MISSION,6
$DIVE,81
$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,310
$T_MISSION,330
$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,475
$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,-24491.42
$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,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,190811,012144,2345.059,12337.185,42,2.5,61,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.4
$GPS2,190811,012846,2345.138,12337.243,14,3.1,33,-3.4
$SPEED_LIMITS,0.184,0.333
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,107.3,31400,-14.7,-10.645
$D_GRID,3171
$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,-0.83,-243.3,0.0,0.0,0,113,0.00,0.00,-94.28,0.000,2,0.000,0.000,154,1498,3127,0,0,0,0,0,0
$GC,116,-0.83,-243.3,6.1,-11.3,13,147,9.00,0.00,-13.65,0.000,6,0.225,0.000,2467,1495,3880,0,0,0,0,0,0
$GC,468,-0.54,-243.3,162.5,-36.2,77,476,0.32,2.00,0.00,0.000,4,0.174,0.038,2553,198,3883,0,0,0,0,0,0
$GC,628,-0.47,-243.3,197.7,-17.8,106,637,0.12,1.95,0.00,0.000,6,0.128,0.031,2590,1494,3884,0,0,0,0,0,0
$GC,957,-0.47,-243.3,243.4,-14.4,167,966,0.00,2.12,0.00,0.000,4,0.000,0.041,2581,2908,3884,0,0,0,0,0,0
$GC,1086,-0.52,-243.3,259.1,-11.0,183,1094,0.00,2.10,0.00,0.000,6,0.000,0.032,2584,1488,3884,0,0,0,0,0,0
$GC,1412,-0.54,-243.3,295.9,-9.9,214,1416,0.00,2.15,0.00,0.000,4,0.000,0.041,2575,2919,3883,0,0,0,0,0,0
$GC,1442,-0.56,-243.3,298.5,-9.4,216,1446,0.00,2.10,0.00,0.000,6,0.000,0.033,2582,1500,3883,0,0,0,0,0,0
$GC,1767,-0.56,-243.3,335.9,-12.8,246,1771,0.00,2.15,0.00,0.000,4,0.000,0.043,2579,2910,3882,0,0,0,0,0,0
$GC,1808,-0.60,-243.3,341.0,-12.4,249,1812,0.00,2.10,0.00,0.000,6,0.000,0.034,2579,1491,3882,0,0,0,0,0,0
$GC,2133,-0.60,-243.3,382.0,-11.1,279,2137,0.00,2.15,0.00,0.000,4,0.000,0.044,2570,2909,3880,0,0,0,0,0,0
$GC,2162,-0.62,-243.3,384.9,-10.3,281,2166,0.00,2.10,0.00,0.000,6,0.000,0.034,2570,1491,3880,0,0,0,0,0,0
$GC,2488,-0.62,-243.3,418.8,-10.3,311,2492,0.00,2.17,0.00,0.000,4,0.000,0.046,2561,2912,3879,0,0,0,0,0,0
$GC,2509,-0.62,-243.3,421.2,-10.6,312,2516,0.00,2.10,0.00,0.000,6,0.000,0.035,2560,1497,3878,0,0,0,0,0,0
$GC,2834,-0.62,-243.3,459.4,-12.3,343,2838,0.00,2.15,0.00,0.000,4,0.000,0.047,2550,2916,3876,0,0,0,0,0,0
$GC,2855,-0.62,-243.3,462.2,-12.5,344,2862,0.00,2.10,0.00,0.000,6,0.000,0.036,2550,1504,3876,0,0,0,0,0,0
$GC,3182,-0.62,-243.3,506.3,-13.6,375,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1503,3874,0,0,0,0,0,0
$GC,3500,-0.62,-243.3,546.7,-11.5,405,3504,0.00,2.15,0.00,0.000,4,0.000,0.050,2540,2907,3872,0,0,0,0,0,0
$GC,3563,-0.64,-243.3,553.3,-9.9,410,3567,0.00,2.10,0.00,0.000,6,0.000,0.039,2541,1495,3871,0,0,0,0,0,0
$GC,3889,-0.64,-243.3,589.6,-11.0,440,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1495,3869,0,0,0,0,0,0
$GC,4201,-0.64,-243.3,623.3,-10.7,460,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1495,3866,0,0,0,0,0,0
$GC,4512,-0.64,-243.3,655.4,-10.2,475,4516,0.00,2.17,0.00,0.000,4,0.000,0.055,2528,2903,3863,0,0,0,0,0,0
$GC,4561,-0.67,-243.3,660.6,-9.9,477,4565,0.00,2.10,0.00,0.000,6,0.000,0.041,2529,1501,3863,0,0,0,0,0,0
$GC,4880,-0.67,-243.3,694.6,-10.5,492,4884,0.00,2.17,0.00,0.000,4,0.000,0.057,2518,2913,3859,0,0,0,0,0,0
$GC,4912,-0.67,-243.3,698.4,-10.1,493,4916,0.00,2.12,0.00,0.000,6,0.000,0.042,2518,1495,3859,0,0,0,0,0,0
$GC,5234,-0.65,-243.3,733.2,-11.0,509,5238,0.00,2.20,0.00,0.000,4,0.000,0.057,2506,2907,3857,0,0,0,0,0,0
$GC,5257,-0.65,-243.3,735.7,-11.1,510,5262,0.00,2.15,0.00,0.000,6,0.000,0.043,2506,1491,3857,0,0,0,0,0,0
$GC,5587,-0.63,-243.3,775.8,-12.7,526,5589,0.12,0.00,0.00,0.000,6,0.163,0.000,2541,1489,3854,0,0,0,0,0,0
$GC,5896,-0.66,-243.3,808.3,-10.6,541,5900,0.00,2.20,0.00,0.000,4,0.000,0.058,2532,2911,3852,0,0,0,0,0,0
$GC,5952,-0.71,-243.3,814.5,-9.8,543,5956,0.00,2.15,0.00,0.000,6,0.000,0.044,2532,1501,3851,0,0,0,0,0,0
$GC,6269,-0.72,-243.3,849.1,-10.8,558,6273,0.00,2.20,0.00,0.000,4,0.000,0.059,2520,2908,3850,0,0,0,0,0,0
$GC,6315,-0.76,-243.3,853.7,-10.3,560,6319,0.00,2.15,0.00,0.000,6,0.000,0.045,2521,1494,3849,0,0,0,0,0,0
$GC,6642,-0.76,-243.3,888.7,-10.3,576,6646,0.00,2.20,0.00,0.000,4,0.000,0.060,2503,2901,3846,0,0,0,0,0,0
$GC,6689,-0.78,-243.3,893.5,-10.2,578,6693,0.00,2.15,0.00,0.000,6,0.000,0.045,2504,1489,3846,0,0,0,0,0,0
$GC,7016,-0.78,-243.3,927.4,-10.2,594,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1490,3844,0,0,0,0,0,0
$GC,7325,-0.78,-243.3,958.4,-9.9,609,7329,0.00,2.20,0.00,0.000,4,0.000,0.061,2490,2904,3841,0,0,0,0,0,0
$GC,7371,-0.78,-243.3,962.9,-9.8,611,7375,0.00,2.15,0.00,0.000,6,0.000,0.047,2491,1498,3841,0,0,0,0,0,0
$STATE,7634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7634,begin apogee
$GC,7640,-0.18,0.0,990.5,10.4,624,7845,0.57,0.00,197.73,1.446,6,0.120,0.000,2681,1847,2884,0,0,0,0,0,0
$STATE,7845,end apogee,CONTROL_FINISHED_OK
$STATE,7846,begin climb
$GC,7848,0.83,243.3,998.1,0.0,633,8073,0.90,2.40,216.10,1.382,4,0.054,0.061,3016,3249,1891,0,0,0,0,0,0
$GC,8158,0.64,243.3,944.5,22.6,648,8163,0.28,2.28,0.00,0.000,6,0.179,0.046,2954,1842,1886,0,0,0,0,0,0
$GC,8483,0.52,243.3,888.5,16.8,664,8485,0.15,0.00,0.00,0.000,6,0.176,0.000,2914,1843,1882,0,0,0,0,0,0
$GC,8789,0.47,243.3,845.3,13.6,679,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1842,1880,0,0,0,0,0,0
$GC,9100,0.41,243.3,802.0,14.1,694,9102,0.12,0.00,0.00,0.000,6,0.171,0.000,2878,1842,1880,0,0,0,0,0,0
$GC,9407,0.41,243.3,765.3,11.7,709,9411,0.00,2.17,0.00,0.000,4,0.000,0.054,2887,440,1878,0,0,0,0,0,0
$GC,9445,0.41,243.3,760.6,11.8,710,9452,0.00,2.17,0.00,0.000,6,0.000,0.043,2880,1836,1878,0,0,0,0,0,0
$GC,9763,0.44,263.4,726.8,10.1,726,9782,0.00,0.00,17.17,1.230,6,0.000,0.000,2880,1837,1809,0,0,0,0,0,0
$GC,10091,0.49,310.6,695.5,9.3,742,10137,0.00,0.00,44.15,1.252,6,0.000,0.000,2880,1838,1617,0,0,0,0,0,0
$GC,10444,0.55,333.8,662.0,10.0,759,10471,0.12,2.30,21.35,1.182,4,0.087,0.057,2942,3274,1522,0,0,0,0,0,0
$GC,10499,0.50,333.8,653.3,15.8,761,10504,0.17,2.25,0.00,0.000,6,0.163,0.042,2906,1838,1521,0,0,0,0,0,0
$GC,10817,0.50,333.8,613.2,12.3,776,10821,0.00,2.17,0.00,0.000,4,0.000,0.053,2915,436,1519,0,0,0,0,0,0
$GC,10855,0.50,333.8,608.0,12.4,777,10862,0.00,2.20,0.00,0.000,6,0.000,0.041,2915,1853,1518,0,0,0,0,0,0
$GC,11178,0.50,333.8,567.8,12.5,805,11182,0.00,2.17,0.00,0.000,4,0.000,0.057,2915,3271,1518,0,0,0,0,0,0
$GC,11211,0.50,333.8,563.4,12.7,807,11219,0.00,2.17,0.00,0.000,6,0.000,0.041,2925,1841,1518,0,0,0,0,0,0
$GC,11539,0.47,333.8,519.7,14.1,838,11543,0.00,2.15,0.00,0.000,4,0.000,0.052,2936,446,1517,0,0,0,0,0,0
$GC,11568,0.47,333.8,515.4,14.1,840,11573,0.15,2.12,0.00,0.000,6,0.145,0.041,2893,1853,1516,0,0,0,0,0,0
$GC,11896,0.53,346.4,480.4,10.3,870,11912,0.00,2.17,11.70,1.002,4,0.000,0.054,2892,3261,1470,0,0,0,0,0,0
$GC,11936,0.58,346.4,475.6,10.9,873,11940,0.00,2.15,0.00,0.000,6,0.000,0.039,2900,1849,1470,0,0,0,0,0,0
$GC,12264,0.64,368.8,440.8,10.0,903,12291,0.15,2.22,20.52,1.018,4,0.075,0.050,2989,450,1379,0,0,0,0,0,0
$GC,12322,0.57,368.8,432.0,16.8,908,12327,0.20,2.17,0.00,0.000,6,0.148,0.039,2932,1863,1378,0,0,0,0,0,0
$GC,12647,0.57,368.8,389.0,13.0,938,12651,0.00,2.12,0.00,0.000,4,0.000,0.053,2932,3253,1378,0,0,0,0,0,0
$GC,12687,0.57,368.8,383.9,12.7,941,12691,0.00,2.12,0.00,0.000,6,0.000,0.037,2940,1847,1377,0,0,0,0,0,0
$GC,13012,0.57,368.8,342.3,12.5,971,13016,0.00,2.12,0.00,0.000,4,0.000,0.049,2953,441,1377,0,0,0,0,0,0
$GC,13085,0.59,368.8,333.0,12.5,977,13090,0.00,2.12,0.00,0.000,6,0.000,0.037,2955,1844,1377,0,0,0,0,0,0
$GC,13412,0.59,368.8,290.0,13.3,1007,13416,0.00,2.12,0.00,0.000,4,0.000,0.050,2957,3258,1377,0,0,0,0,0,0
$GC,13486,0.61,368.8,279.9,13.4,1013,13490,0.00,2.12,0.00,0.000,6,0.000,0.036,2964,1835,1377,0,0,0,0,0,0
$GC,13815,0.61,368.8,236.9,12.5,1052,13823,0.00,2.12,0.00,0.000,4,0.000,0.047,2977,446,1377,0,0,0,0,0,0
$GC,13862,0.61,368.8,230.9,12.7,1060,13871,0.10,2.12,0.00,0.000,6,0.115,0.034,2944,1844,1377,0,0,0,0,0,0
$GC,14192,0.74,428.5,201.7,8.9,1121,14254,0.12,2.22,50.08,0.820,4,0.085,0.048,3020,3249,1136,0,0,0,0,0,0
$GC,14265,0.67,428.5,191.2,17.0,1130,14274,0.20,2.17,0.00,0.000,6,0.132,0.034,2968,1846,1136,0,0,0,0,0,0
$GC,14596,0.77,460.7,154.8,9.7,1191,14628,0.00,2.25,27.23,0.748,4,0.000,0.047,2977,434,1004,0,0,0,0,0,0
$GC,14691,0.93,514.8,145.7,9.1,1206,14748,0.15,2.17,45.38,0.747,6,0.037,0.032,3072,1857,782,0,0,0,0,0,0
$GC,15068,0.89,514.8,68.4,15.4,1273,15076,0.15,2.15,0.00,0.000,4,0.148,0.046,3019,3246,778,0,0,0,0,0,0
$GC,15138,1.09,589.1,60.8,8.5,1285,15205,0.15,2.12,60.20,0.682,6,0.041,0.033,3125,1847,479,0,0,0,0,0,0
$STATE,15414,end climb,SURFACE_DEPTH_REACHED
$STATE,15414,begin surface coast
$FINISH,1.1,1.021299
$STATE,15428,end surface coast,CONTROL_FINISHED_OK
$STATE,15428,begin surface
$SM_CCo,15505,0.00,0.000,0,0,470,592.15
$SM_GC,1.92,7.85,0.00,0.00,0.037,0.000,0.000,152,1479,470,-8.06,-0.59,592.15,0,0,0,0,0,0
$IRIDIUM_FIX,2335.63,12334.88,180811,202020
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.56
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.20
$XPDR_PINGS,46
$24V_AH,23.4,21.754
$10V_AH,10.3,14.281
$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,21.125,130.500,711.600,0.000,0.000,30.743,21.893,190.843,11.500,0.000,34.902,3313.258,8336.308,709.275,3137.530,411.814,0.000,2025.039,0.000,2868.020,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,61.200,1445.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.705,1365.770,1308.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330204
$DATA_FILE_SIZE,76879,1335
$CAP_FILE_SIZE,163768,0
$CFSIZE,260165632,140161024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192, 25.2,1
$GPS,190811,054927,2345.805,12340.898,54,2.2,73,-3.4