version: 66.09
glider: 166
mission: 6
dive: 88
start: 8 20 111 9 48 46
data:
$ID,166
$MISSION,6
$DIVE,88
$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,-24500.33
$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,40
$R_STBD_OVSHOOT,50
$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
$GPS1,200811,093736,2348.670,12355.462,86,1.9,91,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.0
$GPS2,200811,094822,2348.730,12355.443,11,99.0,30,-3.4
$SPEED_LIMITS,0.184,0.333
$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,215.6,257048,-14.7,-10.645
$D_GRID,2973
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.83,-243.3,0.0,0.0,0,114,0.00,0.00,-91.95,0.000,2,0.000,0.000,133,1496,3144,0,0,0,0,0,0
$GC,117,-0.83,-243.3,6.0,-10.9,13,149,9.10,2.03,-13.43,0.000,4,0.226,0.056,2477,195,3880,0,0,0,0,0,0
$GC,385,-0.61,-243.3,102.8,-28.2,61,393,0.22,1.98,0.00,0.000,6,0.158,0.032,2537,1502,3881,0,0,0,0,0,0
$GC,712,-0.47,-243.3,183.6,-23.6,122,721,0.17,2.03,0.00,0.000,4,0.161,0.041,2586,204,3883,0,0,0,0,0,0
$GC,769,-0.47,-243.3,195.3,-17.5,131,778,0.00,1.95,0.00,0.000,6,0.000,0.033,2579,1502,3883,0,0,0,0,0,0
$GC,1097,-0.44,-243.3,247.5,-14.0,192,1105,0.00,2.10,0.00,0.000,4,0.000,0.044,2569,2892,3883,0,0,0,0,0,0
$GC,1147,-0.46,-243.3,254.4,-12.0,198,1155,0.00,2.10,0.00,0.000,6,0.000,0.034,2569,1497,3883,0,0,0,0,0,0
$GC,1474,-0.43,-243.3,296.9,-12.8,229,1479,0.12,2.15,0.00,0.000,4,0.156,0.045,2598,2907,3883,0,0,0,0,0,0
$GC,1547,-0.52,-243.3,304.1,-8.3,235,1551,0.00,2.08,0.00,0.000,6,0.000,0.034,2598,1496,3883,0,0,0,0,0,0
$GC,1879,-0.57,-243.3,333.1,-8.8,266,1883,0.12,2.15,0.00,0.000,4,0.079,0.046,2512,2898,3880,0,0,0,0,0,0
$GC,1904,-0.57,-243.3,335.6,-9.5,268,1909,0.17,2.10,0.00,0.000,6,0.140,0.036,2563,1494,3880,0,0,0,0,0,0
$GC,2230,-0.55,-243.3,374.6,-12.4,298,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1494,3878,0,0,0,0,0,0
$GC,2552,-0.55,-243.3,409.9,-11.0,328,2556,0.00,2.15,0.00,0.000,4,0.000,0.048,2562,2905,3877,0,0,0,0,0,0
$GC,2593,-0.57,-243.3,414.6,-10.6,331,2597,0.00,2.10,0.00,0.000,6,0.000,0.037,2561,1506,3876,0,0,0,0,0,0
$GC,2918,-0.57,-243.3,451.6,-11.6,361,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1506,3874,0,0,0,0,0,0
$GC,3238,-0.57,-243.3,488.0,-11.0,391,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1506,3872,0,0,0,0,0,0
$GC,3560,-0.59,-243.3,519.7,-9.7,421,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1505,3870,0,0,0,0,0,0
$GC,3887,-0.62,-243.3,550.9,-9.7,452,3891,0.00,2.15,0.00,0.000,4,0.000,0.051,2556,2895,3866,0,0,0,0,0,0
$GC,3930,-0.66,-243.3,555.0,-9.6,455,3934,0.00,2.12,0.00,0.000,6,0.000,0.041,2560,1491,3865,0,0,0,0,0,0
$GC,4256,-0.68,-243.3,594.4,-12.2,485,4260,0.00,2.17,0.00,0.000,4,0.000,0.054,2550,2899,3863,0,0,0,0,0,0
$GC,4286,-0.70,-243.3,597.8,-12.0,487,4290,0.00,2.12,0.00,0.000,6,0.000,0.041,2550,1495,3863,0,0,0,0,0,0
$GC,4613,-0.70,-243.3,638.8,-11.6,503,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1495,3860,0,0,0,0,0,0
$GC,4923,-0.72,-243.3,669.6,-9.7,518,4925,0.10,0.00,0.00,0.000,6,0.100,0.000,2493,1495,3857,0,0,0,0,0,0
$GC,5235,-0.65,-243.3,713.6,-14.9,533,5237,0.15,0.00,0.00,0.000,6,0.161,0.000,2531,1495,3855,0,0,0,0,0,0
$GC,5541,-0.65,-243.3,748.2,-11.1,548,5545,0.00,2.17,0.00,0.000,4,0.000,0.054,2518,2896,3852,0,0,0,0,0,0
$GC,5570,-0.65,-243.3,751.5,-11.3,549,5574,0.00,2.12,0.00,0.000,6,0.000,0.043,2519,1500,3852,0,0,0,0,0,0
$GC,5886,-0.65,-243.3,788.6,-11.6,564,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1500,3849,0,0,0,0,0,0
$GC,6196,-0.65,-243.3,821.4,-9.9,579,6200,0.00,2.20,0.00,0.000,4,0.000,0.058,2504,2892,3847,0,0,0,0,0,0
$GC,6225,-0.65,-243.3,824.2,-9.6,580,6230,0.10,2.12,0.00,0.000,6,0.159,0.045,2532,1503,3847,0,0,0,0,0,0
$GC,6543,-0.68,-243.3,847.9,-7.1,595,6547,0.00,2.17,0.00,0.000,4,0.000,0.058,2523,2901,3844,0,0,0,0,0,0
$GC,6575,-0.71,-243.3,849.9,-7.2,596,6579,0.00,2.15,0.00,0.000,6,0.000,0.044,2524,1490,3844,0,0,0,0,0,0
$GC,6891,-0.72,-243.3,874.5,-8.3,611,6895,0.00,2.20,0.00,0.000,4,0.000,0.057,2513,2902,3841,0,0,0,0,0,0
$GC,6935,-0.76,-243.3,878.6,-9.0,613,6939,0.00,2.15,0.00,0.000,6,0.000,0.044,2514,1494,3840,0,0,0,0,0,0
$GC,7258,-0.76,-243.3,912.1,-11.0,629,7263,0.00,2.20,0.00,0.000,4,0.000,0.059,2503,2901,3838,0,0,0,0,0,0
$GC,7292,-0.77,-243.3,916.0,-10.8,630,7298,0.00,2.15,0.00,0.000,6,0.000,0.045,2503,1494,3838,0,0,0,0,0,0
$GC,7609,-0.77,-243.3,952.0,-11.1,646,7613,0.00,2.20,0.00,0.000,4,0.000,0.060,2494,2901,3836,0,0,0,0,0,0
$GC,7636,-0.77,-243.3,955.3,-10.6,647,7640,0.00,2.15,0.00,0.000,6,0.000,0.045,2493,1488,3836,0,0,0,0,0,0
$STATE,7956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7956,begin apogee
$GC,7962,-0.18,0.0,991.1,11.8,663,8165,0.57,0.00,197.43,1.442,6,0.127,0.000,2688,1839,2883,0,0,0,0,0,0
$STATE,8166,end apogee,CONTROL_FINISHED_OK
$STATE,8166,begin climb
$GC,8169,0.83,243.3,1000.6,0.0,672,8395,0.90,2.42,216.30,1.375,4,0.057,0.063,3001,3253,1892,0,0,0,0,0,0
$GC,8438,0.63,243.3,960.8,23.3,684,8445,0.22,2.30,0.00,0.000,6,0.187,0.044,2954,1845,1888,0,0,0,0,0,0
$GC,8754,0.50,243.3,904.9,17.5,700,8759,0.17,2.28,0.00,0.000,4,0.174,0.060,2898,3261,1884,0,0,0,0,0,0
$GC,8795,0.44,243.3,898.4,14.7,702,8799,0.00,2.20,0.00,0.000,6,0.000,0.044,2905,1836,1883,0,0,0,0,0,0
$GC,9130,0.39,243.3,853.1,13.5,718,9135,0.12,2.25,0.00,0.000,4,0.175,0.059,2870,3255,1882,0,0,0,0,0,0
$GC,9171,0.39,243.3,848.0,11.7,720,9175,0.00,2.15,0.00,0.000,6,0.000,0.041,2878,1850,1881,0,0,0,0,0,0
$GC,9500,0.39,246.4,813.1,10.6,736,9504,0.00,2.20,0.00,0.000,4,0.000,0.054,2889,443,1880,0,0,0,0,0,0
$GC,9540,0.39,246.4,808.3,11.5,738,9544,0.00,2.17,0.00,0.000,6,0.000,0.044,2888,1853,1879,0,0,0,0,0,0
$GC,9868,0.37,246.4,771.4,10.7,754,9872,0.00,2.17,0.00,0.000,4,0.000,0.059,2888,3253,1879,0,0,0,0,0,0
$GC,9960,0.37,246.4,761.6,10.8,758,9965,0.12,2.12,0.00,0.000,6,0.174,0.041,2867,1844,1878,0,0,0,0,0,0
$GC,10294,0.49,330.8,732.9,8.2,774,10384,0.10,2.30,77.82,1.287,4,0.101,0.052,2933,441,1535,0,0,0,0,0,0
$GC,10412,0.46,330.8,717.0,14.3,779,10417,0.15,2.25,0.00,0.000,6,0.148,0.042,2893,1852,1533,0,0,0,0,0,0
$GC,10735,0.46,330.8,682.1,10.8,795,10739,0.00,2.17,0.00,0.000,4,0.000,0.057,2892,3255,1530,0,0,0,0,0,0
$GC,10790,0.50,330.8,675.8,10.8,797,10797,0.00,2.15,0.00,0.000,6,0.000,0.041,2900,1851,1530,0,0,0,0,0,0
$GC,11106,0.50,330.8,638.2,12.8,813,11110,0.00,2.17,0.00,0.000,4,0.000,0.051,2910,433,1530,0,0,0,0,0,0
$GC,11140,0.50,330.8,633.5,13.6,814,11144,0.00,2.20,0.00,0.000,6,0.000,0.041,2910,1854,1527,0,0,0,0,0,0
$GC,11458,0.50,330.8,590.7,12.9,832,11462,0.00,2.17,0.00,0.000,4,0.000,0.057,2910,3262,1527,0,0,0,0,0,0
$GC,11544,0.51,330.8,579.8,12.6,839,11548,0.00,2.15,0.00,0.000,6,0.000,0.039,2921,1839,1527,0,0,0,0,0,0
$GC,11869,0.49,330.8,538.7,12.5,869,11873,0.00,2.17,0.00,0.000,4,0.000,0.053,2921,3261,1527,0,0,0,0,0,0
$GC,11902,0.49,330.8,534.2,12.9,871,11910,0.00,2.15,0.00,0.000,6,0.000,0.039,2930,1838,1527,0,0,0,0,0,0
$GC,12228,0.46,330.8,492.0,13.6,902,12233,0.12,2.17,0.00,0.000,4,0.171,0.053,2898,3263,1527,0,0,0,0,0,0
$GC,12268,0.48,330.8,487.4,11.8,905,12272,0.00,2.12,0.00,0.000,6,0.000,0.038,2907,1848,1527,0,0,0,0,0,0
$GC,12593,0.53,352.9,454.9,10.0,935,12618,0.00,2.25,18.92,1.034,4,0.000,0.049,2922,442,1445,0,0,0,0,0,0
$GC,12656,0.60,382.9,448.9,9.8,940,12690,0.00,2.17,27.30,1.034,6,0.000,0.037,2921,1868,1321,0,0,0,0,0,0
$GC,13008,0.63,382.9,408.5,12.2,973,13012,0.00,2.17,0.00,0.000,4,0.000,0.053,2926,3254,1319,0,0,0,0,0,0
$GC,13075,0.69,382.9,400.0,12.3,978,13082,0.00,2.15,0.00,0.000,6,0.000,0.037,2936,1846,1319,0,0,0,0,0,0
$GC,13401,0.72,382.9,360.0,11.5,1009,13406,0.12,2.20,0.00,0.000,4,0.084,0.049,3013,441,1319,0,0,0,0,0,0
$GC,13458,0.66,382.9,350.6,18.3,1013,13466,0.17,2.17,0.00,0.000,6,0.143,0.039,2964,1864,1318,0,0,0,0,0,0
$GC,13784,0.63,382.9,301.8,15.2,1044,13788,0.00,2.15,0.00,0.000,4,0.000,0.051,2962,3252,1318,0,0,0,0,0,0
$GC,13904,0.65,382.9,285.1,14.2,1054,13908,0.00,2.12,0.00,0.000,6,0.000,0.036,2971,1840,1318,0,0,0,0,0,0
$GC,14233,0.63,382.9,235.5,14.7,1092,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1840,1318,0,0,0,0,0,0
$GC,14558,0.63,382.9,193.9,11.0,1153,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1840,1318,0,0,0,0,0,0
$GC,14883,0.63,382.9,158.0,11.0,1214,14891,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1839,1318,0,0,0,0,0,0
$GC,15209,0.71,432.9,126.0,9.2,1275,15262,0.00,2.20,41.88,0.745,4,0.000,0.046,2987,447,1118,0,0,0,0,0,0
$GC,15286,0.83,485.0,118.7,9.1,1286,15339,0.00,2.15,43.35,0.727,6,0.000,0.034,2987,1852,905,0,0,0,0,0,0
$GC,15660,1.11,620.3,87.9,6.7,1353,15756,0.28,0.00,89.55,0.698,6,0.050,0.000,3138,1855,453,0,0,0,0,0,0
$GC,16079,1.06,620.3,5.5,19.9,1426,16088,0.17,2.22,0.00,0.000,4,0.148,0.046,3097,446,445,0,0,0,0,0,0
$STATE,16095,end climb,SURFACE_DEPTH_REACHED
$STATE,16095,begin surface coast
$FINISH,1.1,0.999108
$STATE,16112,end surface coast,CONTROL_FINISHED_OK
$STATE,16112,begin surface
$SM_CCo,16191,0.00,0.000,0,0,443,598.53
$SM_GC,1.87,7.72,0.00,0.00,0.037,0.000,0.000,143,1534,443,-8.05,0.96,598.53,0,0,0,0,0,0
$IRIDIUM_FIX,2340.34,12353.16,200811,090956
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.52
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.60
$XPDR_PINGS,66
$24V_AH,23.4,23.404
$10V_AH,10.2,15.450
$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,21.250,134.075,712.550,0.000,0.000,56.370,74.854,265.904,16.500,0.000,32.340,3548.073,8562.695,717.759,3540.521,450.219,0.000,2115.762,0.000,3123.169,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,62.730,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.858,1465.806,1481.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330228
$DATA_FILE_SIZE,80119,1431
$CAP_FILE_SIZE,175597,0
$CFSIZE,260165632,139513856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153, 47.0,1
$GPS,200811,142015,2347.196,12354.805,40,2.1,59,-3.4