version: 66.09
glider: 166
mission: 6
dive: 113
start: 8 25 111 7 27 35
data:
$ID,166
$MISSION,6
$DIVE,113
$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,200
$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,400
$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,-24532.18
$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,65
$R_STBD_OVSHOOT,35
$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
$GPS1,250811,071557,2307.568,12348.484,40,99.0,59,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.3
$GPS2,250811,072710,2307.578,12348.184,11,3.2,30,-3.2
$SPEED_LIMITS,0.184,0.302
$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,147.6,181858,-16.6,-10.645
$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,-0.83,-194.6,0.0,0.0,0,109,0.00,0.00,-90.12,0.000,2,0.000,0.000,154,1460,3174,0,0,0,0,0,0
$GC,114,-0.83,-194.6,5.9,-10.1,12,138,9.05,1.95,-9.27,0.000,4,0.223,0.055,2458,222,3681,0,0,0,0,0,0
$GC,226,-0.54,-194.6,59.9,-40.6,31,235,0.38,1.95,0.00,0.000,6,0.173,0.031,2559,1506,3682,0,0,0,0,0,0
$GC,553,-0.47,-194.6,119.4,-17.6,92,561,0.12,0.00,0.00,0.000,6,0.173,0.000,2593,1509,3684,0,0,0,0,0,0
$GC,882,-0.47,-194.6,170.5,-12.5,153,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1509,3686,0,0,0,0,0,0
$GC,1207,-0.47,-194.6,208.0,-13.0,214,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1509,3685,0,0,0,0,0,0
$GC,1534,-0.50,-194.6,246.9,-11.1,275,1542,0.00,2.17,0.00,0.000,4,0.000,0.049,2585,2896,3685,0,0,0,0,0,0
$GC,1586,-0.55,-194.6,252.5,-9.6,281,1593,0.00,2.10,0.00,0.000,6,0.000,0.037,2586,1516,3685,0,0,0,0,0,0
$GC,1912,-0.58,-194.6,282.2,-9.8,312,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1516,3685,0,0,0,0,0,0
$GC,2232,-0.61,-194.6,311.6,-8.7,342,2236,0.15,2.15,0.00,0.000,4,0.075,0.048,2502,2898,3683,0,0,0,0,0,0
$GC,2289,-0.54,-194.6,319.0,-14.1,346,2297,0.22,2.12,0.00,0.000,6,0.146,0.037,2566,1492,3682,0,0,0,0,0,0
$GC,2616,-0.54,-194.6,358.7,-13.0,377,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1492,3681,0,0,0,0,0,0
$GC,2934,-0.56,-194.6,398.7,-10.8,407,2938,0.00,2.17,0.00,0.000,4,0.000,0.049,2565,2901,3680,0,0,0,0,0,0
$GC,2970,-0.59,-194.6,402.4,-10.4,410,2974,0.00,2.10,0.00,0.000,6,0.000,0.037,2564,1493,3680,0,0,0,0,0,0
$GC,3301,-0.59,-194.6,435.4,-10.1,441,3305,0.00,2.17,0.00,0.000,4,0.000,0.050,2556,2905,3678,0,0,0,0,0,0
$GC,3377,-0.62,-194.6,443.1,-10.2,447,3381,0.00,2.15,0.00,0.000,6,0.000,0.039,2555,1492,3677,0,0,0,0,0,0
$GC,3702,-0.62,-194.6,482.1,-11.2,477,3706,0.00,1.95,0.00,0.000,4,0.000,0.050,2556,206,3675,0,0,0,0,0,0
$GC,3785,-0.62,-194.6,492.0,-11.7,484,3792,0.00,1.95,0.00,0.000,6,0.000,0.037,2546,1486,3675,0,0,0,0,0,0
$GC,4111,-0.62,-194.6,528.6,-11.1,515,4115,0.00,2.12,0.00,0.000,4,0.000,0.050,2535,2903,3673,0,0,0,0,0,0
$GC,4132,-0.62,-194.6,531.0,-11.0,516,4139,0.00,2.12,0.00,0.000,6,0.000,0.040,2536,1493,3672,0,0,0,0,0,0
$GC,4458,-0.62,-194.6,567.2,-10.8,547,4461,0.00,1.98,0.00,0.000,4,0.000,0.052,2536,204,3670,0,0,0,0,0,0
$GC,4551,-0.62,-194.6,577.8,-10.8,555,4559,0.00,1.98,0.00,0.000,6,0.000,0.039,2527,1493,3669,0,0,0,0,0,0
$GC,4888,-0.61,-194.6,614.0,-11.2,581,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1493,3667,0,0,0,0,0,0
$GC,5193,-0.61,-194.6,651.7,-12.3,596,5197,0.00,2.17,0.00,0.000,4,0.000,0.060,2515,2905,3664,0,0,0,0,0,0
$GC,5250,-0.61,-194.6,658.5,-11.7,598,5255,0.12,2.12,0.00,0.000,6,0.153,0.041,2549,1503,3664,0,0,0,0,0,0
$GC,5567,-0.64,-194.6,693.2,-11.2,613,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1503,3661,0,0,0,0,0,0
$GC,5876,-0.67,-194.6,730.6,-12.4,628,5880,0.00,2.17,0.00,0.000,4,0.000,0.057,2536,2908,3659,0,0,0,0,0,0
$GC,5910,-0.72,-194.6,735.0,-12.7,629,5917,0.00,2.15,0.00,0.000,6,0.000,0.044,2536,1498,3658,0,0,0,0,0,0
$GC,6227,-0.74,-194.6,777.2,-13.3,645,6231,0.00,2.17,0.00,0.000,4,0.000,0.058,2527,2904,3656,0,0,0,0,0,0
$GC,6260,-0.77,-194.6,781.8,-13.1,646,6264,0.00,2.15,0.00,0.000,6,0.000,0.044,2525,1494,3655,0,0,0,0,0,0
$GC,6577,-0.77,-194.6,825.2,-13.7,661,6581,0.00,2.22,0.00,0.000,4,0.000,0.060,2520,2908,3653,0,0,0,0,0,0
$GC,6628,-0.80,-194.6,832.0,-12.7,663,6633,0.10,2.17,0.00,0.000,6,0.101,0.045,2469,1492,3653,0,0,0,0,0,0
$GC,6953,-0.73,-194.6,882.8,-15.2,679,6958,0.12,2.03,0.00,0.000,4,0.176,0.057,2507,199,3650,0,0,0,0,0,0
$GC,6980,-0.70,-194.6,887.6,-14.7,680,6984,0.00,2.00,0.00,0.000,6,0.000,0.044,2499,1503,3650,0,0,0,0,0,0
$GC,7304,-0.67,-194.6,922.7,-10.1,696,7306,0.12,0.00,0.00,0.000,6,0.174,0.000,2526,1504,3649,0,0,0,0,0,0
$GC,7613,-0.69,-194.6,945.6,-6.9,711,7617,0.00,2.17,0.00,0.000,4,0.000,0.059,2517,2913,3646,0,0,0,0,0,0
$GC,7663,-0.72,-194.6,949.0,-6.8,713,7667,0.00,2.17,0.00,0.000,6,0.000,0.045,2521,1494,3645,0,0,0,0,0,0
$GC,7981,-0.72,-194.6,972.1,-7.2,728,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1494,3643,0,0,0,0,0,0
$STATE,8224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8224,begin apogee
$GC,8230,-0.18,0.0,990.4,7.5,740,8394,0.52,0.00,158.40,1.450,6,0.126,0.000,2684,1857,2884,0,0,0,0,0,0
$STATE,8395,end apogee,CONTROL_FINISHED_OK
$STATE,8395,begin climb
$GC,8397,0.83,194.6,993.7,0.0,747,8582,0.95,2.45,176.23,1.386,4,0.073,0.062,3013,3250,2089,0,0,0,0,0,0
$GC,8639,0.66,194.6,958.4,20.2,759,8644,0.25,2.28,0.00,0.000,6,0.184,0.045,2964,1855,2085,0,0,0,0,0,0
$GC,8970,0.55,194.6,907.2,15.5,775,8975,0.12,2.22,0.00,0.000,4,0.190,0.057,2936,439,2081,0,0,0,0,0,0
$GC,8995,0.46,194.6,902.9,15.4,776,9000,0.15,2.22,0.00,0.000,6,0.161,0.047,2895,1853,2080,0,0,0,0,0,0
$GC,9325,0.44,194.6,863.7,12.5,792,9329,0.00,2.22,0.00,0.000,4,0.000,0.060,2895,3265,2078,0,0,0,0,0,0
$GC,9437,0.44,194.6,847.3,14.1,797,9441,0.00,2.22,0.00,0.000,6,0.000,0.044,2903,1839,2077,0,0,0,0,0,0
$GC,9765,0.41,194.6,797.7,15.5,813,9769,0.00,2.25,0.00,0.000,4,0.000,0.058,2902,3265,2076,0,0,0,0,0,0
$GC,9811,0.39,194.6,790.5,15.7,815,9815,0.15,2.15,0.00,0.000,6,0.175,0.043,2874,1851,2076,0,0,0,0,0,0
$GC,10138,0.41,194.6,750.4,11.8,831,10142,0.00,2.17,0.00,0.000,4,0.000,0.052,2881,432,2075,0,0,0,0,0,0
$GC,10189,0.43,194.6,744.4,11.7,833,10193,0.00,2.17,0.00,0.000,6,0.000,0.042,2881,1851,2074,0,0,0,0,0,0
$GC,10512,0.44,205.6,709.4,10.2,849,10526,0.00,2.22,8.55,1.108,4,0.000,0.058,2881,3254,2045,0,0,0,0,0,0
$GC,10567,0.47,215.5,703.5,10.3,851,10583,0.00,2.15,10.70,1.142,6,0.000,0.041,2891,1836,2005,0,0,0,0,0,0
$GC,10907,0.55,278.8,673.2,8.3,868,10972,0.00,2.25,57.33,1.245,4,0.000,0.053,2901,448,1746,0,0,0,0,0,0
$GC,11011,0.61,306.4,663.3,9.6,872,11044,0.12,2.22,26.67,1.179,6,0.086,0.040,2964,1847,1634,0,0,0,0,0,0
$GC,11372,0.55,306.4,601.7,17.6,890,11377,0.15,2.22,0.00,0.000,4,0.171,0.057,2925,3268,1627,0,0,0,0,0,0
$GC,11460,0.57,306.4,589.5,13.1,897,11464,0.00,2.17,0.00,0.000,6,0.000,0.041,2933,1842,1626,0,0,0,0,0,0
$GC,11785,0.57,306.4,540.1,15.6,927,11789,0.00,2.17,0.00,0.000,4,0.000,0.051,2944,441,1626,0,0,0,0,0,0
$GC,11864,0.57,306.4,528.7,13.7,933,11873,0.00,2.17,0.00,0.000,6,0.000,0.041,2944,1856,1624,0,0,0,0,0,0
$GC,12191,0.54,306.4,483.4,13.1,964,12195,0.00,2.15,0.00,0.000,4,0.000,0.055,2946,3258,1624,0,0,0,0,0,0
$GC,12288,0.54,306.4,471.0,11.9,972,12293,0.15,2.12,0.00,0.000,6,0.164,0.040,2918,1840,1624,0,0,0,0,0,0
$GC,12617,0.63,344.5,441.5,9.2,1002,12655,0.00,2.22,32.15,1.052,4,0.000,0.050,2929,447,1478,0,0,0,0,0,0
$GC,12690,0.73,381.6,434.3,9.3,1008,12732,0.15,2.17,33.42,1.026,6,0.074,0.037,3009,1851,1328,0,0,0,0,0,0
$GC,13050,0.64,381.6,360.9,21.8,1042,13054,0.22,2.20,0.00,0.000,4,0.156,0.051,2943,3259,1324,0,0,0,0,0,0
$GC,13193,0.72,381.6,341.2,12.1,1054,13197,0.00,2.15,0.00,0.000,6,0.000,0.037,2951,1849,1323,0,0,0,0,0,0
$GC,13518,0.74,381.6,298.2,11.7,1084,13523,0.10,2.17,0.00,0.000,4,0.100,0.048,3028,436,1323,0,0,0,0,0,0
$GC,13565,0.68,381.6,291.6,16.3,1088,13570,0.22,2.15,0.00,0.000,6,0.148,0.037,2964,1860,1323,0,0,0,0,0,0
$GC,13897,0.68,381.6,254.1,11.1,1119,13901,0.00,2.10,0.00,0.000,4,0.000,0.050,2964,3254,1323,0,0,0,0,0,0
$GC,13967,0.76,399.1,246.9,10.0,1127,13991,0.00,2.12,15.88,0.831,6,0.000,0.036,2971,1849,1256,0,0,0,0,0,0
$GC,14313,0.78,399.1,200.6,13.4,1190,14321,0.00,2.15,0.00,0.000,4,0.000,0.045,2981,450,1254,0,0,0,0,0,0
$GC,14392,0.84,401.6,191.5,10.6,1204,14401,0.00,2.12,0.00,0.000,6,0.000,0.034,2981,1845,1254,0,0,0,0,0,0
$GC,14721,0.84,401.6,154.1,11.8,1265,14729,0.10,2.17,0.00,0.000,4,0.097,0.048,3040,3252,1254,0,0,0,0,0,0
$GC,14825,0.79,401.6,137.1,18.2,1283,14834,0.12,2.12,0.00,0.000,6,0.141,0.035,3009,1849,1253,0,0,0,0,0,0
$GC,15157,0.79,401.6,84.8,10.8,1344,15165,0.00,2.17,0.00,0.000,4,0.000,0.044,3019,443,1253,0,0,0,0,0,0
$GC,15205,0.88,445.2,80.3,9.0,1352,15251,0.00,2.12,38.72,0.717,6,0.000,0.032,3020,1857,1067,0,0,0,0,0,0
$GC,15574,0.97,445.2,49.3,13.0,1418,15582,0.10,2.22,0.00,0.000,4,0.096,0.044,3099,445,1066,0,0,0,0,0,0
$GC,15619,0.97,445.2,41.4,20.4,1425,15628,0.10,2.12,0.00,0.000,6,0.125,0.032,3064,1845,1064,0,0,0,0,0,0
$STATE,15865,end climb,SURFACE_DEPTH_REACHED
$STATE,15865,begin surface coast
$FINISH,1.1,1.021576
$STATE,15887,end surface coast,CONTROL_FINISHED_OK
$STATE,15887,begin surface
$SM_CCo,15966,0.00,0.000,0,0,1064,446.20
$SM_GC,1.74,7.50,0.00,0.00,0.031,0.000,0.000,150,1493,1064,-8.03,-0.17,446.20,0,0,0,0,0,0
$IRIDIUM_FIX,2300.41,12349.85,250811,070732
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.56
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,25.70
$XPDR_PINGS,95
$24V_AH,23.2,29.423
$10V_AH,10.2,19.581
$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,21.600,138.750,558.050,0.000,0.000,96.590,109.413,165.676,23.750,0.000,32.054,3711.490,8095.336,615.508,3734.255,464.595,0.000,2021.683,0.000,3340.800,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,61.965,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.090,1510.867,1717.442,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330232
$DATA_FILE_SIZE,83397,1475
$CAP_FILE_SIZE,178290,0
$CFSIZE,260165632,137256960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,304.0,1
$GPS,250811,115501,2306.431,12348.443,42,1.9,42,-3.2