version: 66.09
glider: 166
mission: 6
dive: 114
start: 8 25 111 12 2 0
data:
$ID,166
$MISSION,6
$DIVE,114
$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,-24533.439
$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,46
$R_STBD_OVSHOOT,41
$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
$GPS1,250811,115501,2306.431,12348.443,42,1.9,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.0
$GPS2,250811,120137,2306.468,12348.320,36,1.4,37,-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,150.1,179789,-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,-194.6,0.0,0.0,0,101,0.00,0.00,-82.20,0.000,2,0.000,0.000,146,1490,3025,0,0,0,0,0,0
$GC,104,-0.83,-194.6,5.2,-7.8,11,136,9.07,1.98,-12.85,0.000,4,0.224,0.054,2477,208,3680,0,0,0,0,0,0
$GC,238,-0.55,-194.6,65.1,-42.3,33,248,0.35,1.98,0.00,0.000,6,0.177,0.031,2559,1514,3682,0,0,0,0,0,0
$GC,565,-0.46,-194.6,140.6,-17.0,94,573,0.12,0.00,0.00,0.000,6,0.175,0.000,2592,1518,3684,0,0,0,0,0,0
$GC,894,-0.46,-194.6,183.4,-14.6,155,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1518,3685,0,0,0,0,0,0
$GC,1221,-0.48,-194.6,222.6,-11.3,216,1229,0.00,2.10,0.00,0.000,4,0.000,0.044,2590,2897,3685,0,0,0,0,0,0
$GC,1238,-0.50,-194.6,224.6,-10.8,218,1247,0.00,2.12,0.00,0.000,6,0.000,0.035,2592,1497,3685,0,0,0,0,0,0
$GC,1574,-0.50,-194.6,263.1,-10.9,269,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1496,3685,0,0,0,0,0,0
$GC,1901,-0.53,-194.6,295.5,-10.2,300,1905,0.00,2.12,0.00,0.000,4,0.000,0.047,2584,2902,3685,0,0,0,0,0,0
$GC,1989,-0.58,-194.6,303.2,-8.6,307,1993,0.00,2.10,0.00,0.000,6,0.000,0.035,2586,1501,3684,0,0,0,0,0,0
$GC,2315,-0.61,-194.6,335.8,-8.8,337,2317,0.12,0.00,0.00,0.000,6,0.083,0.000,2513,1500,3682,0,0,0,0,0,0
$GC,2633,-0.52,-194.6,382.6,-14.9,367,2638,0.20,2.00,0.00,0.000,4,0.154,0.046,2575,201,3681,0,0,0,0,0,0
$GC,2676,-0.52,-194.6,388.2,-11.5,370,2684,0.00,1.95,0.00,0.000,6,0.000,0.037,2568,1485,3681,0,0,0,0,0,0
$GC,3002,-0.52,-194.6,426.6,-12.9,401,3006,0.00,2.20,0.00,0.000,4,0.000,0.050,2558,2914,3679,0,0,0,0,0,0
$GC,3073,-0.56,-194.6,435.1,-11.4,407,3080,0.00,2.15,0.00,0.000,6,0.000,0.037,2558,1495,3679,0,0,0,0,0,0
$GC,3399,-0.56,-194.6,471.6,-10.6,438,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1495,3677,0,0,0,0,0,0
$GC,3721,-0.57,-194.6,507.9,-11.3,468,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1495,3676,0,0,0,0,0,0
$GC,4048,-0.59,-194.6,544.9,-11.1,499,4052,0.00,2.20,0.00,0.000,4,0.000,0.053,2548,2904,3674,0,0,0,0,0,0
$GC,4113,-0.63,-194.6,551.7,-10.2,504,4117,0.00,2.12,0.00,0.000,6,0.000,0.041,2548,1504,3673,0,0,0,0,0,0
$GC,4443,-0.63,-194.6,582.5,-7.9,535,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1503,3671,0,0,0,0,0,0
$GC,4765,-0.65,-194.6,605.0,-7.4,562,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1503,3668,0,0,0,0,0,0
$GC,5070,-0.67,-194.6,631.5,-9.3,577,5074,0.00,2.17,0.00,0.000,4,0.000,0.054,2538,2908,3666,0,0,0,0,0,0
$GC,5110,-0.70,-194.6,635.2,-9.3,579,5114,0.00,2.15,0.00,0.000,6,0.000,0.042,2538,1497,3666,0,0,0,0,0,0
$GC,5443,-0.70,-194.6,668.4,-9.9,595,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1497,3663,0,0,0,0,0,0
$GC,5747,-0.70,-194.6,700.9,-10.8,610,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1497,3661,0,0,0,0,0,0
$GC,6058,-0.70,-194.6,735.3,-11.1,625,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1497,3659,0,0,0,0,0,0
$GC,6366,-0.71,-194.6,766.8,-9.8,640,6370,0.00,2.03,0.00,0.000,4,0.000,0.056,2531,196,3656,0,0,0,0,0,0
$GC,6412,-0.71,-194.6,771.8,-10.8,642,6416,0.00,2.00,0.00,0.000,6,0.000,0.043,2521,1503,3655,0,0,0,0,0,0
$GC,6748,-0.71,-194.6,805.8,-10.1,658,6752,0.00,2.15,0.00,0.000,4,0.000,0.057,2517,2907,3653,0,0,0,0,0,0
$GC,6814,-0.74,-194.6,812.4,-9.3,661,6818,0.00,2.15,0.00,0.000,6,0.000,0.043,2518,1497,3653,0,0,0,0,0,0
$GC,7138,-0.74,-194.6,843.9,-9.7,677,7142,0.00,2.20,0.00,0.000,4,0.000,0.058,2507,2911,3651,0,0,0,0,0,0
$GC,7199,-0.75,-194.6,849.7,-8.8,679,7206,0.00,2.15,0.00,0.000,6,0.000,0.044,2507,1501,3650,0,0,0,0,0,0
$GC,7516,-0.74,-194.6,879.9,-9.2,695,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1501,3649,0,0,0,0,0,0
$GC,7827,-0.72,-194.6,905.5,-8.0,710,7831,0.00,2.20,0.00,0.000,4,0.000,0.060,2496,2910,3647,0,0,0,0,0,0
$GC,7878,-0.72,-194.6,909.9,-8.2,712,7882,0.00,2.17,0.00,0.000,6,0.000,0.046,2495,1494,3646,0,0,0,0,0,0
$GC,8202,-0.69,-194.6,941.0,-10.4,728,8204,0.10,0.00,0.00,0.000,6,0.180,0.000,2517,1494,3644,0,0,0,0,0,0
$GC,8509,-0.69,-194.6,969.3,-9.1,743,8513,0.00,2.22,0.00,0.000,4,0.000,0.061,2506,2911,3643,0,0,0,0,0,0
$GC,8536,-0.71,-194.6,972.0,-9.1,744,8540,0.00,2.17,0.00,0.000,6,0.000,0.047,2506,1500,3643,0,0,0,0,0,0
$STATE,8747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8747,begin apogee
$GC,8755,-0.18,0.0,991.8,9.2,754,8918,0.55,0.00,158.82,1.457,6,0.125,0.000,2683,1848,2884,0,0,0,0,0,0
$STATE,8919,end apogee,CONTROL_FINISHED_OK
$STATE,8919,begin climb
$GC,8923,0.83,194.6,995.3,0.0,761,9108,0.95,2.42,176.32,1.391,4,0.074,0.062,3011,3246,2089,0,0,0,0,0,0
$GC,9183,0.66,194.6,954.2,22.7,774,9188,0.22,2.25,0.00,0.000,6,0.187,0.046,2963,1849,2084,0,0,0,0,0,0
$GC,9511,0.54,194.6,892.8,18.9,790,9516,0.15,2.25,0.00,0.000,4,0.182,0.060,2914,3252,2080,0,0,0,0,0,0
$GC,9555,0.50,194.6,885.3,16.2,792,9559,0.00,2.17,0.00,0.000,6,0.000,0.044,2922,1842,2079,0,0,0,0,0,0
$GC,9881,0.44,194.6,838.0,14.0,808,9886,0.12,2.25,0.00,0.000,4,0.178,0.059,2880,3262,2078,0,0,0,0,0,0
$GC,9932,0.44,194.6,831.7,11.4,810,9937,0.00,2.17,0.00,0.000,6,0.000,0.044,2889,1841,2077,0,0,0,0,0,0
$GC,10248,0.44,194.6,796.8,11.4,825,10252,0.00,2.17,0.00,0.000,4,0.000,0.054,2899,433,2077,0,0,0,0,0,0
$GC,10275,0.44,194.6,793.2,11.6,826,10280,0.00,2.20,0.00,0.000,6,0.000,0.044,2897,1857,2076,0,0,0,0,0,0
$GC,10605,0.42,194.6,751.4,13.2,842,10609,0.00,2.17,0.00,0.000,4,0.000,0.058,2897,3263,2075,0,0,0,0,0,0
$GC,10669,0.42,194.6,742.2,14.0,845,10673,0.00,2.17,0.00,0.000,6,0.000,0.044,2905,1841,2076,0,0,0,0,0,0
$GC,10998,0.40,194.6,696.1,13.3,861,11002,0.12,2.15,0.00,0.000,4,0.178,0.054,2882,442,2074,0,0,0,0,0,0
$GC,11070,0.45,217.5,688.2,9.8,864,11095,0.00,2.17,19.08,1.223,6,0.000,0.043,2877,1859,1996,0,0,0,0,0,0
$GC,11418,0.53,257.8,656.9,9.2,881,11463,0.12,2.25,36.83,1.228,4,0.087,0.056,2940,3261,1832,0,0,0,0,0,0
$GC,11498,0.49,257.8,645.8,15.7,884,11503,0.17,2.20,0.00,0.000,6,0.168,0.042,2904,1852,1831,0,0,0,0,0,0
$GC,11816,0.49,257.8,608.3,11.1,899,11820,0.00,2.20,0.00,0.000,4,0.000,0.053,2913,434,1827,0,0,0,0,0,0
$GC,11854,0.49,257.8,603.5,11.1,900,11862,0.00,2.20,0.00,0.000,6,0.000,0.041,2910,1851,1826,0,0,0,0,0,0
$GC,12179,0.49,257.8,566.0,12.6,929,12183,0.00,2.20,0.00,0.000,4,0.000,0.056,2910,3264,1825,0,0,0,0,0,0
$GC,12231,0.51,257.8,559.0,13.9,933,12236,0.00,2.15,0.00,0.000,6,0.000,0.040,2920,1838,1825,0,0,0,0,0,0
$GC,12559,0.51,257.8,515.5,13.8,963,12563,0.00,2.20,0.00,0.000,4,0.000,0.053,2922,3266,1825,0,0,0,0,0,0
$GC,12622,0.53,257.8,506.4,14.2,968,12626,0.00,2.12,0.00,0.000,6,0.000,0.040,2931,1852,1824,0,0,0,0,0,0
$GC,12955,0.53,257.8,464.4,12.1,999,12959,0.00,2.17,0.00,0.000,4,0.000,0.050,2943,433,1824,0,0,0,0,0,0
$GC,13001,0.53,257.8,458.3,12.8,1003,13005,0.00,2.17,0.00,0.000,6,0.000,0.039,2942,1857,1823,0,0,0,0,0,0
$GC,13328,0.51,257.8,416.6,12.5,1033,13333,0.12,2.15,0.00,0.000,4,0.164,0.060,2905,3254,1823,0,0,0,0,0,0
$GC,13397,0.59,276.5,409.1,10.0,1039,13421,0.00,2.12,16.62,0.990,6,0.000,0.039,2915,1845,1756,0,0,0,0,0,0
$GC,13740,0.71,343.4,375.8,8.2,1071,13807,0.17,2.28,58.83,0.995,4,0.070,0.050,3018,440,1483,0,0,0,0,0,0
$GC,13879,0.65,343.4,353.1,18.0,1083,13884,0.22,2.22,0.00,0.000,6,0.151,0.039,2957,1860,1480,0,0,0,0,0,0
$GC,14204,0.65,343.4,307.8,13.9,1113,14208,0.00,2.17,0.00,0.000,4,0.000,0.052,2956,3261,1479,0,0,0,0,0,0
$GC,14294,0.69,343.4,295.5,13.3,1120,14302,0.00,2.17,0.00,0.000,6,0.000,0.037,2965,1851,1479,0,0,0,0,0,0
$GC,14620,0.69,343.4,245.1,15.0,1154,14629,0.00,2.22,0.00,0.000,4,0.000,0.049,2976,437,1479,0,0,0,0,0,0
$GC,14676,0.71,343.4,237.6,13.7,1163,14686,0.00,2.17,0.00,0.000,6,0.000,0.036,2976,1850,1478,0,0,0,0,0,0
$GC,15006,0.71,343.4,194.8,13.5,1224,15014,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1850,1478,0,0,0,0,0,0
$GC,15330,0.71,343.4,145.3,13.1,1285,15338,0.00,2.15,0.00,0.000,4,0.000,0.049,2974,3251,1478,0,0,0,0,0,0
$GC,15394,0.75,343.4,137.6,11.0,1296,15402,0.00,2.12,0.00,0.000,6,0.000,0.036,2982,1849,1478,0,0,0,0,0,0
$GC,15722,0.78,343.4,104.8,13.2,1357,15730,0.00,2.15,0.00,0.000,4,0.000,0.046,2994,447,1478,0,0,0,0,0,0
$GC,15744,0.81,343.4,101.2,14.0,1360,15752,0.00,2.12,0.00,0.000,6,0.000,0.034,2994,1853,1478,0,0,0,0,0,0
$GC,16074,1.06,477.8,59.0,5.7,1421,16196,0.25,2.22,108.95,0.705,4,0.055,0.044,3130,3255,935,0,0,0,0,0,0
$GC,16246,0.99,477.8,35.8,17.1,1446,16255,0.22,2.20,0.00,0.000,6,0.144,0.034,3071,1853,932,0,0,0,0,0,0
$STATE,16468,end climb,SURFACE_DEPTH_REACHED
$STATE,16469,begin surface coast
$FINISH,1.0,0.997598
$STATE,16490,end surface coast,CONTROL_FINISHED_OK
$STATE,16491,begin surface
$SM_CCo,16568,0.00,0.000,0,0,930,479.32
$SM_GC,1.80,7.70,0.00,0.00,0.037,0.000,0.000,151,1487,930,-8.03,-0.37,479.32,0,0,0,0,0,0
$IRIDIUM_FIX,2258.07,12344.65,250811,070733
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.54
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,25.40
$XPDR_PINGS,84
$24V_AH,23.2,29.633
$10V_AH,10.2,19.746
$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,21.100,130.850,575.450,0.000,0.000,25.576,17.209,170.339,21.000,0.000,38.001,3724.131,8620.800,625.580,3524.077,449.701,0.000,2035.283,0.000,3286.476,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,61.965,1457.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1019.890,1525.730,1623.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330176
$DATA_FILE_SIZE,83573,1491
$CAP_FILE_SIZE,175149,0
$CFSIZE,260165632,137170944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,301.7,1
$GPS,250811,163925,2304.830,12348.890,39,1.8,39,-3.2