version: 66.09
glider: 166
mission: 6
dive: 115
start: 8 25 111 16 51 4
data:
$ID,166
$MISSION,6
$DIVE,115
$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,595.83368
$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,-24534.697
$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,42
$R_STBD_OVSHOOT,40
$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
$GPS1,250811,163925,2304.830,12348.890,39,1.8,39,-3.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.5
$GPS2,250811,165041,2304.918,12348.780,28,1.8,32,-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,158.6,176848,-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,-194.6,0.0,0.0,0,111,0.00,0.00,-92.07,0.000,2,0.000,0.000,144,1483,3172,0,0,0,0,0,0
$GC,114,-0.83,-194.6,5.9,-10.2,12,139,9.12,2.03,-9.50,0.000,4,0.226,0.054,2465,189,3681,0,0,0,0,0,0
$GC,214,-0.57,-194.6,49.9,-37.9,28,223,0.32,2.00,0.00,0.000,6,0.161,0.035,2555,1495,3682,0,0,0,0,0,0
$GC,542,-0.48,-194.6,126.2,-20.6,89,550,0.12,2.15,0.00,0.000,4,0.177,0.040,2580,2907,3683,0,0,0,0,0,0
$GC,582,-0.48,-194.6,133.4,-16.9,95,589,0.00,2.12,0.00,0.000,6,0.000,0.032,2578,1500,3684,0,0,0,0,0,0
$GC,909,-0.48,-194.6,176.0,-11.7,156,917,0.00,2.20,0.00,0.000,4,0.000,0.041,2568,2913,3684,0,0,0,0,0,0
$GC,957,-0.51,-194.6,181.4,-11.6,164,964,0.00,2.15,0.00,0.000,6,0.000,0.033,2569,1495,3684,0,0,0,0,0,0
$GC,1284,-0.51,-194.6,221.8,-10.4,225,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1495,3684,0,0,0,0,0,0
$GC,1613,-0.51,-194.6,262.7,-13.2,277,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1495,3684,0,0,0,0,0,0
$GC,1935,-0.51,-194.6,298.3,-10.8,307,1939,0.00,2.15,0.00,0.000,4,0.000,0.043,2571,2911,3683,0,0,0,0,0,0
$GC,1964,-0.53,-194.6,301.8,-10.6,309,1968,0.00,2.12,0.00,0.000,6,0.000,0.034,2573,1488,3682,0,0,0,0,0,0
$GC,2292,-0.53,-194.6,335.2,-9.9,339,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1488,3681,0,0,0,0,0,0
$GC,2619,-0.55,-194.6,370.4,-12.4,370,2623,0.00,2.15,0.00,0.000,4,0.000,0.044,2568,2908,3679,0,0,0,0,0,0
$GC,2674,-0.59,-194.6,377.5,-11.6,374,2682,0.00,2.10,0.00,0.000,6,0.000,0.035,2568,1500,3679,0,0,0,0,0,0
$GC,2999,-0.59,-194.6,414.2,-9.7,405,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1499,3677,0,0,0,0,0,0
$GC,3322,-0.61,-194.6,444.5,-9.7,435,3326,0.00,2.20,0.00,0.000,4,0.000,0.047,2558,2911,3675,0,0,0,0,0,0
$GC,3379,-0.65,-194.6,450.9,-10.4,439,3386,0.00,2.12,0.00,0.000,6,0.000,0.037,2558,1497,3675,0,0,0,0,0,0
$GC,3704,-0.65,-194.6,489.9,-11.5,470,3707,0.00,1.98,0.00,0.000,4,0.000,0.048,2557,202,3673,0,0,0,0,0,0
$GC,3785,-0.65,-194.6,499.2,-11.7,477,3789,0.00,1.92,0.00,0.000,6,0.000,0.037,2548,1500,3673,0,0,0,0,0,0
$GC,4116,-0.65,-194.6,534.9,-10.1,508,4120,0.00,2.12,0.00,0.000,4,0.000,0.050,2539,2911,3671,0,0,0,0,0,0
$GC,4194,-0.68,-194.6,543.2,-10.6,514,4202,0.00,2.12,0.00,0.000,6,0.000,0.039,2538,1503,3670,0,0,0,0,0,0
$GC,4519,-0.68,-194.6,578.7,-10.5,545,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1503,3668,0,0,0,0,0,0
$GC,4846,-0.68,-194.6,611.6,-10.6,571,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1503,3666,0,0,0,0,0,0
$GC,5156,-0.68,-194.6,646.6,-11.4,586,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1503,3664,0,0,0,0,0,0
$GC,5464,-0.68,-194.6,677.8,-9.3,601,5468,0.00,2.17,0.00,0.000,4,0.000,0.055,2523,2902,3661,0,0,0,0,0,0
$GC,5521,-0.71,-194.6,682.6,-8.6,603,5528,0.00,2.12,0.00,0.000,6,0.000,0.043,2523,1502,3660,0,0,0,0,0,0
$GC,5840,-0.71,-194.6,713.0,-10.2,619,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1502,3658,0,0,0,0,0,0
$GC,6146,-0.71,-194.6,747.1,-11.4,634,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1502,3655,0,0,0,0,0,0
$GC,6456,-0.71,-194.6,780.4,-10.4,649,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1502,3653,0,0,0,0,0,0
$GC,6767,-0.71,-194.6,810.5,-10.0,664,6771,0.00,2.20,0.00,0.000,4,0.000,0.059,2509,2905,3651,0,0,0,0,0,0
$GC,6791,-0.73,-194.6,813.2,-10.2,665,6795,0.00,2.15,0.00,0.000,6,0.000,0.045,2510,1503,3651,0,0,0,0,0,0
$GC,7120,-0.73,-194.6,848.9,-10.9,681,7124,0.00,2.03,0.00,0.000,4,0.000,0.057,2516,199,3649,0,0,0,0,0,0
$GC,7143,-0.73,-194.6,851.7,-11.1,682,7147,0.00,2.00,0.00,0.000,6,0.000,0.044,2509,1503,3648,0,0,0,0,0,0
$GC,7475,-0.73,-194.6,890.7,-11.8,698,7479,0.00,2.17,0.00,0.000,4,0.000,0.058,2497,2906,3646,0,0,0,0,0,0
$GC,7531,-0.73,-194.6,897.1,-11.5,700,7538,0.00,2.15,0.00,0.000,6,0.000,0.044,2496,1497,3645,0,0,0,0,0,0
$GC,7847,-0.71,-194.6,934.6,-11.5,716,7851,0.00,2.20,0.00,0.000,4,0.000,0.059,2480,2911,3643,0,0,0,0,0,0
$GC,7881,-0.69,-194.6,938.3,-10.6,717,7888,0.15,2.17,0.00,0.000,6,0.156,0.045,2522,1491,3643,0,0,0,0,0,0
$GC,8199,-0.71,-194.6,967.1,-9.1,733,8203,0.00,2.22,0.00,0.000,4,0.000,0.059,2512,2911,3641,0,0,0,0,0,0
$GC,8223,-0.74,-194.6,969.5,-9.0,734,8227,0.00,2.17,0.00,0.000,6,0.000,0.045,2517,1493,3641,0,0,0,0,0,0
$STATE,8445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8445,begin apogee
$GC,8453,-0.18,0.0,991.8,9.9,745,8616,0.52,0.00,158.38,1.455,6,0.119,0.000,2684,1859,2884,0,0,0,0,0,0
$STATE,8617,end apogee,CONTROL_FINISHED_OK
$STATE,8617,begin climb
$GC,8621,0.83,194.6,997.5,0.0,752,8806,0.93,2.38,176.23,1.392,4,0.073,0.061,3009,3246,2089,0,0,0,0,0,0
$GC,8858,0.66,194.6,965.2,20.4,762,8863,0.22,2.25,0.00,0.000,6,0.184,0.045,2964,1856,2085,0,0,0,0,0,0
$GC,9183,0.55,194.6,911.5,16.2,778,9188,0.12,2.22,0.00,0.000,4,0.188,0.062,2926,3249,2080,0,0,0,0,0,0
$GC,9246,0.51,194.6,901.9,13.8,780,9253,0.00,2.17,0.00,0.000,6,0.000,0.044,2933,1834,2080,0,0,0,0,0,0
$GC,9562,0.44,194.6,856.5,14.4,796,9567,0.17,2.22,0.00,0.000,4,0.171,0.058,2880,3252,2078,0,0,0,0,0,0
$GC,9607,0.44,194.6,850.9,11.3,798,9611,0.00,2.15,0.00,0.000,6,0.000,0.042,2888,1837,2077,0,0,0,0,0,0
$GC,9936,0.44,194.6,815.0,11.4,814,9940,0.00,2.17,0.00,0.000,4,0.000,0.054,2898,434,2076,0,0,0,0,0,0
$GC,9985,0.44,194.6,808.6,12.5,816,9990,0.00,2.17,0.00,0.000,6,0.000,0.044,2897,1841,2076,0,0,0,0,0,0
$GC,10309,0.42,194.6,768.3,12.5,832,10313,0.00,2.20,0.00,0.000,4,0.000,0.058,2898,3270,2074,0,0,0,0,0,0
$GC,10354,0.41,194.6,761.8,13.6,834,10358,0.00,2.15,0.00,0.000,6,0.000,0.042,2906,1842,2075,0,0,0,0,0,0
$GC,10676,0.38,194.6,719.6,12.6,850,10680,0.12,2.17,0.00,0.000,4,0.180,0.054,2883,437,2074,0,0,0,0,0,0
$GC,10740,0.43,216.9,713.0,9.8,853,10766,0.00,2.17,18.65,1.240,6,0.000,0.042,2882,1859,1998,0,0,0,0,0,0
$GC,11095,0.51,266.2,680.7,8.8,870,11146,0.00,2.33,44.70,1.255,4,0.000,0.057,2883,3257,1798,0,0,0,0,0,0
$GC,11173,0.59,293.6,673.3,9.6,873,11208,0.12,2.20,26.60,1.196,6,0.083,0.039,2953,1839,1686,0,0,0,0,0,0
$GC,11517,0.53,293.6,616.0,17.2,890,11519,0.15,0.00,0.00,0.000,6,0.171,0.000,2914,1839,1680,0,0,0,0,0,0
$GC,11831,0.53,293.6,576.6,11.8,914,11835,0.00,2.17,0.00,0.000,4,0.000,0.051,2922,433,1678,0,0,0,0,0,0
$GC,11866,0.54,293.6,572.3,11.9,917,11870,0.00,2.20,0.00,0.000,6,0.000,0.041,2923,1857,1677,0,0,0,0,0,0
$GC,12196,0.54,293.6,532.5,11.1,948,12200,0.00,2.17,0.00,0.000,4,0.000,0.056,2923,3262,1677,0,0,0,0,0,0
$GC,12257,0.56,293.6,525.4,11.1,953,12264,0.00,2.12,0.00,0.000,6,0.000,0.039,2933,1844,1677,0,0,0,0,0,0
$GC,12583,0.55,293.6,486.2,12.7,984,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1844,1676,0,0,0,0,0,0
$GC,12905,0.55,293.6,444.6,13.1,1014,12909,0.00,2.12,0.00,0.000,4,0.000,0.050,2946,444,1676,0,0,0,0,0,0
$GC,12926,0.55,293.6,441.0,13.5,1015,12933,0.00,2.15,0.00,0.000,6,0.000,0.039,2946,1866,1675,0,0,0,0,0,0
$GC,13253,0.55,293.6,393.4,14.4,1046,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1866,1675,0,0,0,0,0,0
$GC,13571,0.55,293.6,352.1,12.3,1076,13575,0.00,2.12,0.00,0.000,4,0.000,0.053,2951,3256,1675,0,0,0,0,0,0
$GC,13645,0.57,293.6,343.6,10.9,1082,13650,0.12,2.10,0.00,0.000,6,0.168,0.037,2927,1842,1675,0,0,0,0,0,0
$GC,13971,0.66,342.0,316.1,8.9,1112,14017,0.10,2.25,40.67,0.949,4,0.101,0.048,2999,434,1488,0,0,0,0,0,0
$GC,14061,0.63,342.0,303.5,15.3,1119,14069,0.17,2.17,0.00,0.000,6,0.148,0.037,2951,1848,1486,0,0,0,0,0,0
$GC,14386,0.65,342.0,265.1,11.6,1150,14390,0.00,2.17,0.00,0.000,4,0.000,0.047,2961,443,1486,0,0,0,0,0,0
$GC,14430,0.69,342.0,260.2,12.0,1153,14434,0.00,2.12,0.00,0.000,6,0.000,0.037,2956,1851,1485,0,0,0,0,0,0
$GC,14756,0.72,342.0,219.1,12.4,1206,14764,0.00,2.17,0.00,0.000,4,0.000,0.050,2956,3251,1485,0,0,0,0,0,0
$GC,14859,0.78,342.0,206.3,11.5,1224,14867,0.00,2.15,0.00,0.000,6,0.000,0.036,2962,1842,1485,0,0,0,0,0,0
$GC,15185,0.80,342.0,166.1,13.8,1285,15194,0.12,2.17,0.00,0.000,4,0.084,0.047,3047,448,1485,0,0,0,0,0,0
$GC,15226,0.73,342.0,159.1,17.9,1291,15235,0.17,2.12,0.00,0.000,6,0.132,0.037,2987,1850,1485,0,0,0,0,0,0
$GC,15558,0.73,342.0,114.7,11.2,1352,15565,0.00,2.17,0.00,0.000,4,0.000,0.049,2988,3247,1485,0,0,0,0,0,0
$GC,15605,0.77,342.0,109.0,10.9,1360,15613,0.00,2.12,0.00,0.000,6,0.000,0.034,2997,1843,1485,0,0,0,0,0,0
$GC,15936,0.98,465.6,70.6,6.1,1421,16043,0.17,2.28,100.85,0.722,4,0.066,0.045,3102,446,984,0,0,0,0,0,0
$GC,16127,0.98,465.6,41.8,17.7,1450,16136,0.12,2.17,0.00,0.000,6,0.124,0.034,3061,1839,981,0,0,0,0,0,0
$STATE,16399,end climb,SURFACE_DEPTH_REACHED
$STATE,16399,begin surface coast
$FINISH,0.9,1.021716
$STATE,16425,end surface coast,CONTROL_FINISHED_OK
$STATE,16425,begin surface
$SM_CCo,16442,93.35,0.562,1,0,453,595.83
$SM_GC,1.65,0.00,0.00,93.35,0.000,0.000,0.562,154,1491,453,-8.10,-0.25,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2255.72,12346.60,250811,161626
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.73
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.20
$XPDR_PINGS,95
$24V_AH,23.2,29.856
$10V_AH,10.2,19.913
$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,20.725,134.775,566.075,93.350,0.000,140.521,111.965,0.000,23.750,0.000,32.881,3748.193,8697.133,727.561,3567.080,460.622,0.000,2121.910,0.000,3287.045,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,61.965,1455.030,562.275,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.535,1542.930,1656.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330344
$DATA_FILE_SIZE,83471,1505
$CAP_FILE_SIZE,175410,0
$CFSIZE,260165632,137043968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.111,283.7,1
$GPS,250811,212827,2302.615,12349.047,41,4.7,60,-3.2