version: 66.09
glider: 166
mission: 6
dive: 248
start: 9 18 111 22 29 9
data:
$ID,166
$MISSION,6
$DIVE,248
$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,300
$T_MISSION,320
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,310
$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,450
$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,-24710.922
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,20
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,54
$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
$GPS1,180911,222207,2120.611,12338.207,35,1.0,35,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-65.9
$GPS2,180911,222849,2120.579,12338.306,11,1.1,15,-2.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2127.520,12329.417
$TGT_RADIUS,1852.000
$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,312.8,20000,-17.0,-11.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-194.6,0.0,0.0,0,111,0.00,0.00,-92.18,0.000,2,0.000,0.000,154,1525,3163,0,0,0,0,0,0
$GC,114,-0.62,-194.6,6.3,-10.7,13,138,9.68,1.12,-9.32,0.000,4,0.230,0.066,2530,2258,3680,0,0,0,0,0,0
$GC,205,-0.47,-194.6,48.2,-35.6,28,214,0.20,1.02,0.00,0.000,6,0.164,0.038,2587,1565,3682,0,0,0,0,0,0
$GC,532,-0.43,-194.6,121.9,-15.5,89,541,0.00,1.00,0.00,0.000,4,0.000,0.041,2576,2241,3683,0,0,0,0,0,0
$GC,658,-0.41,-194.6,139.9,-13.8,112,667,0.10,1.02,0.00,0.000,6,0.136,0.038,2606,1549,3684,0,0,0,0,0,0
$GC,984,-0.44,-194.6,179.3,-12.2,173,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1550,3685,0,0,0,0,0,0
$GC,1309,-0.48,-194.6,215.4,-10.0,234,1317,0.00,1.02,0.00,0.000,4,0.000,0.044,2603,2237,3685,0,0,0,0,0,0
$GC,1432,-0.53,-194.6,225.6,-8.0,256,1440,0.00,1.02,0.00,0.000,6,0.000,0.041,2605,1547,3685,0,0,0,0,0,0
$GC,1758,-0.58,-194.6,251.9,-8.6,316,1762,0.17,1.05,0.00,0.000,4,0.065,0.046,2502,2231,3684,0,0,0,0,0,0
$GC,1828,-0.52,-194.6,263.4,-17.1,322,1837,0.22,1.02,0.00,0.000,6,0.135,0.041,2571,1547,3685,0,0,0,0,0,0
$GC,2155,-0.54,-194.6,300.5,-10.1,353,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1547,3684,0,0,0,0,0,0
$GC,2475,-0.57,-194.6,333.6,-11.0,383,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1547,3684,0,0,0,0,0,0
$GC,2802,-0.60,-194.6,367.7,-10.3,414,2804,0.12,0.00,0.00,0.000,6,0.083,0.000,2508,1547,3682,0,0,0,0,0,0
$GC,3119,-0.56,-194.6,417.2,-15.0,444,3121,0.17,0.00,0.00,0.000,6,0.153,0.000,2558,1547,3680,0,0,0,0,0,0
$GC,3439,-0.58,-194.6,452.3,-10.8,474,3442,0.00,1.05,0.00,0.000,4,0.000,0.047,2555,2229,3678,0,0,0,0,0,0
$GC,3544,-0.61,-194.6,462.4,-9.7,483,3548,0.00,1.02,0.00,0.000,6,0.000,0.043,2555,1556,3678,0,0,0,0,0,0
$GC,3875,-0.63,-194.6,494.5,-9.4,514,3879,0.00,1.05,0.00,0.000,4,0.000,0.050,2550,2237,3676,0,0,0,0,0,0
$GC,3924,-0.66,-194.6,498.7,-9.3,518,3928,0.00,1.05,0.00,0.000,6,0.000,0.044,2550,1548,3675,0,0,0,0,0,0
$GC,4255,-0.68,-194.6,530.2,-9.4,549,4259,0.00,1.05,0.00,0.000,4,0.000,0.051,2545,2232,3672,0,0,0,0,0,0
$GC,4315,-0.72,-194.6,535.6,-9.3,554,4319,0.00,1.05,0.00,0.000,6,0.000,0.046,2545,1543,3672,0,0,0,0,0,0
$GC,4647,-0.74,-194.6,568.9,-9.9,585,4651,0.12,1.08,0.00,0.000,4,0.084,0.054,2474,852,3670,0,0,0,0,0,0
$GC,4706,-0.69,-194.6,576.8,-15.1,590,4710,0.15,1.05,0.00,0.000,6,0.143,0.044,2517,1539,3669,0,0,0,0,0,0
$GC,5034,-0.69,-194.6,614.3,-10.8,615,5038,0.00,1.08,0.00,0.000,4,0.000,0.053,2514,2252,3666,0,0,0,0,0,0
$GC,5109,-0.70,-194.6,622.2,-10.1,618,5112,0.00,1.08,0.00,0.000,6,0.000,0.047,2514,1549,3666,0,0,0,0,0,0
$GC,5436,-0.70,-194.6,660.3,-12.0,634,5440,0.00,1.08,0.00,0.000,4,0.000,0.054,2514,846,3663,0,0,0,0,0,0
$GC,5583,-0.70,-194.6,678.7,-12.3,640,5587,0.00,1.08,0.00,0.000,6,0.000,0.046,2507,1547,3662,0,0,0,0,0,0
$GC,5904,-0.70,-194.6,717.8,-12.0,656,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1547,3659,0,0,0,0,0,0
$GC,6216,-0.70,-194.6,752.5,-10.7,671,6220,0.00,1.05,0.00,0.000,4,0.000,0.057,2492,2237,3656,0,0,0,0,0,0
$GC,6285,-0.70,-194.6,760.0,-10.1,674,6289,0.00,1.05,0.00,0.000,6,0.000,0.050,2496,1554,3655,0,0,0,0,0,0
$GC,6618,-0.70,-194.6,797.9,-11.4,690,6621,0.00,1.08,0.00,0.000,4,0.000,0.055,2494,849,3653,0,0,0,0,0,0
$GC,6759,-0.70,-194.6,813.9,-11.2,696,6763,0.08,1.08,0.00,0.000,6,0.148,0.047,2512,1546,3652,0,0,0,0,0,0
$GC,7088,-0.72,-194.6,844.5,-9.2,712,7092,0.00,1.08,0.00,0.000,4,0.000,0.057,2509,2251,3650,0,0,0,0,0,0
$GC,7162,-0.75,-194.6,850.7,-8.1,715,7166,0.00,1.08,0.00,0.000,6,0.000,0.049,2510,1552,3649,0,0,0,0,0,0
$GC,7490,-0.76,-194.6,877.4,-7.7,731,7494,0.00,1.08,0.00,0.000,4,0.000,0.057,2504,2246,3647,0,0,0,0,0,0
$GC,7531,-0.78,-194.6,880.4,-7.2,732,7538,0.00,1.08,0.00,0.000,6,0.000,0.050,2503,1550,3647,0,0,0,0,0,0
$GC,7848,-0.80,-194.6,903.1,-7.1,748,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1550,3645,0,0,0,0,0,0
$GC,8157,-0.82,-194.6,926.5,-8.0,763,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1551,3644,0,0,0,0,0,0
$GC,8469,-0.83,-194.6,952.1,-8.7,778,8473,0.00,1.12,0.00,0.000,4,0.000,0.061,2497,2247,3642,0,0,0,0,0,0
$GC,8531,-0.85,-194.6,957.8,-8.6,780,8537,0.00,1.10,0.00,0.000,6,0.000,0.053,2497,1546,3642,0,0,0,0,0,0
$STATE,8844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8844,begin apogee
$GC,8853,-0.11,0.0,990.0,10.6,796,9021,0.62,0.00,163.25,1.449,6,0.119,0.000,2703,1825,2884,0,0,0,0,0,0
$STATE,9022,end apogee,CONTROL_FINISHED_OK
$STATE,9022,begin climb
$GC,9027,0.62,194.6,998.9,0.0,804,9212,0.65,0.00,181.48,1.388,6,0.049,0.000,2958,1825,2090,0,0,0,0,0,0
$GC,9519,0.56,194.6,945.2,13.4,828,9524,0.12,1.10,0.00,0.000,4,0.175,0.065,2922,2518,2081,0,0,0,0,0,0
$GC,9638,0.56,208.3,932.5,10.5,833,9654,0.00,1.10,12.48,1.231,6,0.000,0.052,2926,1822,2034,0,0,0,0,0,0
$GC,9968,0.54,208.3,894.9,12.1,848,9972,0.00,1.10,0.00,0.000,4,0.000,0.062,2925,2518,2030,0,0,0,0,0,0
$GC,10014,0.52,208.3,888.9,12.4,850,10018,0.00,1.10,0.00,0.000,6,0.000,0.051,2928,1816,2030,0,0,0,0,0,0
$GC,10346,0.49,208.3,846.8,12.5,866,10350,0.00,1.10,0.00,0.000,4,0.000,0.061,2928,2520,2028,0,0,0,0,0,0
$GC,10421,0.47,208.3,837.4,12.7,869,10425,0.10,1.10,0.00,0.000,6,0.150,0.050,2904,1817,2028,0,0,0,0,0,0
$GC,10748,0.50,231.3,803.5,10.1,885,10773,0.00,1.10,21.65,1.288,4,0.000,0.057,2903,2528,1940,0,0,0,0,0,0
$GC,10857,0.54,252.5,793.0,10.2,890,10883,0.00,1.12,20.77,1.264,6,0.000,0.048,2907,1813,1853,0,0,0,0,0,0
$GC,11211,0.58,272.0,756.6,10.3,907,11234,0.00,1.12,18.83,1.235,4,0.000,0.053,2912,1110,1775,0,0,0,0,0,0
$GC,11253,0.63,296.5,752.4,10.1,908,11282,0.08,1.12,24.58,1.242,6,0.057,0.047,2962,1822,1675,0,0,0,0,0,0
$GC,11593,0.60,296.5,701.9,15.6,925,11597,0.00,1.08,0.00,0.000,4,0.000,0.056,2960,2522,1670,0,0,0,0,0,0
$GC,11716,0.58,296.5,682.7,14.4,930,11721,0.10,1.10,0.00,0.000,6,0.148,0.046,2938,1810,1670,0,0,0,0,0,0
$GC,12038,0.58,296.5,643.6,12.0,946,12039,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1810,1669,0,0,0,0,0,0
$GC,12349,0.58,296.5,603.7,13.0,961,12353,0.00,1.10,0.00,0.000,4,0.000,0.054,2933,2523,1668,0,0,0,0,0,0
$GC,12387,0.58,296.5,598.1,13.2,962,12395,0.00,1.08,0.00,0.000,6,0.000,0.044,2937,1816,1668,0,0,0,0,0,0
$GC,12713,0.58,296.5,557.1,12.5,993,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1816,1668,0,0,0,0,0,0
$GC,13033,0.58,296.5,517.1,12.0,1023,13037,0.00,1.10,0.00,0.000,4,0.000,0.054,2934,2528,1667,0,0,0,0,0,0
$GC,13085,0.58,296.5,510.8,11.6,1027,13091,0.00,1.08,0.00,0.000,6,0.000,0.044,2937,1825,1667,0,0,0,0,0,0
$GC,13410,0.58,296.5,470.0,13.2,1058,13414,0.00,1.08,0.00,0.000,4,0.000,0.050,2936,2527,1667,0,0,0,0,0,0
$GC,13438,0.58,296.5,466.2,13.0,1060,13445,0.00,1.08,0.00,0.000,6,0.000,0.043,2940,1822,1667,0,0,0,0,0,0
$GC,13763,0.58,296.5,424.3,11.9,1091,13764,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1822,1667,0,0,0,0,0,0
$GC,14085,0.60,319.9,389.2,10.1,1121,14111,0.00,1.10,21.15,0.988,4,0.000,0.050,2948,1117,1580,0,0,0,0,0,0
$GC,14180,0.70,378.2,380.2,8.8,1129,14242,0.00,1.10,52.80,0.999,6,0.000,0.043,2949,1831,1341,0,0,0,0,0,0
$GC,14560,0.73,378.2,342.6,11.8,1165,14563,0.00,1.10,0.00,0.000,4,0.000,0.046,2960,1118,1336,0,0,0,0,0,0
$GC,14657,0.78,378.2,330.6,12.2,1173,14665,0.08,1.08,0.00,0.000,6,0.055,0.041,3020,1822,1336,0,0,0,0,0,0
$GC,14983,0.74,378.2,266.2,18.0,1204,14987,0.12,1.05,0.00,0.000,4,0.161,0.049,2983,2509,1336,0,0,0,0,0,0
$GC,15033,0.76,378.2,259.2,12.6,1208,15041,0.00,1.05,0.00,0.000,6,0.000,0.041,2987,1815,1336,0,0,0,0,0,0
$GC,15357,0.77,378.2,220.9,13.8,1262,15365,0.00,1.02,0.00,0.000,4,0.000,0.044,2991,1123,1336,0,0,0,0,0,0
$GC,15409,0.79,378.2,213.8,13.1,1271,15417,0.00,1.05,0.00,0.000,6,0.000,0.038,2991,1832,1336,0,0,0,0,0,0
$GC,15731,0.82,382.5,175.9,10.8,1332,15739,0.00,0.00,4.70,0.550,6,0.000,0.000,2991,1832,1324,0,0,0,0,0,0
$GC,16053,0.91,424.5,144.7,9.4,1393,16097,0.12,1.08,36.70,0.760,4,0.083,0.039,3074,1111,1153,0,0,0,0,0,0
$GC,16152,0.86,424.5,128.8,18.9,1408,16161,0.15,1.08,0.00,0.000,6,0.133,0.037,3026,1827,1152,0,0,0,0,0,0
$GC,16479,0.90,424.5,89.1,12.0,1469,16487,0.00,1.08,0.00,0.000,4,0.000,0.042,3029,1115,1151,0,0,0,0,0,0
$GC,16516,0.95,424.5,84.0,12.1,1475,16524,0.00,1.02,0.00,0.000,6,0.000,0.035,3029,1817,1151,0,0,0,0,0,0
$GC,16838,1.11,497.1,53.1,8.2,1536,16905,0.20,1.12,60.15,0.672,4,0.060,0.041,3151,1107,855,0,0,0,0,0,0
$GC,16994,1.07,497.1,24.2,19.6,1561,17003,0.17,1.05,0.00,0.000,6,0.131,0.034,3092,1823,852,0,0,0,0,0,0
$STATE,17133,end climb,SURFACE_DEPTH_REACHED
$STATE,17133,begin surface coast
$FINISH,1.2,1.021476
$STATE,17156,end surface coast,CONTROL_FINISHED_OK
$STATE,17156,begin surface
$SM_CCo,17236,0.00,0.000,0,0,849,498.94
$SM_GC,1.89,7.78,0.00,0.00,0.041,0.000,0.000,153,1530,849,-8.05,-0.57,498.94,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12340.12,180911,171704
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.57
$INTERNAL_PRESSURE,9.42877
$TCM_TEMP,25.90
$XPDR_PINGS,95
$24V_AH,22.7,58.555
$10V_AH,9.9,41.053
$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,21.325,67.375,618.525,0.000,0.000,26.248,43.787,170.498,23.750,0.000,16.713,3776.711,8859.215,664.799,3823.271,491.796,0.000,2144.290,0.000,3583.958,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,65.790,1448.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1088.251,1629.984,1836.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90097,1591
$CAP_FILE_SIZE,185288,0
$CFSIZE,260165632,125571072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190911,031737,2122.971,12339.032,33,1.0,33,-2.8