version: 66.09
glider: 166
mission: 6
dive: 249
start: 9 19 111 3 24 45
data:
$ID,166
$MISSION,6
$DIVE,249
$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,-24712.178
$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,52
$R_STBD_OVSHOOT,62
$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
$GPS1,190911,031737,2122.971,12339.032,33,1.0,33,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-65.7
$GPS2,190911,032425,2122.973,12339.124,15,1.3,15,-2.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2129.915,12330.233
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,111,0.00,0.00,-91.20,0.000,2,0.000,0.000,153,1531,3041,0,0,0,0,0,0
$GC,115,-0.62,-194.6,5.0,-5.6,13,145,9.62,1.05,-12.45,0.000,4,0.229,0.063,2531,2238,3680,0,0,0,0,0,0
$GC,236,-0.47,-194.6,50.3,-33.1,33,244,0.22,1.02,0.00,0.000,6,0.155,0.041,2584,1551,3680,0,0,0,0,0,0
$GC,559,-0.43,-194.6,122.0,-17.1,94,567,0.00,1.02,0.00,0.000,4,0.000,0.043,2584,850,3681,0,0,0,0,0,0
$GC,653,-0.41,-194.6,138.0,-15.7,111,661,0.00,1.00,0.00,0.000,6,0.000,0.036,2581,1534,3682,0,0,0,0,0,0
$GC,980,-0.39,-194.6,188.7,-16.2,172,989,0.12,1.05,0.00,0.000,4,0.168,0.044,2613,2247,3683,0,0,0,0,0,0
$GC,1123,-0.45,-194.6,202.5,-9.4,197,1131,0.00,1.02,0.00,0.000,6,0.000,0.041,2613,1553,3683,0,0,0,0,0,0
$GC,1445,-0.50,-194.6,233.0,-8.1,258,1454,0.00,1.02,0.00,0.000,4,0.000,0.044,2609,2245,3683,0,0,0,0,0,0
$GC,1608,-0.56,-194.6,244.5,-7.3,288,1617,0.10,1.02,0.00,0.000,6,0.043,0.041,2527,1552,3683,0,0,0,0,0,0
$GC,1942,-0.53,-194.6,300.7,-16.7,323,1947,0.17,1.05,0.00,0.000,4,0.152,0.047,2582,852,3683,0,0,0,0,0,0
$GC,2040,-0.56,-194.6,312.0,-10.2,331,2046,0.00,1.02,0.00,0.000,6,0.000,0.039,2579,1543,3683,0,0,0,0,0,0
$GC,2366,-0.60,-194.6,342.4,-8.6,362,2369,0.00,1.02,0.00,0.000,4,0.000,0.046,2583,2247,3682,0,0,0,0,0,0
$GC,2425,-0.65,-194.6,347.2,-8.2,367,2430,0.12,1.05,0.00,0.000,6,0.040,0.042,2501,1541,3682,0,0,0,0,0,0
$GC,2758,-0.59,-194.6,402.0,-17.8,398,2763,0.17,1.05,0.00,0.000,4,0.157,0.048,2553,851,3680,0,0,0,0,0,0
$GC,2861,-0.59,-194.6,416.6,-13.1,407,2865,0.00,1.05,0.00,0.000,6,0.000,0.041,2550,1555,3680,0,0,0,0,0,0
$GC,3194,-0.59,-194.6,459.4,-11.4,438,3198,0.00,1.08,0.00,0.000,4,0.000,0.048,2550,853,3679,0,0,0,0,0,0
$GC,3301,-0.60,-194.6,471.3,-10.6,447,3307,0.00,1.05,0.00,0.000,6,0.000,0.040,2545,1555,3678,0,0,0,0,0,0
$GC,3626,-0.61,-194.6,504.7,-10.2,478,3630,0.00,1.02,0.00,0.000,4,0.000,0.050,2540,2250,3677,0,0,0,0,0,0
$GC,3695,-0.63,-194.6,511.3,-9.2,484,3699,0.00,1.05,0.00,0.000,6,0.000,0.044,2540,1551,3676,0,0,0,0,0,0
$GC,4026,-0.65,-194.6,550.2,-11.9,515,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1551,3673,0,0,0,0,0,0
$GC,4346,-0.66,-194.6,587.2,-11.0,545,4350,0.00,1.05,0.00,0.000,4,0.000,0.052,2535,2238,3670,0,0,0,0,0,0
$GC,4399,-0.69,-194.6,592.6,-10.0,549,4406,0.00,1.05,0.00,0.000,6,0.000,0.046,2535,1553,3669,0,0,0,0,0,0
$GC,4729,-0.70,-194.6,623.8,-8.9,569,4733,0.00,1.08,0.00,0.000,4,0.000,0.052,2535,845,3667,0,0,0,0,0,0
$GC,4873,-0.72,-194.6,637.8,-9.9,575,4877,0.00,1.08,0.00,0.000,6,0.000,0.047,2530,1546,3666,0,0,0,0,0,0
$GC,5200,-0.73,-194.6,670.7,-10.2,591,5204,0.00,1.05,0.00,0.000,4,0.000,0.054,2525,2245,3663,0,0,0,0,0,0
$GC,5275,-0.75,-194.6,678.4,-10.4,594,5279,0.00,1.08,0.00,0.000,6,0.000,0.047,2525,1540,3662,0,0,0,0,0,0
$GC,5602,-0.76,-194.6,712.3,-9.8,610,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1540,3659,0,0,0,0,0,0
$GC,5914,-0.77,-194.6,740.9,-9.2,625,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1540,3656,0,0,0,0,0,0
$GC,6221,-0.79,-194.6,770.0,-9.6,640,6225,0.00,1.10,0.00,0.000,4,0.000,0.057,2520,2246,3653,0,0,0,0,0,0
$GC,6277,-0.81,-194.6,775.7,-9.8,642,6281,0.08,1.08,0.00,0.000,6,0.057,0.050,2464,1549,3653,0,0,0,0,0,0
$GC,6600,-0.77,-194.6,819.9,-13.9,658,6602,0.12,0.00,0.00,0.000,6,0.174,0.000,2496,1548,3651,0,0,0,0,0,0
$GC,6907,-0.77,-194.6,855.7,-11.1,673,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1548,3650,0,0,0,0,0,0
$GC,7218,-0.77,-194.6,891.6,-11.9,688,7222,0.00,1.08,0.00,0.000,4,0.000,0.057,2496,848,3647,0,0,0,0,0,0
$GC,7312,-0.77,-194.6,903.8,-12.4,692,7316,0.00,1.08,0.00,0.000,6,0.000,0.048,2493,1548,3646,0,0,0,0,0,0
$GC,7640,-0.77,-194.6,945.8,-13.1,708,7643,0.00,1.05,0.00,0.000,4,0.000,0.057,2488,2240,3645,0,0,0,0,0,0
$GC,7714,-0.77,-194.6,955.1,-12.4,711,7718,0.00,1.08,0.00,0.000,6,0.000,0.050,2488,1543,3644,0,0,0,0,0,0
$STATE,8018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8018,begin apogee
$GC,8024,-0.11,0.0,991.9,11.4,726,8195,0.68,0.00,163.07,1.441,6,0.128,0.000,2704,1816,2883,0,0,0,0,0,0
$STATE,8195,end apogee,CONTROL_FINISHED_OK
$STATE,8195,begin climb
$GC,8198,0.62,194.6,996.7,0.0,734,8386,0.68,0.00,179.90,1.382,6,0.067,0.000,2945,1816,2089,0,0,0,0,0,0
$GC,8691,0.59,194.6,933.4,14.6,758,8695,0.00,1.10,0.00,0.000,4,0.000,0.061,2945,2522,2081,0,0,0,0,0,0
$GC,8783,0.55,194.6,920.3,14.4,762,8786,0.00,1.10,0.00,0.000,6,0.000,0.050,2948,1820,2080,0,0,0,0,0,0
$GC,9118,0.52,194.6,873.1,13.8,778,9121,0.00,1.10,0.00,0.000,4,0.000,0.060,2945,2520,2078,0,0,0,0,0,0
$GC,9168,0.48,194.6,865.5,13.6,780,9172,0.12,1.10,0.00,0.000,6,0.145,0.050,2905,1810,2078,0,0,0,0,0,0
$GC,9498,0.48,194.6,827.8,11.8,796,9502,0.00,1.05,0.00,0.000,4,0.000,0.053,2908,1116,2077,0,0,0,0,0,0
$GC,9536,0.48,194.6,822.6,12.2,797,9544,0.00,1.10,0.00,0.000,6,0.000,0.048,2908,1830,2077,0,0,0,0,0,0
$GC,9853,0.48,194.6,783.8,12.2,813,9857,0.00,1.05,0.00,0.000,4,0.000,0.058,2908,2521,2076,0,0,0,0,0,0
$GC,9972,0.48,194.6,769.8,11.2,818,9975,0.00,1.08,0.00,0.000,6,0.000,0.047,2912,1818,2075,0,0,0,0,0,0
$GC,10299,0.49,199.5,733.9,10.8,834,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1818,2074,0,0,0,0,0,0
$GC,10610,0.49,199.5,698.4,11.8,849,10614,0.00,1.05,0.00,0.000,4,0.000,0.051,2917,1117,2074,0,0,0,0,0,0
$GC,10655,0.49,199.5,692.8,11.8,851,10659,0.00,1.08,0.00,0.000,6,0.000,0.045,2917,1825,2073,0,0,0,0,0,0
$GC,10988,0.48,199.5,652.0,12.0,867,10992,0.00,1.05,0.00,0.000,4,0.000,0.055,2916,2522,2072,0,0,0,0,0,0
$GC,11130,0.48,199.5,634.4,12.2,873,11134,0.00,1.08,0.00,0.000,6,0.000,0.045,2920,1816,2073,0,0,0,0,0,0
$GC,11448,0.48,199.5,595.4,11.2,890,11451,0.00,1.05,0.00,0.000,4,0.000,0.050,2925,1113,2073,0,0,0,0,0,0
$GC,11496,0.48,202.4,590.3,10.9,894,11508,0.00,1.08,5.07,0.856,6,0.000,0.047,2925,1818,2059,0,0,0,0,0,0
$GC,11826,0.49,207.0,553.4,10.8,925,11838,0.00,1.02,6.15,0.908,4,0.000,0.051,2925,2521,2039,0,0,0,0,0,0
$GC,11876,0.51,228.5,548.5,10.2,929,11901,0.00,1.08,21.38,1.114,6,0.000,0.044,2928,1817,1951,0,0,0,0,0,0
$GC,12228,0.53,239.5,510.4,10.6,962,12240,0.00,0.00,10.75,1.004,6,0.000,0.000,2928,1817,1907,0,0,0,0,0,0
$GC,12555,0.53,239.5,472.7,11.7,993,12559,0.00,1.08,0.00,0.000,4,0.000,0.052,2930,2521,1904,0,0,0,0,0,0
$GC,12601,0.53,239.5,467.3,11.7,997,12605,0.00,1.08,0.00,0.000,6,0.000,0.044,2933,1813,1903,0,0,0,0,0,0
$GC,12932,0.57,271.5,430.6,9.8,1028,12966,0.00,1.10,29.40,1.030,4,0.000,0.048,2942,1113,1777,0,0,0,0,0,0
$GC,13051,0.61,289.9,419.2,10.3,1038,13074,0.00,1.10,18.02,0.975,6,0.000,0.042,2942,1831,1702,0,0,0,0,0,0
$GC,13392,0.62,289.9,379.0,11.3,1070,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1832,1699,0,0,0,0,0,0
$GC,13715,0.68,317.4,343.1,10.0,1100,13748,0.00,1.12,25.25,0.933,4,0.000,0.046,2949,1114,1589,0,0,0,0,0,0
$GC,13825,0.80,379.6,333.0,8.6,1109,13889,0.12,1.08,55.12,0.935,6,0.046,0.040,3035,1825,1336,0,0,0,0,0,0
$GC,14208,0.76,379.6,261.3,19.1,1145,14213,0.15,1.05,0.00,0.000,4,0.156,0.049,2988,2517,1332,0,0,0,0,0,0
$GC,14248,0.76,379.6,254.4,15.1,1148,14257,0.00,1.08,0.00,0.000,6,0.000,0.040,2991,1810,1332,0,0,0,0,0,0
$GC,14570,0.77,379.6,213.8,12.7,1206,14577,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1810,1332,0,0,0,0,0,0
$GC,14889,0.80,379.6,173.0,12.0,1267,14897,0.00,1.02,0.00,0.000,4,0.000,0.044,2997,1117,1331,0,0,0,0,0,0
$GC,14967,0.86,393.9,164.2,10.5,1281,14989,0.00,1.05,13.40,0.724,6,0.000,0.037,2997,1832,1277,0,0,0,0,0,0
$GC,15310,0.97,445.7,130.9,9.0,1344,15362,0.17,1.08,44.28,0.739,4,0.065,0.037,3100,1109,1065,0,0,0,0,0,0
$GC,15415,0.92,445.7,112.0,21.0,1360,15424,0.15,1.05,0.00,0.000,6,0.136,0.035,3052,1819,1063,0,0,0,0,0,0
$GC,15740,0.95,445.7,66.7,11.6,1421,15748,0.00,1.02,0.00,0.000,4,0.000,0.044,3047,2501,1063,0,0,0,0,0,0
$GC,15762,0.99,446.8,63.8,11.0,1424,15771,0.00,1.02,0.00,0.000,6,0.000,0.037,3050,1812,1063,0,0,0,0,0,0
$GC,16090,1.12,507.6,33.5,8.7,1485,16148,0.15,1.08,51.05,0.647,4,0.073,0.042,3152,1118,812,0,0,0,0,0,0
$STATE,16253,end climb,SURFACE_DEPTH_REACHED
$STATE,16254,begin surface coast
$FINISH,1.2,1.021507
$STATE,16265,end surface coast,CONTROL_FINISHED_OK
$STATE,16265,begin surface
$SM_CCo,16343,0.00,0.000,0,0,807,509.49
$SM_GC,1.73,7.90,0.00,0.00,0.038,0.000,0.000,154,1560,807,-8.03,0.28,509.49,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12336.91,180911,222232
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.86
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.20
$XPDR_PINGS,81
$24V_AH,22.8,58.774
$10V_AH,10.0,41.222
$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,20.875,65.725,622.850,0.000,0.000,29.373,19.643,187.198,20.250,0.000,15.940,3574.437,8355.963,660.677,3653.029,480.281,0.000,2097.791,0.000,3419.139,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,62.730,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.001,1551.958,1740.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330312
$DATA_FILE_SIZE,83567,1515
$CAP_FILE_SIZE,175839,0
$CFSIZE,260165632,125489152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190911,075830,2124.729,12339.943,39,1.1,44,-2.8