version: 66.09
glider: 166
mission: 6
dive: 250
start: 9 19 111 8 5 34
data:
$ID,166
$MISSION,6
$DIVE,250
$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,-24713.434
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,190911,075830,2124.729,12339.943,39,1.1,44,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.4
$GPS2,190911,080514,2124.660,12340.153,15,1.5,15,-2.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2131.602,12331.260
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.62,-194.6,0.0,0.0,0,118,0.00,0.00,-98.93,0.000,2,0.000,0.000,154,1560,3259,0,0,0,0,0,0
$GC,121,-0.62,-194.6,6.6,-10.8,14,145,9.55,1.05,-7.60,0.000,4,0.228,0.065,2530,2272,3679,0,0,0,0,0,0
$GC,191,-0.46,-194.6,39.3,-37.3,25,199,0.25,1.10,0.00,0.000,6,0.156,0.039,2590,1538,3681,0,0,0,0,0,0
$GC,517,-0.42,-194.6,116.3,-18.5,86,526,0.00,1.05,0.00,0.000,4,0.000,0.040,2586,2254,3682,0,0,0,0,0,0
$GC,627,-0.42,-194.6,135.7,-14.5,106,635,0.00,1.05,0.00,0.000,6,0.000,0.037,2585,1540,3682,0,0,0,0,0,0
$GC,951,-0.42,-194.6,184.7,-13.7,167,959,0.00,1.05,0.00,0.000,4,0.000,0.040,2581,2255,3683,0,0,0,0,0,0
$GC,1042,-0.44,-194.6,195.7,-11.9,183,1050,0.00,1.02,0.00,0.000,6,0.000,0.037,2581,1556,3683,0,0,0,0,0,0
$GC,1364,-0.44,-194.6,237.7,-12.1,244,1372,0.00,1.02,0.00,0.000,4,0.000,0.042,2576,2250,3683,0,0,0,0,0,0
$GC,1421,-0.45,-194.6,244.0,-10.4,254,1429,0.00,1.02,0.00,0.000,6,0.000,0.038,2576,1553,3683,0,0,0,0,0,0
$GC,1750,-0.48,-194.6,276.4,-10.0,290,1754,0.00,1.02,0.00,0.000,4,0.000,0.043,2576,855,3683,0,0,0,0,0,0
$GC,1798,-0.50,-194.6,282.0,-10.7,294,1809,0.00,1.05,0.00,0.000,6,0.000,0.037,2571,1567,3683,0,0,0,0,0,0
$GC,2125,-0.52,-194.6,315.9,-10.6,325,2128,0.00,0.98,0.00,0.000,4,0.000,0.044,2574,2243,3683,0,0,0,0,0,0
$GC,2216,-0.56,-194.6,325.1,-10.2,333,2220,0.00,1.02,0.00,0.000,6,0.000,0.040,2576,1552,3683,0,0,0,0,0,0
$GC,2547,-0.59,-194.6,359.1,-10.4,364,2551,0.00,1.05,0.00,0.000,4,0.000,0.046,2580,2249,3681,0,0,0,0,0,0
$GC,2605,-0.64,-194.6,365.2,-10.6,369,2609,0.10,1.05,0.00,0.000,6,0.046,0.042,2501,1547,3681,0,0,0,0,0,0
$GC,2935,-0.59,-194.6,420.4,-16.0,400,2937,0.17,0.00,0.00,0.000,6,0.154,0.000,2550,1547,3679,0,0,0,0,0,0
$GC,3256,-0.60,-194.6,452.1,-8.7,430,3260,0.00,1.05,0.00,0.000,4,0.000,0.049,2551,852,3677,0,0,0,0,0,0
$GC,3342,-0.61,-194.6,460.4,-9.7,437,3349,0.00,1.05,0.00,0.000,6,0.000,0.041,2548,1550,3676,0,0,0,0,0,0
$GC,3668,-0.63,-194.6,494.8,-11.3,468,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1551,3675,0,0,0,0,0,0
$GC,3992,-0.65,-194.6,529.7,-10.1,498,3995,0.00,1.02,0.00,0.000,4,0.000,0.051,2543,2238,3672,0,0,0,0,0,0
$GC,4072,-0.67,-194.6,537.8,-9.6,505,4076,0.00,1.05,0.00,0.000,6,0.000,0.046,2543,1548,3671,0,0,0,0,0,0
$GC,4403,-0.69,-194.6,569.1,-9.9,536,4407,0.00,1.05,0.00,0.000,4,0.000,0.052,2543,855,3668,0,0,0,0,0,0
$GC,4455,-0.71,-194.6,574.8,-10.7,540,4462,0.00,1.05,0.00,0.000,6,0.000,0.044,2538,1545,3668,0,0,0,0,0,0
$GC,4790,-0.73,-194.6,610.8,-10.2,567,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1545,3666,0,0,0,0,0,0
$GC,5098,-0.74,-194.6,645.4,-11.3,582,5101,0.00,1.05,0.00,0.000,4,0.000,0.053,2533,2244,3662,0,0,0,0,0,0
$GC,5169,-0.77,-194.6,652.9,-10.8,585,5174,0.08,1.05,0.00,0.000,6,0.055,0.047,2475,1555,3662,0,0,0,0,0,0
$GC,5503,-0.73,-194.6,701.0,-14.0,601,5507,0.12,1.10,0.00,0.000,4,0.170,0.055,2509,851,3659,0,0,0,0,0,0
$GC,5664,-0.73,-194.6,720.0,-11.3,608,5668,0.00,1.08,0.00,0.000,6,0.000,0.046,2506,1551,3657,0,0,0,0,0,0
$GC,5992,-0.73,-194.6,754.5,-10.8,624,5996,0.00,1.10,0.00,0.000,4,0.000,0.055,2501,846,3655,0,0,0,0,0,0
$GC,6062,-0.73,-194.6,762.0,-11.0,627,6065,0.00,1.08,0.00,0.000,6,0.000,0.048,2495,1545,3654,0,0,0,0,0,0
$GC,6394,-0.73,-194.6,799.3,-11.3,643,6398,0.00,1.05,0.00,0.000,4,0.000,0.056,2484,2242,3652,0,0,0,0,0,0
$GC,6429,-0.73,-194.6,803.2,-11.1,644,6432,0.00,1.05,0.00,0.000,6,0.000,0.049,2488,1556,3651,0,0,0,0,0,0
$GC,6752,-0.73,-194.6,840.0,-11.5,660,6756,0.00,1.08,0.00,0.000,4,0.000,0.055,2486,853,3649,0,0,0,0,0,0
$GC,6899,-0.72,-194.6,858.2,-12.4,666,6904,0.08,1.08,0.00,0.000,6,0.151,0.048,2504,1546,3648,0,0,0,0,0,0
$GC,7224,-0.73,-194.6,891.6,-10.1,682,7228,0.00,1.08,0.00,0.000,4,0.000,0.057,2500,2251,3646,0,0,0,0,0,0
$GC,7271,-0.75,-194.6,896.4,-9.5,684,7274,0.00,1.08,0.00,0.000,6,0.000,0.050,2501,1551,3645,0,0,0,0,0,0
$GC,7606,-0.76,-194.6,930.2,-10.2,700,7610,0.00,1.10,0.00,0.000,4,0.000,0.058,2495,2242,3644,0,0,0,0,0,0
$GC,7657,-0.78,-194.6,935.7,-10.1,702,7660,0.00,1.08,0.00,0.000,6,0.000,0.051,2495,1547,3643,0,0,0,0,0,0
$GC,7986,-0.78,-194.6,969.0,-9.8,718,7990,0.00,1.08,0.00,0.000,4,0.000,0.059,2495,852,3641,0,0,0,0,0,0
$GC,8059,-0.78,-194.6,976.8,-10.4,721,8062,0.00,1.08,0.00,0.000,6,0.000,0.050,2489,1549,3641,0,0,0,0,0,0
$STATE,8198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8198,begin apogee
$GC,8204,-0.11,0.0,990.4,9.7,728,8375,0.65,0.00,162.90,1.449,6,0.122,0.000,2702,1821,2883,0,0,0,0,0,0
$STATE,8376,end apogee,CONTROL_FINISHED_OK
$STATE,8376,begin climb
$GC,8378,0.62,194.6,994.3,0.0,736,8564,0.68,1.23,179.62,1.387,4,0.047,0.060,2960,2524,2089,0,0,0,0,0,0
$GC,8611,0.56,194.6,966.9,16.4,747,8616,0.15,1.15,0.00,0.000,6,0.151,0.051,2927,1821,2085,0,0,0,0,0,0
$GC,8934,0.54,194.6,924.0,13.0,763,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1821,2080,0,0,0,0,0,0
$GC,9242,0.51,194.6,883.6,12.7,778,9245,0.00,1.10,0.00,0.000,4,0.000,0.059,2922,2517,2079,0,0,0,0,0,0
$GC,9357,0.50,194.6,868.8,13.1,783,9361,0.00,1.10,0.00,0.000,6,0.000,0.047,2926,1810,2078,0,0,0,0,0,0
$GC,9690,0.47,194.6,824.6,13.3,799,9695,0.12,1.10,0.00,0.000,4,0.174,0.057,2891,2513,2076,0,0,0,0,0,0
$GC,9722,0.47,194.6,820.5,12.0,800,9727,0.00,1.08,0.00,0.000,6,0.000,0.047,2894,1810,2075,0,0,0,0,0,0
$GC,10047,0.49,207.3,786.0,10.5,816,10064,0.00,0.00,10.35,1.173,6,0.000,0.000,2899,1810,2039,0,0,0,0,0,0
$GC,10373,0.50,207.3,750.3,11.1,832,10377,0.00,1.10,0.00,0.000,4,0.000,0.055,2895,2520,2035,0,0,0,0,0,0
$GC,10425,0.52,207.3,744.5,11.3,834,10429,0.00,1.08,0.00,0.000,6,0.000,0.045,2899,1820,2036,0,0,0,0,0,0
$GC,10753,0.53,207.3,706.9,11.5,850,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1820,2034,0,0,0,0,0,0
$GC,11063,0.57,220.7,673.9,10.5,865,11085,0.00,1.12,13.43,1.166,4,0.000,0.050,2903,1109,1983,0,0,0,0,0,0
$GC,11115,0.60,233.3,668.3,10.5,867,11133,0.08,1.10,13.27,1.148,6,0.060,0.044,2953,1822,1932,0,0,0,0,0,0
$GC,11443,0.57,233.3,620.4,14.7,883,11447,0.00,1.05,0.00,0.000,4,0.000,0.055,2951,2515,1926,0,0,0,0,0,0
$GC,11575,0.55,233.3,600.7,14.4,888,11583,0.10,1.08,0.00,0.000,6,0.147,0.044,2929,1814,1926,0,0,0,0,0,0
$GC,11903,0.58,253.4,563.1,10.2,919,11926,0.00,1.10,18.48,1.125,4,0.000,0.050,2927,1117,1851,0,0,0,0,0,0
$GC,11943,0.61,277.7,558.7,10.1,922,11972,0.00,1.08,23.98,1.124,6,0.000,0.044,2926,1819,1751,0,0,0,0,0,0
$GC,12290,0.64,297.1,521.6,10.3,955,12311,0.00,0.00,18.83,1.082,6,0.000,0.000,2926,1819,1672,0,0,0,0,0,0
$GC,12631,0.67,304.7,486.5,10.7,987,12644,0.10,1.12,8.10,0.930,4,0.102,0.049,2984,1116,1640,0,0,0,0,0,0
$GC,12706,0.64,304.7,475.1,15.6,993,12714,0.10,1.08,0.00,0.000,6,0.145,0.044,2952,1818,1639,0,0,0,0,0,0
$GC,13031,0.64,304.7,430.8,13.2,1024,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1819,1639,0,0,0,0,0,0
$GC,13351,0.64,304.7,387.8,13.5,1054,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1820,1638,0,0,0,0,0,0
$GC,13674,0.64,304.7,349.7,11.5,1084,13677,0.00,1.08,0.00,0.000,4,0.000,0.047,2959,1118,1638,0,0,0,0,0,0
$GC,13776,0.66,316.6,337.7,10.5,1093,13792,0.00,1.05,12.00,0.887,6,0.000,0.041,2960,1821,1593,0,0,0,0,0,0
$GC,14113,0.68,316.6,299.0,11.7,1124,14116,0.00,1.08,0.00,0.000,4,0.000,0.045,2970,1115,1591,0,0,0,0,0,0
$GC,14194,0.70,316.6,289.5,11.5,1131,14201,0.00,1.05,0.00,0.000,6,0.000,0.041,2970,1814,1590,0,0,0,0,0,0
$GC,14520,0.72,316.6,249.4,11.9,1162,14527,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1813,1590,0,0,0,0,0,0
$GC,14842,0.82,373.6,219.2,8.8,1223,14900,0.12,1.05,50.28,0.842,4,0.085,0.041,3052,1116,1359,0,0,0,0,0,0
$GC,14968,0.78,373.6,198.5,18.1,1243,14977,0.15,1.08,0.00,0.000,6,0.132,0.037,3003,1832,1357,0,0,0,0,0,0
$GC,15289,0.80,373.6,155.5,12.6,1304,15297,0.00,1.00,0.00,0.000,4,0.000,0.045,3001,2504,1356,0,0,0,0,0,0
$GC,15331,0.82,373.6,150.2,11.9,1311,15339,0.00,1.05,0.00,0.000,6,0.000,0.039,3005,1807,1357,0,0,0,0,0,0
$GC,15653,0.94,435.5,119.2,8.7,1372,15712,0.12,1.08,52.12,0.734,4,0.083,0.042,3087,1117,1107,0,0,0,0,0,0
$GC,15729,0.90,435.5,107.7,17.6,1382,15738,0.15,1.05,0.00,0.000,6,0.133,0.035,3039,1819,1106,0,0,0,0,0,0
$GC,16055,1.03,503.1,68.9,8.4,1443,16117,0.10,1.05,55.67,0.680,4,0.098,0.039,3109,1119,831,0,0,0,0,0,0
$GC,16255,1.03,503.1,38.1,15.5,1477,16263,0.10,1.02,0.00,0.000,6,0.129,0.034,3076,1824,827,0,0,0,0,0,0
$STATE,16518,end climb,SURFACE_DEPTH_REACHED
$STATE,16519,begin surface coast
$FINISH,1.1,1.009516
$STATE,16549,end surface coast,CONTROL_FINISHED_OK
$STATE,16549,begin surface
$SM_CCo,16627,0.00,0.000,0,0,825,505.07
$SM_GC,1.96,7.60,0.00,0.00,0.036,0.000,0.000,147,1533,825,-8.05,-0.48,505.07,0,0,0,0,0,0
$IRIDIUM_FIX,2113.32,12338.20,190911,030314
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.53
$INTERNAL_PRESSURE,9.42877
$TCM_TEMP,26.10
$XPDR_PINGS,94
$24V_AH,22.8,58.995
$10V_AH,9.9,41.393
$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,20.675,69.100,619.025,0.000,0.000,23.552,40.247,175.958,23.500,0.000,16.462,3626.551,8553.341,644.422,3686.951,494.895,0.000,2120.849,0.000,3449.022,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,65.025,1448.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1046.217,1572.183,1719.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86863,1532
$CAP_FILE_SIZE,181842,0
$CFSIZE,260165632,125386752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190911,124401,2126.440,12340.830,41,1.0,41,-2.8