version: 66.09
glider: 166
mission: 6
dive: 252
start: 9 19 111 17 35 43
data:
$ID,166
$MISSION,6
$DIVE,252
$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,250
$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,285
$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,-24715.945
$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,47
$R_STBD_OVSHOOT,52
$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
$GPS1,190911,172900,2127.810,12339.795,37,1.8,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-63.9
$GPS2,190911,173521,2127.758,12339.847,16,2.0,17,-2.8
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2130.553,12328.635
$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,287.8,20000,-15.2,-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,17,-0.64,-243.3,0.0,0.0,0,126,0.00,0.00,-106.60,0.000,2,0.000,0.000,153,1534,2963,0,0,0,0,0,0
$GC,129,-0.64,-243.3,5.1,-7.4,15,166,9.48,1.08,-17.75,0.000,4,0.226,0.067,2524,2247,3879,0,0,0,0,0,0
$GC,218,-0.47,-243.3,39.5,-34.9,29,227,0.25,1.02,0.00,0.000,6,0.155,0.037,2586,1552,3880,0,0,0,0,0,0
$GC,545,-0.40,-243.3,125.7,-21.7,90,554,0.10,1.05,0.00,0.000,4,0.177,0.042,2610,2249,3881,0,0,0,0,0,0
$GC,748,-0.41,-243.3,153.3,-11.1,127,757,0.00,1.02,0.00,0.000,6,0.000,0.037,2606,1548,3882,0,0,0,0,0,0
$GC,1072,-0.43,-243.3,194.9,-11.9,188,1080,0.00,1.02,0.00,0.000,4,0.000,0.041,2601,2241,3882,0,0,0,0,0,0
$GC,1225,-0.47,-243.3,211.4,-9.8,216,1234,0.00,1.02,0.00,0.000,6,0.000,0.037,2601,1547,3883,0,0,0,0,0,0
$GC,1551,-0.51,-243.3,239.2,-7.7,277,1559,0.00,1.05,0.00,0.000,4,0.000,0.044,2597,2246,3883,0,0,0,0,0,0
$GC,1657,-0.57,-243.3,247.8,-8.1,296,1665,0.08,1.02,0.00,0.000,6,0.047,0.039,2514,1556,3882,0,0,0,0,0,0
$GC,1986,-0.52,-243.3,305.0,-17.3,328,1990,0.20,1.05,0.00,0.000,4,0.148,0.042,2570,2244,3882,0,0,0,0,0,0
$GC,2037,-0.53,-243.3,311.4,-11.4,332,2044,0.00,1.05,0.00,0.000,6,0.000,0.041,2571,1547,3882,0,0,0,0,0,0
$GC,2365,-0.56,-243.3,337.3,-7.8,363,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1547,3881,0,0,0,0,0,0
$GC,2685,-0.60,-243.3,363.3,-8.9,393,2689,0.10,1.08,0.00,0.000,4,0.096,0.047,2514,2239,3879,0,0,0,0,0,0
$GC,2780,-0.56,-243.3,377.0,-14.5,401,2787,0.15,1.05,0.00,0.000,6,0.126,0.043,2564,1548,3878,0,0,0,0,0,0
$GC,3106,-0.57,-243.3,407.5,-8.2,432,3109,0.00,1.02,0.00,0.000,4,0.000,0.047,2561,2229,3876,0,0,0,0,0,0
$GC,3211,-0.60,-243.3,415.8,-8.1,441,3214,0.00,1.02,0.00,0.000,6,0.000,0.044,2561,1553,3875,0,0,0,0,0,0
$GC,3542,-0.61,-243.3,446.3,-9.6,472,3546,0.00,1.05,0.00,0.000,4,0.000,0.049,2556,2241,3874,0,0,0,0,0,0
$GC,3626,-0.64,-243.3,454.3,-9.1,479,3633,0.00,1.05,0.00,0.000,6,0.000,0.045,2556,1549,3872,0,0,0,0,0,0
$GC,3952,-0.66,-243.3,487.3,-10.0,510,3956,0.00,1.05,0.00,0.000,4,0.000,0.050,2551,2233,3870,0,0,0,0,0,0
$GC,4005,-0.69,-243.3,492.3,-9.5,514,4012,0.00,1.05,0.00,0.000,6,0.000,0.045,2551,1543,3870,0,0,0,0,0,0
$GC,4331,-0.71,-243.3,524.2,-9.1,545,4335,0.10,1.08,0.00,0.000,4,0.097,0.053,2484,2228,3867,0,0,0,0,0,0
$GC,4370,-0.68,-243.3,528.9,-12.4,548,4378,0.10,1.02,0.00,0.000,6,0.135,0.045,2519,1554,3866,0,0,0,0,0,0
$GC,4696,-0.68,-243.3,568.8,-12.2,579,4699,0.00,1.05,0.00,0.000,4,0.000,0.053,2516,2235,3865,0,0,0,0,0,0
$GC,4759,-0.68,-243.3,576.3,-12.1,584,4765,0.00,1.05,0.00,0.000,6,0.000,0.047,2516,1550,3864,0,0,0,0,0,0
$GC,5092,-0.67,-243.3,619.2,-12.9,609,5095,0.00,1.08,0.00,0.000,4,0.000,0.056,2511,2229,3861,0,0,0,0,0,0
$GC,5138,-0.67,-243.3,625.1,-12.5,611,5141,0.00,1.05,0.00,0.000,6,0.000,0.048,2511,1544,3860,0,0,0,0,0,0
$GC,5473,-0.66,-243.3,663.4,-10.4,627,5477,0.00,1.08,0.00,0.000,4,0.000,0.056,2506,2235,3858,0,0,0,0,0,0
$GC,5523,-0.66,-243.3,668.7,-10.0,629,5527,0.00,1.05,0.00,0.000,6,0.000,0.049,2506,1554,3857,0,0,0,0,0,0
$GC,5853,-0.65,-243.3,700.5,-9.7,645,5856,0.00,1.05,0.00,0.000,4,0.000,0.056,2501,2231,3854,0,0,0,0,0,0
$GC,5886,-0.64,-243.3,704.1,-9.9,646,5890,0.10,1.05,0.00,0.000,6,0.131,0.050,2536,1549,3854,0,0,0,0,0,0
$GC,6211,-0.66,-243.3,729.8,-8.3,662,6215,0.00,1.05,0.00,0.000,4,0.000,0.057,2533,2225,3852,0,0,0,0,0,0
$GC,6245,-0.69,-243.3,733.0,-8.5,663,6248,0.00,1.05,0.00,0.000,6,0.000,0.049,2533,1543,3852,0,0,0,0,0,0
$GC,6567,-0.71,-243.3,764.5,-10.8,679,6570,0.00,1.08,0.00,0.000,4,0.000,0.058,2528,2230,3850,0,0,0,0,0,0
$GC,6625,-0.73,-243.3,770.7,-10.7,681,6629,0.00,1.05,0.00,0.000,6,0.000,0.050,2528,1552,3849,0,0,0,0,0,0
$GC,6947,-0.75,-243.3,806.4,-10.7,697,6951,0.00,1.05,0.00,0.000,4,0.000,0.059,2510,2226,3847,0,0,0,0,0,0
$GC,6976,-0.77,-243.3,809.4,-10.2,698,6980,0.00,1.05,0.00,0.000,6,0.000,0.050,2512,1549,3846,0,0,0,0,0,0
$GC,7304,-0.78,-243.3,841.7,-9.4,714,7308,0.00,1.08,0.00,0.000,4,0.000,0.060,2504,2233,3844,0,0,0,0,0,0
$GC,7360,-0.80,-243.3,846.8,-8.8,716,7364,0.00,1.05,0.00,0.000,6,0.000,0.051,2505,1556,3843,0,0,0,0,0,0
$GC,7684,-0.81,-243.3,876.6,-9.2,732,7688,0.00,1.10,0.00,0.000,4,0.000,0.057,2504,842,3841,0,0,0,0,0,0
$GC,7746,-0.82,-243.3,883.1,-9.8,734,7753,0.00,1.08,0.00,0.000,6,0.000,0.050,2499,1536,3841,0,0,0,0,0,0
$GC,8064,-0.82,-243.3,914.4,-9.9,750,8068,0.00,1.08,0.00,0.000,4,0.000,0.057,2493,2239,3840,0,0,0,0,0,0
$GC,8147,-0.83,-243.3,922.6,-9.6,753,8154,0.00,1.08,0.00,0.000,6,0.000,0.050,2493,1545,3839,0,0,0,0,0,0
$GC,8466,-0.83,-243.3,952.7,-9.6,769,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1546,3837,0,0,0,0,0,0
$GC,8773,-0.83,-243.3,981.0,-9.1,784,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1545,3836,0,0,0,0,0,0
$STATE,8873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8873,begin apogee
$GC,8879,-0.11,0.0,990.8,9.6,789,9092,0.62,0.00,205.30,1.447,6,0.120,0.000,2702,1825,2884,0,0,0,0,0,0
$STATE,9092,end apogee,CONTROL_FINISHED_OK
$STATE,9092,begin climb
$GC,9095,0.64,243.3,998.5,0.0,799,9329,0.68,1.25,224.52,1.382,4,0.048,0.063,2958,2522,1892,0,0,0,0,0,0
$GC,9381,0.57,243.3,964.6,16.3,812,9386,0.10,1.15,0.00,0.000,6,0.149,0.051,2938,1832,1888,0,0,0,0,0,0
$GC,9709,0.53,243.3,919.0,13.3,828,9713,0.00,1.12,0.00,0.000,4,0.000,0.057,2941,1109,1883,0,0,0,0,0,0
$GC,9742,0.49,243.3,914.1,13.4,829,9747,0.10,1.12,0.00,0.000,6,0.142,0.052,2910,1818,1882,0,0,0,0,0,0
$GC,10068,0.51,264.2,880.3,10.4,845,10093,0.00,1.15,19.50,1.292,4,0.000,0.061,2910,2522,1806,0,0,0,0,0,0
$GC,10121,0.53,283.1,873.8,10.4,847,10146,0.00,1.12,19.15,1.274,6,0.000,0.049,2914,1810,1729,0,0,0,0,0,0
$GC,10467,0.53,285.2,837.2,10.9,864,10470,0.00,1.08,0.00,0.000,4,0.000,0.053,2915,1113,1724,0,0,0,0,0,0
$GC,10499,0.53,285.2,832.9,11.2,865,10503,0.00,1.12,0.00,0.000,6,0.000,0.050,2915,1830,1725,0,0,0,0,0,0
$GC,10824,0.52,285.2,794.5,12.6,881,10827,0.00,1.05,0.00,0.000,4,0.000,0.058,2915,2517,1723,0,0,0,0,0,0
$GC,10856,0.52,285.2,789.8,12.6,882,10860,0.00,1.10,0.00,0.000,6,0.000,0.047,2920,1809,1723,0,0,0,0,0,0
$GC,11178,0.51,285.2,750.3,12.2,898,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1809,1722,0,0,0,0,0,0
$GC,11490,0.49,285.2,713.0,11.8,913,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1809,1722,0,0,0,0,0,0
$GC,11797,0.48,285.2,674.2,12.7,928,11801,0.00,1.10,0.00,0.000,4,0.000,0.056,2919,2518,1722,0,0,0,0,0,0
$GC,11847,0.48,285.2,667.6,12.7,930,11851,0.00,1.08,0.00,0.000,6,0.000,0.047,2924,1818,1722,0,0,0,0,0,0
$GC,12177,0.47,285.2,625.6,13.0,946,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1818,1722,0,0,0,0,0,0
$GC,12487,0.46,285.2,585.9,12.7,966,12489,0.12,0.00,0.00,0.000,6,0.165,0.000,2894,1818,1720,0,0,0,0,0,0
$GC,12806,0.56,343.4,555.8,9.2,996,12866,0.00,0.00,54.88,1.164,6,0.000,0.000,2895,1818,1483,0,0,0,0,0,0
$GC,13185,0.76,465.4,525.0,7.3,1032,13296,0.28,0.00,108.15,1.120,6,0.057,0.000,3022,1817,986,0,0,0,0,0,0
$GC,13616,0.69,465.4,431.6,22.2,1073,13622,0.17,0.00,0.00,0.000,6,0.158,0.000,2973,1817,980,0,0,0,0,0,0
$GC,13941,0.68,465.4,378.3,15.4,1104,13943,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1817,978,0,0,0,0,0,0
$GC,14263,0.68,465.4,327.0,15.3,1134,14269,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1817,978,0,0,0,0,0,0
$GC,14592,0.69,465.4,282.0,11.8,1165,14595,0.00,1.05,0.00,0.000,4,0.000,0.048,2980,1117,978,0,0,0,0,0,0
$GC,14643,0.72,465.4,275.7,11.4,1169,14650,0.00,1.08,0.00,0.000,6,0.000,0.041,2981,1833,977,0,0,0,0,0,0
$GC,14969,0.74,465.4,238.3,11.2,1210,14977,0.00,1.10,0.00,0.000,4,0.000,0.047,2986,1113,977,0,0,0,0,0,0
$GC,15041,0.82,511.7,230.7,9.6,1223,15087,0.00,1.05,38.78,0.858,6,0.000,0.041,2986,1815,795,0,0,0,0,0,0
$GC,15400,1.00,611.4,198.7,8.0,1289,15486,0.22,1.08,77.22,0.815,4,0.058,0.040,3107,1108,454,0,0,0,0,0,0
$GC,15563,0.94,611.4,161.2,24.7,1315,15572,0.17,1.08,0.00,0.000,6,0.134,0.038,3050,1820,445,0,0,0,0,0,0
$GC,15891,0.95,611.4,107.4,14.1,1376,15899,0.00,1.02,0.00,0.000,4,0.000,0.044,3048,2512,437,0,0,0,0,0,0
$GC,15908,0.97,611.4,104.8,13.1,1378,15916,0.00,1.05,0.00,0.000,6,0.000,0.038,3051,1814,437,0,0,0,0,0,0
$GC,16232,1.09,659.6,70.2,9.5,1439,16240,0.12,1.05,0.00,0.000,4,0.087,0.045,3146,1117,434,0,0,0,0,0,0
$GC,16388,1.05,659.6,40.7,19.9,1467,16397,0.17,1.05,0.00,0.000,6,0.125,0.037,3087,1834,433,0,0,0,0,0,0
$STATE,16658,end climb,SURFACE_DEPTH_REACHED
$STATE,16658,begin surface coast
$FINISH,1.2,1.021504
$STATE,16688,end surface coast,CONTROL_FINISHED_OK
$STATE,16688,begin surface
$SM_CCo,16765,0.00,0.000,0,0,431,601.72
$SM_GC,1.86,7.45,0.00,0.00,0.025,0.000,0.000,151,1540,431,-8.03,-0.28,601.72,0,0,0,0,0,0
$IRIDIUM_FIX,2117.95,12339.48,190911,121234
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.87
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.90
$XPDR_PINGS,93
$24V_AH,22.6,59.550
$10V_AH,10.0,41.727
$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,20.875,67.025,747.500,0.000,0.000,27.740,18.742,168.958,23.250,0.000,18.182,3558.205,8751.763,768.907,3566.107,479.859,0.000,2222.919,0.000,3347.721,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,67.320,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.758,1560.016,1686.685,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86796,1523
$CAP_FILE_SIZE,179520,0
$CFSIZE,260165632,125202432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190911,221630,2129.793,12338.919,38,1.8,43,-2.8