version: 66.09
glider: 166
mission: 6
dive: 254
start: 9 20 111 3 0 36
data:
$ID,166
$MISSION,6
$DIVE,254
$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,-24718.457
$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,43
$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
$GPS1,200911,025407,2131.577,12338.221,30,1.0,30,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.2
$GPS2,200911,030014,2131.570,12338.281,10,1.5,10,-2.8
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2134.365,12327.064
$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,-243.3,0.0,0.0,0,133,0.00,0.00,-113.70,0.000,2,0.000,0.000,153,1573,3190,0,0,0,0,0,0
$GC,136,-0.64,-243.3,5.9,-8.1,16,166,9.57,1.00,-12.30,0.000,4,0.230,0.063,2525,2258,3878,0,0,0,0,0,0
$GC,249,-0.46,-243.3,55.6,-35.8,35,258,0.25,1.05,0.00,0.000,6,0.161,0.037,2589,1543,3879,0,0,0,0,0,0
$GC,577,-0.40,-243.3,129.9,-19.0,96,585,0.00,1.05,0.00,0.000,4,0.000,0.040,2583,2257,3880,0,0,0,0,0,0
$GC,677,-0.37,-243.3,147.3,-15.0,114,686,0.12,1.02,0.00,0.000,6,0.125,0.036,2622,1557,3881,0,0,0,0,0,0
$GC,1001,-0.41,-243.3,178.9,-9.4,175,1009,0.00,1.05,0.00,0.000,4,0.000,0.039,2619,2264,3881,0,0,0,0,0,0
$GC,1186,-0.47,-243.3,194.8,-8.2,209,1194,0.00,1.05,0.00,0.000,6,0.000,0.035,2619,1547,3881,0,0,0,0,0,0
$GC,1507,-0.53,-243.3,220.8,-7.5,270,1515,0.12,1.08,0.00,0.000,4,0.079,0.040,2526,2258,3881,0,0,0,0,0,0
$GC,1617,-0.49,-243.3,236.2,-16.7,289,1626,0.17,1.05,0.00,0.000,6,0.128,0.038,2586,1546,3881,0,0,0,0,0,0
$GC,1950,-0.52,-243.3,273.5,-10.3,330,1954,0.00,1.05,0.00,0.000,4,0.000,0.042,2589,2251,3880,0,0,0,0,0,0
$GC,2032,-0.56,-243.3,281.9,-10.4,337,2036,0.00,1.02,0.00,0.000,6,0.000,0.037,2589,1555,3880,0,0,0,0,0,0
$GC,2366,-0.60,-243.3,313.8,-8.6,368,2370,0.12,1.08,0.00,0.000,4,0.083,0.041,2510,2260,3879,0,0,0,0,0,0
$GC,2423,-0.55,-243.3,321.3,-15.0,373,2427,0.15,1.05,0.00,0.000,6,0.133,0.038,2561,1555,3878,0,0,0,0,0,0
$GC,2755,-0.55,-243.3,361.1,-11.9,404,2758,0.00,1.05,0.00,0.000,4,0.000,0.044,2560,2258,3877,0,0,0,0,0,0
$GC,2846,-0.56,-243.3,371.8,-11.3,412,2849,0.00,1.05,0.00,0.000,6,0.000,0.041,2560,1557,3877,0,0,0,0,0,0
$GC,3178,-0.56,-243.3,412.0,-11.8,443,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1557,3875,0,0,0,0,0,0
$GC,3497,-0.58,-243.3,445.4,-9.5,473,3500,0.00,1.05,0.00,0.000,4,0.000,0.048,2555,2248,3873,0,0,0,0,0,0
$GC,3583,-0.60,-243.3,452.8,-7.8,480,3590,0.00,1.05,0.00,0.000,6,0.000,0.042,2555,1553,3872,0,0,0,0,0,0
$GC,3909,-0.63,-243.3,480.0,-7.8,511,3913,0.00,1.05,0.00,0.000,4,0.000,0.049,2549,2241,3870,0,0,0,0,0,0
$GC,3950,-0.65,-243.3,483.1,-7.6,514,3957,0.00,1.05,0.00,0.000,6,0.000,0.044,2550,1549,3870,0,0,0,0,0,0
$GC,4276,-0.67,-243.3,511.1,-8.7,545,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1549,3868,0,0,0,0,0,0
$GC,4598,-0.69,-243.3,539.4,-9.7,575,4602,0.00,1.08,0.00,0.000,4,0.000,0.054,2546,2248,3864,0,0,0,0,0,0
$GC,4716,-0.72,-243.3,551.6,-9.9,585,4723,0.00,1.08,0.00,0.000,6,0.000,0.047,2546,1546,3863,0,0,0,0,0,0
$GC,5042,-0.74,-243.3,587.0,-10.3,616,5046,0.12,1.10,0.00,0.000,4,0.085,0.054,2471,2239,3860,0,0,0,0,0,0
$GC,5088,-0.69,-243.3,592.9,-14.2,620,5092,0.12,1.05,0.00,0.000,6,0.135,0.047,2514,1555,3860,0,0,0,0,0,0
$GC,5414,-0.68,-243.3,635.9,-13.5,638,5418,0.00,1.08,0.00,0.000,4,0.000,0.053,2514,851,3857,0,0,0,0,0,0
$GC,5475,-0.68,-243.3,644.4,-12.7,640,5482,0.00,1.08,0.00,0.000,6,0.000,0.045,2511,1556,3856,0,0,0,0,0,0
$GC,5793,-0.68,-243.3,683.2,-12.1,656,5797,0.00,1.05,0.00,0.000,4,0.000,0.055,2506,2247,3854,0,0,0,0,0,0
$GC,5877,-0.68,-243.3,693.7,-11.8,659,5884,0.00,1.08,0.00,0.000,6,0.000,0.046,2506,1545,3853,0,0,0,0,0,0
$GC,6194,-0.67,-243.3,732.3,-12.3,675,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1545,3851,0,0,0,0,0,0
$GC,6504,-0.67,-243.3,767.6,-11.1,690,6508,0.00,1.10,0.00,0.000,4,0.000,0.057,2501,2245,3849,0,0,0,0,0,0
$GC,6566,-0.67,-243.3,774.7,-10.8,692,6572,0.00,1.08,0.00,0.000,6,0.000,0.050,2500,1552,3848,0,0,0,0,0,0
$GC,6882,-0.66,-243.3,811.7,-12.2,708,6884,0.10,0.00,0.00,0.000,6,0.170,0.000,2527,1551,3846,0,0,0,0,0,0
$GC,7194,-0.68,-243.3,843.1,-10.0,723,7198,0.00,1.08,0.00,0.000,4,0.000,0.057,2524,2240,3844,0,0,0,0,0,0
$GC,7295,-0.71,-243.3,853.3,-9.8,727,7299,0.00,1.08,0.00,0.000,6,0.000,0.050,2524,1546,3843,0,0,0,0,0,0
$GC,7619,-0.72,-243.3,887.8,-10.9,743,7623,0.00,1.10,0.00,0.000,4,0.000,0.060,2519,2242,3841,0,0,0,0,0,0
$GC,7714,-0.74,-243.3,898.7,-11.0,747,7718,0.00,1.08,0.00,0.000,6,0.000,0.053,2519,1552,3841,0,0,0,0,0,0
$GC,8044,-0.76,-243.3,935.1,-10.9,763,8048,0.00,1.08,0.00,0.000,4,0.000,0.060,2514,2234,3838,0,0,0,0,0,0
$GC,8091,-0.77,-243.3,940.3,-10.8,765,8095,0.00,1.08,0.00,0.000,6,0.000,0.052,2514,1542,3838,0,0,0,0,0,0
$GC,8426,-0.77,-243.3,976.1,-10.3,781,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1542,3836,0,0,0,0,0,0
$STATE,8566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8566,begin apogee
$GC,8572,-0.11,0.0,990.5,9.9,788,8784,0.57,0.00,205.23,1.447,6,0.116,0.000,2704,1820,2883,0,0,0,0,0,0
$STATE,8784,end apogee,CONTROL_FINISHED_OK
$STATE,8784,begin climb
$GC,8787,0.64,243.3,1000.1,0.0,798,9022,0.70,1.17,226.07,1.385,4,0.051,0.061,2958,2516,1891,0,0,0,0,0,0
$GC,9063,0.59,243.3,970.3,14.8,810,9070,0.00,1.15,0.00,0.000,6,0.000,0.051,2962,1824,1888,0,0,0,0,0,0
$GC,9380,0.53,243.3,921.5,15.5,826,9384,0.15,1.12,0.00,0.000,4,0.166,0.061,2916,2520,1884,0,0,0,0,0,0
$GC,9432,0.51,243.3,915.0,11.9,828,9435,0.00,1.10,0.00,0.000,6,0.000,0.050,2918,1820,1883,0,0,0,0,0,0
$GC,9759,0.49,243.3,876.4,11.9,844,9763,0.00,1.10,0.00,0.000,4,0.000,0.060,2915,2524,1881,0,0,0,0,0,0
$GC,9828,0.48,243.3,868.1,11.7,847,9831,0.00,1.10,0.00,0.000,6,0.000,0.049,2917,1820,1881,0,0,0,0,0,0
$GC,10163,0.45,243.3,825.9,12.9,863,10167,0.00,1.10,0.00,0.000,4,0.000,0.060,2917,2521,1880,0,0,0,0,0,0
$GC,10240,0.44,243.3,815.3,12.9,866,10245,0.10,1.10,0.00,0.000,6,0.138,0.048,2888,1808,1880,0,0,0,0,0,0
$GC,10564,0.46,265.2,781.5,10.3,882,10586,0.00,0.00,20.02,1.269,6,0.000,0.000,2888,1808,1802,0,0,0,0,0,0
$GC,10892,0.55,328.7,750.0,9.1,898,10957,0.10,1.23,59.65,1.291,4,0.102,0.057,2944,2536,1543,0,0,0,0,0,0
$GC,10985,0.53,328.7,737.9,13.1,902,10989,0.10,1.12,0.00,0.000,6,0.136,0.046,2918,1825,1542,0,0,0,0,0,0
$GC,11311,0.53,328.7,700.9,11.9,918,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1825,1537,0,0,0,0,0,0
$GC,11623,0.53,328.7,663.1,12.5,933,11626,0.00,1.08,0.00,0.000,4,0.000,0.050,2921,1113,1537,0,0,0,0,0,0
$GC,11655,0.53,328.7,658.6,12.4,934,11659,0.00,1.10,0.00,0.000,6,0.000,0.045,2921,1834,1536,0,0,0,0,0,0
$GC,11977,0.53,328.7,616.2,12.3,950,11981,0.00,1.10,0.00,0.000,4,0.000,0.048,2926,1113,1536,0,0,0,0,0,0
$GC,12017,0.53,328.7,611.0,13.1,951,12023,0.00,1.08,0.00,0.000,6,0.000,0.046,2927,1817,1535,0,0,0,0,0,0
$GC,12341,0.53,328.7,570.6,12.3,978,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1817,1535,0,0,0,0,0,0
$GC,12663,0.53,328.7,532.4,11.7,1008,12666,0.00,1.05,0.00,0.000,4,0.000,0.054,2927,2518,1534,0,0,0,0,0,0
$GC,12701,0.53,328.7,527.2,11.8,1011,12708,0.00,1.08,0.00,0.000,6,0.000,0.044,2931,1812,1534,0,0,0,0,0,0
$GC,13027,0.53,328.7,489.0,12.0,1042,13030,0.00,1.02,0.00,0.000,4,0.000,0.049,2938,1122,1534,0,0,0,0,0,0
$GC,13110,0.53,328.7,479.1,11.8,1049,13117,0.00,1.05,0.00,0.000,6,0.000,0.043,2937,1819,1533,0,0,0,0,0,0
$GC,13435,0.53,328.7,438.7,12.9,1080,13439,0.00,1.05,0.00,0.000,4,0.000,0.053,2941,2519,1533,0,0,0,0,0,0
$GC,13481,0.53,328.7,433.0,11.9,1084,13485,0.08,1.05,0.00,0.000,6,0.135,0.042,2918,1817,1533,0,0,0,0,0,0
$GC,13814,0.59,356.4,398.1,10.2,1115,13842,0.00,1.05,24.30,1.009,4,0.000,0.046,2927,1117,1429,0,0,0,0,0,0
$GC,13977,0.71,414.6,381.9,9.2,1129,14039,0.10,1.08,52.15,1.004,6,0.050,0.041,2994,1828,1191,0,0,0,0,0,0
$GC,14356,0.68,414.6,316.5,17.3,1165,14360,0.00,1.02,0.00,0.000,4,0.000,0.050,2994,2512,1188,0,0,0,0,0,0
$GC,14408,0.67,414.6,307.7,16.2,1169,14415,0.10,1.05,0.00,0.000,6,0.132,0.041,2966,1820,1188,0,0,0,0,0,0
$GC,14734,0.70,414.6,268.4,11.2,1200,14737,0.00,1.08,0.00,0.000,4,0.000,0.047,2969,1117,1187,0,0,0,0,0,0
$GC,14815,0.75,426.4,260.1,10.6,1207,14831,0.00,1.05,10.55,0.796,6,0.000,0.038,2969,1825,1145,0,0,0,0,0,0
$GC,15158,0.84,465.3,223.9,9.8,1262,15196,0.12,1.12,33.47,0.838,4,0.083,0.044,3054,1119,986,0,0,0,0,0,0
$GC,15277,0.80,465.3,203.6,17.7,1282,15285,0.12,1.05,0.00,0.000,6,0.126,0.037,3010,1823,984,0,0,0,0,0,0
$GC,15602,0.82,465.3,165.1,11.9,1343,15610,0.00,1.08,0.00,0.000,4,0.000,0.044,3014,1113,983,0,0,0,0,0,0
$GC,15705,0.93,520.6,154.0,9.3,1362,15755,0.00,1.05,46.85,0.770,6,0.000,0.036,3014,1827,760,0,0,0,0,0,0
$GC,16069,1.08,579.7,121.5,9.2,1429,16127,0.20,1.15,51.08,0.725,4,0.059,0.041,3136,1112,518,0,0,0,0,0,0
$GC,16320,1.03,579.7,71.1,18.8,1473,16329,0.15,1.05,0.00,0.000,6,0.127,0.034,3085,1827,510,0,0,0,0,0,0
$GC,16646,1.06,579.7,29.9,11.2,1534,16654,0.00,1.08,0.00,0.000,4,0.000,0.042,3088,1115,509,0,0,0,0,0,0
$GC,16700,1.09,579.7,23.6,12.8,1543,16708,0.00,1.02,0.00,0.000,6,0.000,0.036,3089,1811,509,0,0,0,0,0,0
$STATE,16870,end climb,SURFACE_DEPTH_REACHED
$STATE,16870,begin surface coast
$FINISH,2.1,1.021519
$STATE,16896,end surface coast,CONTROL_FINISHED_OK
$STATE,16896,begin surface
$SM_CCo,16976,0.00,0.000,0,0,509,582.59
$SM_GC,1.76,7.85,0.00,0.00,0.053,0.000,0.000,149,1536,509,-8.04,-0.40,582.59,0,0,0,0,0,0
$IRIDIUM_FIX,2120.26,12337.55,190911,222255
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.98
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,26.40
$XPDR_PINGS,94
$24V_AH,22.7,60.088
$10V_AH,9.9,42.064
$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,21.325,73.800,729.375,0.000,0.000,25.208,16.076,165.685,23.500,0.000,11.122,3720.140,8583.239,777.496,3743.117,497.211,0.000,2270.868,0.000,3541.207,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,63.495,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1077.889,1618.971,1816.295,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330256
$DATA_FILE_SIZE,90241,1579
$CAP_FILE_SIZE,185164,0
$CFSIZE,260165632,125009920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,074437,2133.412,12337.374,26,1.2,26,-2.8