version: 66.09
glider: 166
mission: 6
dive: 86
start: 8 20 111 0 32 13
data:
$ID,166
$MISSION,6
$DIVE,86
$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,310
$T_MISSION,330
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,475
$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,-24497.811
$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,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$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
$GPS1,200811,002131,2350.418,12356.188,59,1.4,59,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.1
$GPS2,200811,003131,2350.499,12356.140,21,1.1,30,-3.4
$SPEED_LIMITS,0.184,0.333
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$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,236.9,2140,-16.9,-10.645
$D_GRID,2788
$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,20,-0.83,-187.4,0.0,0.0,0,111,0.00,0.00,-88.55,0.000,2,0.000,0.000,128,1486,3131,0,0,0,0,0,0
$GC,114,-0.84,-195.4,5.8,-10.3,12,139,8.93,2.00,-10.43,0.000,4,0.220,0.052,2466,202,3683,0,0,0,0,0,0
$GC,377,-0.60,-195.4,107.3,-37.1,60,386,0.28,1.98,0.00,0.000,6,0.157,0.034,2544,1496,3684,0,0,0,0,0,0
$GC,706,-0.49,-195.4,180.2,-20.3,121,714,0.15,2.00,0.00,0.000,4,0.171,0.041,2585,211,3685,0,0,0,0,0,0
$GC,782,-0.49,-195.4,193.3,-14.3,134,791,0.00,1.95,0.00,0.000,6,0.000,0.031,2578,1514,3686,0,0,0,0,0,0
$GC,1112,-0.47,-195.4,241.5,-13.9,195,1119,0.00,2.08,0.00,0.000,4,0.000,0.041,2568,2893,3685,0,0,0,0,0,0
$GC,1217,-0.51,-202.7,253.9,-10.4,211,1224,0.00,2.08,0.00,0.000,6,0.000,0.033,2569,1501,3685,0,0,0,0,0,0
$GC,1542,-0.51,-202.7,297.0,-12.9,242,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1500,3685,0,0,0,0,0,0
$GC,1864,-0.51,-202.7,341.0,-13.8,272,1868,0.00,2.12,0.00,0.000,4,0.000,0.041,2560,2903,3685,0,0,0,0,0,0
$GC,1953,-0.56,-202.7,351.8,-11.0,279,1960,0.00,2.10,0.00,0.000,6,0.000,0.034,2561,1491,3684,0,0,0,0,0,0
$GC,2280,-0.56,-203.4,389.4,-10.6,310,2284,0.00,2.12,0.00,0.000,4,0.000,0.042,2554,2895,3683,0,0,0,0,0,0
$GC,2324,-0.63,-227.5,393.9,-9.7,313,2331,0.00,2.08,0.00,0.000,6,0.000,0.034,2559,1502,3682,0,0,0,0,0,0
$GC,2649,-0.63,-227.5,430.6,-11.8,344,2653,0.00,2.10,0.00,0.000,4,0.000,0.043,2554,2899,3681,0,0,0,0,0,0
$GC,2681,-0.65,-227.5,434.3,-11.0,346,2689,0.00,2.08,0.00,0.000,6,0.000,0.034,2557,1501,3680,0,0,0,0,0,0
$GC,3007,-0.65,-227.5,468.5,-10.9,377,3010,0.00,1.95,0.00,0.000,4,0.000,0.045,2557,207,3678,0,0,0,0,0,0
$GC,3041,-0.65,-227.5,472.6,-12.1,380,3045,0.00,1.92,0.00,0.000,6,0.000,0.035,2546,1499,3678,0,0,0,0,0,0
$GC,3374,-0.65,-227.5,512.8,-11.9,411,3378,0.00,2.15,0.00,0.000,4,0.000,0.047,2537,2911,3677,0,0,0,0,0,0
$GC,3448,-0.68,-227.5,521.7,-11.2,417,3452,0.00,2.10,0.00,0.000,6,0.000,0.036,2537,1505,3676,0,0,0,0,0,0
$GC,3775,-0.68,-227.5,561.4,-11.7,447,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1505,3673,0,0,0,0,0,0
$GC,4093,-0.68,-227.5,599.7,-12.2,477,4096,0.00,2.00,0.00,0.000,4,0.000,0.050,2538,196,3670,0,0,0,0,0,0
$GC,4153,-0.68,-227.5,608.0,-13.2,480,4160,0.00,1.98,0.00,0.000,6,0.000,0.037,2527,1497,3670,0,0,0,0,0,0
$GC,4471,-0.68,-227.5,646.4,-11.7,496,4475,0.00,2.15,0.00,0.000,4,0.000,0.052,2507,2915,3667,0,0,0,0,0,0
$GC,4504,-0.68,-227.5,650.5,-11.2,497,4508,0.00,2.15,0.00,0.000,6,0.000,0.041,2509,1493,3667,0,0,0,0,0,0
$GC,4826,-0.66,-227.5,686.8,-11.5,513,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1493,3664,0,0,0,0,0,0
$GC,5138,-0.64,-227.5,721.8,-11.4,528,5140,0.10,0.00,0.00,0.000,6,0.174,0.000,2535,1492,3661,0,0,0,0,0,0
$GC,5446,-0.68,-243.3,751.2,-9.1,543,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1492,3659,0,0,0,0,0,0
$GC,5757,-0.71,-243.3,779.4,-9.3,558,5761,0.00,2.20,0.00,0.000,4,0.000,0.057,2524,2910,3656,0,0,0,0,0,0
$GC,5805,-0.74,-243.3,783.5,-8.6,560,5809,0.00,2.15,0.00,0.000,6,0.000,0.043,2525,1497,3655,0,0,0,0,0,0
$GC,6134,-0.76,-243.3,813.6,-8.8,576,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1498,3653,0,0,0,0,0,0
$GC,6442,-0.78,-243.3,841.0,-8.9,591,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1497,3651,0,0,0,0,0,0
$GC,6751,-0.81,-243.3,871.0,-10.1,606,6756,0.10,2.22,0.00,0.000,4,0.103,0.059,2462,2905,3649,0,0,0,0,0,0
$GC,6793,-0.77,-243.3,875.9,-12.5,608,6798,0.12,2.15,0.00,0.000,6,0.165,0.044,2496,1498,3648,0,0,0,0,0,0
$GC,7119,-0.77,-243.3,917.5,-12.7,624,7123,0.00,2.03,0.00,0.000,4,0.000,0.058,2498,195,3646,0,0,0,0,0,0
$GC,7182,-0.77,-243.3,926.2,-13.6,626,7190,0.00,2.00,0.00,0.000,6,0.000,0.044,2492,1500,3645,0,0,0,0,0,0
$GC,7498,-0.75,-243.3,966.0,-12.0,642,7502,0.00,2.17,0.00,0.000,4,0.000,0.057,2486,2910,3644,0,0,0,0,0,0
$GC,7523,-0.74,-243.3,968.6,-11.8,643,7527,0.00,2.15,0.00,0.000,6,0.000,0.044,2487,1497,3643,0,0,0,0,0,0
$STATE,7703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7703,begin apogee
$GC,7711,-0.18,0.0,990.0,11.6,652,7874,0.60,0.00,157.12,1.446,6,0.132,0.000,2677,1853,2883,0,0,0,0,0,0
$STATE,7874,end apogee,CONTROL_FINISHED_OK
$STATE,7875,begin climb
$GC,7879,0.90,243.3,993.9,0.0,659,8105,1.02,2.42,216.45,1.376,4,0.075,0.063,3025,3244,1891,0,0,0,0,0,0
$GC,8204,0.70,243.3,926.8,27.8,674,8211,0.22,2.22,0.00,0.000,6,0.191,0.042,2978,1847,1886,0,0,0,0,0,0
$GC,8520,0.56,243.3,855.3,22.3,690,8525,0.17,2.22,0.00,0.000,4,0.183,0.058,2920,3250,1882,0,0,0,0,0,0
$GC,8554,0.48,243.3,848.4,19.1,691,8561,0.00,2.15,0.00,0.000,6,0.000,0.039,2929,1847,1881,0,0,0,0,0,0
$GC,8871,0.41,243.3,797.3,15.6,707,8873,0.17,0.00,0.00,0.000,6,0.168,0.000,2881,1846,1880,0,0,0,0,0,0
$GC,9182,0.45,258.6,764.5,10.1,722,9200,0.00,0.00,13.15,1.195,6,0.000,0.000,2881,1847,1829,0,0,0,0,0,0
$GC,9510,0.52,288.6,733.8,9.5,738,9545,0.10,2.30,28.35,1.250,4,0.102,0.051,2945,445,1706,0,0,0,0,0,0
$GC,9569,0.49,288.6,725.5,15.3,740,9578,0.15,2.22,0.00,0.000,6,0.155,0.042,2905,1849,1705,0,0,0,0,0,0
$GC,9885,0.49,288.6,684.1,13.4,756,9889,0.00,2.22,0.00,0.000,4,0.000,0.058,2903,3266,1702,0,0,0,0,0,0
$GC,9962,0.51,288.6,673.3,13.1,759,9967,0.00,2.17,0.00,0.000,6,0.000,0.040,2912,1844,1702,0,0,0,0,0,0
$GC,10280,0.51,288.6,630.3,13.2,774,10284,0.00,2.22,0.00,0.000,4,0.000,0.054,2912,3267,1702,0,0,0,0,0,0
$GC,10307,0.51,288.6,626.1,13.4,775,10311,0.00,2.17,0.00,0.000,6,0.000,0.038,2922,1853,1702,0,0,0,0,0,0
$GC,10632,0.50,288.6,579.9,15.4,796,10636,0.00,2.17,0.00,0.000,4,0.000,0.054,2922,3257,1701,0,0,0,0,0,0
$GC,10659,0.48,288.6,574.5,16.4,798,10667,0.12,2.15,0.00,0.000,6,0.175,0.039,2901,1837,1701,0,0,0,0,0,0
$GC,10987,0.51,288.6,534.7,10.9,829,10991,0.00,2.12,0.00,0.000,4,0.000,0.050,2909,434,1700,0,0,0,0,0,0
$GC,11016,0.55,292.2,531.3,10.5,831,11020,0.00,2.17,0.00,0.000,6,0.000,0.040,2907,1869,1699,0,0,0,0,0,0
$GC,11342,0.57,292.2,497.1,10.8,861,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1870,1699,0,0,0,0,0,0
$GC,11662,0.60,292.2,460.4,11.2,891,11666,0.00,2.12,0.00,0.000,4,0.000,0.054,2909,3260,1699,0,0,0,0,0,0
$GC,11694,0.63,292.2,456.8,11.5,893,11699,0.00,2.12,0.00,0.000,6,0.000,0.038,2919,1842,1699,0,0,0,0,0,0
$GC,12020,0.65,292.2,418.6,11.8,923,12025,0.10,2.15,0.00,0.000,4,0.101,0.049,2993,446,1699,0,0,0,0,0,0
$GC,12079,0.59,292.2,409.2,18.2,928,12083,0.17,2.12,0.00,0.000,6,0.155,0.039,2939,1851,1699,0,0,0,0,0,0
$GC,12404,0.59,292.2,366.4,12.5,958,12408,0.00,2.15,0.00,0.000,4,0.000,0.052,2939,3258,1699,0,0,0,0,0,0
$GC,12538,0.62,292.2,350.5,12.1,969,12542,0.00,2.12,0.00,0.000,6,0.000,0.037,2947,1844,1699,0,0,0,0,0,0
$GC,12868,0.62,292.2,308.4,12.7,1000,12872,0.00,2.12,0.00,0.000,4,0.000,0.046,2952,433,1699,0,0,0,0,0,0
$GC,12909,0.63,292.2,303.4,12.5,1003,12916,0.00,2.12,0.00,0.000,6,0.000,0.036,2947,1857,1699,0,0,0,0,0,0
$GC,13234,0.65,292.2,266.3,11.3,1034,13238,0.00,2.12,0.00,0.000,4,0.000,0.049,2949,3248,1699,0,0,0,0,0,0
$GC,13307,0.68,292.2,257.7,11.3,1040,13319,0.00,2.12,0.00,0.000,6,0.000,0.035,2960,1849,1699,0,0,0,0,0,0
$GC,13634,0.68,292.2,219.1,12.0,1095,13642,0.00,2.15,0.00,0.000,4,0.000,0.046,2974,446,1699,0,0,0,0,0,0
$GC,13694,0.71,292.2,212.2,11.2,1105,13702,0.00,2.10,0.00,0.000,6,0.000,0.034,2973,1836,1699,0,0,0,0,0,0
$GC,14022,0.74,321.3,178.6,9.5,1166,14059,0.00,2.20,28.33,0.783,4,0.000,0.048,2969,3252,1573,0,0,0,0,0,0
$GC,14134,0.82,346.0,167.7,9.7,1184,14166,0.00,2.12,22.02,0.754,6,0.000,0.033,2976,1851,1472,0,0,0,0,0,0
$GC,14485,0.93,397.6,132.3,8.7,1248,14538,0.17,2.25,43.47,0.740,4,0.066,0.042,3078,448,1263,0,0,0,0,0,0
$GC,14597,0.89,397.6,113.3,19.2,1265,14605,0.15,2.17,0.00,0.000,6,0.130,0.034,3033,1857,1261,0,0,0,0,0,0
$GC,14925,0.93,397.6,67.3,12.0,1326,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1858,1261,0,0,0,0,0,0
$GC,15251,1.05,454.7,39.1,8.5,1387,15307,0.15,2.15,46.25,0.656,4,0.074,0.042,3122,3247,1029,0,0,0,0,0,0
$GC,15328,1.00,454.7,28.1,16.7,1397,15337,0.20,2.17,0.00,0.000,6,0.133,0.034,3066,1852,1029,0,0,0,0,0,0
$STATE,15525,end climb,SURFACE_DEPTH_REACHED
$STATE,15525,begin surface coast
$FINISH,1.0,1.004017
$STATE,15553,end surface coast,CONTROL_FINISHED_OK
$STATE,15553,begin surface
$SM_CCo,15572,25.77,0.281,1,0,947,475.15
$SM_GC,1.71,0.00,0.00,25.77,0.000,0.000,0.281,148,1490,947,-8.11,-0.28,475.15,0,0,0,0,1,0
$IRIDIUM_FIX,2342.70,12328.99,200811,000058
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.61
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.40
$XPDR_PINGS,58
$24V_AH,23.5,22.898
$10V_AH,10.2,15.124
$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,20.775,128.825,555.150,25.775,0.000,51.552,45.396,262.668,14.500,0.000,31.041,3603.568,7971.427,645.005,3536.645,449.153,0.000,1996.217,0.000,3166.995,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,62.730,1445.850,280.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,981.641,1472.958,1623.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330252
$DATA_FILE_SIZE,80215,1439
$CAP_FILE_SIZE,171102,0
$CFSIZE,260165632,139694080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.204, 46.4,1
$GPS,200811,045357,2350.107,12355.274,40,3.3,59,-3.4