version: 66.09
glider: 166
mission: 6
dive: 89
start: 8 20 111 14 31 34
data:
$ID,166
$MISSION,6
$DIVE,89
$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,595.83368
$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,-24501.588
$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,40
$R_STBD_OVSHOOT,69
$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
$GPS1,200811,142015,2347.196,12354.805,40,2.1,59,-3.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-67.4
$GPS2,200811,143110,2347.248,12354.744,12,3.0,31,-3.4
$SPEED_LIMITS,0.184,0.333
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,201.6,254344,-14.7,-10.645
$D_GRID,3057
$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,-0.83,-243.3,0.0,0.0,0,132,0.00,0.00,-111.97,0.000,2,0.000,0.000,135,1534,3211,0,0,0,0,0,0
$GC,134,-0.83,-243.3,6.5,-11.7,15,166,8.98,2.10,-11.85,0.000,4,0.222,0.054,2479,187,3880,0,0,0,0,0,0
$GC,347,-0.60,-243.3,90.3,-33.3,52,356,0.22,1.95,0.00,0.000,6,0.148,0.034,2546,1474,3880,0,0,0,0,0,0
$GC,673,-0.46,-243.3,164.3,-21.8,113,683,0.17,1.98,0.00,0.000,4,0.160,0.040,2596,196,3882,0,0,0,0,0,0
$GC,711,-0.41,-243.3,171.3,-19.0,118,719,0.00,1.95,0.00,0.000,6,0.000,0.031,2589,1505,3882,0,0,0,0,0,0
$GC,1040,-0.38,-243.3,218.7,-13.6,179,1049,0.10,2.10,0.00,0.000,4,0.172,0.041,2609,2896,3882,0,0,0,0,0,0
$GC,1101,-0.45,-243.3,224.6,-9.8,189,1110,0.00,2.10,0.00,0.000,6,0.000,0.032,2611,1487,3883,0,0,0,0,0,0
$GC,1434,-0.51,-243.3,253.3,-9.6,248,1437,0.00,2.10,0.00,0.000,4,0.000,0.041,2602,2906,3882,0,0,0,0,0,0
$GC,1536,-0.60,-243.3,261.8,-7.9,257,1541,0.15,2.05,0.00,0.000,6,0.071,0.031,2496,1494,3881,0,0,0,0,0,0
$GC,1861,-0.47,-243.3,322.8,-19.3,287,1866,0.28,1.92,0.00,0.000,4,0.148,0.041,2592,201,3880,0,0,0,0,0,0
$GC,1913,-0.51,-243.3,329.3,-11.1,291,1917,0.00,1.92,0.00,0.000,6,0.000,0.031,2583,1507,3880,0,0,0,0,0,0
$GC,2244,-0.54,-243.3,362.8,-11.3,322,2248,0.00,2.08,0.00,0.000,4,0.000,0.044,2582,2901,3878,0,0,0,0,0,0
$GC,2317,-0.61,-243.3,370.5,-9.6,328,2323,0.00,2.08,0.00,0.000,6,0.000,0.034,2580,1495,3877,0,0,0,0,0,0
$GC,2642,-0.63,-243.3,406.4,-10.4,359,2644,0.15,0.00,0.00,0.000,6,0.073,0.000,2503,1495,3876,0,0,0,0,0,0
$GC,2961,-0.53,-243.3,460.6,-16.4,389,2966,0.25,2.15,0.00,0.000,4,0.147,0.046,2574,2905,3874,0,0,0,0,0,0
$GC,3016,-0.57,-243.3,466.6,-9.3,393,3024,0.00,2.10,0.00,0.000,6,0.000,0.037,2572,1497,3873,0,0,0,0,0,0
$GC,3342,-0.61,-243.3,494.8,-8.9,424,3346,0.00,2.12,0.00,0.000,4,0.000,0.047,2565,2898,3871,0,0,0,0,0,0
$GC,3382,-0.65,-243.3,498.2,-8.3,427,3386,0.00,2.08,0.00,0.000,6,0.000,0.037,2565,1491,3871,0,0,0,0,0,0
$GC,3714,-0.67,-243.3,527.8,-9.0,458,3718,0.12,2.17,0.00,0.000,4,0.083,0.049,2487,2905,3868,0,0,0,0,0,0
$GC,3735,-0.66,-243.3,530.4,-9.5,459,3743,0.15,2.10,0.00,0.000,6,0.153,0.038,2530,1489,3868,0,0,0,0,0,0
$GC,4061,-0.62,-243.3,571.2,-12.1,490,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1489,3865,0,0,0,0,0,0
$GC,4390,-0.60,-243.3,607.6,-11.1,518,4394,0.00,2.17,0.00,0.000,4,0.000,0.053,2522,2903,3863,0,0,0,0,0,0
$GC,4419,-0.58,-243.3,611.1,-10.7,519,4424,0.12,2.12,0.00,0.000,6,0.146,0.041,2558,1500,3862,0,0,0,0,0,0
$GC,4739,-0.61,-243.3,639.5,-9.1,534,4743,0.00,2.17,0.00,0.000,4,0.000,0.054,2549,2898,3859,0,0,0,0,0,0
$GC,4773,-0.64,-243.3,643.1,-9.8,535,4780,0.00,2.10,0.00,0.000,6,0.000,0.041,2549,1489,3859,0,0,0,0,0,0
$GC,5092,-0.66,-243.3,676.2,-10.4,551,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1489,3857,0,0,0,0,0,0
$GC,5400,-0.68,-243.3,706.5,-9.7,566,5404,0.00,2.17,0.00,0.000,4,0.000,0.054,2538,2898,3854,0,0,0,0,0,0
$GC,5469,-0.74,-243.3,713.1,-9.2,569,5473,0.00,2.10,0.00,0.000,6,0.000,0.043,2539,1499,3853,0,0,0,0,0,0
$GC,5790,-0.74,-243.3,744.2,-9.3,585,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1500,3851,0,0,0,0,0,0
$GC,6101,-0.74,-243.3,771.1,-8.7,600,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1499,3848,0,0,0,0,0,0
$GC,6409,-0.75,-243.3,799.1,-9.4,615,6413,0.00,2.20,0.00,0.000,4,0.000,0.060,2525,2894,3845,0,0,0,0,0,0
$GC,6448,-0.78,-243.3,802.9,-9.5,616,6455,0.00,2.15,0.00,0.000,6,0.000,0.045,2525,1494,3845,0,0,0,0,0,0
$GC,6766,-0.78,-243.3,836.8,-10.9,632,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1494,3843,0,0,0,0,0,0
$GC,7074,-0.78,-243.3,870.2,-10.6,647,7078,0.00,2.20,0.00,0.000,4,0.000,0.060,2510,2898,3840,0,0,0,0,0,0
$GC,7106,-0.78,-243.3,873.8,-10.6,648,7113,0.00,2.12,0.00,0.000,6,0.000,0.046,2510,1492,3840,0,0,0,0,0,0
$GC,7424,-0.78,-243.3,908.5,-11.0,664,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1492,3838,0,0,0,0,0,0
$GC,7732,-0.78,-243.3,941.0,-10.5,679,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1492,3836,0,0,0,0,0,0
$GC,8044,-0.78,-243.3,972.7,-10.1,694,8048,0.00,2.20,0.00,0.000,4,0.000,0.060,2498,2902,3835,0,0,0,0,0,0
$GC,8071,-0.78,-243.3,975.8,-10.4,695,8075,0.00,2.15,0.00,0.000,6,0.000,0.047,2498,1502,3834,0,0,0,0,0,0
$STATE,8211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8211,begin apogee
$GC,8217,-0.18,0.0,990.4,10.4,702,8421,0.55,0.00,196.85,1.439,6,0.125,0.000,2681,1838,2883,0,0,0,0,0,0
$STATE,8422,end apogee,CONTROL_FINISHED_OK
$STATE,8422,begin climb
$GC,8425,0.83,243.3,997.0,0.0,711,8650,0.90,2.42,217.45,1.371,4,0.057,0.063,3008,3247,1891,0,0,0,0,0,0
$GC,8689,0.62,243.3,952.8,25.7,724,8694,0.28,2.30,0.00,0.000,6,0.185,0.044,2950,1842,1888,0,0,0,0,0,0
$GC,9008,0.50,243.3,893.3,18.8,739,9010,0.15,0.00,0.00,0.000,6,0.174,0.000,2907,1842,1883,0,0,0,0,0,0
$GC,9315,0.44,243.3,849.2,13.5,754,9319,0.00,2.22,0.00,0.000,4,0.000,0.060,2896,3252,1881,0,0,0,0,0,0
$GC,9370,0.41,243.3,841.7,13.0,756,9374,0.00,2.17,0.00,0.000,6,0.000,0.042,2905,1835,1881,0,0,0,0,0,0
$GC,9689,0.36,243.3,800.4,13.4,771,9691,0.15,0.00,0.00,0.000,6,0.171,0.000,2866,1834,1879,0,0,0,0,0,0
$GC,9995,0.36,247.2,768.1,10.5,786,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1835,1878,0,0,0,0,0,0
$GC,10307,0.38,247.2,733.9,10.9,801,10311,0.00,2.15,0.00,0.000,4,0.000,0.054,2874,434,1878,0,0,0,0,0,0
$GC,10362,0.40,247.2,727.5,10.7,803,10366,0.00,2.15,0.00,0.000,6,0.000,0.042,2874,1847,1877,0,0,0,0,0,0
$GC,10686,0.47,302.7,695.9,9.0,819,10743,0.00,2.30,52.08,1.259,4,0.000,0.056,2873,3263,1649,0,0,0,0,0,0
$GC,10783,0.61,384.2,687.3,8.2,822,10868,0.17,2.22,73.32,1.221,6,0.067,0.041,2969,1852,1316,0,0,0,0,0,0
$GC,11190,0.52,384.2,612.4,19.2,842,11195,0.20,2.25,0.00,0.000,4,0.165,0.056,2915,3258,1311,0,0,0,0,0,0
$GC,11275,0.55,384.2,600.8,11.1,846,11279,0.00,2.17,0.00,0.000,6,0.000,0.039,2922,1839,1310,0,0,0,0,0,0
$GC,11600,0.55,384.2,559.5,13.6,876,11601,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1839,1309,0,0,0,0,0,0
$GC,11922,0.55,384.2,517.0,13.7,906,11926,0.00,2.20,0.00,0.000,4,0.000,0.054,2923,3259,1308,0,0,0,0,0,0
$GC,11971,0.57,384.2,509.4,13.8,910,11979,0.00,2.15,0.00,0.000,6,0.000,0.039,2931,1840,1308,0,0,0,0,0,0
$GC,12298,0.57,384.2,464.4,13.9,941,12302,0.00,2.17,0.00,0.000,4,0.000,0.052,2932,3260,1308,0,0,0,0,0,0
$GC,12330,0.57,384.2,459.4,13.7,943,12337,0.00,2.15,0.00,0.000,6,0.000,0.038,2943,1852,1308,0,0,0,0,0,0
$GC,12658,0.56,384.2,417.3,12.0,974,12662,0.00,2.15,0.00,0.000,4,0.000,0.051,2947,3264,1308,0,0,0,0,0,0
$GC,12701,0.56,384.2,411.6,11.9,977,12709,0.12,2.15,0.00,0.000,6,0.163,0.038,2925,1826,1308,0,0,0,0,0,0
$GC,13029,0.60,389.1,381.1,10.5,1008,13041,0.00,2.15,4.20,0.645,4,0.000,0.049,2934,438,1297,0,0,0,0,0,0
$GC,13092,0.67,390.1,374.1,10.6,1013,13099,0.00,2.15,0.00,0.000,6,0.000,0.040,2934,1867,1296,0,0,0,0,0,0
$GC,13420,0.70,390.1,337.7,10.7,1044,13425,0.10,2.12,0.00,0.000,4,0.099,0.052,2993,3252,1295,0,0,0,0,0,0
$GC,13452,0.66,390.1,332.6,14.5,1046,13461,0.15,2.10,0.00,0.000,6,0.164,0.037,2958,1842,1296,0,0,0,0,0,0
$GC,13779,0.66,390.1,289.5,13.3,1077,13783,0.00,2.15,0.00,0.000,4,0.000,0.050,2956,3261,1296,0,0,0,0,0,0
$GC,13800,0.66,390.1,286.3,12.9,1078,13809,0.00,2.12,0.00,0.000,6,0.000,0.036,2964,1849,1296,0,0,0,0,0,0
$GC,14129,0.66,390.1,241.8,13.6,1114,14137,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1849,1297,0,0,0,0,0,0
$GC,14455,0.66,390.1,202.2,11.2,1175,14462,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1849,1297,0,0,0,0,0,0
$GC,14778,0.66,391.6,166.7,10.6,1236,14788,0.00,2.20,4.43,0.528,4,0.000,0.046,2980,443,1287,0,0,0,0,0,0
$GC,14819,0.69,391.6,162.6,10.8,1242,14828,0.00,2.12,0.00,0.000,6,0.000,0.034,2980,1851,1287,0,0,0,0,0,0
$GC,15146,0.71,391.6,127.6,10.8,1303,15153,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1852,1287,0,0,0,0,0,0
$GC,15473,0.81,437.4,94.7,9.3,1364,15518,0.00,0.00,39.03,0.712,6,0.000,0.000,2980,1854,1099,0,0,0,0,0,0
$GC,15840,1.19,632.9,71.2,4.9,1430,15980,0.35,2.28,126.85,0.682,4,0.050,0.042,3166,444,452,0,0,0,0,0,0
$GC,16004,1.12,632.9,39.8,21.2,1452,16012,0.17,2.20,0.00,0.000,6,0.119,0.032,3108,1848,448,0,0,0,0,0,0
$STATE,16236,end climb,SURFACE_DEPTH_REACHED
$STATE,16236,begin surface coast
$FINISH,1.0,1.015317
$STATE,16259,end surface coast,CONTROL_FINISHED_OK
$STATE,16259,begin surface
$SM_CCo,16339,0.00,0.000,0,0,445,598.29
$SM_GC,1.73,7.70,0.00,0.00,0.034,0.000,0.000,140,1490,445,-8.04,-0.28,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2337.99,12353.16,200811,141444
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.54
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,26.00
$XPDR_PINGS,68
$24V_AH,23.3,23.653
$10V_AH,10.3,15.619
$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,21.700,120.950,714.200,0.000,0.000,161.908,68.411,0.000,17.000,0.000,33.461,3699.213,8533.404,759.783,3552.253,429.926,0.000,2172.019,0.000,3286.483,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,63.495,1438.965,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.607,1532.447,1707.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330348
$DATA_FILE_SIZE,83500,1499
$CAP_FILE_SIZE,174023,0
$CFSIZE,260165632,139382784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151, 37.7,1
$GPS,200811,190527,2345.484,12354.522,36,99.0,55,-3.4