version: 66.09
glider: 166
mission: 6
dive: 118
start: 8 26 111 7 19 2
data:
$ID,166
$MISSION,6
$DIVE,118
$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,340
$T_MISSION,370
$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,160
$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,400
$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,-24538.473
$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,43
$R_STBD_OVSHOOT,62
$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
$GPS1,260811,070757,2259.382,12348.740,52,2.6,71,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.1
$GPS2,260811,071838,2259.442,12348.529,32,1.3,44,-3.2
$SPEED_LIMITS,0.168,0.265
$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,144.8,166821,-17.2,-9.706
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-155.7,0.0,0.0,0,132,0.00,0.00,-111.80,0.000,2,0.000,0.000,154,1541,3154,0,0,0,0,0,0
$GC,136,-0.81,-155.7,5.5,-7.7,14,161,9.12,2.05,-6.93,0.000,4,0.223,0.049,2470,196,3521,0,0,0,0,0,0
$GC,341,-0.59,-155.7,97.2,-28.7,51,350,0.28,1.95,0.00,0.000,6,0.158,0.034,2546,1476,3523,0,0,0,0,0,0
$GC,669,-0.51,-155.7,154.6,-18.5,112,677,0.12,0.00,0.00,0.000,6,0.174,0.000,2579,1478,3525,0,0,0,0,0,0
$GC,997,-0.51,-155.7,203.7,-11.7,173,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1479,3526,0,0,0,0,0,0
$GC,1323,-0.52,-155.7,238.9,-10.6,234,1331,0.00,2.20,0.00,0.000,4,0.000,0.049,2576,2911,3524,0,0,0,0,0,0
$GC,1361,-0.55,-155.7,242.9,-10.9,240,1371,0.00,2.15,0.00,0.000,6,0.000,0.037,2576,1502,3525,0,0,0,0,0,0
$GC,1691,-0.55,-155.7,278.2,-9.2,276,1695,0.00,2.15,0.00,0.000,4,0.000,0.049,2570,2905,3523,0,0,0,0,0,0
$GC,1718,-0.57,-155.7,280.8,-8.8,278,1726,0.00,2.15,0.00,0.000,6,0.000,0.037,2576,1500,3523,0,0,0,0,0,0
$GC,2043,-0.57,-155.7,316.0,-12.6,309,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1500,3522,0,0,0,0,0,0
$GC,2365,-0.57,-155.7,357.8,-12.7,339,2369,0.00,2.05,0.00,0.000,4,0.000,0.050,2577,178,3520,0,0,0,0,0,0
$GC,2444,-0.57,-155.7,369.0,-13.5,346,2448,0.00,2.00,0.00,0.000,6,0.000,0.037,2568,1493,3518,0,0,0,0,0,0
$GC,2775,-0.57,-155.7,406.2,-9.4,377,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1493,3517,0,0,0,0,0,0
$GC,3097,-0.57,-155.7,434.6,-8.8,407,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1494,3515,0,0,0,0,0,0
$GC,3426,-0.59,-155.7,466.0,-10.3,438,3430,0.00,2.15,0.00,0.000,4,0.000,0.050,2558,2911,3512,0,0,0,0,0,0
$GC,3512,-0.63,-155.7,474.8,-9.7,445,3516,0.00,2.15,0.00,0.000,6,0.000,0.041,2557,1488,3511,0,0,0,0,0,0
$GC,3838,-0.63,-155.7,505.5,-9.1,475,3842,0.00,2.20,0.00,0.000,4,0.000,0.052,2548,2907,3510,0,0,0,0,0,0
$GC,3892,-0.66,-155.7,510.2,-9.2,479,3896,0.00,2.15,0.00,0.000,6,0.000,0.041,2547,1490,3509,0,0,0,0,0,0
$GC,4218,-0.66,-155.7,543.7,-10.4,509,4222,0.00,1.98,0.00,0.000,4,0.000,0.052,2546,203,3507,0,0,0,0,0,0
$GC,4301,-0.66,-155.7,553.4,-11.2,516,4308,0.00,1.98,0.00,0.000,6,0.000,0.040,2537,1493,3506,0,0,0,0,0,0
$GC,4626,-0.66,-155.7,589.1,-11.2,547,4630,0.00,2.15,0.00,0.000,4,0.000,0.051,2527,2907,3504,0,0,0,0,0,0
$GC,4711,-0.66,-155.7,598.5,-10.8,554,4715,0.00,2.12,0.00,0.000,6,0.000,0.041,2527,1498,3503,0,0,0,0,0,0
$GC,5038,-0.66,-155.7,638.4,-12.6,570,5042,0.00,2.20,0.00,0.000,4,0.000,0.060,2516,2910,3500,0,0,0,0,0,0
$GC,5072,-0.66,-155.7,642.5,-11.8,571,5076,0.00,2.15,0.00,0.000,6,0.000,0.041,2515,1492,3500,0,0,0,0,0,0
$GC,5394,-0.64,-155.7,677.7,-10.6,587,5397,0.00,1.98,0.00,0.000,4,0.000,0.053,2513,205,3498,0,0,0,0,0,0
$GC,5524,-0.59,-155.7,692.6,-11.9,592,5532,0.17,1.98,0.00,0.000,6,0.148,0.041,2551,1502,3497,0,0,0,0,0,0
$GC,5843,-0.63,-155.7,717.4,-8.1,608,5847,0.00,2.15,0.00,0.000,4,0.000,0.060,2545,2908,3495,0,0,0,0,0,0
$GC,5937,-0.68,-155.7,725.3,-8.6,612,5941,0.00,2.12,0.00,0.000,6,0.000,0.047,2543,1503,3494,0,0,0,0,0,0
$GC,6270,-0.71,-155.7,757.3,-9.8,628,6274,0.00,2.17,0.00,0.000,4,0.000,0.057,2533,2904,3492,0,0,0,0,0,0
$GC,6297,-0.74,-155.7,760.2,-9.9,629,6301,0.00,2.12,0.00,0.000,6,0.000,0.043,2532,1501,3492,0,0,0,0,0,0
$GC,6621,-0.74,-155.7,790.7,-9.2,645,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1501,3490,0,0,0,0,0,0
$GC,6929,-0.76,-155.7,815.3,-7.5,660,6933,0.00,2.20,0.00,0.000,4,0.000,0.059,2525,2902,3488,0,0,0,0,0,0
$GC,6976,-0.78,-155.7,818.8,-7.7,662,6980,0.00,2.12,0.00,0.000,6,0.000,0.044,2525,1501,3487,0,0,0,0,0,0
$GC,7297,-0.78,-155.7,846.1,-9.0,678,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1501,3486,0,0,0,0,0,0
$GC,7606,-0.78,-155.7,876.1,-9.7,693,7611,0.10,2.22,0.00,0.000,4,0.104,0.059,2470,2905,3484,0,0,0,0,0,0
$GC,7680,-0.73,-155.7,885.4,-13.3,696,7685,0.15,2.15,0.00,0.000,6,0.163,0.046,2510,1504,3483,0,0,0,0,0,0
$GC,8004,-0.71,-155.7,922.1,-11.2,712,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1504,3481,0,0,0,0,0,0
$GC,8313,-0.70,-155.7,955.3,-10.3,727,8317,0.00,2.03,0.00,0.000,4,0.000,0.059,2511,204,3480,0,0,0,0,0,0
$GC,8404,-0.67,-155.7,965.7,-11.5,731,8408,0.00,2.00,0.00,0.000,6,0.000,0.044,2504,1503,3479,0,0,0,0,0,0
$STATE,8652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8652,begin apogee
$GC,8660,-0.18,0.0,992.0,10.4,743,8791,0.55,0.00,124.15,1.461,6,0.133,0.000,2677,1854,2884,0,0,0,0,0,0
$STATE,8792,end apogee,CONTROL_FINISHED_OK
$STATE,8792,begin climb
$GC,8794,0.81,155.7,994.8,0.0,749,8944,0.93,0.00,141.82,1.399,6,0.081,0.000,2998,1854,2248,0,0,0,0,0,0
$GC,9252,0.66,155.7,921.1,19.1,771,9254,0.15,0.00,0.00,0.000,6,0.195,0.000,2963,1854,2240,0,0,0,0,0,0
$GC,9563,0.56,155.7,871.8,15.5,786,9568,0.12,2.20,0.00,0.000,4,0.196,0.060,2921,3249,2238,0,0,0,0,0,0
$GC,9641,0.52,155.7,860.2,14.2,789,9648,0.00,2.17,0.00,0.000,6,0.000,0.044,2925,1838,2236,0,0,0,0,0,0
$GC,9959,0.47,155.7,818.9,12.6,805,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1838,2235,0,0,0,0,0,0
$GC,10267,0.42,155.7,781.3,12.1,820,10272,0.15,2.22,0.00,0.000,4,0.174,0.059,2872,3251,2234,0,0,0,0,0,0
$GC,10288,0.40,155.7,778.6,12.2,821,10293,0.00,2.15,0.00,0.000,6,0.000,0.043,2880,1840,2234,0,0,0,0,0,0
$GC,10612,0.40,155.7,745.2,11.1,837,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1840,2233,0,0,0,0,0,0
$GC,10920,0.40,155.7,711.7,10.4,852,10924,0.00,2.20,0.00,0.000,4,0.000,0.057,2874,3251,2233,0,0,0,0,0,0
$GC,10948,0.41,155.7,708.7,10.4,853,10953,0.00,2.15,0.00,0.000,6,0.000,0.042,2882,1842,2232,0,0,0,0,0,0
$GC,11270,0.44,177.2,678.7,8.8,869,11293,0.00,2.25,17.17,1.214,4,0.000,0.054,2893,439,2161,0,0,0,0,0,0
$GC,11321,0.48,211.1,674.4,8.3,871,11360,0.00,2.17,31.65,1.227,6,0.000,0.041,2892,1844,2023,0,0,0,0,0,0
$GC,11670,0.55,248.5,645.4,8.1,888,11709,0.00,0.00,33.53,1.207,6,0.000,0.000,2892,1844,1870,0,0,0,0,0,0
$GC,12019,0.59,253.9,614.2,9.5,905,12030,0.12,2.22,5.55,0.894,4,0.088,0.056,2954,3267,1847,0,0,0,0,0,0
$GC,12101,0.56,253.9,602.8,15.0,908,12108,0.15,2.20,0.00,0.000,6,0.181,0.042,2926,1843,1848,0,0,0,0,0,0
$GC,12425,0.56,253.9,562.4,11.6,938,12426,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1844,1845,0,0,0,0,0,0
$GC,12747,0.56,253.9,525.3,12.0,968,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1844,1844,0,0,0,0,0,0
$GC,13077,0.56,253.9,484.1,12.3,999,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1843,1844,0,0,0,0,0,0
$GC,13404,0.56,253.9,442.3,13.9,1030,13408,0.00,2.20,0.00,0.000,4,0.000,0.054,2928,3258,1844,0,0,0,0,0,0
$GC,13467,0.58,253.9,433.0,14.7,1035,13475,0.00,2.15,0.00,0.000,6,0.000,0.040,2938,1840,1843,0,0,0,0,0,0
$GC,13792,0.58,253.9,386.4,13.0,1066,13796,0.00,2.22,0.00,0.000,4,0.000,0.054,2941,3266,1843,0,0,0,0,0,0
$GC,13849,0.59,253.9,379.5,12.4,1070,13856,0.00,2.15,0.00,0.000,6,0.000,0.039,2950,1851,1843,0,0,0,0,0,0
$GC,14174,0.59,253.9,343.4,10.1,1101,14178,0.00,2.15,0.00,0.000,4,0.000,0.048,2961,433,1843,0,0,0,0,0,0
$GC,14250,0.59,253.9,335.6,10.6,1107,14254,0.00,2.17,0.00,0.000,6,0.000,0.039,2961,1872,1842,0,0,0,0,0,0
$GC,14577,0.59,253.9,296.3,12.6,1137,14581,0.00,2.10,0.00,0.000,4,0.000,0.052,2961,3248,1842,0,0,0,0,0,0
$GC,14684,0.59,253.9,282.2,12.8,1146,14688,0.12,2.10,0.00,0.000,6,0.168,0.037,2938,1840,1842,0,0,0,0,0,0
$GC,15016,0.62,253.9,249.0,9.8,1177,15023,0.00,2.15,0.00,0.000,4,0.000,0.047,2947,440,1842,0,0,0,0,0,0
$GC,15070,0.66,253.9,243.9,9.9,1186,15078,0.00,2.12,0.00,0.000,6,0.000,0.037,2940,1834,1842,0,0,0,0,0,0
$GC,15399,0.70,253.9,203.0,14.4,1247,15408,0.00,2.17,0.00,0.000,4,0.000,0.050,2940,3251,1842,0,0,0,0,0,0
$GC,15443,0.75,253.9,196.3,14.0,1254,15452,0.08,2.12,0.00,0.000,6,0.050,0.036,3010,1844,1842,0,0,0,0,0,0
$GC,15770,0.69,253.9,148.3,12.8,1315,15780,0.15,2.17,0.00,0.000,4,0.161,0.046,2980,439,1842,0,0,0,0,0,0
$GC,15811,0.69,253.9,143.8,11.2,1321,15819,0.00,2.15,0.00,0.000,6,0.000,0.037,2977,1860,1842,0,0,0,0,0,0
$GC,16138,0.72,274.5,115.8,8.8,1382,16162,0.00,2.17,19.20,0.731,4,0.000,0.048,2978,3251,1763,0,0,0,0,0,0
$GC,16239,0.75,274.5,105.6,10.6,1399,16250,0.00,2.12,0.00,0.000,6,0.000,0.035,2986,1852,1764,0,0,0,0,0,0
$GC,16571,0.82,296.0,70.4,8.8,1460,16603,0.00,2.22,19.35,0.685,4,0.000,0.045,2997,438,1676,0,0,0,0,0,0
$GC,16660,0.97,346.7,63.6,7.6,1474,16713,0.12,2.15,42.90,0.696,6,0.040,0.034,3087,1851,1469,0,0,0,0,0,0
$GC,17034,0.93,346.7,13.5,15.1,1541,17042,0.15,0.00,0.00,0.000,6,0.157,0.000,3047,1854,1465,0,0,0,0,0,0
$STATE,17126,end climb,SURFACE_DEPTH_REACHED
$STATE,17126,begin surface coast
$FINISH,1.0,1.021339
$STATE,17161,end surface coast,CONTROL_FINISHED_OK
$STATE,17161,begin surface
$SM_CCo,17181,46.85,0.461,1,0,1252,400.08
$SM_GC,1.84,0.00,0.00,46.85,0.000,0.000,0.461,154,1480,1252,-8.10,-0.57,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2251.04,12345.30,260811,020201
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.64
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.50
$XPDR_PINGS,99
$24V_AH,23.3,30.505
$10V_AH,10.2,20.433
$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,20.375,125.025,435.325,46.850,0.000,31.251,33.719,383.214,24.750,0.000,45.276,3908.699,8957.963,620.490,3881.858,487.598,0.000,2041.285,0.000,3421.068,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,60.435,1461.150,460.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.354,1603.242,1732.514,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330216
$DATA_FILE_SIZE,86900,1564
$CAP_FILE_SIZE,177772,0
$CFSIZE,260165632,136794112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.166,315.5,1
$GPS,260811,120757,2258.461,12349.199,41,99.0,60,-3.2