version: 66.09
glider: 166
mission: 6
dive: 142
start: 8 30 111 10 8 19
data:
$ID,166
$MISSION,6
$DIVE,142
$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,-24573.146
$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,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,60
$R_STBD_OVSHOOT,37
$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
$GPS1,300811,100125,2228.583,12355.614,59,1.7,59,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-66.9
$GPS2,300811,100756,2228.678,12355.548,11,1.8,11,-3.1
$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,140.2,108942,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.68,-155.7,0.0,0.0,0,94,0.00,0.00,-74.30,0.000,2,0.000,0.000,141,1477,3076,0,0,0,0,0,0
$GC,97,-0.68,-155.7,5.9,-10.2,10,122,9.40,2.20,-8.60,0.000,4,0.228,0.054,2507,2910,3520,0,0,0,0,0,0
$GC,178,-0.68,-155.7,39.4,-33.9,23,186,0.00,2.15,0.00,0.000,6,0.000,0.037,2509,1523,3521,0,0,0,0,0,0
$GC,504,-0.68,-155.7,124.7,-24.6,84,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1522,3523,0,0,0,0,0,0
$GC,830,-0.68,-155.7,198.2,-20.9,145,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1522,3525,0,0,0,0,0,0
$GC,1156,-0.68,-155.7,262.3,-18.4,200,1159,0.00,2.00,0.00,0.000,4,0.000,0.047,2509,202,3525,0,0,0,0,0,0
$GC,1238,-0.68,-155.7,275.9,-17.2,207,1242,0.00,1.98,0.00,0.000,6,0.000,0.037,2500,1512,3525,0,0,0,0,0,0
$GC,1569,-0.68,-155.7,329.3,-15.7,238,1572,0.00,2.03,0.00,0.000,4,0.000,0.046,2500,198,3525,0,0,0,0,0,0
$GC,1653,-0.68,-155.7,342.7,-15.3,245,1660,0.12,1.98,0.00,0.000,6,0.168,0.037,2524,1510,3525,0,0,0,0,0,0
$GC,1978,-0.68,-155.7,384.6,-13.2,276,1982,0.00,2.10,0.00,0.000,4,0.000,0.049,2520,2905,3524,0,0,0,0,0,0
$GC,2001,-0.68,-155.7,387.7,-13.2,278,2005,0.00,2.12,0.00,0.000,6,0.000,0.037,2522,1493,3524,0,0,0,0,0,0
$GC,2326,-0.68,-155.7,426.1,-10.7,308,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1492,3522,0,0,0,0,0,0
$GC,2648,-0.68,-155.7,464.8,-13.5,338,2651,0.00,2.00,0.00,0.000,4,0.000,0.049,2534,205,3520,0,0,0,0,0,0
$GC,2731,-0.68,-155.7,477.5,-14.1,345,2738,0.00,1.98,0.00,0.000,6,0.000,0.038,2526,1493,3519,0,0,0,0,0,0
$GC,3058,-0.68,-155.7,521.6,-12.8,376,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1493,3516,0,0,0,0,0,0
$GC,3377,-0.68,-155.7,559.3,-11.4,406,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1493,3514,0,0,0,0,0,0
$GC,3699,-0.68,-155.7,594.8,-10.9,436,3703,0.00,2.17,0.00,0.000,4,0.000,0.054,2515,2914,3511,0,0,0,0,0,0
$GC,3731,-0.68,-155.7,599.0,-10.9,438,3739,0.00,2.17,0.00,0.000,6,0.000,0.041,2516,1494,3511,0,0,0,0,0,0
$GC,4058,-0.68,-155.7,638.8,-12.1,455,4062,0.00,2.00,0.00,0.000,4,0.000,0.053,2516,202,3509,0,0,0,0,0,0
$GC,4106,-0.68,-155.7,644.8,-12.9,457,4110,0.00,2.00,0.00,0.000,6,0.000,0.041,2505,1498,3508,0,0,0,0,0,0
$GC,4438,-0.68,-155.7,684.9,-11.9,473,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1497,3505,0,0,0,0,0,0
$GC,4747,-0.68,-155.7,721.0,-12.0,488,4751,0.00,2.03,0.00,0.000,4,0.000,0.054,2502,204,3503,0,0,0,0,0,0
$GC,4810,-0.68,-155.7,729.2,-13.2,490,4819,0.12,2.00,0.00,0.000,6,0.171,0.043,2524,1505,3502,0,0,0,0,0,0
$GC,5126,-0.68,-155.7,762.9,-10.5,506,5130,0.00,2.15,0.00,0.000,4,0.000,0.056,2515,2907,3500,0,0,0,0,0,0
$GC,5189,-0.68,-155.7,769.5,-10.5,509,5193,0.00,2.15,0.00,0.000,6,0.000,0.041,2514,1494,3499,0,0,0,0,0,0
$GC,5518,-0.68,-155.7,805.3,-11.1,525,5522,0.00,2.20,0.00,0.000,4,0.000,0.057,2505,2904,3496,0,0,0,0,0,0
$GC,5546,-0.68,-155.7,808.6,-10.5,526,5550,0.00,2.15,0.00,0.000,6,0.000,0.042,2506,1496,3496,0,0,0,0,0,0
$GC,5875,-0.68,-155.7,842.9,-10.5,542,5879,0.00,2.00,0.00,0.000,4,0.000,0.056,2508,205,3494,0,0,0,0,0,0
$GC,5958,-0.68,-155.7,853.1,-12.1,545,5965,0.00,2.00,0.00,0.000,6,0.000,0.044,2501,1492,3493,0,0,0,0,0,0
$GC,6274,-0.68,-155.7,887.6,-10.9,561,6278,0.00,2.20,0.00,0.000,4,0.000,0.057,2491,2908,3491,0,0,0,0,0,0
$GC,6297,-0.68,-155.7,889.9,-10.7,562,6302,0.12,2.15,0.00,0.000,6,0.165,0.043,2524,1498,3491,0,0,0,0,0,0
$GC,6618,-0.68,-155.7,920.9,-9.9,578,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1498,3489,0,0,0,0,0,0
$GC,6927,-0.68,-155.7,951.1,-9.7,593,6931,0.00,2.22,0.00,0.000,4,0.000,0.061,2515,2904,3487,0,0,0,0,0,0
$GC,6963,-0.68,-155.7,954.4,-9.6,594,6971,0.00,2.15,0.00,0.000,6,0.000,0.044,2516,1504,3487,0,0,0,0,0,0
$GC,7278,-0.68,-155.7,985.6,-9.8,610,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1504,3486,0,0,0,0,0,0
$STATE,7338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7338,begin apogee
$GC,7346,-0.14,0.0,991.4,9.7,613,7480,0.55,0.00,127.05,1.458,6,0.132,0.000,2689,1853,2883,0,0,0,0,0,0
$STATE,7481,end apogee,CONTROL_FINISHED_OK
$STATE,7481,begin climb
$GC,7483,0.68,155.7,994.9,0.0,619,7633,0.77,2.45,140.80,1.395,4,0.079,0.063,2959,3245,2249,0,0,0,0,0,0
$GC,7711,0.68,155.7,968.7,15.7,629,7718,0.00,2.25,0.00,0.000,6,0.000,0.045,2968,1854,2244,0,0,0,0,0,0
$GC,8033,0.68,155.7,920.1,15.6,645,8037,0.00,2.25,0.00,0.000,4,0.000,0.057,2979,431,2240,0,0,0,0,0,0
$GC,8073,0.68,155.7,912.7,16.6,647,8077,0.00,2.25,0.00,0.000,6,0.000,0.049,2972,1856,2238,0,0,0,0,0,0
$GC,8400,0.68,155.7,860.8,15.9,663,8404,0.00,2.20,0.00,0.000,4,0.000,0.061,2970,3264,2237,0,0,0,0,0,0
$GC,8469,0.68,155.7,849.6,16.3,666,8474,0.00,2.20,0.00,0.000,6,0.000,0.043,2979,1831,2236,0,0,0,0,0,0
$GC,8797,0.68,155.7,796.7,15.7,682,8801,0.00,2.12,0.00,0.000,4,0.000,0.053,2989,443,2235,0,0,0,0,0,0
$GC,8852,0.68,155.7,787.2,17.2,684,8859,0.00,2.17,0.00,0.000,6,0.000,0.044,2982,1853,2235,0,0,0,0,0,0
$GC,9170,0.68,155.7,737.9,15.2,700,9174,0.00,2.20,0.00,0.000,4,0.000,0.059,2977,3267,2234,0,0,0,0,0,0
$GC,9242,0.68,155.7,725.8,16.0,703,9247,0.00,2.17,0.00,0.000,6,0.000,0.041,2985,1853,2233,0,0,0,0,0,0
$GC,9572,0.68,155.7,677.2,14.5,719,9576,0.00,2.15,0.00,0.000,4,0.000,0.051,2996,440,2232,0,0,0,0,0,0
$GC,9639,0.68,155.7,666.9,14.6,722,9643,0.00,2.17,0.00,0.000,6,0.000,0.042,2988,1850,2232,0,0,0,0,0,0
$GC,9966,0.68,155.7,620.7,14.7,738,9970,0.00,2.17,0.00,0.000,4,0.000,0.056,2986,3258,2232,0,0,0,0,0,0
$GC,10031,0.68,155.7,611.3,15.0,741,10035,0.00,2.15,0.00,0.000,6,0.000,0.041,2995,1841,2232,0,0,0,0,0,0
$GC,10354,0.68,155.7,561.9,14.7,768,10358,0.00,2.20,0.00,0.000,4,0.000,0.054,2986,3254,2231,0,0,0,0,0,0
$GC,10409,0.68,155.7,553.9,16.3,772,10413,0.00,2.12,0.00,0.000,6,0.000,0.040,2995,1851,2231,0,0,0,0,0,0
$GC,10734,0.68,155.7,507.3,14.8,802,10738,0.00,2.15,0.00,0.000,4,0.000,0.049,3006,434,2231,0,0,0,0,0,0
$GC,10762,0.68,155.7,503.0,14.9,804,10770,0.12,2.15,0.00,0.000,6,0.193,0.041,2967,1854,2231,0,0,0,0,0,0
$GC,11088,0.68,155.7,463.5,11.1,835,11092,0.00,2.15,0.00,0.000,4,0.000,0.055,2957,3259,2230,0,0,0,0,0,0
$GC,11150,0.68,155.7,456.5,11.5,840,11157,0.00,2.15,0.00,0.000,6,0.000,0.040,2965,1841,2230,0,0,0,0,0,0
$GC,11476,0.68,155.7,423.1,10.6,871,11480,0.00,2.15,0.00,0.000,4,0.000,0.050,2976,441,2230,0,0,0,0,0,0
$GC,11585,0.68,155.7,411.2,10.9,880,11589,0.00,2.15,0.00,0.000,6,0.000,0.040,2968,1854,2230,0,0,0,0,0,0
$GC,11910,0.68,155.7,375.1,10.7,910,11914,0.00,2.17,0.00,0.000,4,0.000,0.054,2958,3265,2230,0,0,0,0,0,0
$GC,11996,0.68,155.7,366.0,10.8,917,12001,0.00,2.15,0.00,0.000,6,0.000,0.039,2966,1836,2230,0,0,0,0,0,0
$GC,12322,0.68,155.7,332.7,9.8,947,12326,0.00,2.22,0.00,0.000,4,0.000,0.051,2958,3253,2230,0,0,0,0,0,0
$GC,12390,0.68,155.7,325.8,10.4,952,12396,0.00,2.12,0.00,0.000,6,0.000,0.037,2966,1849,2230,0,0,0,0,0,0
$GC,12717,0.68,155.7,293.9,10.0,983,12721,0.00,2.15,0.00,0.000,4,0.000,0.047,2977,437,2230,0,0,0,0,0,0
$GC,12773,0.68,155.7,287.6,10.6,987,12780,0.00,2.15,0.00,0.000,6,0.000,0.037,2969,1860,2230,0,0,0,0,0,0
$GC,13098,0.68,155.7,254.9,10.1,1018,13102,0.00,2.15,0.00,0.000,4,0.000,0.050,2959,3259,2230,0,0,0,0,0,0
$GC,13169,0.68,155.7,248.3,9.9,1025,13177,0.00,2.15,0.00,0.000,6,0.000,0.037,2967,1849,2230,0,0,0,0,0,0
$GC,13496,0.76,215.1,221.7,7.2,1086,13548,0.00,0.00,48.83,0.845,6,0.000,0.000,2967,1848,2005,0,0,0,0,0,0
$GC,13868,0.78,237.8,191.1,8.8,1153,13895,0.00,2.17,19.88,0.776,4,0.000,0.044,2977,444,1913,0,0,0,0,0,0
$GC,13944,0.78,237.8,183.5,10.7,1165,13952,0.00,2.17,0.00,0.000,6,0.000,0.034,2969,1839,1911,0,0,0,0,0,0
$GC,14272,0.80,249.9,148.7,9.2,1226,14289,0.00,2.25,11.32,0.698,4,0.000,0.047,2960,3263,1865,0,0,0,0,0,0
$GC,14356,0.85,291.6,141.7,8.0,1240,14402,0.10,2.17,37.62,0.754,6,0.050,0.035,3039,1851,1694,0,0,0,0,0,0
$GC,14721,0.85,291.6,92.4,13.5,1306,14729,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1851,1691,0,0,0,0,0,0
$GC,15050,0.87,307.7,52.3,9.0,1367,15073,0.00,2.22,14.60,0.639,4,0.000,0.044,3039,3262,1629,0,0,0,0,0,0
$GC,15144,0.90,335.2,43.8,8.6,1383,15177,0.00,2.17,24.25,0.654,6,0.000,0.034,3049,1846,1516,0,0,0,0,0,0
$GC,15494,0.90,335.2,12.4,11.0,1447,15505,0.00,2.17,0.00,0.000,4,0.000,0.043,3060,443,1514,0,0,0,0,0,0
$GC,15556,0.93,358.4,7.0,8.7,1457,15587,0.00,2.15,20.60,0.610,6,0.000,0.032,3058,1858,1420,0,0,0,0,0,0
$STATE,15598,end climb,SURFACE_DEPTH_REACHED
$STATE,15598,begin surface coast
$FINISH,1.1,1.021882
$STATE,15628,end surface coast,CONTROL_FINISHED_OK
$STATE,15628,begin surface
$SM_CCo,15645,32.83,0.361,1,0,1252,400.08
$SM_GC,1.99,0.00,0.00,32.83,0.000,0.000,0.361,130,1481,1252,-8.18,-0.51,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2218.34,12358.21,300811,050510
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.05
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,26.10
$XPDR_PINGS,82
$24V_AH,23.1,34.547
$10V_AH,10.2,24.186
$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,18.825,138.300,444.950,32.825,0.000,24.432,38.450,171.616,20.500,0.000,12.496,3651.815,7877.330,554.362,3526.038,448.902,0.000,1931.258,0.000,3299.320,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,63.495,1458.090,361.080,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.054,1504.231,1717.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83525,1468
$CAP_FILE_SIZE,164307,0
$CFSIZE,260165632,134836224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133,286.4,1
$GPS,300811,143127,2227.318,12356.129,42,2.5,61,-3.1