version: 66.09
glider: 166
mission: 6
dive: 256
start: 9 20 111 12 31 29
data:
$ID,166
$MISSION,6
$DIVE,256
$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,-24720.971
$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,42
$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
$GPS1,200911,122355,2134.781,12336.475,41,1.0,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-61.2
$GPS2,200911,123107,2134.723,12336.519,14,1.2,31,-2.8
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2137.518,12325.298
$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,-243.3,0.0,0.0,0,126,0.00,0.00,-106.57,0.000,2,0.000,0.000,153,1564,2965,0,0,0,0,0,0
$GC,129,-0.64,-243.3,5.2,-7.5,15,166,9.52,1.02,-17.60,0.000,4,0.228,0.071,2524,2248,3881,0,0,0,0,0,0
$GC,405,-0.50,-243.3,106.0,-28.3,65,414,0.22,1.05,0.00,0.000,6,0.149,0.037,2573,1541,3882,0,0,0,0,0,0
$GC,731,-0.47,-243.3,165.1,-15.7,126,739,0.00,1.02,0.00,0.000,4,0.000,0.042,2578,848,3883,0,0,0,0,0,0
$GC,763,-0.44,-243.3,169.8,-16.2,130,771,0.00,1.05,0.00,0.000,6,0.000,0.037,2575,1555,3883,0,0,0,0,0,0
$GC,1086,-0.43,-243.3,217.6,-13.9,191,1095,0.10,1.02,0.00,0.000,4,0.174,0.044,2599,2246,3883,0,0,0,0,0,0
$GC,1282,-0.48,-243.3,237.1,-8.7,228,1290,0.00,1.02,0.00,0.000,6,0.000,0.037,2599,1548,3883,0,0,0,0,0,0
$GC,1607,-0.54,-243.3,264.7,-7.9,272,1611,0.00,1.02,0.00,0.000,4,0.000,0.042,2596,2243,3882,0,0,0,0,0,0
$GC,1720,-0.60,-243.3,273.0,-7.1,282,1725,0.10,1.02,0.00,0.000,6,0.041,0.040,2501,1552,3882,0,0,0,0,0,0
$GC,2051,-0.54,-243.3,329.5,-18.8,313,2055,0.22,1.05,0.00,0.000,4,0.148,0.041,2571,853,3881,0,0,0,0,0,0
$GC,2102,-0.57,-243.3,336.7,-12.0,317,2109,0.00,1.02,0.00,0.000,6,0.000,0.039,2568,1542,3881,0,0,0,0,0,0
$GC,2428,-0.60,-243.3,369.0,-8.8,348,2432,0.00,1.02,0.00,0.000,4,0.000,0.047,2574,2240,3880,0,0,0,0,0,0
$GC,2611,-0.65,-243.3,381.9,-6.7,364,2616,0.10,1.02,0.00,0.000,6,0.044,0.044,2499,1558,3878,0,0,0,0,0,0
$GC,2945,-0.60,-243.3,430.9,-14.9,395,2949,0.17,1.10,0.00,0.000,4,0.152,0.049,2552,845,3876,0,0,0,0,0,0
$GC,3071,-0.62,-243.3,446.1,-11.1,406,3074,0.00,1.05,0.00,0.000,6,0.000,0.043,2549,1541,3875,0,0,0,0,0,0
$GC,3402,-0.62,-243.3,483.0,-10.9,437,3405,0.00,1.05,0.00,0.000,4,0.000,0.049,2543,2244,3873,0,0,0,0,0,0
$GC,3464,-0.64,-243.3,489.7,-10.2,442,3470,0.00,1.05,0.00,0.000,6,0.000,0.044,2543,1554,3872,0,0,0,0,0,0
$GC,3789,-0.64,-243.3,524.3,-10.7,473,3793,0.00,1.05,0.00,0.000,4,0.000,0.050,2534,2242,3869,0,0,0,0,0,0
$GC,3851,-0.65,-243.3,530.7,-10.1,478,3857,0.00,1.05,0.00,0.000,6,0.000,0.044,2537,1553,3869,0,0,0,0,0,0
$GC,4176,-0.65,-243.3,564.0,-9.8,509,4180,0.00,1.05,0.00,0.000,4,0.000,0.051,2533,2239,3866,0,0,0,0,0,0
$GC,4249,-0.67,-243.3,571.2,-9.6,515,4255,0.00,1.05,0.00,0.000,6,0.000,0.047,2534,1555,3865,0,0,0,0,0,0
$GC,4583,-0.67,-243.3,606.6,-10.5,544,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1554,3862,0,0,0,0,0,0
$GC,4892,-0.68,-243.3,641.1,-11.2,559,4896,0.00,1.05,0.00,0.000,4,0.000,0.054,2529,2236,3859,0,0,0,0,0,0
$GC,5012,-0.70,-243.3,654.2,-10.8,564,5016,0.00,1.05,0.00,0.000,6,0.000,0.048,2529,1553,3858,0,0,0,0,0,0
$GC,5339,-0.70,-243.3,689.4,-10.4,580,5343,0.00,1.08,0.00,0.000,4,0.000,0.054,2523,2244,3855,0,0,0,0,0,0
$GC,5386,-0.72,-243.3,693.8,-9.6,582,5389,0.00,1.08,0.00,0.000,6,0.000,0.048,2523,1547,3855,0,0,0,0,0,0
$GC,5721,-0.72,-243.3,727.4,-9.9,598,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1547,3853,0,0,0,0,0,0
$GC,6028,-0.72,-243.3,759.1,-10.3,613,6031,0.00,1.08,0.00,0.000,4,0.000,0.058,2518,2234,3851,0,0,0,0,0,0
$GC,6086,-0.73,-243.3,764.8,-9.7,615,6090,0.00,1.05,0.00,0.000,6,0.000,0.050,2519,1557,3850,0,0,0,0,0,0
$GC,6408,-0.73,-243.3,799.2,-10.9,631,6411,0.00,1.08,0.00,0.000,4,0.000,0.058,2513,2239,3847,0,0,0,0,0,0
$GC,6458,-0.73,-243.3,804.8,-10.8,633,6461,0.00,1.08,0.00,0.000,6,0.000,0.050,2513,1547,3847,0,0,0,0,0,0
$GC,6787,-0.73,-243.3,841.6,-11.1,649,6791,0.00,1.10,0.00,0.000,4,0.000,0.060,2508,2245,3845,0,0,0,0,0,0
$GC,6820,-0.73,-243.3,845.4,-11.0,650,6823,0.00,1.08,0.00,0.000,6,0.000,0.052,2508,1556,3845,0,0,0,0,0,0
$GC,7143,-0.73,-243.3,878.4,-9.8,666,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1555,3843,0,0,0,0,0,0
$GC,7451,-0.73,-243.3,908.9,-9.9,681,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1555,3841,0,0,0,0,0,0
$GC,7760,-0.73,-243.3,940.6,-10.4,696,7764,0.00,1.08,0.00,0.000,4,0.000,0.061,2504,2233,3840,0,0,0,0,0,0
$GC,7817,-0.73,-243.3,946.4,-10.1,698,7821,0.00,1.08,0.00,0.000,6,0.000,0.054,2503,1550,3839,0,0,0,0,0,0
$GC,8139,-0.73,-243.3,981.9,-11.4,714,8143,0.00,1.12,0.00,0.000,4,0.000,0.060,2503,843,3837,0,0,0,0,0,0
$GC,8177,-0.73,-243.3,986.6,-12.0,715,8184,0.00,1.08,0.00,0.000,6,0.000,0.051,2499,1539,3837,0,0,0,0,0,0
$STATE,8223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8223,begin apogee
$GC,8231,-0.11,0.0,991.8,11.4,718,8442,0.62,0.00,205.57,1.445,6,0.125,0.000,2700,1825,2884,0,0,0,0,0,0
$STATE,8443,end apogee,CONTROL_FINISHED_OK
$STATE,8443,begin climb
$GC,8447,0.64,243.3,1002.9,0.0,728,8684,0.70,1.20,225.20,1.382,4,0.057,0.062,2951,2510,1892,0,0,0,0,0,0
$GC,8706,0.58,243.3,977.4,14.2,740,8710,0.00,1.15,0.00,0.000,6,0.000,0.050,2958,1826,1889,0,0,0,0,0,0
$GC,9034,0.53,243.3,928.9,14.6,756,9039,0.15,1.10,0.00,0.000,4,0.168,0.060,2910,2512,1884,0,0,0,0,0,0
$GC,9075,0.51,243.3,923.8,12.0,757,9081,0.00,1.10,0.00,0.000,6,0.000,0.048,2910,1811,1884,0,0,0,0,0,0
$GC,9391,0.49,247.5,889.5,10.9,773,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1811,1882,0,0,0,0,0,0
$GC,9702,0.48,247.5,854.5,11.8,788,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1811,1881,0,0,0,0,0,0
$GC,10009,0.46,247.5,818.0,11.8,803,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1811,1880,0,0,0,0,0,0
$GC,10319,0.44,247.5,780.5,12.1,818,10323,0.00,1.10,0.00,0.000,4,0.000,0.057,2907,2521,1879,0,0,0,0,0,0
$GC,10376,0.44,247.5,773.6,11.8,820,10380,0.00,1.08,0.00,0.000,6,0.000,0.047,2911,1822,1879,0,0,0,0,0,0
$GC,10698,0.45,264.2,737.3,10.5,836,10721,0.00,1.12,18.77,1.239,4,0.000,0.052,2916,1113,1807,0,0,0,0,0,0
$GC,10740,0.45,283.5,732.7,10.4,837,10768,0.00,1.10,20.15,1.224,6,0.000,0.047,2916,1820,1727,0,0,0,0,0,0
$GC,11080,0.46,296.3,697.8,10.6,854,11095,0.00,0.00,13.00,1.155,6,0.000,0.000,2916,1820,1675,0,0,0,0,0,0
$GC,11408,0.46,296.3,657.9,12.6,869,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1820,1672,0,0,0,0,0,0
$GC,11716,0.46,296.3,617.2,13.0,884,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1821,1672,0,0,0,0,0,0
$GC,12030,0.46,296.3,575.1,13.1,907,12033,0.00,1.05,0.00,0.000,4,0.000,0.055,2917,2515,1670,0,0,0,0,0,0
$GC,12104,0.46,296.3,565.6,13.0,913,12111,0.08,1.08,0.00,0.000,6,0.140,0.045,2895,1810,1670,0,0,0,0,0,0
$GC,12430,0.59,385.5,534.1,8.3,944,12521,0.12,1.08,80.25,1.146,4,0.088,0.047,2970,1122,1311,0,0,0,0,0,0
$GC,12538,0.56,385.5,519.7,13.8,953,12545,0.12,1.10,0.00,0.000,6,0.135,0.043,2931,1828,1309,0,0,0,0,0,0
$GC,12864,0.58,385.5,483.0,11.1,984,12867,0.00,1.10,0.00,0.000,4,0.000,0.048,2939,1115,1307,0,0,0,0,0,0
$GC,12921,0.59,385.5,476.5,11.0,989,12925,0.00,1.08,0.00,0.000,6,0.000,0.043,2940,1821,1305,0,0,0,0,0,0
$GC,13252,0.61,385.5,439.2,11.2,1020,13256,0.00,1.08,0.00,0.000,4,0.000,0.048,2948,1117,1305,0,0,0,0,0,0
$GC,13336,0.63,385.5,429.8,11.0,1027,13343,0.00,1.08,0.00,0.000,6,0.000,0.042,2948,1829,1305,0,0,0,0,0,0
$GC,13661,0.63,385.5,388.8,13.7,1058,13662,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1829,1305,0,0,0,0,0,0
$GC,13982,0.65,385.5,348.6,12.2,1088,13985,0.00,1.08,0.00,0.000,4,0.000,0.047,2953,1122,1305,0,0,0,0,0,0
$GC,14019,0.67,385.5,344.1,12.6,1091,14022,0.00,1.05,0.00,0.000,6,0.000,0.041,2953,1825,1304,0,0,0,0,0,0
$GC,14350,0.74,423.5,309.0,9.8,1122,14387,0.00,1.05,32.62,0.926,4,0.000,0.044,2958,1118,1156,0,0,0,0,0,0
$GC,14520,0.84,468.2,292.0,9.6,1137,14568,0.12,1.05,38.97,0.902,6,0.044,0.039,3042,1820,974,0,0,0,0,0,0
$GC,14886,0.79,468.2,216.1,19.7,1186,14894,0.15,0.00,0.00,0.000,6,0.156,0.000,3001,1825,970,0,0,0,0,0,0
$GC,15212,0.80,468.2,174.3,12.3,1247,15220,0.00,1.05,0.00,0.000,4,0.000,0.044,3004,1120,970,0,0,0,0,0,0
$GC,15338,0.85,471.5,160.0,10.9,1270,15347,0.00,1.02,3.78,0.465,6,0.000,0.037,3005,1819,961,0,0,0,0,0,0
$GC,15660,0.98,538.9,129.2,9.0,1331,15729,0.15,1.12,57.15,0.743,4,0.070,0.042,3105,1109,683,0,0,0,0,0,0
$GC,15812,0.94,538.9,100.8,18.7,1355,15821,0.15,1.05,0.00,0.000,6,0.129,0.036,3056,1822,679,0,0,0,0,0,0
$GC,16139,1.07,595.7,65.5,9.3,1416,16197,0.00,1.10,50.75,0.676,4,0.000,0.040,3059,1113,452,0,0,0,0,0,0
$GC,16353,1.30,723.4,47.5,7.1,1453,16362,0.25,1.05,0.00,0.000,6,0.030,0.035,3208,1824,441,0,0,0,0,0,0
$STATE,16525,end climb,SURFACE_DEPTH_REACHED
$STATE,16525,begin surface coast
$FINISH,1.2,1.021586
$STATE,16537,end surface coast,CONTROL_FINISHED_OK
$STATE,16537,begin surface
$SM_CCo,16615,0.00,0.000,0,0,439,599.76
$SM_GC,1.80,7.90,0.00,0.00,0.034,0.000,0.000,132,1517,439,-8.05,-0.90,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2127.21,12338.83,200911,070712
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.57
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.80
$XPDR_PINGS,88
$24V_AH,22.6,60.632
$10V_AH,9.9,42.389
$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,20.975,64.925,746.225,0.000,0.000,28.299,24.719,198.272,22.000,0.000,32.010,3491.303,8753.945,732.197,3580.750,471.538,0.000,2193.541,0.000,3302.581,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,71.145,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.190,1522.681,1574.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,83444,1487
$CAP_FILE_SIZE,176618,0
$CFSIZE,260165632,124841984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,171006,2136.133,12334.720,50,1.6,61,-2.8