version: 66.09
glider: 166
mission: 6
dive: 257
start: 9 20 111 17 17 58
data:
$ID,166
$MISSION,6
$DIVE,257
$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,-24722.23
$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,57
$R_STBD_OVSHOOT,53
$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
$GPS1,200911,171006,2136.133,12334.720,50,1.6,61,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.7
$GPS2,200911,171736,2136.137,12334.718,14,1.2,30,-2.8
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2138.932,12323.495
$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,-106.85,0.000,2,0.000,0.000,117,1518,3000,0,0,0,0,0,0
$GC,130,-0.64,-243.3,5.3,-7.5,15,160,9.50,1.12,-16.60,0.000,4,0.225,0.066,2531,2254,3880,0,0,0,0,0,0
$GC,291,-0.48,-243.3,66.5,-33.9,43,300,0.17,1.02,0.00,0.000,6,0.157,0.040,2582,1567,3882,0,0,0,0,0,0
$GC,611,-0.41,-243.3,140.3,-19.0,104,620,0.10,1.08,0.00,0.000,4,0.183,0.044,2611,853,3882,0,0,0,0,0,0
$GC,641,-0.37,-243.3,145.7,-18.3,108,649,0.00,1.02,0.00,0.000,6,0.000,0.039,2608,1543,3882,0,0,0,0,0,0
$GC,963,-0.37,-243.3,186.0,-12.7,169,971,0.00,1.02,0.00,0.000,4,0.000,0.044,2603,2245,3883,0,0,0,0,0,0
$GC,1212,-0.40,-243.3,213.8,-9.5,215,1220,0.00,1.02,0.00,0.000,6,0.000,0.041,2602,1557,3883,0,0,0,0,0,0
$GC,1536,-0.45,-243.3,241.6,-8.4,276,1544,0.00,1.02,0.00,0.000,4,0.000,0.044,2597,2244,3883,0,0,0,0,0,0
$GC,1693,-0.51,-243.3,253.7,-7.1,300,1696,0.00,1.02,0.00,0.000,6,0.000,0.041,2598,1555,3883,0,0,0,0,0,0
$GC,2026,-0.57,-243.3,278.4,-7.1,331,2030,0.10,1.08,0.00,0.000,4,0.094,0.045,2507,2250,3882,0,0,0,0,0,0
$GC,2109,-0.53,-243.3,288.5,-13.3,338,2118,0.17,1.05,0.00,0.000,6,0.122,0.040,2567,1550,3882,0,0,0,0,0,0
$GC,2434,-0.56,-243.3,319.2,-8.4,369,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1550,3880,0,0,0,0,0,0
$GC,2757,-0.59,-243.3,347.4,-8.8,399,2761,0.00,1.08,0.00,0.000,4,0.000,0.048,2583,2240,3878,0,0,0,0,0,0
$GC,2877,-0.64,-243.3,357.7,-8.0,409,2884,0.10,1.05,0.00,0.000,6,0.044,0.043,2500,1549,3877,0,0,0,0,0,0
$GC,3202,-0.58,-243.3,409.7,-15.9,440,3206,0.20,1.05,0.00,0.000,4,0.147,0.045,2555,2236,3875,0,0,0,0,0,0
$GC,3242,-0.58,-243.3,415.1,-12.9,443,3249,0.00,1.02,0.00,0.000,6,0.000,0.044,2555,1558,3874,0,0,0,0,0,0
$GC,3568,-0.59,-243.3,451.3,-10.1,474,3572,0.00,1.08,0.00,0.000,4,0.000,0.048,2555,846,3873,0,0,0,0,0,0
$GC,3608,-0.61,-243.3,455.4,-10.4,477,3615,0.00,1.05,0.00,0.000,6,0.000,0.043,2550,1540,3872,0,0,0,0,0,0
$GC,3934,-0.62,-243.3,487.1,-9.9,508,3938,0.00,1.05,0.00,0.000,4,0.000,0.050,2545,2246,3869,0,0,0,0,0,0
$GC,4108,-0.64,-243.3,503.4,-9.5,523,4112,0.00,1.05,0.00,0.000,6,0.000,0.044,2545,1550,3868,0,0,0,0,0,0
$GC,4439,-0.64,-243.3,537.6,-10.3,554,4443,0.00,1.10,0.00,0.000,4,0.000,0.054,2540,2249,3865,0,0,0,0,0,0
$GC,4514,-0.67,-243.3,544.7,-9.1,560,4520,0.00,1.05,0.00,0.000,6,0.000,0.044,2540,1556,3864,0,0,0,0,0,0
$GC,4839,-0.68,-243.3,577.0,-10.1,591,4843,0.00,1.05,0.00,0.000,4,0.000,0.053,2535,2239,3862,0,0,0,0,0,0
$GC,4938,-0.70,-243.3,586.5,-9.5,599,4944,0.00,1.05,0.00,0.000,6,0.000,0.046,2535,1550,3861,0,0,0,0,0,0
$GC,5260,-0.71,-243.3,618.4,-9.9,621,5263,0.00,1.10,0.00,0.000,4,0.000,0.055,2530,2244,3858,0,0,0,0,0,0
$GC,5353,-0.73,-243.3,627.2,-9.2,625,5357,0.00,1.05,0.00,0.000,6,0.000,0.047,2530,1554,3857,0,0,0,0,0,0
$GC,5686,-0.73,-243.3,661.1,-10.5,641,5690,0.00,1.05,0.00,0.000,4,0.000,0.055,2525,2237,3854,0,0,0,0,0,0
$GC,5744,-0.74,-243.3,667.3,-10.5,643,5748,0.00,1.05,0.00,0.000,6,0.000,0.049,2525,1554,3854,0,0,0,0,0,0
$GC,6066,-0.74,-243.3,703.6,-11.2,659,6069,0.00,1.08,0.00,0.000,4,0.000,0.056,2520,2248,3852,0,0,0,0,0,0
$GC,6105,-0.74,-243.3,707.9,-10.7,660,6112,0.00,1.08,0.00,0.000,6,0.000,0.049,2520,1547,3851,0,0,0,0,0,0
$GC,6423,-0.74,-243.3,740.6,-10.3,676,6427,0.00,1.08,0.00,0.000,4,0.000,0.059,2515,2236,3849,0,0,0,0,0,0
$GC,6478,-0.74,-243.3,746.9,-10.9,678,6482,0.00,1.05,0.00,0.000,6,0.000,0.051,2514,1556,3848,0,0,0,0,0,0
$GC,6802,-0.74,-243.3,782.1,-11.3,694,6805,0.00,1.08,0.00,0.000,4,0.000,0.058,2510,2243,3846,0,0,0,0,0,0
$GC,6840,-0.74,-243.3,787.1,-12.1,695,6847,0.00,1.08,0.00,0.000,6,0.000,0.050,2510,1550,3845,0,0,0,0,0,0
$GC,7156,-0.74,-243.3,824.6,-11.7,711,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1550,3844,0,0,0,0,0,0
$GC,7468,-0.74,-243.3,856.6,-9.7,726,7472,0.00,1.10,0.00,0.000,4,0.000,0.060,2505,2236,3841,0,0,0,0,0,0
$GC,7540,-0.74,-243.3,863.5,-8.9,729,7544,0.00,1.08,0.00,0.000,6,0.000,0.052,2505,1544,3841,0,0,0,0,0,0
$GC,7870,-0.74,-243.3,893.6,-9.2,745,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1544,3840,0,0,0,0,0,0
$GC,8177,-0.74,-243.3,924.7,-10.3,760,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1544,3838,0,0,0,0,0,0
$GC,8486,-0.74,-243.3,957.1,-10.4,775,8490,0.00,1.10,0.00,0.000,4,0.000,0.063,2500,2234,3836,0,0,0,0,0,0
$GC,8549,-0.74,-243.3,963.6,-10.0,777,8556,0.00,1.08,0.00,0.000,6,0.000,0.053,2500,1550,3836,0,0,0,0,0,0
$STATE,8801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8801,begin apogee
$GC,8807,-0.11,0.0,990.9,10.8,790,9019,0.62,0.00,205.50,1.447,6,0.123,0.000,2702,1813,2884,0,0,0,0,0,0
$STATE,9022,end apogee,CONTROL_FINISHED_OK
$STATE,9022,begin climb
$GC,9025,0.64,243.3,1000.3,0.0,800,9260,0.70,0.00,227.02,1.381,6,0.052,0.000,2955,1813,1891,0,0,0,0,0,0
$GC,9569,0.58,243.3,931.4,15.1,827,9572,0.00,1.12,0.00,0.000,4,0.000,0.063,2955,2524,1884,0,0,0,0,0,0
$GC,9603,0.53,243.3,925.9,15.6,828,9607,0.12,1.12,0.00,0.000,6,0.142,0.052,2921,1817,1883,0,0,0,0,0,0
$GC,9927,0.51,243.3,885.9,12.2,844,9930,0.00,1.08,0.00,0.000,4,0.000,0.057,2914,1117,1881,0,0,0,0,0,0
$GC,9995,0.50,243.3,877.3,12.2,847,9999,0.00,1.10,0.00,0.000,6,0.000,0.052,2914,1818,1881,0,0,0,0,0,0
$GC,10328,0.47,243.3,836.8,12.0,863,10332,0.00,1.10,0.00,0.000,4,0.000,0.061,2914,2525,1880,0,0,0,0,0,0
$GC,10414,0.46,243.3,826.6,11.7,866,10421,0.00,1.10,0.00,0.000,6,0.000,0.049,2918,1820,1880,0,0,0,0,0,0
$GC,10730,0.43,243.3,787.0,12.9,882,10732,0.12,0.00,0.00,0.000,6,0.170,0.000,2886,1820,1878,0,0,0,0,0,0
$GC,11041,0.47,277.2,755.3,10.0,897,11079,0.00,0.00,31.00,1.284,6,0.000,0.000,2886,1820,1753,0,0,0,0,0,0
$GC,11389,0.54,319.5,721.5,9.7,914,11436,0.10,1.15,40.42,1.262,4,0.105,0.054,2945,1109,1581,0,0,0,0,0,0
$GC,11467,0.52,319.5,711.0,14.4,917,11471,0.10,1.15,0.00,0.000,6,0.136,0.049,2913,1822,1579,0,0,0,0,0,0
$GC,11788,0.52,319.5,673.5,11.1,933,11791,0.00,1.08,0.00,0.000,4,0.000,0.058,2914,2521,1575,0,0,0,0,0,0
$GC,11836,0.52,321.2,668.4,10.9,935,11840,0.00,1.10,0.00,0.000,6,0.000,0.047,2917,1814,1575,0,0,0,0,0,0
$GC,12168,0.52,321.2,630.5,11.4,951,12172,0.00,1.05,0.00,0.000,4,0.000,0.051,2922,1120,1575,0,0,0,0,0,0
$GC,12219,0.53,328.0,625.0,10.8,953,12235,0.00,1.10,8.10,1.030,6,0.000,0.047,2922,1833,1546,0,0,0,0,0,0
$GC,12547,0.53,328.0,587.3,12.4,974,12551,0.00,1.10,0.00,0.000,4,0.000,0.049,2927,1117,1545,0,0,0,0,0,0
$GC,12574,0.53,328.0,583.8,12.0,976,12581,0.00,1.08,0.00,0.000,6,0.000,0.046,2927,1822,1544,0,0,0,0,0,0
$GC,12899,0.53,328.0,539.4,14.2,1007,12903,0.00,1.05,0.00,0.000,4,0.000,0.055,2928,2514,1544,0,0,0,0,0,0
$GC,12945,0.53,328.0,533.0,13.8,1011,12949,0.00,1.08,0.00,0.000,6,0.000,0.045,2933,1810,1544,0,0,0,0,0,0
$GC,13276,0.53,328.0,490.3,11.7,1042,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1810,1544,0,0,0,0,0,0
$GC,13596,0.53,328.0,453.4,11.8,1072,13600,0.00,1.10,0.00,0.000,4,0.000,0.053,2935,2515,1544,0,0,0,0,0,0
$GC,13648,0.53,328.0,447.1,11.6,1076,13654,0.00,1.08,0.00,0.000,6,0.000,0.043,2939,1816,1543,0,0,0,0,0,0
$GC,13973,0.53,328.0,405.0,13.6,1107,13976,0.00,1.05,0.00,0.000,4,0.000,0.049,2949,1120,1544,0,0,0,0,0,0
$GC,14088,0.53,328.0,389.4,13.3,1117,14093,0.10,1.08,0.00,0.000,6,0.125,0.043,2916,1836,1543,0,0,0,0,0,0
$GC,14420,0.66,402.3,356.8,8.7,1148,14493,0.12,1.05,66.25,0.997,4,0.086,0.047,2989,2518,1242,0,0,0,0,0,0
$GC,14521,0.63,402.3,341.9,15.5,1157,14528,0.12,1.08,0.00,0.000,6,0.133,0.042,2954,1825,1240,0,0,0,0,0,0
$GC,14847,0.65,402.5,305.1,11.0,1188,14851,0.00,1.08,0.00,0.000,4,0.000,0.045,2957,1111,1239,0,0,0,0,0,0
$GC,14973,0.68,403.8,291.5,11.0,1199,14977,0.00,1.08,0.00,0.000,6,0.000,0.041,2957,1825,1238,0,0,0,0,0,0
$GC,15305,0.76,435.2,256.0,10.0,1230,15341,0.00,1.10,28.38,0.878,4,0.000,0.044,2961,1119,1107,0,0,0,0,0,0
$GC,15384,0.83,455.0,248.1,10.4,1238,15407,0.10,1.05,18.00,0.834,6,0.047,0.038,3038,1817,1029,0,0,0,0,0,0
$GC,15725,0.78,455.0,181.0,19.1,1301,15733,0.15,1.08,0.00,0.000,4,0.153,0.044,3001,1117,1025,0,0,0,0,0,0
$GC,15742,0.75,455.0,177.6,18.1,1303,15750,0.00,1.05,0.00,0.000,6,0.000,0.037,2997,1825,1025,0,0,0,0,0,0
$GC,16066,0.93,561.2,141.0,7.8,1364,16162,0.12,1.15,89.32,0.774,4,0.084,0.044,3083,1115,594,0,0,0,0,0,0
$GC,16267,0.93,561.2,110.2,14.7,1396,16276,0.10,1.08,0.00,0.000,6,0.122,0.037,3048,1833,588,0,0,0,0,0,0
$GC,16598,1.02,597.2,73.0,9.9,1457,16636,0.00,1.15,32.25,0.683,4,0.000,0.044,3051,1108,453,0,0,0,0,0,0
$GC,16785,1.23,702.4,55.9,7.8,1490,16794,0.20,1.05,0.00,0.000,6,0.034,0.036,3180,1817,443,0,0,0,0,0,0
$STATE,17013,end climb,SURFACE_DEPTH_REACHED
$STATE,17013,begin surface coast
$FINISH,1.2,1.019544
$STATE,17025,end surface coast,CONTROL_FINISHED_OK
$STATE,17025,begin surface
$SM_CCo,17104,0.00,0.000,0,0,439,599.76
$SM_GC,1.86,7.78,0.00,0.00,0.032,0.000,0.000,128,1526,439,-8.06,-0.68,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2127.21,12333.69,200911,121218
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.59
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.50
$XPDR_PINGS,90
$24V_AH,22.6,60.903
$10V_AH,9.9,42.558
$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,20.925,73.825,746.250,0.000,0.000,29.631,49.880,190.898,22.500,0.000,31.554,3609.202,8953.464,804.915,3677.398,488.826,0.000,2268.898,0.000,3387.514,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,65.790,1446.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1048.829,1573.376,1635.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330312
$DATA_FILE_SIZE,86790,1535
$CAP_FILE_SIZE,181338,0
$CFSIZE,260165632,124739584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,220424,2137.764,12332.755,26,1.1,43,-2.8