version: 66.09
glider: 166
mission: 6
dive: 258
start: 9 20 111 22 11 23
data:
$ID,166
$MISSION,6
$DIVE,258
$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,-24723.49
$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,61
$R_STBD_OVSHOOT,52
$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
$GPS1,200911,220424,2137.764,12332.755,26,1.1,43,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-66.9
$GPS2,200911,221101,2137.811,12332.789,14,1.3,14,-2.8
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2140.606,12321.564
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.64,-243.3,0.0,0.0,0,133,0.00,0.00,-112.10,0.000,2,0.000,0.000,121,1525,3178,0,0,0,0,0,0
$GC,136,-0.64,-243.3,6.6,-11.3,16,166,9.43,1.08,-12.50,0.000,4,0.222,0.064,2527,2241,3878,0,0,0,0,0,0
$GC,285,-0.51,-243.3,67.1,-30.6,42,294,0.15,1.00,0.00,0.000,6,0.151,0.040,2574,1568,3880,0,0,0,0,0,0
$GC,609,-0.45,-243.3,144.0,-21.8,103,617,0.00,1.00,0.00,0.000,4,0.000,0.044,2570,2240,3881,0,0,0,0,0,0
$GC,768,-0.43,-243.3,170.2,-15.3,131,777,0.10,1.02,0.00,0.000,6,0.125,0.040,2601,1550,3882,0,0,0,0,0,0
$GC,1091,-0.46,-243.3,203.0,-9.8,192,1098,0.00,1.05,0.00,0.000,4,0.000,0.047,2598,2236,3882,0,0,0,0,0,0
$GC,1227,-0.51,-243.3,215.0,-8.9,217,1235,0.00,1.02,0.00,0.000,6,0.000,0.042,2598,1555,3882,0,0,0,0,0,0
$GC,1551,-0.55,-243.3,247.1,-9.1,278,1559,0.00,1.02,0.00,0.000,4,0.000,0.046,2594,2236,3882,0,0,0,0,0,0
$GC,1624,-0.61,-243.3,253.3,-8.2,287,1629,0.10,1.05,0.00,0.000,6,0.041,0.042,2500,1540,3882,0,0,0,0,0,0
$GC,1955,-0.55,-243.3,309.1,-17.0,318,1957,0.22,0.00,0.00,0.000,6,0.146,0.000,2567,1540,3881,0,0,0,0,0,0
$GC,2274,-0.58,-243.3,338.8,-9.5,348,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1540,3880,0,0,0,0,0,0
$GC,2596,-0.62,-243.3,368.9,-8.7,378,2600,0.12,1.08,0.00,0.000,4,0.083,0.047,2501,2241,3878,0,0,0,0,0,0
$GC,2787,-0.58,-243.3,396.4,-14.8,395,2792,0.15,1.05,0.00,0.000,6,0.129,0.044,2552,1549,3876,0,0,0,0,0,0
$GC,3118,-0.58,-243.3,430.7,-9.8,426,3122,0.00,1.05,0.00,0.000,4,0.000,0.049,2549,2240,3873,0,0,0,0,0,0
$GC,3165,-0.59,-243.3,435.1,-9.6,430,3168,0.00,1.05,0.00,0.000,6,0.000,0.044,2548,1545,3873,0,0,0,0,0,0
$GC,3496,-0.59,-243.3,467.0,-9.6,461,3499,0.00,1.05,0.00,0.000,4,0.000,0.051,2544,2231,3870,0,0,0,0,0,0
$GC,3613,-0.61,-243.3,478.5,-9.3,471,3620,0.00,1.05,0.00,0.000,6,0.000,0.045,2544,1548,3870,0,0,0,0,0,0
$GC,3938,-0.61,-243.3,514.4,-11.1,502,3942,0.00,1.05,0.00,0.000,4,0.000,0.053,2539,2231,3868,0,0,0,0,0,0
$GC,4056,-0.63,-243.3,527.2,-10.6,512,4063,0.00,1.05,0.00,0.000,6,0.000,0.047,2539,1549,3866,0,0,0,0,0,0
$GC,4381,-0.63,-243.3,564.2,-11.6,543,4385,0.00,1.05,0.00,0.000,4,0.000,0.054,2534,2226,3863,0,0,0,0,0,0
$GC,4475,-0.65,-243.3,573.8,-10.6,551,4479,0.00,1.05,0.00,0.000,6,0.000,0.047,2534,1544,3862,0,0,0,0,0,0
$GC,4807,-0.65,-243.3,609.3,-10.2,578,4810,0.00,1.08,0.00,0.000,4,0.000,0.057,2529,2231,3860,0,0,0,0,0,0
$GC,4857,-0.66,-243.3,614.8,-9.8,580,4861,0.00,1.05,0.00,0.000,6,0.000,0.047,2529,1549,3859,0,0,0,0,0,0
$GC,5184,-0.66,-243.3,648.1,-10.0,596,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1550,3856,0,0,0,0,0,0
$GC,5494,-0.66,-243.3,677.3,-9.3,611,5498,0.00,1.08,0.00,0.000,4,0.000,0.058,2524,2225,3853,0,0,0,0,0,0
$GC,5565,-0.67,-243.3,683.3,-8.5,614,5569,0.00,1.02,0.00,0.000,6,0.000,0.048,2524,1556,3853,0,0,0,0,0,0
$GC,5898,-0.67,-243.3,713.6,-9.4,630,5901,0.00,1.05,0.00,0.000,4,0.000,0.058,2519,2229,3851,0,0,0,0,0,0
$GC,5959,-0.69,-243.3,719.6,-9.6,632,5966,0.00,1.05,0.00,0.000,6,0.000,0.050,2519,1546,3850,0,0,0,0,0,0
$GC,6278,-0.69,-243.3,751.3,-10.1,648,6282,0.00,1.08,0.00,0.000,4,0.000,0.060,2514,2229,3848,0,0,0,0,0,0
$GC,6316,-0.69,-243.3,755.6,-10.0,649,6324,0.00,1.05,0.00,0.000,6,0.000,0.049,2514,1543,3848,0,0,0,0,0,0
$GC,6635,-0.69,-243.3,787.9,-10.4,665,6638,0.00,1.05,0.00,0.000,4,0.000,0.057,2514,857,3845,0,0,0,0,0,0
$GC,6673,-0.69,-243.3,792.3,-10.2,666,6680,0.00,1.05,0.00,0.000,6,0.000,0.048,2509,1538,3845,0,0,0,0,0,0
$GC,6989,-0.69,-243.3,826.4,-10.7,682,6993,0.00,1.08,0.00,0.000,4,0.000,0.058,2504,2243,3843,0,0,0,0,0,0
$GC,7092,-0.69,-243.3,837.3,-10.7,686,7096,0.00,1.05,0.00,0.000,6,0.000,0.050,2504,1559,3842,0,0,0,0,0,0
$GC,7414,-0.69,-243.3,874.3,-11.3,702,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1558,3841,0,0,0,0,0,0
$GC,7725,-0.69,-243.3,910.7,-11.6,717,7729,0.00,1.08,0.00,0.000,4,0.000,0.062,2499,2243,3839,0,0,0,0,0,0
$GC,7775,-0.69,-243.3,916.7,-11.0,719,7778,0.00,1.08,0.00,0.000,6,0.000,0.053,2499,1554,3838,0,0,0,0,0,0
$GC,8102,-0.69,-243.3,951.5,-10.1,735,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1554,3837,0,0,0,0,0,0
$GC,8413,-0.69,-243.3,984.1,-10.7,750,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1554,3836,0,0,0,0,0,0
$STATE,8471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8471,begin apogee
$GC,8477,-0.11,0.0,990.5,10.6,753,8689,0.62,0.00,206.12,1.450,6,0.121,0.000,2702,1816,2884,0,0,0,0,0,0
$STATE,8689,end apogee,CONTROL_FINISHED_OK
$STATE,8689,begin climb
$GC,8692,0.64,243.3,999.5,0.0,763,8926,0.73,1.25,226.60,1.382,4,0.053,0.057,2967,1117,1891,0,0,0,0,0,0
$GC,8965,0.58,243.3,968.7,15.4,776,8969,0.10,1.17,0.00,0.000,6,0.146,0.050,2938,1822,1888,0,0,0,0,0,0
$GC,9297,0.54,243.3,924.4,13.7,792,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1822,1884,0,0,0,0,0,0
$GC,9603,0.51,243.3,882.2,13.8,807,9606,0.00,1.08,0.00,0.000,4,0.000,0.060,2935,2522,1882,0,0,0,0,0,0
$GC,9658,0.48,243.3,874.1,14.2,809,9663,0.10,1.10,0.00,0.000,6,0.144,0.049,2900,1811,1882,0,0,0,0,0,0
$GC,9982,0.49,254.7,838.5,10.7,825,9999,0.00,0.00,10.48,1.194,6,0.000,0.000,2897,1811,1845,0,0,0,0,0,0
$GC,10309,0.50,262.1,803.5,10.8,841,10323,0.00,1.17,8.35,1.122,4,0.000,0.058,2895,2531,1815,0,0,0,0,0,0
$GC,10355,0.52,275.0,798.7,10.6,843,10378,0.00,1.12,14.35,1.229,6,0.000,0.047,2899,1813,1761,0,0,0,0,0,0
$GC,10690,0.52,277.6,762.6,10.9,859,10693,0.00,1.08,0.00,0.000,4,0.000,0.051,2903,1113,1758,0,0,0,0,0,0
$GC,10731,0.52,277.6,757.9,11.1,860,10738,0.00,1.12,0.00,0.000,6,0.000,0.047,2903,1831,1758,0,0,0,0,0,0
$GC,11047,0.52,277.6,722.1,11.1,876,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1832,1757,0,0,0,0,0,0
$GC,11357,0.55,304.8,690.2,10.2,891,11387,0.00,0.00,28.33,1.243,6,0.000,0.000,2903,1832,1641,0,0,0,0,0,0
$GC,11690,0.59,332.9,656.5,10.1,907,11719,0.00,0.00,27.12,1.206,6,0.000,0.000,2904,1832,1526,0,0,0,0,0,0
$GC,12018,0.65,368.5,622.9,9.9,923,12056,0.15,1.17,33.03,1.186,4,0.079,0.050,2985,1118,1381,0,0,0,0,0,0
$GC,12093,0.60,368.5,610.8,19.0,925,12097,0.12,1.12,0.00,0.000,6,0.142,0.047,2945,1831,1379,0,0,0,0,0,0
$GC,12424,0.58,368.5,563.4,14.1,953,12427,0.00,1.05,0.00,0.000,4,0.000,0.055,2945,2519,1378,0,0,0,0,0,0
$GC,12473,0.58,368.5,555.8,14.1,957,12480,0.00,1.08,0.00,0.000,6,0.000,0.044,2947,1817,1377,0,0,0,0,0,0
$GC,12801,0.56,368.5,506.8,14.9,988,12805,0.00,1.05,0.00,0.000,4,0.000,0.050,2953,1120,1376,0,0,0,0,0,0
$GC,12829,0.55,368.5,502.1,15.1,990,12836,0.08,1.08,0.00,0.000,6,0.136,0.044,2926,1830,1375,0,0,0,0,0,0
$GC,13157,0.60,401.4,465.0,10.0,1021,13193,0.00,0.00,29.75,1.080,6,0.000,0.000,2926,1830,1246,0,0,0,0,0,0
$GC,13513,0.63,405.2,429.3,10.9,1055,13525,0.00,1.12,4.50,0.715,4,0.000,0.048,2935,1114,1232,0,0,0,0,0,0
$GC,13600,0.67,405.2,419.3,11.4,1062,13607,0.00,1.08,0.00,0.000,6,0.000,0.042,2938,1822,1231,0,0,0,0,0,0
$GC,13926,0.70,405.2,379.6,11.8,1093,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1822,1232,0,0,0,0,0,0
$GC,14248,0.80,462.0,346.3,9.3,1123,14305,0.17,1.15,50.22,0.984,4,0.069,0.047,3037,1117,998,0,0,0,0,0,0
$GC,14353,0.73,462.0,326.3,22.8,1132,14358,0.17,1.10,0.00,0.000,6,0.138,0.042,2983,1828,996,0,0,0,0,0,0
$GC,14685,0.73,462.0,276.2,12.3,1163,14689,0.00,1.10,0.00,0.000,4,0.000,0.047,2987,1115,994,0,0,0,0,0,0
$GC,14804,0.75,462.0,261.9,12.4,1173,14811,0.00,1.08,0.00,0.000,6,0.000,0.041,2987,1828,993,0,0,0,0,0,0
$GC,15125,0.76,462.0,220.1,12.3,1226,15135,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1829,993,0,0,0,0,0,0
$GC,15449,0.83,497.2,183.0,9.9,1287,15486,0.00,1.12,29.73,0.806,4,0.000,0.044,2991,1110,855,0,0,0,0,0,0
$GC,15573,1.01,591.8,172.1,8.1,1308,15667,0.17,1.08,85.22,0.791,6,0.035,0.037,3100,1829,470,0,0,0,0,0,0
$GC,15985,0.99,591.8,79.4,18.8,1381,15993,0.12,0.00,0.00,0.000,6,0.156,0.000,3066,1832,454,0,0,0,0,0,0
$GC,16310,1.03,593.4,40.6,10.9,1442,16318,0.00,1.08,0.00,0.000,4,0.000,0.044,3069,1115,451,0,0,0,0,0,0
$GC,16465,1.19,668.3,26.1,8.7,1470,16474,0.12,1.02,0.00,0.000,6,0.039,0.037,3169,1812,450,0,0,0,0,0,0
$STATE,16580,end climb,SURFACE_DEPTH_REACHED
$STATE,16580,begin surface coast
$FINISH,1.1,1.010824
$STATE,16593,end surface coast,CONTROL_FINISHED_OK
$STATE,16593,begin surface
$SM_CCo,16671,0.00,0.000,0,0,449,597.31
$SM_GC,1.90,7.70,0.00,0.00,0.034,0.000,0.000,148,1516,449,-8.03,-0.99,597.31,0,0,0,0,0,0
$IRIDIUM_FIX,2129.53,12348.48,200911,171739
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.36
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.40
$XPDR_PINGS,100
$24V_AH,22.6,61.181
$10V_AH,9.9,42.722
$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,20.650,61.000,753.800,0.000,0.000,24.924,18.651,184.620,25.000,0.000,14.877,3500.419,8772.869,764.692,3524.275,484.394,0.000,2211.163,0.000,3297.040,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,64.260,1450.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.513,1529.814,1590.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330260
$DATA_FILE_SIZE,83499,1493
$CAP_FILE_SIZE,174951,0
$CFSIZE,260165632,124657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210911,025031,2139.711,12331.126,38,1.4,38,-2.8