version: 66.09
glider: 166
mission: 6
dive: 259
start: 9 21 111 2 57 42
data:
$ID,166
$MISSION,6
$DIVE,259
$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,-24724.75
$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,65
$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
$GPS1,210911,025031,2139.711,12331.126,38,1.4,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-64.8
$GPS2,210911,025720,2139.770,12331.102,12,1.3,12,-2.8
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2142.565,12319.874
$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,-106.88,0.000,2,0.000,0.000,143,1515,2988,0,0,0,0,0,0
$GC,130,-0.64,-243.3,5.1,-6.3,15,167,9.35,1.12,-17.27,0.000,4,0.223,0.070,2526,2244,3880,0,0,0,0,0,0
$GC,258,-0.48,-243.3,54.9,-35.3,36,266,0.17,1.02,0.00,0.000,6,0.156,0.041,2581,1563,3881,0,0,0,0,0,0
$GC,585,-0.42,-243.3,136.0,-20.4,97,594,0.10,1.08,0.00,0.000,4,0.181,0.044,2610,850,3882,0,0,0,0,0,0
$GC,609,-0.38,-243.3,140.0,-17.4,100,617,0.00,1.02,0.00,0.000,6,0.000,0.038,2607,1540,3882,0,0,0,0,0,0
$GC,932,-0.39,-243.3,178.1,-12.1,161,940,0.00,1.05,0.00,0.000,4,0.000,0.044,2602,2257,3883,0,0,0,0,0,0
$GC,1108,-0.43,-243.3,196.6,-10.7,193,1116,0.00,1.05,0.00,0.000,6,0.000,0.042,2602,1555,3883,0,0,0,0,0,0
$GC,1433,-0.47,-243.3,229.1,-10.3,254,1441,0.00,1.05,0.00,0.000,4,0.000,0.046,2597,2254,3883,0,0,0,0,0,0
$GC,1578,-0.52,-243.3,242.2,-8.7,281,1586,0.00,1.05,0.00,0.000,6,0.000,0.042,2598,1556,3882,0,0,0,0,0,0
$GC,1903,-0.56,-243.3,269.3,-8.3,320,1907,0.00,1.05,0.00,0.000,4,0.000,0.045,2592,2257,3882,0,0,0,0,0,0
$GC,2017,-0.62,-243.3,278.4,-7.6,330,2021,0.12,1.08,0.00,0.000,6,0.037,0.043,2500,1543,3881,0,0,0,0,0,0
$GC,2348,-0.55,-243.3,338.7,-17.4,361,2352,0.22,1.05,0.00,0.000,4,0.149,0.045,2564,853,3880,0,0,0,0,0,0
$GC,2430,-0.57,-243.3,347.7,-9.4,368,2434,0.00,1.05,0.00,0.000,6,0.000,0.041,2567,1555,3880,0,0,0,0,0,0
$GC,2763,-0.59,-243.3,385.8,-10.5,399,2767,0.00,1.02,0.00,0.000,4,0.000,0.048,2564,2249,3878,0,0,0,0,0,0
$GC,2928,-0.62,-243.3,402.3,-9.7,413,2937,0.00,1.05,0.00,0.000,6,0.000,0.043,2564,1552,3877,0,0,0,0,0,0
$GC,3253,-0.65,-243.3,433.8,-9.3,444,3257,0.00,1.05,0.00,0.000,4,0.000,0.050,2560,2242,3875,0,0,0,0,0,0
$GC,3406,-0.68,-243.3,447.3,-8.8,457,3413,0.08,1.05,0.00,0.000,6,0.050,0.044,2493,1553,3874,0,0,0,0,0,0
$GC,3732,-0.62,-243.3,498.8,-16.4,488,3736,0.17,1.10,0.00,0.000,4,0.154,0.050,2546,842,3871,0,0,0,0,0,0
$GC,3777,-0.62,-243.3,504.9,-12.4,492,3781,0.00,1.08,0.00,0.000,6,0.000,0.045,2543,1543,3871,0,0,0,0,0,0
$GC,4108,-0.63,-243.3,539.7,-10.0,523,4112,0.00,1.05,0.00,0.000,4,0.000,0.051,2538,2245,3869,0,0,0,0,0,0
$GC,4215,-0.65,-243.3,550.2,-9.8,532,4225,0.00,1.08,0.00,0.000,6,0.000,0.045,2538,1540,3867,0,0,0,0,0,0
$GC,4541,-0.66,-243.3,584.8,-10.7,563,4545,0.00,1.10,0.00,0.000,4,0.000,0.054,2533,2251,3864,0,0,0,0,0,0
$GC,4603,-0.68,-243.3,591.6,-10.9,568,4609,0.00,1.08,0.00,0.000,6,0.000,0.046,2533,1548,3864,0,0,0,0,0,0
$GC,4934,-0.68,-243.3,627.8,-10.8,588,4938,0.00,1.08,0.00,0.000,4,0.000,0.055,2528,2244,3861,0,0,0,0,0,0
$GC,4995,-0.70,-243.3,635.0,-10.7,590,5002,0.00,1.08,0.00,0.000,6,0.000,0.047,2528,1545,3860,0,0,0,0,0,0
$GC,5313,-0.70,-243.3,670.6,-11.1,606,5317,0.00,1.10,0.00,0.000,4,0.000,0.057,2522,2251,3858,0,0,0,0,0,0
$GC,5374,-0.71,-243.3,677.2,-10.4,608,5381,0.00,1.08,0.00,0.000,6,0.000,0.048,2522,1550,3857,0,0,0,0,0,0
$GC,5692,-0.71,-243.3,711.7,-11.1,624,5696,0.00,1.10,0.00,0.000,4,0.000,0.059,2517,2241,3854,0,0,0,0,0,0
$GC,5761,-0.72,-243.3,719.3,-10.8,627,5764,0.00,1.08,0.00,0.000,6,0.000,0.050,2517,1544,3854,0,0,0,0,0,0
$GC,6093,-0.72,-243.3,758.4,-11.9,643,6097,0.00,1.10,0.00,0.000,4,0.000,0.060,2512,2248,3852,0,0,0,0,0,0
$GC,6167,-0.72,-243.3,766.9,-11.5,646,6171,0.00,1.08,0.00,0.000,6,0.000,0.050,2512,1553,3851,0,0,0,0,0,0
$GC,6495,-0.72,-243.3,802.9,-10.6,662,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1553,3848,0,0,0,0,0,0
$GC,6806,-0.72,-243.3,833.6,-9.9,677,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1553,3846,0,0,0,0,0,0
$GC,7113,-0.72,-243.3,863.5,-9.6,692,7117,0.00,1.08,0.00,0.000,4,0.000,0.060,2507,2237,3845,0,0,0,0,0,0
$GC,7163,-0.72,-243.3,868.3,-9.4,694,7167,0.00,1.08,0.00,0.000,6,0.000,0.052,2507,1544,3844,0,0,0,0,0,0
$GC,7493,-0.72,-243.3,899.6,-9.3,710,7497,0.00,1.10,0.00,0.000,4,0.000,0.063,2502,2242,3842,0,0,0,0,0,0
$GC,7554,-0.72,-243.3,905.5,-9.0,712,7561,0.00,1.08,0.00,0.000,6,0.000,0.053,2502,1552,3841,0,0,0,0,0,0
$GC,7870,-0.72,-243.3,935.5,-9.5,728,7874,0.00,1.10,0.00,0.000,4,0.000,0.062,2498,2247,3840,0,0,0,0,0,0
$GC,7922,-0.72,-243.3,940.3,-9.4,730,7926,0.00,1.08,0.00,0.000,6,0.000,0.052,2498,1555,3839,0,0,0,0,0,0
$GC,8250,-0.72,-243.3,972.4,-9.8,746,8253,0.00,1.10,0.00,0.000,4,0.000,0.059,2497,843,3837,0,0,0,0,0,0
$GC,8291,-0.72,-243.3,976.6,-10.4,747,8298,0.00,1.10,0.00,0.000,6,0.000,0.052,2492,1544,3837,0,0,0,0,0,0
$STATE,8419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8419,begin apogee
$GC,8425,-0.11,0.0,990.1,10.3,754,8636,0.65,0.00,206.02,1.447,6,0.125,0.000,2702,1825,2884,0,0,0,0,0,0
$STATE,8639,end apogee,CONTROL_FINISHED_OK
$STATE,8639,begin climb
$GC,8641,0.64,243.3,998.0,0.0,764,8878,0.73,1.15,225.70,1.378,4,0.054,0.060,2961,2514,1891,0,0,0,0,0,0
$GC,8979,0.58,243.3,956.1,16.1,780,8983,0.10,1.12,0.00,0.000,6,0.148,0.052,2935,1822,1887,0,0,0,0,0,0
$GC,9309,0.55,243.3,912.7,13.0,796,9313,0.00,1.10,0.00,0.000,4,0.000,0.056,2937,1113,1883,0,0,0,0,0,0
$GC,9337,0.52,243.3,908.6,13.4,797,9341,0.00,1.10,0.00,0.000,6,0.000,0.053,2938,1811,1882,0,0,0,0,0,0
$GC,9666,0.48,243.3,870.4,11.3,813,9671,0.12,1.10,0.00,0.000,4,0.166,0.060,2898,2522,1880,0,0,0,0,0,0
$GC,9790,0.57,314.6,858.8,8.8,818,9865,0.00,1.10,66.20,1.346,6,0.000,0.047,2894,1815,1600,0,0,0,0,0,0
$GC,10174,0.59,316.1,819.6,11.0,837,10178,0.12,1.10,0.00,0.000,4,0.090,0.054,2964,1111,1594,0,0,0,0,0,0
$GC,10223,0.54,316.1,811.6,17.2,839,10228,0.12,1.10,0.00,0.000,6,0.142,0.052,2924,1815,1593,0,0,0,0,0,0
$GC,10554,0.53,316.1,766.2,13.3,855,10558,0.00,1.10,0.00,0.000,4,0.000,0.058,2923,2534,1592,0,0,0,0,0,0
$GC,10623,0.53,316.1,756.9,12.5,858,10626,0.00,1.10,0.00,0.000,6,0.000,0.048,2927,1823,1592,0,0,0,0,0,0
$GC,10958,0.51,316.1,714.7,12.8,874,10961,0.00,1.10,0.00,0.000,4,0.000,0.057,2927,2531,1591,0,0,0,0,0,0
$GC,10991,0.50,316.1,709.8,13.2,875,10995,0.00,1.10,0.00,0.000,6,0.000,0.047,2931,1817,1591,0,0,0,0,0,0
$GC,11313,0.48,316.1,666.1,13.9,891,11317,0.00,1.05,0.00,0.000,4,0.000,0.052,2937,1119,1591,0,0,0,0,0,0
$GC,11354,0.47,316.1,660.2,14.2,892,11361,0.10,1.10,0.00,0.000,6,0.137,0.047,2901,1837,1590,0,0,0,0,0,0
$GC,11672,0.55,361.4,627.1,9.6,908,11716,0.00,0.00,42.12,1.205,6,0.000,0.000,2900,1837,1410,0,0,0,0,0,0
$GC,12022,0.72,463.6,599.5,7.9,925,12122,0.22,1.15,91.10,1.174,4,0.061,0.046,3011,1118,992,0,0,0,0,0,0
$GC,12197,0.66,463.6,562.9,22.6,940,12207,0.15,1.10,0.00,0.000,6,0.141,0.047,2965,1816,989,0,0,0,0,0,0
$GC,12522,0.64,463.6,507.4,16.3,971,12523,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1817,986,0,0,0,0,0,0
$GC,12844,0.64,463.6,457.5,15.3,1001,12848,0.00,1.08,0.00,0.000,4,0.000,0.047,2974,1113,986,0,0,0,0,0,0
$GC,12871,0.64,463.6,452.5,15.1,1003,12878,0.00,1.08,0.00,0.000,6,0.000,0.044,2975,1824,985,0,0,0,0,0,0
$GC,13197,0.63,463.6,398.8,15.7,1034,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1824,986,0,0,0,0,0,0
$GC,13517,0.63,463.6,353.7,14.5,1064,13520,0.00,1.10,0.00,0.000,4,0.000,0.048,2981,1112,985,0,0,0,0,0,0
$GC,13660,0.65,463.6,334.6,13.0,1076,13667,0.00,1.08,0.00,0.000,6,0.000,0.042,2981,1822,984,0,0,0,0,0,0
$GC,13987,0.65,463.6,288.5,14.5,1107,13990,0.00,1.02,0.00,0.000,4,0.000,0.051,2981,2510,984,0,0,0,0,0,0
$GC,14029,0.66,463.6,282.3,14.2,1110,14037,0.00,1.05,0.00,0.000,6,0.000,0.042,2985,1816,984,0,0,0,0,0,0
$GC,14353,0.68,463.6,239.7,11.8,1149,14361,0.00,1.05,0.00,0.000,4,0.000,0.047,2990,1111,984,0,0,0,0,0,0
$GC,14447,0.71,463.6,229.0,11.5,1165,14455,0.00,1.08,0.00,0.000,6,0.000,0.040,2990,1832,984,0,0,0,0,0,0
$GC,14772,0.77,487.6,192.1,10.3,1226,14802,0.00,1.15,20.35,0.788,4,0.000,0.045,2995,1107,894,0,0,0,0,0,0
$GC,14863,0.90,548.2,183.0,9.2,1241,14922,0.08,1.08,52.70,0.796,6,0.050,0.037,3065,1828,649,0,0,0,0,0,0
$GC,15237,0.88,548.2,115.2,17.4,1309,15246,0.12,1.02,0.00,0.000,4,0.152,0.046,3026,2512,638,0,0,0,0,0,0
$GC,15270,0.90,548.2,110.3,14.9,1314,15278,0.00,1.05,0.00,0.000,6,0.000,0.039,3029,1818,638,0,0,0,0,0,0
$GC,15592,1.15,687.0,88.8,6.8,1375,15643,0.22,1.10,44.05,0.696,4,0.057,0.043,3169,1108,453,0,0,0,0,0,0
$GC,15819,1.08,687.0,39.3,23.3,1415,15828,0.22,1.05,0.00,0.000,6,0.134,0.037,3093,1820,440,0,0,0,0,0,0
$STATE,16072,end climb,SURFACE_DEPTH_REACHED
$STATE,16072,begin surface coast
$FINISH,1.2,1.021713
$STATE,16095,end surface coast,CONTROL_FINISHED_OK
$STATE,16095,begin surface
$SM_CCo,16172,0.00,0.000,0,0,436,600.49
$SM_GC,1.83,7.45,0.00,0.00,0.024,0.000,0.000,136,1541,436,-8.06,-0.25,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2129.53,12333.69,200911,222253
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.20
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,26.00
$XPDR_PINGS,92
$24V_AH,22.6,61.461
$10V_AH,9.9,42.890
$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,20.650,74.175,748.250,0.000,0.000,30.635,44.325,174.787,23.000,0.000,13.700,3461.344,8205.103,764.209,3647.126,482.567,0.000,2251.735,0.000,3397.697,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,70.380,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.310,1503.662,1704.563,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330316
$DATA_FILE_SIZE,83582,1467
$CAP_FILE_SIZE,179476,0
$CFSIZE,260165632,124563456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210911,072831,2141.399,12329.012,38,1.9,38,-2.8