version: 66.09
glider: 166
mission: 6
dive: 93
start: 8 21 111 9 31 51
data:
$ID,166
$MISSION,6
$DIVE,93
$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,310
$T_MISSION,330
$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,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,595.83368
$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,-24506.721
$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,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,210811,092333,2340.838,12354.074,91,1.8,93,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.1
$GPS2,210811,093124,2340.893,12354.056,36,1.7,40,-3.4
$SPEED_LIMITS,0.184,0.333
$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,196.3,242629,-14.7,-10.645
$D_GRID,3035
$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,-0.83,-243.3,0.0,0.0,0,130,0.00,0.00,-110.57,0.000,2,0.000,0.000,146,1489,3177,0,0,0,0,0,0
$GC,133,-0.83,-243.3,6.3,-11.4,15,165,9.02,2.00,-12.60,0.000,4,0.223,0.053,2474,187,3880,0,0,0,0,0,0
$GC,284,-0.56,-243.3,74.5,-39.8,41,293,0.30,1.98,0.00,0.000,6,0.158,0.033,2558,1493,3882,0,0,0,0,0,0
$GC,610,-0.43,-243.3,154.6,-21.9,102,619,0.15,2.15,0.00,0.000,4,0.167,0.042,2590,2900,3883,0,0,0,0,0,0
$GC,651,-0.39,-243.3,162.8,-18.6,108,659,0.00,2.12,0.00,0.000,6,0.000,0.033,2587,1497,3884,0,0,0,0,0,0
$GC,978,-0.35,-243.3,214.2,-14.1,169,987,0.15,0.00,0.00,0.000,6,0.148,0.000,2632,1495,3884,0,0,0,0,0,0
$GC,1309,-0.44,-243.3,244.3,-8.2,230,1317,0.00,2.12,0.00,0.000,4,0.000,0.040,2624,2898,3883,0,0,0,0,0,0
$GC,1413,-0.56,-243.3,252.4,-7.7,246,1418,0.17,2.08,0.00,0.000,6,0.067,0.031,2527,1490,3883,0,0,0,0,0,0
$GC,1744,-0.46,-243.3,312.0,-18.9,277,1746,0.22,0.00,0.00,0.000,6,0.148,0.000,2593,1490,3881,0,0,0,0,0,0
$GC,2063,-0.51,-243.3,344.4,-8.5,307,2067,0.00,2.12,0.00,0.000,4,0.000,0.041,2585,2905,3880,0,0,0,0,0,0
$GC,2164,-0.59,-243.3,352.2,-7.5,315,2171,0.10,2.08,0.00,0.000,6,0.096,0.032,2514,1500,3880,0,0,0,0,0,0
$GC,2490,-0.51,-243.3,406.2,-18.2,346,2492,0.17,0.00,0.00,0.000,6,0.151,0.000,2576,1498,3878,0,0,0,0,0,0
$GC,2808,-0.53,-243.3,444.9,-10.1,376,2812,0.00,2.15,0.00,0.000,4,0.000,0.045,2570,2901,3876,0,0,0,0,0,0
$GC,2884,-0.59,-243.3,451.2,-7.9,382,2887,0.00,2.08,0.00,0.000,6,0.000,0.034,2570,1494,3876,0,0,0,0,0,0
$GC,3215,-0.61,-243.3,481.4,-9.4,413,3219,0.00,2.12,0.00,0.000,4,0.000,0.044,2559,2902,3873,0,0,0,0,0,0
$GC,3271,-0.65,-243.3,486.7,-9.1,417,3279,0.00,2.10,0.00,0.000,6,0.000,0.035,2559,1492,3873,0,0,0,0,0,0
$GC,3596,-0.65,-243.3,522.4,-11.0,448,3600,0.00,2.17,0.00,0.000,4,0.000,0.047,2551,2908,3871,0,0,0,0,0,0
$GC,3640,-0.68,-243.3,527.0,-10.2,451,3647,0.00,2.08,0.00,0.000,6,0.000,0.035,2551,1500,3870,0,0,0,0,0,0
$GC,3966,-0.68,-243.3,558.8,-9.3,482,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1500,3868,0,0,0,0,0,0
$GC,4286,-0.68,-243.3,590.7,-10.5,512,4290,0.00,2.15,0.00,0.000,4,0.000,0.051,2541,2899,3865,0,0,0,0,0,0
$GC,4334,-0.70,-243.3,595.8,-10.6,516,4338,0.00,2.08,0.00,0.000,6,0.000,0.037,2541,1499,3864,0,0,0,0,0,0
$GC,4661,-0.70,-243.3,634.1,-11.5,533,4665,0.00,2.15,0.00,0.000,4,0.000,0.051,2530,2907,3861,0,0,0,0,0,0
$GC,4699,-0.70,-243.3,638.4,-11.0,534,4708,0.00,2.12,0.00,0.000,6,0.000,0.038,2530,1477,3860,0,0,0,0,0,0
$GC,5017,-0.70,-243.3,674.4,-11.5,550,5021,0.00,2.20,0.00,0.000,4,0.000,0.052,2520,2898,3859,0,0,0,0,0,0
$GC,5061,-0.70,-243.3,680.0,-11.4,552,5066,0.00,2.12,0.00,0.000,6,0.000,0.041,2520,1509,3858,0,0,0,0,0,0
$GC,5391,-0.69,-243.3,719.6,-11.5,568,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1509,3856,0,0,0,0,0,0
$GC,5699,-0.67,-243.3,754.6,-11.0,583,5703,0.00,2.17,0.00,0.000,4,0.000,0.057,2510,2898,3854,0,0,0,0,0,0
$GC,5720,-0.67,-243.3,757.0,-11.0,584,5724,0.00,2.10,0.00,0.000,6,0.000,0.043,2510,1500,3853,0,0,0,0,0,0
$GC,6050,-0.64,-243.3,794.2,-11.4,600,6054,0.10,2.20,0.00,0.000,4,0.176,0.062,2525,2902,3850,0,0,0,0,0,0
$GC,6082,-0.64,-243.3,798.0,-11.1,601,6086,0.00,2.12,0.00,0.000,6,0.000,0.043,2527,1500,3850,0,0,0,0,0,0
$GC,6404,-0.64,-243.3,830.8,-10.4,617,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1500,3848,0,0,0,0,0,0
$GC,6715,-0.64,-243.3,861.9,-10.1,632,6719,0.00,2.20,0.00,0.000,4,0.000,0.060,2515,2895,3845,0,0,0,0,0,0
$GC,6783,-0.67,-243.3,868.9,-9.7,635,6787,0.00,2.10,0.00,0.000,6,0.000,0.045,2514,1501,3844,0,0,0,0,0,0
$GC,7106,-0.67,-243.3,904.6,-11.4,651,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1501,3842,0,0,0,0,0,0
$GC,7414,-0.67,-243.3,941.0,-12.0,666,7418,0.00,2.22,0.00,0.000,4,0.000,0.062,2506,2900,3840,0,0,0,0,0,0
$GC,7454,-0.67,-243.3,945.6,-11.7,668,7458,0.00,2.15,0.00,0.000,6,0.000,0.047,2507,1497,3840,0,0,0,0,0,0
$GC,7783,-0.67,-243.3,984.0,-11.4,684,7787,0.00,2.20,0.00,0.000,4,0.000,0.062,2497,2895,3837,0,0,0,0,0,0
$GC,7810,-0.67,-243.3,987.5,-10.9,685,7815,0.12,2.12,0.00,0.000,6,0.155,0.047,2531,1501,3837,0,0,0,0,0,0
$STATE,7836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7836,begin apogee
$GC,7842,-0.18,0.0,990.1,10.6,686,8046,0.45,0.00,197.50,1.432,6,0.120,0.000,2678,1838,2883,0,0,0,0,0,0
$STATE,8047,end apogee,CONTROL_FINISHED_OK
$STATE,8047,begin climb
$GC,8050,0.83,243.3,998.2,0.0,695,8277,0.95,2.47,217.02,1.370,4,0.074,0.063,3000,3254,1891,0,0,0,0,0,0
$GC,8342,0.67,243.3,951.4,21.8,709,8347,0.17,2.28,0.00,0.000,6,0.187,0.045,2965,1850,1887,0,0,0,0,0,0
$GC,8665,0.54,243.3,890.8,18.8,725,8667,0.17,0.00,0.00,0.000,6,0.178,0.000,2918,1849,1883,0,0,0,0,0,0
$GC,8975,0.48,243.3,846.7,13.9,740,8979,0.00,2.20,0.00,0.000,4,0.000,0.058,2908,3255,1881,0,0,0,0,0,0
$GC,8998,0.42,243.3,843.1,14.0,741,9003,0.12,2.15,0.00,0.000,6,0.176,0.042,2884,1836,1880,0,0,0,0,0,0
$GC,9326,0.44,259.3,808.5,10.2,757,9350,0.00,2.22,13.80,1.231,4,0.000,0.055,2892,439,1826,0,0,0,0,0,0
$GC,9385,0.48,289.0,802.5,9.8,759,9421,0.00,2.17,28.85,1.276,6,0.000,0.043,2892,1851,1705,0,0,0,0,0,0
$GC,9749,0.51,313.8,765.8,9.9,777,9779,0.00,2.30,23.17,1.252,4,0.000,0.057,2891,3253,1604,0,0,0,0,0,0
$GC,9844,0.55,328.0,756.4,10.2,781,9863,0.00,2.20,14.15,1.175,6,0.000,0.041,2901,1842,1546,0,0,0,0,0,0
$GC,10170,0.55,328.0,720.5,11.6,797,10174,0.00,2.17,0.00,0.000,4,0.000,0.054,2911,436,1542,0,0,0,0,0,0
$GC,10209,0.55,328.0,715.8,11.7,798,10216,0.00,2.20,0.00,0.000,6,0.000,0.042,2911,1848,1541,0,0,0,0,0,0
$GC,10526,0.54,328.0,674.3,13.1,814,10530,0.00,2.17,0.00,0.000,4,0.000,0.057,2911,3263,1541,0,0,0,0,0,0
$GC,10589,0.54,328.0,666.2,12.6,817,10593,0.00,2.15,0.00,0.000,6,0.000,0.041,2921,1839,1540,0,0,0,0,0,0
$GC,10923,0.51,328.0,624.6,12.5,833,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1839,1540,0,0,0,0,0,0
$GC,11235,0.48,328.0,581.1,13.8,854,11239,0.00,2.20,0.00,0.000,4,0.000,0.055,2922,3270,1539,0,0,0,0,0,0
$GC,11269,0.48,328.0,576.1,14.1,856,11276,0.12,2.15,0.00,0.000,6,0.168,0.040,2899,1848,1539,0,0,0,0,0,0
$GC,11594,0.51,328.0,537.0,12.1,887,11598,0.00,2.12,0.00,0.000,4,0.000,0.050,2908,439,1539,0,0,0,0,0,0
$GC,11673,0.54,328.0,527.5,11.7,893,11681,0.00,2.15,0.00,0.000,6,0.000,0.040,2908,1858,1538,0,0,0,0,0,0
$GC,11998,0.54,328.0,488.2,11.2,924,12002,0.00,2.15,0.00,0.000,4,0.000,0.055,2910,3252,1538,0,0,0,0,0,0
$GC,12063,0.57,328.0,481.2,11.0,929,12067,0.00,2.12,0.00,0.000,6,0.000,0.039,2921,1848,1538,0,0,0,0,0,0
$GC,12389,0.60,354.4,445.5,9.9,959,12422,0.00,2.25,22.90,1.032,4,0.000,0.050,2934,442,1438,0,0,0,0,0,0
$GC,12476,0.65,371.7,436.8,10.1,966,12497,0.00,2.17,16.33,0.984,6,0.000,0.038,2933,1854,1368,0,0,0,0,0,0
$GC,12824,0.65,371.7,394.3,12.3,999,12828,0.00,2.17,0.00,0.000,4,0.000,0.054,2935,3255,1366,0,0,0,0,0,0
$GC,12857,0.65,371.7,389.6,12.8,1001,12865,0.00,2.15,0.00,0.000,6,0.000,0.037,2948,1842,1366,0,0,0,0,0,0
$GC,13184,0.65,371.7,346.1,13.1,1032,13188,0.00,2.15,0.00,0.000,4,0.000,0.049,2957,438,1366,0,0,0,0,0,0
$GC,13228,0.67,371.7,339.8,13.1,1035,13235,0.00,2.15,0.00,0.000,6,0.000,0.037,2956,1851,1365,0,0,0,0,0,0
$GC,13556,0.67,371.7,298.4,11.9,1066,13560,0.00,2.12,0.00,0.000,4,0.000,0.051,2960,3257,1365,0,0,0,0,0,0
$GC,13613,0.68,371.7,291.1,12.3,1071,13617,0.00,2.12,0.00,0.000,6,0.000,0.037,2971,1842,1365,0,0,0,0,0,0
$GC,13942,0.67,371.7,249.4,12.5,1101,13951,0.00,2.15,0.00,0.000,4,0.000,0.047,2983,440,1365,0,0,0,0,0,0
$GC,14005,0.67,371.7,241.8,11.1,1112,14013,0.00,2.15,0.00,0.000,6,0.000,0.036,2983,1851,1365,0,0,0,0,0,0
$GC,14333,0.65,371.7,204.0,11.8,1173,14343,0.00,2.15,0.00,0.000,4,0.000,0.050,2983,3253,1364,0,0,0,0,0,0
$GC,14413,0.65,371.7,194.4,11.1,1187,14422,0.10,2.12,0.00,0.000,6,0.131,0.036,2958,1845,1365,0,0,0,0,0,0
$GC,14744,0.70,379.4,165.9,10.4,1248,14761,0.00,2.12,8.12,0.667,4,0.000,0.045,2967,441,1337,0,0,0,0,0,0
$GC,14852,0.76,379.4,153.1,12.0,1266,14860,0.00,2.12,0.00,0.000,6,0.000,0.033,2966,1854,1336,0,0,0,0,0,0
$GC,15179,0.87,424.5,119.7,9.3,1327,15226,0.17,2.12,38.45,0.731,4,0.064,0.044,3059,3249,1151,0,0,0,0,0,0
$GC,15244,0.79,424.5,109.6,17.8,1335,15252,0.20,2.15,0.00,0.000,6,0.135,0.033,3004,1844,1150,0,0,0,0,0,0
$GC,15575,0.86,458.5,76.5,9.6,1396,15614,0.00,2.20,28.38,0.682,4,0.000,0.045,3013,444,1013,0,0,0,0,0,0
$GC,15695,1.08,548.7,65.5,8.0,1415,15779,0.17,2.12,73.22,0.678,6,0.034,0.031,3128,1853,644,0,0,0,0,0,0
$STATE,16019,end climb,SURFACE_DEPTH_REACHED
$STATE,16019,begin surface coast
$FINISH,1.1,1.017251
$STATE,16036,end surface coast,CONTROL_FINISHED_OK
$STATE,16036,begin surface
$SM_CCo,16054,45.78,0.444,1,0,454,595.83
$SM_GC,1.72,0.00,0.00,45.78,0.000,0.000,0.444,152,1489,454,-8.11,-0.31,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2335.63,12355.11,210811,040414
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.57
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.80
$XPDR_PINGS,75
$24V_AH,23.3,24.696
$10V_AH,10.3,16.295
$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,20.975,143.175,681.900,45.775,0.000,30.889,39.102,210.196,18.750,0.000,41.546,3660.315,8066.999,785.190,3597.373,456.429,0.000,2225.122,0.000,3278.964,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,62.730,1432.080,444.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.737,1509.164,1646.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,83436,1474
$CAP_FILE_SIZE,177243,0
$CFSIZE,260165632,139055104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142, 26.7,1
$GPS,210811,140156,2339.261,12353.714,37,99.0,56,-3.4