version: 66.09
glider: 166
mission: 6
dive: 100
start: 8 22 111 18 22 20
data:
$ID,166
$MISSION,6
$DIVE,100
$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,-24515.623
$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,49
$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
$GPS1,220811,181457,2328.224,12351.421,37,3.2,56,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.7
$GPS2,220811,182156,2328.285,12351.384,33,1.2,45,-3.3
$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,178.0,219567,-14.7,-10.645
$D_GRID,3533
$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,16,-0.83,-243.3,0.0,0.0,0,127,0.00,0.00,-108.28,0.000,2,0.000,0.000,147,1488,3038,0,0,0,0,0,0
$GC,130,-0.83,-243.3,5.2,-8.0,15,163,9.12,1.95,-15.95,0.000,4,0.227,0.052,2458,203,3878,0,0,0,0,0,0
$GC,248,-0.57,-243.3,59.9,-41.0,34,257,0.32,1.95,0.00,0.000,6,0.158,0.032,2551,1486,3880,0,0,0,0,0,0
$GC,574,-0.42,-243.3,148.7,-22.9,95,582,0.20,2.15,0.00,0.000,4,0.166,0.038,2598,2902,3882,0,0,0,0,0,0
$GC,593,-0.29,-243.3,153.3,-22.6,97,602,0.12,2.10,0.00,0.000,6,0.122,0.031,2643,1502,3882,0,0,0,0,0,0
$GC,922,-0.38,-243.3,180.5,-6.4,158,930,0.00,2.12,0.00,0.000,4,0.000,0.039,2635,2904,3883,0,0,0,0,0,0
$GC,1038,-0.51,-243.3,187.8,-6.7,178,1047,0.12,2.10,0.00,0.000,6,0.043,0.031,2552,1495,3882,0,0,0,0,0,0
$GC,1368,-0.44,-243.3,248.0,-18.0,239,1376,0.17,0.00,0.00,0.000,6,0.153,0.000,2603,1494,3882,0,0,0,0,0,0
$GC,1694,-0.49,-243.3,284.0,-8.9,270,1698,0.00,2.12,0.00,0.000,4,0.000,0.041,2600,2905,3881,0,0,0,0,0,0
$GC,1760,-0.57,-243.3,288.9,-7.7,275,1765,0.12,2.05,0.00,0.000,6,0.080,0.031,2510,1500,3881,0,0,0,0,0,0
$GC,2091,-0.47,-243.3,345.1,-15.8,306,2096,0.25,2.10,0.00,0.000,4,0.148,0.040,2584,2902,3880,0,0,0,0,0,0
$GC,2139,-0.47,-243.3,350.2,-10.2,310,2143,0.00,2.05,0.00,0.000,6,0.000,0.031,2583,1498,3880,0,0,0,0,0,0
$GC,2471,-0.51,-243.3,378.9,-9.3,341,2475,0.00,2.12,0.00,0.000,4,0.000,0.041,2584,2914,3878,0,0,0,0,0,0
$GC,2502,-0.56,-243.3,381.7,-9.6,343,2506,0.00,2.08,0.00,0.000,6,0.000,0.033,2584,1497,3878,0,0,0,0,0,0
$GC,2828,-0.59,-243.3,416.7,-9.9,373,2832,0.00,2.12,0.00,0.000,4,0.000,0.042,2574,2913,3876,0,0,0,0,0,0
$GC,2863,-0.63,-243.3,419.9,-9.2,375,2870,0.00,2.10,0.00,0.000,6,0.000,0.034,2573,1499,3876,0,0,0,0,0,0
$GC,3189,-0.65,-243.3,452.7,-9.9,406,3194,0.12,2.17,0.00,0.000,4,0.083,0.044,2491,2912,3873,0,0,0,0,0,0
$GC,3235,-0.60,-243.3,458.7,-14.3,409,3244,0.20,2.10,0.00,0.000,6,0.146,0.035,2550,1493,3873,0,0,0,0,0,0
$GC,3561,-0.58,-243.3,502.7,-14.1,440,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1494,3871,0,0,0,0,0,0
$GC,3883,-0.58,-243.3,547.0,-13.4,470,3887,0.00,2.15,0.00,0.000,4,0.000,0.047,2543,2902,3868,0,0,0,0,0,0
$GC,3949,-0.61,-243.3,555.6,-11.1,475,3956,0.00,2.10,0.00,0.000,6,0.000,0.036,2543,1498,3868,0,0,0,0,0,0
$GC,4275,-0.61,-243.3,589.3,-9.6,506,4279,0.00,2.15,0.00,0.000,4,0.000,0.048,2533,2901,3866,0,0,0,0,0,0
$GC,4349,-0.63,-243.3,595.7,-8.4,512,4353,0.00,2.08,0.00,0.000,6,0.000,0.037,2533,1497,3865,0,0,0,0,0,0
$GC,4675,-0.61,-243.3,632.9,-12.3,530,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1497,3862,0,0,0,0,0,0
$GC,4981,-0.61,-243.3,671.8,-12.4,545,4985,0.00,2.17,0.00,0.000,4,0.000,0.053,2522,2905,3860,0,0,0,0,0,0
$GC,5033,-0.61,-243.3,677.5,-11.0,547,5037,0.00,2.12,0.00,0.000,6,0.000,0.041,2522,1492,3859,0,0,0,0,0,0
$GC,5354,-0.59,-243.3,712.9,-11.0,563,5358,0.12,2.00,0.00,0.000,4,0.158,0.053,2558,202,3857,0,0,0,0,0,0
$GC,5404,-0.64,-243.3,718.0,-9.7,565,5408,0.00,1.98,0.00,0.000,6,0.000,0.041,2549,1503,3857,0,0,0,0,0,0
$GC,5733,-0.67,-243.3,747.5,-9.3,581,5737,0.00,2.15,0.00,0.000,4,0.000,0.054,2539,2905,3853,0,0,0,0,0,0
$GC,5797,-0.72,-243.3,753.3,-8.7,584,5801,0.00,2.10,0.00,0.000,6,0.000,0.040,2538,1497,3853,0,0,0,0,0,0
$GC,6126,-0.73,-243.3,784.6,-9.4,600,6130,0.00,2.17,0.00,0.000,4,0.000,0.054,2524,2905,3851,0,0,0,0,0,0
$GC,6194,-0.78,-243.3,791.1,-8.9,603,6198,0.00,2.12,0.00,0.000,6,0.000,0.041,2525,1499,3850,0,0,0,0,0,0
$GC,6522,-0.78,-243.3,824.4,-10.2,619,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1499,3848,0,0,0,0,0,0
$GC,6830,-0.78,-243.3,854.7,-9.6,634,6834,0.00,2.17,0.00,0.000,4,0.000,0.056,2509,2910,3845,0,0,0,0,0,0
$GC,6848,-0.78,-243.3,856.5,-9.6,635,6852,0.00,2.15,0.00,0.000,6,0.000,0.042,2511,1493,3844,0,0,0,0,0,0
$GC,7178,-0.78,-243.3,889.8,-10.2,651,7182,0.00,2.20,0.00,0.000,4,0.000,0.056,2498,2910,3842,0,0,0,0,0,0
$GC,7239,-0.79,-243.3,896.3,-9.8,653,7247,0.00,2.15,0.00,0.000,6,0.000,0.044,2500,1497,3842,0,0,0,0,0,0
$GC,7557,-0.78,-243.3,931.7,-11.4,669,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1497,3840,0,0,0,0,0,0
$GC,7864,-0.78,-243.3,966.3,-11.0,684,7868,0.00,2.20,0.00,0.000,4,0.000,0.060,2484,2908,3838,0,0,0,0,0,0
$GC,7880,-0.78,-243.3,968.3,-10.6,684,7887,0.00,2.15,0.00,0.000,6,0.000,0.044,2485,1501,3838,0,0,0,0,0,0
$STATE,8091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8091,begin apogee
$GC,8099,-0.18,0.0,991.1,10.9,695,8303,0.60,0.00,198.30,1.438,6,0.123,0.000,2680,1851,2883,0,0,0,0,0,0
$STATE,8304,end apogee,CONTROL_FINISHED_OK
$STATE,8304,begin climb
$GC,8308,0.83,243.3,998.4,0.0,704,8536,0.93,2.45,217.90,1.372,4,0.057,0.060,3015,3246,1891,0,0,0,0,0,0
$GC,8577,0.64,243.3,954.7,24.0,717,8582,0.28,2.28,0.00,0.000,6,0.177,0.044,2954,1855,1888,0,0,0,0,0,0
$GC,8906,0.53,243.3,898.7,17.1,733,8908,0.12,0.00,0.00,0.000,6,0.183,0.000,2922,1854,1883,0,0,0,0,0,0
$GC,9215,0.47,243.3,852.9,14.6,748,9219,0.00,2.20,0.00,0.000,4,0.000,0.057,2916,3251,1881,0,0,0,0,0,0
$GC,9256,0.43,243.3,846.6,15.0,750,9261,0.15,2.17,0.00,0.000,6,0.166,0.042,2885,1831,1881,0,0,0,0,0,0
$GC,9585,0.43,243.3,808.7,11.0,766,9588,0.00,2.15,0.00,0.000,4,0.000,0.054,2893,440,1879,0,0,0,0,0,0
$GC,9647,0.43,243.3,801.4,11.6,769,9651,0.00,2.15,0.00,0.000,6,0.000,0.041,2891,1859,1878,0,0,0,0,0,0
$GC,9974,0.41,243.3,765.7,10.7,785,9978,0.00,2.15,0.00,0.000,4,0.000,0.058,2891,3258,1878,0,0,0,0,0,0
$GC,10016,0.41,243.3,761.1,11.4,787,10020,0.00,2.12,0.00,0.000,6,0.000,0.041,2899,1844,1878,0,0,0,0,0,0
$GC,10344,0.39,243.3,725.1,11.1,803,10348,0.00,2.17,0.00,0.000,4,0.000,0.054,2909,433,1878,0,0,0,0,0,0
$GC,10399,0.37,243.3,718.3,11.9,805,10404,0.15,2.15,0.00,0.000,6,0.151,0.041,2868,1858,1877,0,0,0,0,0,0
$GC,10717,0.41,257.7,687.3,10.2,820,10735,0.00,0.00,12.10,1.166,6,0.000,0.000,2868,1859,1832,0,0,0,0,0,0
$GC,11045,0.48,285.2,653.6,9.8,836,11076,0.00,2.25,26.25,1.210,4,0.000,0.050,2876,445,1720,0,0,0,0,0,0
$GC,11101,0.59,338.8,648.3,9.1,838,11156,0.17,2.20,48.97,1.200,6,0.069,0.040,2959,1851,1502,0,0,0,0,0,0
$GC,11472,0.52,338.8,586.5,17.1,860,11476,0.17,2.20,0.00,0.000,4,0.160,0.055,2904,3254,1496,0,0,0,0,0,0
$GC,11532,0.55,338.8,577.9,11.4,865,11539,0.00,2.15,0.00,0.000,6,0.000,0.040,2912,1848,1496,0,0,0,0,0,0
$GC,11858,0.55,338.8,540.2,11.9,896,11862,0.00,2.17,0.00,0.000,4,0.000,0.050,2923,435,1495,0,0,0,0,0,0
$GC,11901,0.55,338.8,534.8,12.1,899,11909,0.00,2.17,0.00,0.000,6,0.000,0.038,2922,1856,1493,0,0,0,0,0,0
$GC,12229,0.55,338.8,493.5,12.5,930,12233,0.00,2.15,0.00,0.000,4,0.000,0.054,2923,3255,1493,0,0,0,0,0,0
$GC,12318,0.57,338.8,482.3,11.4,937,12325,0.00,2.10,0.00,0.000,6,0.000,0.039,2934,1851,1493,0,0,0,0,0,0
$GC,12643,0.56,338.8,441.5,13.4,968,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1850,1493,0,0,0,0,0,0
$GC,12964,0.54,338.8,399.1,13.1,998,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1850,1493,0,0,0,0,0,0
$GC,13284,0.54,343.5,362.0,10.5,1028,13296,0.00,2.17,4.25,0.637,4,0.000,0.048,2955,443,1483,0,0,0,0,0,0
$GC,13335,0.57,362.6,356.3,10.1,1032,13358,0.00,2.12,17.88,0.926,6,0.000,0.036,2955,1860,1405,0,0,0,0,0,0
$GC,13677,0.57,362.6,310.3,14.6,1064,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1860,1404,0,0,0,0,0,0
$GC,13999,0.57,362.6,266.1,12.5,1094,14003,0.00,2.12,0.00,0.000,4,0.000,0.050,2956,3257,1404,0,0,0,0,0,0
$GC,14076,0.60,362.6,256.6,11.0,1100,14084,0.00,2.15,0.00,0.000,6,0.000,0.035,2965,1835,1404,0,0,0,0,0,0
$GC,14399,0.60,362.6,222.5,11.5,1155,14409,0.00,2.12,0.00,0.000,4,0.000,0.046,2976,446,1404,0,0,0,0,0,0
$GC,14475,0.62,362.6,212.9,12.9,1168,14483,0.08,2.12,0.00,0.000,6,0.117,0.033,2949,1854,1404,0,0,0,0,0,0
$GC,14804,0.71,389.8,174.0,9.8,1229,14836,0.00,2.15,24.33,0.780,4,0.000,0.044,2957,446,1292,0,0,0,0,0,0
$GC,14867,0.88,468.8,168.8,8.3,1238,14944,0.15,2.15,65.35,0.779,6,0.038,0.032,3052,1863,970,0,0,0,0,0,0
$GC,15263,0.81,468.8,101.7,16.6,1308,15272,0.15,2.15,0.00,0.000,4,0.150,0.047,3001,3238,968,0,0,0,0,0,0
$GC,15351,0.89,468.8,91.2,10.6,1323,15359,0.00,2.10,0.00,0.000,6,0.000,0.034,3009,1853,967,0,0,0,0,0,0
$GC,15681,0.97,495.9,54.3,9.8,1384,15712,0.15,2.17,22.17,0.654,4,0.071,0.042,3106,449,861,0,0,0,0,0,0
$GC,15761,0.94,495.9,42.3,15.4,1396,15770,0.17,2.12,0.00,0.000,6,0.115,0.032,3047,1842,860,0,0,0,0,0,0
$GC,16090,0.96,495.9,5.4,11.2,1457,16099,0.00,2.15,0.00,0.000,4,0.000,0.044,3046,3250,859,0,0,0,0,0,0
$STATE,16110,end climb,SURFACE_DEPTH_REACHED
$STATE,16111,begin surface coast
$FINISH,2.2,1.021552
$STATE,16117,end surface coast,CONTROL_FINISHED_OK
$STATE,16117,begin surface
$SM_CCo,16138,73.25,0.521,1,0,452,595.83
$SM_GC,1.72,0.00,0.00,73.25,0.000,0.000,0.521,131,1489,452,-8.17,-0.28,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2319.18,12351.18,220811,131347
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.26
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.90
$XPDR_PINGS,88
$24V_AH,23.3,26.519
$10V_AH,10.3,17.457
$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,21.600,142.175,637.500,73.250,0.000,29.305,30.082,168.637,22.000,0.000,46.028,3652.189,8243.841,776.664,3495.826,449.932,0.000,2188.309,0.000,3232.397,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,59.670,1438.200,520.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.857,1495.143,1608.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330216
$DATA_FILE_SIZE,83531,1461
$CAP_FILE_SIZE,178648,0
$CFSIZE,260165632,138416128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124,305.4,1
$GPS,220811,225407,2325.991,12350.596,49,1.5,49,-3.3