version: 66.09
glider: 166
mission: 6
dive: 102
start: 8 23 111 3 42 22
data:
$ID,166
$MISSION,6
$DIVE,102
$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,200
$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,-24518.137
$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,48
$R_STBD_OVSHOOT,45
$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
$GPS1,230811,033407,2324.105,12349.783,36,1.8,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.1
$GPS2,230811,034158,2324.168,12349.626,15,2.3,34,-3.3
$SPEED_LIMITS,0.184,0.302
$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,155.7,212193,-16.6,-10.645
$D_GRID,3901
$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,-194.6,0.0,0.0,0,128,0.00,0.00,-109.05,0.000,2,0.000,0.000,131,1486,3061,0,0,0,0,0,0
$GC,131,-0.83,-194.6,5.0,-6.4,14,155,9.00,0.00,-12.35,0.000,6,0.221,0.000,2468,1482,3678,0,0,0,0,0,0
$GC,474,-0.59,-194.6,127.5,-29.2,77,482,0.25,1.98,0.00,0.000,4,0.174,0.037,2543,206,3681,0,0,0,0,0,0
$GC,587,-0.52,-194.6,151.5,-18.8,97,595,0.10,1.95,0.00,0.000,6,0.142,0.032,2570,1496,3681,0,0,0,0,0,0
$GC,918,-0.48,-194.6,212.1,-17.6,158,927,0.00,2.12,0.00,0.000,4,0.000,0.041,2561,2904,3682,0,0,0,0,0,0
$GC,946,-0.46,-194.6,216.8,-16.4,162,955,0.08,2.10,0.00,0.000,6,0.127,0.032,2589,1509,3682,0,0,0,0,0,0
$GC,1281,-0.49,-194.6,252.3,-9.2,222,1285,0.00,2.08,0.00,0.000,4,0.000,0.040,2581,2905,3682,0,0,0,0,0,0
$GC,1327,-0.54,-194.6,256.8,-9.1,225,1334,0.00,2.10,0.00,0.000,6,0.000,0.032,2581,1491,3681,0,0,0,0,0,0
$GC,1653,-0.57,-194.6,297.5,-11.9,256,1657,0.00,2.12,0.00,0.000,4,0.000,0.041,2573,2908,3682,0,0,0,0,0,0
$GC,1719,-0.64,-194.6,304.0,-10.2,261,1724,0.10,2.10,0.00,0.000,6,0.094,0.032,2500,1491,3681,0,0,0,0,0,0
$GC,2044,-0.54,-194.6,360.5,-15.5,291,2049,0.22,1.95,0.00,0.000,4,0.152,0.040,2574,198,3680,0,0,0,0,0,0
$GC,2137,-0.57,-194.6,370.5,-9.5,298,2144,0.00,1.92,0.00,0.000,6,0.000,0.031,2567,1506,3680,0,0,0,0,0,0
$GC,2463,-0.60,-194.6,398.8,-9.2,329,2467,0.00,2.08,0.00,0.000,4,0.000,0.044,2569,2907,3677,0,0,0,0,0,0
$GC,2510,-0.64,-194.6,403.0,-9.1,332,2518,0.00,2.10,0.00,0.000,6,0.000,0.034,2569,1500,3677,0,0,0,0,0,0
$GC,2836,-0.66,-194.6,436.2,-10.4,363,2840,0.10,2.15,0.00,0.000,4,0.097,0.044,2497,2901,3674,0,0,0,0,0,0
$GC,2876,-0.62,-194.6,441.3,-13.4,366,2884,0.15,2.10,0.00,0.000,6,0.154,0.035,2539,1497,3674,0,0,0,0,0,0
$GC,3202,-0.62,-194.6,482.3,-13.0,397,3206,0.00,2.10,0.00,0.000,4,0.000,0.046,2531,2897,3672,0,0,0,0,0,0
$GC,3225,-0.67,-194.6,485.1,-12.5,398,3232,0.00,2.05,0.00,0.000,6,0.000,0.031,2531,1491,3672,0,0,0,0,0,0
$GC,3551,-0.67,-194.6,554.9,-9.9,429,3555,0.00,2.12,0.00,0.000,4,0.000,0.043,2498,2907,3668,0,0,0,0,0,0
$GC,3622,-0.52,-194.6,574.9,-36.0,435,3627,0.25,2.08,0.00,0.000,6,0.210,0.031,2569,1488,3667,0,0,0,0,0,0
$GC,3951,-0.62,-194.6,627.2,-7.8,452,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1481,3665,0,0,0,0,0,0
$GC,4259,-0.67,-194.6,654.0,-9.1,467,4263,0.00,2.15,0.00,0.000,4,0.000,0.048,2547,2895,3663,0,0,0,0,0,0
$GC,4399,-0.73,-194.6,665.4,-8.2,473,4404,0.12,2.08,0.00,0.000,6,0.084,0.037,2480,1514,3661,0,0,0,0,0,0
$GC,4718,-0.69,-194.6,708.6,-13.9,488,4722,0.15,2.00,0.00,0.000,4,0.168,0.050,2526,208,3658,0,0,0,0,0,0
$GC,4749,-0.69,-194.6,713.6,-14.1,489,4753,0.00,1.98,0.00,0.000,6,0.000,0.039,2517,1496,3658,0,0,0,0,0,0
$GC,5072,-0.69,-194.6,751.7,-12.0,505,5076,0.00,2.12,0.00,0.000,4,0.000,0.052,2505,2903,3655,0,0,0,0,0,0
$GC,5102,-0.69,-194.6,755.2,-11.6,506,5106,0.00,2.12,0.00,0.000,6,0.000,0.040,2507,1493,3655,0,0,0,0,0,0
$GC,5418,-0.69,-194.6,793.7,-11.9,521,5422,0.00,2.17,0.00,0.000,4,0.000,0.054,2496,2911,3652,0,0,0,0,0,0
$GC,5439,-0.69,-194.6,796.4,-11.9,522,5443,0.00,2.15,0.00,0.000,6,0.000,0.041,2495,1500,3652,0,0,0,0,0,0
$GC,5768,-0.69,-194.6,835.7,-12.0,538,5772,0.00,2.20,0.00,0.000,4,0.000,0.056,2481,2904,3649,0,0,0,0,0,0
$GC,5792,-0.69,-194.6,838.7,-12.1,539,5797,0.12,2.15,0.00,0.000,6,0.162,0.041,2520,1487,3648,0,0,0,0,0,0
$GC,6122,-0.72,-194.6,874.5,-10.9,555,6126,0.00,2.17,0.00,0.000,4,0.000,0.055,2511,2902,3646,0,0,0,0,0,0
$GC,6163,-0.75,-194.6,879.1,-10.4,557,6167,0.00,2.15,0.00,0.000,6,0.000,0.044,2510,1490,3646,0,0,0,0,0,0
$GC,6490,-0.75,-194.6,915.5,-10.9,573,6494,0.00,2.20,0.00,0.000,4,0.000,0.057,2500,2912,3643,0,0,0,0,0,0
$GC,6539,-0.77,-194.6,920.4,-10.8,575,6543,0.00,2.15,0.00,0.000,6,0.000,0.042,2500,1498,3643,0,0,0,0,0,0
$GC,6866,-0.77,-194.6,958.3,-11.4,591,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1498,3641,0,0,0,0,0,0
$STATE,7173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7173,begin apogee
$GC,7181,-0.18,0.0,990.8,10.1,606,7345,0.57,0.00,156.57,1.444,6,0.126,0.000,2682,1850,2883,0,0,0,0,0,0
$STATE,7345,end apogee,CONTROL_FINISHED_OK
$STATE,7346,begin climb
$GC,7348,0.83,194.6,994.9,0.0,613,7533,0.95,2.42,175.02,1.379,4,0.073,0.060,3013,3242,2089,0,0,0,0,0,0
$GC,7582,0.66,194.6,961.1,21.4,624,7587,0.25,2.22,0.00,0.000,6,0.184,0.044,2962,1856,2086,0,0,0,0,0,0
$GC,7901,0.56,194.6,910.8,15.0,639,7906,0.12,2.22,0.00,0.000,4,0.187,0.057,2924,3256,2082,0,0,0,0,0,0
$GC,7933,0.50,194.6,905.3,14.3,640,7940,0.00,2.17,0.00,0.000,6,0.000,0.042,2932,1833,2081,0,0,0,0,0,0
$GC,8252,0.45,194.6,865.4,12.6,656,8256,0.15,2.22,0.00,0.000,4,0.174,0.055,2884,3258,2080,0,0,0,0,0,0
$GC,8285,0.45,194.6,860.9,11.9,657,8290,0.00,2.17,0.00,0.000,6,0.000,0.041,2892,1850,2078,0,0,0,0,0,0
$GC,8609,0.45,194.6,826.8,11.0,673,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1851,2077,0,0,0,0,0,0
$GC,8916,0.46,208.7,794.8,10.1,688,8930,0.00,0.00,11.60,1.203,6,0.000,0.000,2892,1851,2032,0,0,0,0,0,0
$GC,9226,0.48,220.9,764.1,10.2,703,9245,0.00,0.00,12.40,1.198,6,0.000,0.000,2892,1851,1983,0,0,0,0,0,0
$GC,9557,0.51,244.8,730.3,9.8,719,9581,0.00,0.00,22.25,1.245,6,0.000,0.000,2892,1851,1885,0,0,0,0,0,0
$GC,9885,0.55,263.2,697.6,10.0,735,9908,0.00,2.30,17.67,1.201,4,0.000,0.051,2903,441,1809,0,0,0,0,0,0
$GC,9949,0.58,267.0,690.9,10.5,737,9960,0.00,2.20,4.93,0.865,6,0.000,0.040,2902,1844,1794,0,0,0,0,0,0
$GC,10289,0.61,267.8,654.6,10.6,754,10294,0.12,2.20,0.00,0.000,4,0.089,0.056,2963,3257,1792,0,0,0,0,0,0
$GC,10428,0.56,267.8,632.6,15.9,760,10433,0.17,2.12,0.00,0.000,6,0.178,0.041,2928,1851,1792,0,0,0,0,0,0
$GC,10746,0.56,267.8,590.8,13.3,778,10750,0.00,2.17,0.00,0.000,4,0.000,0.050,2936,439,1791,0,0,0,0,0,0
$GC,10777,0.56,267.8,586.9,13.5,780,10781,0.00,2.17,0.00,0.000,6,0.000,0.040,2937,1854,1790,0,0,0,0,0,0
$GC,11102,0.54,267.8,542.6,12.5,810,11106,0.00,2.17,0.00,0.000,4,0.000,0.055,2937,3266,1790,0,0,0,0,0,0
$GC,11204,0.54,267.8,529.7,12.0,818,11212,0.00,2.15,0.00,0.000,6,0.000,0.041,2947,1849,1790,0,0,0,0,0,0
$GC,11530,0.52,267.8,491.4,11.3,849,11532,0.12,0.00,0.00,0.000,6,0.176,0.000,2914,1849,1790,0,0,0,0,0,0
$GC,11849,0.54,267.8,457.1,10.6,879,11853,0.00,2.15,0.00,0.000,4,0.000,0.049,2925,433,1789,0,0,0,0,0,0
$GC,11889,0.57,267.8,452.6,11.1,882,11893,0.00,2.17,0.00,0.000,6,0.000,0.039,2925,1862,1788,0,0,0,0,0,0
$GC,12214,0.61,300.2,419.5,9.5,912,12249,0.00,2.25,29.15,1.027,4,0.000,0.054,2931,3262,1659,0,0,0,0,0,0
$GC,12288,0.66,300.2,411.6,10.9,918,12299,0.00,2.15,0.00,0.000,6,0.000,0.038,2941,1849,1659,0,0,0,0,0,0
$GC,12615,0.68,300.2,374.0,12.2,949,12619,0.00,2.15,0.00,0.000,4,0.000,0.048,2953,438,1658,0,0,0,0,0,0
$GC,12678,0.71,300.2,365.7,13.1,954,12682,0.00,2.17,0.00,0.000,6,0.000,0.037,2953,1859,1657,0,0,0,0,0,0
$GC,13003,0.73,300.2,323.8,11.2,984,13007,0.00,2.17,0.00,0.000,4,0.000,0.052,2954,3260,1657,0,0,0,0,0,0
$GC,13068,0.79,317.0,317.2,10.0,989,13093,0.10,2.12,15.77,0.889,6,0.096,0.037,3026,1836,1591,0,0,0,0,0,0
$GC,13410,0.72,317.0,271.1,15.1,1021,13412,0.17,0.00,0.00,0.000,6,0.158,0.000,2978,1836,1589,0,0,0,0,0,0
$GC,13727,0.72,317.0,227.7,13.2,1066,13736,0.00,2.22,0.00,0.000,4,0.000,0.049,2976,3252,1589,0,0,0,0,0,0
$GC,13786,0.75,317.0,220.4,12.3,1076,13794,0.00,2.15,0.00,0.000,6,0.000,0.036,2983,1844,1589,0,0,0,0,0,0
$GC,14113,0.75,317.0,183.8,10.7,1137,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1844,1589,0,0,0,0,0,0
$GC,14440,0.76,317.0,144.6,13.5,1198,14449,0.00,2.15,0.00,0.000,4,0.000,0.047,2997,449,1589,0,0,0,0,0,0
$GC,14513,0.79,317.0,134.9,13.5,1210,14522,0.00,2.12,0.00,0.000,6,0.000,0.035,2997,1848,1589,0,0,0,0,0,0
$GC,14840,0.83,347.4,96.4,9.5,1271,14871,0.00,2.22,26.45,0.718,4,0.000,0.047,2997,3267,1466,0,0,0,0,0,0
$GC,14965,1.02,452.4,86.9,6.8,1292,15063,0.15,2.17,85.75,0.712,6,0.038,0.034,3097,1836,1037,0,0,0,0,0,0
$GC,15386,0.99,452.4,18.8,16.3,1365,15394,0.12,0.00,0.00,0.000,6,0.160,0.000,3063,1835,1035,0,0,0,0,0,0
$STATE,15501,end climb,SURFACE_DEPTH_REACHED
$STATE,15501,begin surface coast
$FINISH,1.1,1.021390
$STATE,15525,end surface coast,CONTROL_FINISHED_OK
$STATE,15525,begin surface
$SM_CCo,15544,89.20,0.546,1,0,454,595.83
$SM_GC,1.72,0.00,0.00,89.20,0.000,0.000,0.546,154,1498,454,-8.10,-0.06,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2314.48,12349.87,220811,232321
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.61
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.40
$XPDR_PINGS,70
$24V_AH,23.4,27.009
$10V_AH,10.3,17.780
$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,21.300,129.400,557.575,89.200,0.000,27.313,45.109,212.950,17.500,0.000,36.380,3490.102,8033.711,732.071,3400.312,436.581,0.000,2061.036,0.000,3093.089,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,60.435,1444.320,546.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,949.343,1422.690,1549.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330208
$DATA_FILE_SIZE,80074,1390
$CAP_FILE_SIZE,169586,0
$CFSIZE,260165632,138248192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.132,324.3,1
$GPS,230811,080436,2322.909,12350.208,42,1.1,54,-3.3