version: 66.09
glider: 166
mission: 6
dive: 103
start: 8 23 111 8 11 19
data:
$ID,166
$MISSION,6
$DIVE,103
$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,400
$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,-24519.395
$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,43
$R_STBD_OVSHOOT,38
$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
$GPS1,230811,080436,2322.909,12350.208,42,1.1,54,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.7
$GPS2,230811,081056,2322.960,12350.079,13,1.3,13,-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,165.6,209900,-16.6,-10.645
$D_GRID,4081
$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,15,begin dive
$GC,17,-0.83,-194.6,0.0,0.0,0,134,0.00,0.00,-113.80,0.000,2,0.000,0.000,154,1498,3242,0,0,0,0,0,0
$GC,137,-0.83,-194.6,6.2,-10.1,16,162,9.07,2.05,-8.00,0.000,4,0.226,0.053,2469,189,3681,0,0,0,0,0,0
$GC,277,-0.60,-194.6,70.4,-35.9,40,286,0.28,2.00,0.00,0.000,6,0.163,0.034,2539,1499,3683,0,0,0,0,0,0
$GC,603,-0.50,-194.6,151.9,-24.1,101,611,0.15,0.00,0.00,0.000,6,0.171,0.000,2579,1503,3685,0,0,0,0,0,0
$GC,931,-0.50,-194.6,199.8,-11.0,162,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1503,3685,0,0,0,0,0,0
$GC,1259,-0.50,-194.6,236.1,-12.6,223,1266,0.00,2.12,0.00,0.000,4,0.000,0.041,2574,2904,3685,0,0,0,0,0,0
$GC,1301,-0.53,-194.6,241.5,-12.2,230,1310,0.00,2.12,0.00,0.000,6,0.000,0.032,2567,1497,3685,0,0,0,0,0,0
$GC,1637,-0.53,-194.6,287.5,-13.5,267,1641,0.00,2.15,0.00,0.000,4,0.000,0.042,2558,2913,3684,0,0,0,0,0,0
$GC,1670,-0.55,-194.6,291.8,-11.8,269,1677,0.00,2.08,0.00,0.000,6,0.000,0.033,2559,1501,3684,0,0,0,0,0,0
$GC,1995,-0.55,-194.6,330.2,-11.9,300,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1501,3683,0,0,0,0,0,0
$GC,2316,-0.57,-194.6,370.8,-12.4,330,2320,0.00,2.12,0.00,0.000,4,0.000,0.042,2558,2907,3681,0,0,0,0,0,0
$GC,2337,-0.59,-194.6,373.8,-12.3,331,2344,0.00,2.08,0.00,0.000,6,0.000,0.033,2560,1500,3681,0,0,0,0,0,0
$GC,2663,-0.59,-194.6,410.5,-11.3,362,2666,0.00,1.95,0.00,0.000,4,0.000,0.043,2565,205,3680,0,0,0,0,0,0
$GC,2725,-0.63,-194.6,417.8,-11.8,367,2731,0.00,1.90,0.00,0.000,6,0.000,0.034,2556,1505,3680,0,0,0,0,0,0
$GC,3051,-0.63,-194.6,462.5,-15.2,398,3055,0.00,2.10,0.00,0.000,4,0.000,0.045,2546,2905,3678,0,0,0,0,0,0
$GC,3147,-0.67,-194.6,475.2,-11.4,406,3151,0.00,2.10,0.00,0.000,6,0.000,0.034,2545,1497,3677,0,0,0,0,0,0
$GC,3473,-0.67,-194.6,507.2,-8.5,436,3477,0.00,2.12,0.00,0.000,4,0.000,0.044,2534,2901,3675,0,0,0,0,0,0
$GC,3525,-0.69,-194.6,511.3,-7.7,440,3529,0.00,2.08,0.00,0.000,6,0.000,0.035,2533,1498,3675,0,0,0,0,0,0
$GC,3855,-0.69,-194.6,544.4,-11.0,471,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1498,3672,0,0,0,0,0,0
$GC,4177,-0.69,-194.6,582.4,-11.9,501,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1498,3670,0,0,0,0,0,0
$GC,4497,-0.69,-194.6,619.2,-11.0,524,4501,0.00,1.98,0.00,0.000,4,0.000,0.050,2535,211,3668,0,0,0,0,0,0
$GC,4524,-0.69,-194.6,622.6,-11.2,525,4529,0.00,1.98,0.00,0.000,6,0.000,0.040,2526,1494,3667,0,0,0,0,0,0
$GC,4854,-0.69,-194.6,660.4,-11.0,541,4858,0.00,2.12,0.00,0.000,4,0.000,0.052,2514,2905,3665,0,0,0,0,0,0
$GC,4880,-0.69,-194.6,663.8,-10.7,542,4885,0.00,2.12,0.00,0.000,6,0.000,0.038,2515,1508,3664,0,0,0,0,0,0
$GC,5202,-0.69,-194.6,700.3,-11.3,558,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1508,3662,0,0,0,0,0,0
$GC,5514,-0.69,-194.6,734.5,-11.1,573,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1508,3659,0,0,0,0,0,0
$GC,5821,-0.69,-194.6,769.3,-11.5,588,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1508,3656,0,0,0,0,0,0
$GC,6131,-0.69,-194.6,803.4,-10.6,603,6135,0.00,2.17,0.00,0.000,4,0.000,0.057,2498,2911,3654,0,0,0,0,0,0
$GC,6174,-0.69,-194.6,807.5,-10.1,605,6178,0.00,2.12,0.00,0.000,6,0.000,0.043,2495,1501,3653,0,0,0,0,0,0
$GC,6501,-0.68,-194.6,846.0,-12.0,621,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1501,3652,0,0,0,0,0,0
$GC,6812,-0.68,-194.6,885.8,-13.0,636,6816,0.00,2.20,0.00,0.000,4,0.000,0.059,2491,2904,3649,0,0,0,0,0,0
$GC,6839,-0.68,-194.6,889.9,-13.2,637,6844,0.12,2.12,0.00,0.000,6,0.161,0.044,2523,1498,3648,0,0,0,0,0,0
$GC,7169,-0.70,-194.6,925.1,-10.4,653,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1499,3647,0,0,0,0,0,0
$GC,7478,-0.73,-194.6,954.1,-8.9,668,7482,0.00,2.22,0.00,0.000,4,0.000,0.060,2516,2908,3644,0,0,0,0,0,0
$GC,7534,-0.77,-194.6,959.0,-8.3,670,7542,0.00,2.15,0.00,0.000,6,0.000,0.045,2517,1494,3644,0,0,0,0,0,0
$GC,7853,-0.79,-194.6,986.9,-8.9,686,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1494,3643,0,0,0,0,0,0
$STATE,7889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7889,begin apogee
$GC,7895,-0.18,0.0,990.5,8.8,688,8059,0.50,0.00,157.82,1.441,6,0.119,0.000,2681,1859,2883,0,0,0,0,0,0
$STATE,8059,end apogee,CONTROL_FINISHED_OK
$STATE,8060,begin climb
$GC,8064,0.83,194.6,994.0,0.0,695,8248,0.95,2.42,175.12,1.376,4,0.079,0.063,3008,3243,2090,0,0,0,0,0,0
$GC,8351,0.68,194.6,948.4,21.0,709,8356,0.20,2.20,0.00,0.000,6,0.184,0.044,2969,1853,2085,0,0,0,0,0,0
$GC,8680,0.58,194.6,893.1,16.7,725,8682,0.12,0.00,0.00,0.000,6,0.184,0.000,2932,1854,2080,0,0,0,0,0,0
$GC,8989,0.53,194.6,847.6,14.8,740,8993,0.00,2.20,0.00,0.000,4,0.000,0.060,2927,3258,2079,0,0,0,0,0,0
$GC,9039,0.49,194.6,839.3,15.5,742,9044,0.12,2.15,0.00,0.000,6,0.181,0.044,2905,1844,2079,0,0,0,0,0,0
$GC,9364,0.49,194.6,798.4,12.2,758,9368,0.00,2.22,0.00,0.000,4,0.000,0.058,2901,3263,2078,0,0,0,0,0,0
$GC,9402,0.49,194.6,793.0,12.4,759,9409,0.00,2.17,0.00,0.000,6,0.000,0.043,2909,1853,2077,0,0,0,0,0,0
$GC,9719,0.47,194.6,754.2,12.2,775,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1852,2076,0,0,0,0,0,0
$GC,10029,0.47,194.6,713.6,13.3,790,10033,0.00,2.15,0.00,0.000,4,0.000,0.054,2919,439,2075,0,0,0,0,0,0
$GC,10079,0.47,194.6,706.6,13.4,792,10083,0.00,2.17,0.00,0.000,6,0.000,0.043,2918,1836,2074,0,0,0,0,0,0
$GC,10403,0.45,194.6,669.2,10.8,808,10407,0.00,2.22,0.00,0.000,4,0.000,0.058,2919,3272,2074,0,0,0,0,0,0
$GC,10570,0.43,194.6,650.3,11.0,815,10578,0.17,2.17,0.00,0.000,6,0.168,0.041,2881,1834,2073,0,0,0,0,0,0
$GC,10890,0.55,272.4,627.1,7.8,831,10960,0.12,0.00,66.32,1.210,6,0.087,0.000,2947,1834,1772,0,0,0,0,0,0
$GC,11271,0.52,272.4,571.0,15.2,857,11276,0.12,2.17,0.00,0.000,4,0.168,0.051,2926,436,1765,0,0,0,0,0,0
$GC,11293,0.52,272.4,567.2,15.0,858,11300,0.00,2.17,0.00,0.000,6,0.000,0.040,2926,1851,1765,0,0,0,0,0,0
$GC,11619,0.52,272.4,529.2,10.8,889,11623,0.00,2.17,0.00,0.000,4,0.000,0.056,2927,3267,1763,0,0,0,0,0,0
$GC,11721,0.57,292.0,518.3,9.9,897,11743,0.00,2.15,17.15,1.072,6,0.000,0.041,2937,1845,1693,0,0,0,0,0,0
$GC,12065,0.57,292.0,481.1,12.0,929,12069,0.00,2.22,0.00,0.000,4,0.000,0.054,2938,3261,1689,0,0,0,0,0,0
$GC,12132,0.60,292.0,472.5,12.1,934,12139,0.00,2.15,0.00,0.000,6,0.000,0.040,2949,1838,1689,0,0,0,0,0,0
$GC,12458,0.60,292.0,432.7,10.9,965,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1837,1689,0,0,0,0,0,0
$GC,12778,0.60,292.0,399.0,11.4,995,12782,0.00,2.25,0.00,0.000,4,0.000,0.053,2954,3271,1689,0,0,0,0,0,0
$GC,12842,0.63,292.0,391.3,12.2,1000,12846,0.00,2.15,0.00,0.000,6,0.000,0.038,2960,1848,1689,0,0,0,0,0,0
$GC,13172,0.63,292.0,345.6,12.8,1031,13176,0.00,2.12,0.00,0.000,4,0.000,0.047,2973,443,1689,0,0,0,0,0,0
$GC,13217,0.63,292.0,339.9,12.3,1035,13222,0.00,2.15,0.00,0.000,6,0.000,0.037,2974,1870,1688,0,0,0,0,0,0
$GC,13543,0.63,292.0,303.2,11.4,1065,13547,0.00,2.10,0.00,0.000,4,0.000,0.050,2974,3249,1688,0,0,0,0,0,0
$GC,13676,0.65,292.0,287.8,11.7,1076,13680,0.00,2.08,0.00,0.000,6,0.000,0.036,2981,1847,1688,0,0,0,0,0,0
$GC,14002,0.65,292.0,239.6,13.7,1112,14011,0.00,2.15,0.00,0.000,4,0.000,0.047,2993,445,1688,0,0,0,0,0,0
$GC,14042,0.65,292.0,234.8,12.9,1118,14051,0.10,2.12,0.00,0.000,6,0.125,0.036,2958,1837,1688,0,0,0,0,0,0
$GC,14371,0.75,337.1,204.2,9.0,1179,14417,0.00,2.20,38.72,0.824,4,0.000,0.047,2959,3264,1508,0,0,0,0,0,0
$GC,14479,0.85,362.1,193.6,9.7,1196,14511,0.12,2.17,22.20,0.776,6,0.042,0.036,3053,1853,1406,0,0,0,0,0,0
$GC,14831,0.80,362.1,126.9,17.9,1260,14840,0.17,2.20,0.00,0.000,4,0.151,0.045,3013,449,1402,0,0,0,0,0,0
$GC,14903,0.84,362.1,117.1,12.1,1272,14912,0.00,2.15,0.00,0.000,6,0.000,0.033,3013,1854,1401,0,0,0,0,0,0
$GC,15231,0.87,362.1,76.8,11.3,1333,15239,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1857,1401,0,0,0,0,0,0
$GC,15559,1.03,436.1,47.0,7.9,1394,15625,0.17,0.00,59.72,0.675,6,0.066,0.000,3110,1857,1105,0,0,0,0,0,0
$STATE,15847,end climb,SURFACE_DEPTH_REACHED
$STATE,15847,begin surface coast
$FINISH,1.0,1.006864
$STATE,15869,end surface coast,CONTROL_FINISHED_OK
$STATE,15869,begin surface
$SM_CCo,15947,0.00,0.000,0,0,1100,437.62
$SM_GC,1.77,7.75,0.00,0.00,0.040,0.000,0.000,140,1498,1100,-8.04,-0.03,437.62,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12347.92,230811,030330
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.56
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.80
$XPDR_PINGS,80
$24V_AH,23.3,27.208
$10V_AH,10.3,17.940
$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,20.275,112.300,537.075,0.000,0.000,30.801,23.196,169.570,20.000,0.000,14.697,3585.186,8289.187,599.879,3397.476,437.695,0.000,1952.598,0.000,3175.610,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,62.730,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,988.821,1482.576,1582.799,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,83483,1448
$CAP_FILE_SIZE,162969,0
$CFSIZE,260165632,138162176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,302.0,1
$GPS,230811,123833,2321.267,12349.573,41,2.0,49,-3.3