version: 66.09
glider: 166
mission: 6
dive: 104
start: 8 23 111 12 46 24
data:
$ID,166
$MISSION,6
$DIVE,104
$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,-24520.65
$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,39
$R_STBD_OVSHOOT,39
$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
$GPS1,230811,123833,2321.267,12349.573,41,2.0,49,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-74.4
$GPS2,230811,124558,2321.333,12349.403,13,2.1,32,-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,151.8,206995,-16.6,-10.645
$D_GRID,4402
$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,-194.6,0.0,0.0,0,99,0.00,0.00,-79.30,0.000,2,0.000,0.000,138,1496,3016,0,0,0,0,0,0
$GC,102,-0.83,-194.6,5.3,-8.0,11,134,9.02,2.05,-13.02,0.000,4,0.223,0.056,2474,195,3681,0,0,0,0,0,0
$GC,249,-0.60,-194.6,66.2,-37.5,36,257,0.25,2.00,0.00,0.000,6,0.156,0.035,2542,1497,3682,0,0,0,0,0,0
$GC,577,-0.50,-194.6,140.9,-21.5,97,585,0.15,0.00,0.00,0.000,6,0.170,0.000,2583,1502,3684,0,0,0,0,0,0
$GC,905,-0.50,-194.6,182.3,-11.8,158,913,0.00,2.15,0.00,0.000,4,0.000,0.041,2575,2911,3684,0,0,0,0,0,0
$GC,948,-0.52,-194.6,187.5,-11.9,165,957,0.00,2.15,0.00,0.000,6,0.000,0.033,2574,1495,3684,0,0,0,0,0,0
$GC,1276,-0.52,-194.6,235.9,-15.3,226,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1494,3684,0,0,0,0,0,0
$GC,1611,-0.52,-194.6,278.5,-10.7,266,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1494,3684,0,0,0,0,0,0
$GC,1929,-0.54,-194.6,307.8,-9.6,296,1933,0.00,1.95,0.00,0.000,4,0.000,0.041,2576,200,3684,0,0,0,0,0,0
$GC,1957,-0.57,-194.6,310.9,-9.4,298,1964,0.00,1.95,0.00,0.000,6,0.000,0.031,2571,1521,3684,0,0,0,0,0,0
$GC,2283,-0.59,-194.6,349.0,-14.6,329,2286,0.00,2.10,0.00,0.000,4,0.000,0.042,2566,2908,3683,0,0,0,0,0,0
$GC,2351,-0.64,-194.6,358.9,-13.7,335,2355,0.00,2.10,0.00,0.000,6,0.000,0.034,2568,1497,3683,0,0,0,0,0,0
$GC,2676,-0.66,-194.6,400.6,-10.1,365,2678,0.12,0.00,0.00,0.000,6,0.084,0.000,2504,1497,3682,0,0,0,0,0,0
$GC,2995,-0.58,-194.6,445.9,-15.6,395,2997,0.17,0.00,0.00,0.000,6,0.161,0.000,2551,1497,3680,0,0,0,0,0,0
$GC,3313,-0.58,-194.6,480.6,-11.3,425,3317,0.00,2.10,0.00,0.000,4,0.000,0.044,2544,2898,3678,0,0,0,0,0,0
$GC,3343,-0.58,-194.6,483.8,-11.5,427,3347,0.00,2.08,0.00,0.000,6,0.000,0.034,2544,1501,3678,0,0,0,0,0,0
$GC,3674,-0.58,-194.6,521.7,-10.6,458,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1501,3677,0,0,0,0,0,0
$GC,3996,-0.58,-194.6,555.3,-10.3,488,4000,0.00,2.17,0.00,0.000,4,0.000,0.048,2535,2899,3674,0,0,0,0,0,0
$GC,4039,-0.62,-194.6,560.8,-11.4,491,4046,0.00,2.10,0.00,0.000,6,0.000,0.038,2535,1506,3674,0,0,0,0,0,0
$GC,4365,-0.62,-194.6,599.4,-12.3,522,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1506,3672,0,0,0,0,0,0
$GC,4685,-0.62,-194.6,637.2,-11.2,538,4688,0.00,2.00,0.00,0.000,4,0.000,0.050,2535,206,3669,0,0,0,0,0,0
$GC,4768,-0.62,-194.6,647.2,-11.8,541,4776,0.00,1.95,0.00,0.000,6,0.000,0.040,2524,1478,3668,0,0,0,0,0,0
$GC,5086,-0.62,-194.6,682.3,-11.6,557,5090,0.00,2.17,0.00,0.000,4,0.000,0.054,2510,2905,3666,0,0,0,0,0,0
$GC,5135,-0.62,-194.6,688.8,-12.3,559,5140,0.12,2.12,0.00,0.000,6,0.156,0.041,2547,1500,3665,0,0,0,0,0,0
$GC,5464,-0.66,-194.6,725.7,-11.3,575,5468,0.00,2.20,0.00,0.000,4,0.000,0.056,2537,2906,3663,0,0,0,0,0,0
$GC,5571,-0.70,-194.6,736.9,-9.8,579,5578,0.00,2.15,0.00,0.000,6,0.000,0.042,2538,1491,3662,0,0,0,0,0,0
$GC,5889,-0.73,-194.6,764.0,-7.7,595,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1491,3659,0,0,0,0,0,0
$GC,6197,-0.76,-194.6,785.5,-6.6,610,6202,0.10,2.22,0.00,0.000,4,0.099,0.057,2467,2907,3656,0,0,0,0,0,0
$GC,6253,-0.74,-194.6,790.8,-9.8,612,6260,0.12,2.15,0.00,0.000,6,0.166,0.042,2502,1497,3656,0,0,0,0,0,0
$GC,6571,-0.74,-194.6,822.4,-10.5,628,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1497,3653,0,0,0,0,0,0
$GC,6878,-0.74,-194.6,859.3,-12.4,643,6882,0.00,2.17,0.00,0.000,4,0.000,0.058,2493,2904,3652,0,0,0,0,0,0
$GC,6910,-0.74,-194.6,863.5,-12.1,644,6917,0.00,2.15,0.00,0.000,6,0.000,0.044,2495,1500,3651,0,0,0,0,0,0
$GC,7228,-0.74,-194.6,904.5,-13.2,660,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1499,3650,0,0,0,0,0,0
$GC,7536,-0.74,-194.6,944.6,-12.8,675,7539,0.00,2.03,0.00,0.000,4,0.000,0.057,2494,202,3647,0,0,0,0,0,0
$GC,7608,-0.72,-194.6,953.9,-13.9,678,7612,0.00,1.98,0.00,0.000,6,0.000,0.045,2484,1498,3646,0,0,0,0,0,0
$STATE,7897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7898,begin apogee
$GC,7904,-0.18,0.0,991.7,12.4,692,8069,0.62,0.00,158.20,1.444,6,0.132,0.000,2682,1854,2884,0,0,0,0,0,0
$STATE,8069,end apogee,CONTROL_FINISHED_OK
$STATE,8069,begin climb
$GC,8072,0.83,194.6,997.7,0.0,699,8255,0.95,2.42,175.12,1.380,4,0.074,0.061,3018,3260,2090,0,0,0,0,0,0
$GC,8350,0.66,194.6,953.6,21.5,712,8357,0.25,2.25,0.00,0.000,6,0.183,0.044,2961,1855,2085,0,0,0,0,0,0
$GC,8668,0.56,194.6,899.3,17.0,728,8673,0.12,2.22,0.00,0.000,4,0.188,0.055,2936,433,2081,0,0,0,0,0,0
$GC,8709,0.50,194.6,892.7,15.0,730,8713,0.00,2.22,0.00,0.000,6,0.000,0.044,2936,1856,2080,0,0,0,0,0,0
$GC,9036,0.43,194.6,846.2,13.9,746,9041,0.17,2.17,0.00,0.000,4,0.165,0.059,2881,3260,2078,0,0,0,0,0,0
$GC,9110,0.44,202.1,837.9,10.4,749,9124,0.00,2.15,5.93,1.012,6,0.000,0.041,2889,1839,2060,0,0,0,0,0,0
$GC,9431,0.46,218.1,805.4,10.1,765,9455,0.00,2.17,16.30,1.255,4,0.000,0.052,2899,445,1992,0,0,0,0,0,0
$GC,9489,0.49,241.1,799.3,9.8,767,9515,0.00,2.17,21.55,1.258,6,0.000,0.040,2899,1846,1901,0,0,0,0,0,0
$GC,9828,0.49,241.1,761.8,11.2,783,9832,0.00,2.17,0.00,0.000,4,0.000,0.054,2898,3256,1895,0,0,0,0,0,0
$GC,9886,0.51,241.1,754.4,12.3,785,9894,0.00,2.15,0.00,0.000,6,0.000,0.041,2909,1844,1895,0,0,0,0,0,0
$GC,10202,0.51,241.1,713.0,13.2,801,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1844,1893,0,0,0,0,0,0
$GC,10513,0.51,241.1,676.2,11.7,816,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1844,1892,0,0,0,0,0,0
$GC,10820,0.51,241.1,637.0,13.0,831,10824,0.00,2.22,0.00,0.000,4,0.000,0.054,2908,3263,1891,0,0,0,0,0,0
$GC,10864,0.51,241.1,630.5,13.6,833,10868,0.00,2.15,0.00,0.000,6,0.000,0.041,2919,1849,1891,0,0,0,0,0,0
$GC,11186,0.51,241.1,585.1,13.7,853,11190,0.00,2.15,0.00,0.000,4,0.000,0.050,2930,433,1890,0,0,0,0,0,0
$GC,11241,0.51,241.1,577.2,13.4,857,11249,0.00,2.17,0.00,0.000,6,0.000,0.040,2930,1860,1890,0,0,0,0,0,0
$GC,11567,0.49,241.1,538.5,11.0,888,11571,0.00,2.17,0.00,0.000,4,0.000,0.057,2930,3264,1889,0,0,0,0,0,0
$GC,11629,0.49,241.1,531.3,11.6,893,11633,0.12,2.12,0.00,0.000,6,0.174,0.040,2908,1843,1890,0,0,0,0,0,0
$GC,11961,0.61,322.6,502.4,7.7,924,12041,0.10,2.28,70.60,1.117,4,0.102,0.050,2976,437,1568,0,0,0,0,0,0
$GC,12081,0.58,322.6,487.9,13.6,934,12086,0.15,2.22,0.00,0.000,6,0.151,0.041,2937,1856,1566,0,0,0,0,0,0
$GC,12412,0.58,322.6,446.6,13.0,965,12416,0.00,2.15,0.00,0.000,4,0.000,0.053,2937,3253,1565,0,0,0,0,0,0
$GC,12538,0.64,322.6,429.5,13.6,975,12545,0.00,2.15,0.00,0.000,6,0.000,0.038,2947,1842,1563,0,0,0,0,0,0
$GC,12863,0.64,322.6,386.2,12.7,1006,12867,0.00,2.12,0.00,0.000,4,0.000,0.048,2961,437,1563,0,0,0,0,0,0
$GC,12918,0.67,322.6,379.4,13.0,1010,12922,0.00,2.15,0.00,0.000,6,0.000,0.036,2961,1851,1561,0,0,0,0,0,0
$GC,13243,0.67,322.6,335.9,12.4,1040,13247,0.00,2.12,0.00,0.000,4,0.000,0.051,2962,3258,1562,0,0,0,0,0,0
$GC,13332,0.70,322.6,325.0,11.1,1047,13339,0.00,2.12,0.00,0.000,6,0.000,0.037,2972,1844,1561,0,0,0,0,0,0
$GC,13659,0.72,339.6,290.3,10.0,1078,13678,0.00,0.00,15.07,0.858,6,0.000,0.000,2972,1844,1498,0,0,0,0,0,0
$GC,13996,0.72,339.6,251.0,13.9,1110,14000,0.00,2.12,0.00,0.000,4,0.000,0.047,2984,443,1497,0,0,0,0,0,0
$GC,14036,0.74,339.6,245.7,13.8,1116,14044,0.00,2.15,0.00,0.000,6,0.000,0.034,2984,1851,1496,0,0,0,0,0,0
$GC,14364,0.74,339.6,199.4,12.9,1177,14373,0.00,2.17,0.00,0.000,4,0.000,0.055,2983,3264,1496,0,0,0,0,0,0
$GC,14391,0.74,339.6,196.0,12.8,1181,14400,0.00,2.15,0.00,0.000,6,0.000,0.035,2991,1841,1496,0,0,0,0,0,0
$GC,14718,0.74,339.6,159.8,11.0,1242,14725,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1841,1496,0,0,0,0,0,0
$GC,15044,0.76,339.6,121.2,11.7,1303,15052,0.00,2.15,0.00,0.000,4,0.000,0.044,3002,443,1496,0,0,0,0,0,0
$GC,15083,0.78,339.6,116.7,12.1,1309,15092,0.00,2.15,0.00,0.000,6,0.000,0.033,3002,1862,1496,0,0,0,0,0,0
$GC,15413,0.80,339.6,74.6,12.9,1370,15421,0.00,2.12,0.00,0.000,4,0.000,0.045,3002,3254,1496,0,0,0,0,0,0
$GC,15492,0.86,339.6,64.1,11.9,1384,15500,0.00,2.12,0.00,0.000,6,0.000,0.034,3012,1849,1496,0,0,0,0,0,0
$GC,15822,1.06,448.7,36.1,6.6,1445,15921,0.20,2.25,88.95,0.666,4,0.060,0.044,3127,446,1052,0,0,0,0,0,0
$GC,15980,1.01,448.7,9.1,18.8,1468,15988,0.15,2.17,0.00,0.000,6,0.130,0.032,3077,1851,1050,0,0,0,0,0,0
$STATE,16016,end climb,SURFACE_DEPTH_REACHED
$STATE,16016,begin surface coast
$FINISH,1.0,1.008681
$STATE,16033,end surface coast,CONTROL_FINISHED_OK
$STATE,16033,begin surface
$SM_CCo,16112,0.00,0.000,0,0,1049,450.37
$SM_GC,1.85,7.70,0.00,0.00,0.036,0.000,0.000,140,1504,1049,-8.04,0.11,450.37,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12349.87,230811,080800
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.36
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,25.50
$XPDR_PINGS,82
$24V_AH,23.3,27.415
$10V_AH,10.2,18.105
$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,20.625,125.300,551.725,0.000,0.000,24.590,26.569,204.937,20.500,0.000,33.935,3662.145,8250.421,624.357,3565.458,438.103,0.000,2005.915,0.000,3272.619,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,61.200,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1008.496,1513.017,1661.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83530,1477
$CAP_FILE_SIZE,168705,0
$CFSIZE,260165632,138063872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,308.8,1
$GPS,230811,171637,2319.856,12349.806,63,1.1,63,-3.3