version: 66.09
glider: 166
mission: 6
dive: 106
start: 8 23 111 22 26 1
data:
$ID,166
$MISSION,6
$DIVE,106
$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,-24523.262
$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,52
$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
$GPS1,230811,221024,2317.667,12349.564,44,1.7,61,-3.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.9
$GPS2,230811,222534,2317.684,12349.178,12,99.0,31,-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,151.6,200301,-16.6,-10.645
$D_GRID,4843
$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,-194.6,0.0,0.0,0,98,0.00,0.00,-79.30,0.000,2,0.000,0.000,125,1492,3190,0,0,0,0,0,0
$GC,101,-0.83,-194.6,6.1,-11.3,11,126,9.02,2.03,-9.05,0.000,4,0.221,0.054,2473,196,3681,0,0,0,0,0,0
$GC,238,-0.62,-194.6,64.6,-33.5,34,246,0.22,1.98,0.00,0.000,6,0.156,0.033,2533,1495,3682,0,0,0,0,0,0
$GC,563,-0.50,-194.6,141.0,-21.8,95,572,0.17,2.03,0.00,0.000,4,0.169,0.041,2585,196,3683,0,0,0,0,0,0
$GC,609,-0.50,-194.6,149.6,-15.5,102,617,0.00,1.98,0.00,0.000,6,0.000,0.031,2577,1514,3683,0,0,0,0,0,0
$GC,936,-0.48,-194.6,191.5,-14.9,163,944,0.00,2.08,0.00,0.000,4,0.000,0.040,2567,2892,3683,0,0,0,0,0,0
$GC,983,-0.50,-194.6,198.1,-13.6,171,991,0.00,2.10,0.00,0.000,6,0.000,0.033,2567,1494,3683,0,0,0,0,0,0
$GC,1310,-0.50,-194.6,247.8,-15.8,232,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1494,3683,0,0,0,0,0,0
$GC,1648,-0.50,-194.6,291.7,-10.6,264,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1494,3683,0,0,0,0,0,0
$GC,1975,-0.52,-194.6,314.4,-7.4,295,1979,0.00,2.15,0.00,0.000,4,0.000,0.043,2566,2906,3681,0,0,0,0,0,0
$GC,2030,-0.57,-194.6,319.4,-9.3,299,2034,0.00,2.10,0.00,0.000,6,0.000,0.034,2566,1492,3681,0,0,0,0,0,0
$GC,2356,-0.59,-194.6,364.9,-15.6,329,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1493,3680,0,0,0,0,0,0
$GC,2678,-0.62,-194.6,407.7,-11.0,359,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1492,3677,0,0,0,0,0,0
$GC,3008,-0.65,-194.6,439.5,-8.4,390,3014,0.12,0.00,0.00,0.000,6,0.086,0.000,2507,1492,3676,0,0,0,0,0,0
$GC,3333,-0.58,-194.6,484.9,-15.7,421,3338,0.17,2.17,0.00,0.000,4,0.157,0.047,2548,2901,3675,0,0,0,0,0,0
$GC,3444,-0.63,-194.6,497.5,-10.8,430,3448,0.00,2.08,0.00,0.000,6,0.000,0.037,2548,1503,3673,0,0,0,0,0,0
$GC,3769,-0.63,-194.6,537.1,-11.9,460,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1503,3671,0,0,0,0,0,0
$GC,4093,-0.63,-194.6,575.3,-11.7,490,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1503,3668,0,0,0,0,0,0
$GC,4426,-0.65,-194.6,614.6,-11.6,516,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1503,3666,0,0,0,0,0,0
$GC,4737,-0.66,-194.6,643.8,-8.2,531,4741,0.00,2.15,0.00,0.000,4,0.000,0.054,2539,2890,3664,0,0,0,0,0,0
$GC,4788,-0.70,-194.6,647.7,-7.3,533,4792,0.00,2.12,0.00,0.000,6,0.000,0.041,2539,1495,3663,0,0,0,0,0,0
$GC,5111,-0.70,-194.6,673.8,-8.7,549,5115,0.00,2.17,0.00,0.000,4,0.000,0.054,2527,2896,3661,0,0,0,0,0,0
$GC,5139,-0.72,-194.6,676.6,-9.2,550,5143,0.00,2.12,0.00,0.000,6,0.000,0.042,2527,1501,3660,0,0,0,0,0,0
$GC,5455,-0.72,-194.6,714.0,-12.9,565,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1501,3658,0,0,0,0,0,0
$GC,5766,-0.72,-194.6,752.1,-11.3,580,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1501,3656,0,0,0,0,0,0
$GC,6074,-0.72,-194.6,780.3,-8.4,595,6078,0.00,2.15,0.00,0.000,4,0.000,0.057,2518,2891,3652,0,0,0,0,0,0
$GC,6095,-0.72,-194.6,782.1,-8.5,596,6099,0.00,2.12,0.00,0.000,6,0.000,0.044,2517,1500,3652,0,0,0,0,0,0
$GC,6425,-0.72,-194.6,813.4,-10.6,612,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1500,3650,0,0,0,0,0,0
$GC,6732,-0.72,-194.6,846.1,-10.6,627,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1500,3648,0,0,0,0,0,0
$GC,7044,-0.72,-194.6,878.2,-10.2,642,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1500,3645,0,0,0,0,0,0
$GC,7351,-0.72,-194.6,909.3,-9.8,657,7355,0.00,2.20,0.00,0.000,4,0.000,0.060,2501,2890,3642,0,0,0,0,0,0
$GC,7374,-0.72,-194.6,911.6,-9.9,658,7378,0.00,2.12,0.00,0.000,6,0.000,0.046,2499,1501,3643,0,0,0,0,0,0
$GC,7704,-0.72,-194.6,947.0,-11.0,674,7708,0.00,2.17,0.00,0.000,4,0.000,0.059,2485,2896,3641,0,0,0,0,0,0
$GC,7744,-0.72,-194.6,951.8,-11.4,676,7748,0.00,2.15,0.00,0.000,6,0.000,0.046,2487,1498,3641,0,0,0,0,0,0
$STATE,8069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8069,begin apogee
$GC,8077,-0.18,0.0,990.1,11.6,692,8241,0.60,0.00,157.40,1.447,6,0.130,0.000,2677,1834,2883,0,0,0,0,0,0
$STATE,8241,end apogee,CONTROL_FINISHED_OK
$STATE,8242,begin climb
$GC,8244,0.83,194.6,995.8,0.0,699,8428,0.95,2.47,174.57,1.385,4,0.075,0.062,3009,3243,2089,0,0,0,0,0,0
$GC,8495,0.66,194.6,959.5,21.2,711,8500,0.22,2.25,0.00,0.000,6,0.184,0.044,2963,1841,2085,0,0,0,0,0,0
$GC,8814,0.54,194.6,903.3,18.3,726,8819,0.15,2.25,0.00,0.000,4,0.181,0.060,2915,3257,2081,0,0,0,0,0,0
$GC,8929,0.50,194.6,885.0,14.8,731,8933,0.00,2.17,0.00,0.000,6,0.000,0.041,2923,1848,2079,0,0,0,0,0,0
$GC,9250,0.45,194.6,836.7,14.8,747,9255,0.12,2.17,0.00,0.000,4,0.177,0.052,2900,440,2078,0,0,0,0,0,0
$GC,9272,0.41,194.6,833.6,15.0,748,9276,0.00,2.17,0.00,0.000,6,0.000,0.042,2895,1858,2077,0,0,0,0,0,0
$GC,9601,0.41,194.6,795.8,11.1,764,9605,0.00,2.15,0.00,0.000,4,0.000,0.058,2896,3255,2076,0,0,0,0,0,0
$GC,9642,0.41,194.6,791.0,11.6,766,9646,0.00,2.15,0.00,0.000,6,0.000,0.041,2903,1841,2076,0,0,0,0,0,0
$GC,9971,0.46,248.6,759.6,8.7,782,10020,0.00,0.00,46.92,1.299,6,0.000,0.000,2903,1841,1870,0,0,0,0,0,0
$GC,10318,0.47,262.3,726.5,10.1,799,10340,0.00,2.25,13.02,1.174,4,0.000,0.053,2914,442,1813,0,0,0,0,0,0
$GC,10351,0.47,262.3,722.6,10.9,800,10355,0.00,2.20,0.00,0.000,6,0.000,0.040,2914,1845,1812,0,0,0,0,0,0
$GC,10675,0.47,262.3,684.4,11.8,816,10679,0.00,2.20,0.00,0.000,4,0.000,0.057,2914,3268,1811,0,0,0,0,0,0
$GC,10713,0.47,262.3,679.3,12.1,817,10721,0.00,2.15,0.00,0.000,6,0.000,0.041,2923,1846,1810,0,0,0,0,0,0
$GC,11029,0.47,262.3,640.6,12.1,833,11033,0.00,2.15,0.00,0.000,4,0.000,0.051,2934,434,1810,0,0,0,0,0,0
$GC,11053,0.46,262.3,637.8,12.0,834,11058,0.15,2.17,0.00,0.000,6,0.154,0.041,2894,1859,1809,0,0,0,0,0,0
$GC,11377,0.52,284.9,606.3,9.8,850,11403,0.00,2.17,21.23,1.169,4,0.000,0.054,2891,3252,1721,0,0,0,0,0,0
$GC,11464,0.57,284.9,597.4,10.7,855,11468,0.00,2.15,0.00,0.000,6,0.000,0.039,2900,1839,1720,0,0,0,0,0,0
$GC,11789,0.61,284.9,559.8,12.2,885,11794,0.12,2.17,0.00,0.000,4,0.087,0.051,2977,445,1718,0,0,0,0,0,0
$GC,11879,0.56,284.9,544.3,17.8,892,11887,0.17,2.15,0.00,0.000,6,0.158,0.040,2929,1848,1717,0,0,0,0,0,0
$GC,12206,0.56,284.9,493.2,15.8,923,12210,0.00,2.17,0.00,0.000,4,0.000,0.054,2929,3263,1717,0,0,0,0,0,0
$GC,12284,0.58,284.9,480.5,15.4,929,12291,0.00,2.12,0.00,0.000,6,0.000,0.040,2937,1843,1717,0,0,0,0,0,0
$GC,12609,0.58,287.9,439.4,10.5,960,12613,0.00,2.12,0.00,0.000,4,0.000,0.050,2953,440,1717,0,0,0,0,0,0
$GC,12641,0.58,287.9,435.5,11.5,962,12648,0.00,2.17,0.00,0.000,6,0.000,0.038,2952,1871,1716,0,0,0,0,0,0
$GC,12969,0.56,287.9,396.8,12.2,993,12973,0.00,2.12,0.00,0.000,4,0.000,0.057,2954,3257,1716,0,0,0,0,0,0
$GC,13104,0.56,287.9,378.6,13.1,1004,13111,0.15,2.12,0.00,0.000,6,0.163,0.038,2923,1845,1716,0,0,0,0,0,0
$GC,13430,0.60,288.2,342.5,10.6,1035,13434,0.00,2.12,0.00,0.000,4,0.000,0.048,2934,433,1715,0,0,0,0,0,0
$GC,13506,0.65,288.2,334.2,11.2,1041,13510,0.00,2.15,0.00,0.000,6,0.000,0.036,2927,1862,1716,0,0,0,0,0,0
$GC,13833,0.70,297.6,296.9,10.3,1071,13857,0.12,2.17,12.18,0.855,4,0.088,0.050,2994,3250,1670,0,0,0,0,0,0
$GC,13896,0.67,297.6,287.4,15.5,1076,13904,0.12,2.12,0.00,0.000,6,0.145,0.037,2963,1854,1670,0,0,0,0,0,0
$GC,14224,0.67,297.6,250.0,11.0,1107,14230,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1854,1670,0,0,0,0,0,0
$GC,14548,0.67,297.6,212.0,11.9,1168,14556,0.00,2.17,0.00,0.000,4,0.000,0.047,2972,434,1670,0,0,0,0,0,0
$GC,14591,0.70,297.6,206.8,11.9,1175,14599,0.00,2.15,0.00,0.000,6,0.000,0.035,2965,1853,1669,0,0,0,0,0,0
$GC,14920,0.82,374.4,173.2,7.8,1236,14995,0.12,0.00,65.18,0.803,6,0.086,0.000,3034,1854,1356,0,0,0,0,0,0
$GC,15316,0.77,374.4,105.5,20.6,1306,15324,0.15,0.00,0.00,0.000,6,0.157,0.000,2993,1857,1353,0,0,0,0,0,0
$GC,15645,0.99,499.3,60.4,6.1,1367,15751,0.20,2.33,99.80,0.695,4,0.063,0.045,3104,431,846,0,0,0,0,0,0
$GC,15783,0.97,499.3,43.2,14.4,1386,15791,0.12,2.22,0.00,0.000,6,0.124,0.032,3059,1854,844,0,0,0,0,0,0
$STATE,16079,end climb,SURFACE_DEPTH_REACHED
$STATE,16079,begin surface coast
$FINISH,1.0,1.021648
$STATE,16104,end surface coast,CONTROL_FINISHED_OK
$STATE,16104,begin surface
$SM_CCo,16123,80.62,0.538,1,0,452,595.83
$SM_GC,1.69,0.00,0.00,80.62,0.000,0.000,0.538,129,1474,452,-8.17,-0.74,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2307.44,12347.26,230811,222221
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.05
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,25.50
$XPDR_PINGS,74
$24V_AH,23.3,27.861
$10V_AH,10.2,18.438
$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,20.800,113.150,590.300,80.625,0.000,143.085,134.195,173.349,18.500,0.000,33.360,3580.110,8722.223,717.282,3635.596,452.484,0.000,2062.878,0.000,3129.743,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,61.965,1446.615,537.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.166,1479.755,1549.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330184
$DATA_FILE_SIZE,80221,1445
$CAP_FILE_SIZE,169549,0
$CFSIZE,260165632,137875456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.240,289.9,1
$GPS,240811,025757,2316.103,12348.617,45,2.9,64,-3.3