version: 66.09
glider: 166
mission: 6
dive: 108
start: 8 24 111 7 57 27
data:
$ID,166
$MISSION,6
$DIVE,108
$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,-24525.875
$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,56
$R_STBD_OVSHOOT,41
$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
$GPS1,240811,074836,2315.565,12349.030,43,1.1,48,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-69.9
$GPS2,240811,075701,2315.601,12348.818,18,1.1,35,-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,153.9,196520,-16.6,-10.645
$D_GRID,5000
$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,17,-0.83,-194.6,0.0,0.0,0,95,0.00,0.00,-75.40,0.000,2,0.000,0.000,128,1472,2986,0,0,0,0,0,0
$GC,98,-0.83,-194.6,5.3,-9.2,10,129,9.02,1.92,-13.80,0.000,4,0.221,0.050,2471,210,3680,0,0,0,0,0,0
$GC,233,-0.59,-194.6,58.5,-34.6,33,242,0.28,1.98,0.00,0.000,6,0.166,0.034,2544,1501,3681,0,0,0,0,0,0
$GC,560,-0.49,-194.6,131.0,-21.8,94,569,0.15,2.00,0.00,0.000,4,0.171,0.042,2587,215,3683,0,0,0,0,0,0
$GC,627,-0.49,-194.6,143.8,-16.3,105,635,0.00,1.92,0.00,0.000,6,0.000,0.031,2579,1505,3683,0,0,0,0,0,0
$GC,953,-0.49,-194.6,191.6,-10.3,166,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1506,3683,0,0,0,0,0,0
$GC,1278,-0.49,-194.6,221.6,-10.2,227,1286,0.00,2.10,0.00,0.000,4,0.000,0.044,2569,2896,3683,0,0,0,0,0,0
$GC,1305,-0.49,-194.6,224.5,-10.9,231,1313,0.00,2.08,0.00,0.000,6,0.000,0.034,2569,1518,3683,0,0,0,0,0,0
$GC,1636,-0.49,-194.6,267.4,-14.5,281,1639,0.00,2.05,0.00,0.000,4,0.000,0.043,2561,2895,3683,0,0,0,0,0,0
$GC,1683,-0.53,-194.6,273.8,-13.2,285,1687,0.00,2.10,0.00,0.000,6,0.000,0.034,2561,1486,3683,0,0,0,0,0,0
$GC,2008,-0.53,-194.6,314.9,-12.1,315,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1486,3683,0,0,0,0,0,0
$GC,2331,-0.53,-194.6,346.7,-8.9,345,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1486,3681,0,0,0,0,0,0
$GC,2658,-0.55,-194.6,375.8,-9.4,376,2662,0.00,2.15,0.00,0.000,4,0.000,0.047,2553,2894,3680,0,0,0,0,0,0
$GC,2688,-0.58,-194.6,378.5,-9.4,378,2692,0.00,2.08,0.00,0.000,6,0.000,0.037,2568,1505,3680,0,0,0,0,0,0
$GC,3013,-0.60,-194.6,412.7,-10.7,408,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1505,3678,0,0,0,0,0,0
$GC,3337,-0.63,-194.6,452.6,-13.8,438,3341,0.00,2.15,0.00,0.000,4,0.000,0.050,2560,2897,3676,0,0,0,0,0,0
$GC,3433,-0.69,-194.6,464.3,-10.7,446,3437,0.12,2.12,0.00,0.000,6,0.082,0.039,2483,1491,3676,0,0,0,0,0,0
$GC,3760,-0.61,-194.6,514.7,-14.9,476,3768,0.22,0.00,0.00,0.000,6,0.152,0.000,2548,1491,3675,0,0,0,0,0,0
$GC,4086,-0.62,-194.6,544.1,-9.3,507,4090,0.00,1.98,0.00,0.000,4,0.000,0.051,2549,202,3672,0,0,0,0,0,0
$GC,4139,-0.65,-194.6,549.5,-10.6,511,4145,0.00,1.92,0.00,0.000,6,0.000,0.038,2541,1493,3672,0,0,0,0,0,0
$GC,4464,-0.65,-194.6,590.7,-13.5,542,4468,0.00,2.15,0.00,0.000,4,0.000,0.051,2531,2912,3670,0,0,0,0,0,0
$GC,4538,-0.68,-194.6,600.3,-12.6,548,4546,0.00,2.12,0.00,0.000,6,0.000,0.040,2531,1501,3669,0,0,0,0,0,0
$GC,4854,-0.68,-194.6,640.2,-12.2,564,4857,0.00,2.00,0.00,0.000,4,0.000,0.053,2531,195,3667,0,0,0,0,0,0
$GC,4878,-0.68,-194.6,643.1,-11.8,565,4882,0.00,1.95,0.00,0.000,6,0.000,0.039,2521,1497,3666,0,0,0,0,0,0
$GC,5213,-0.68,-194.6,683.6,-12.0,581,5217,0.00,2.00,0.00,0.000,4,0.000,0.058,2521,199,3664,0,0,0,0,0,0
$GC,5251,-0.68,-194.6,688.9,-12.8,582,5258,0.00,2.00,0.00,0.000,6,0.000,0.041,2511,1496,3663,0,0,0,0,0,0
$GC,5569,-0.66,-194.6,726.9,-12.1,598,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1496,3661,0,0,0,0,0,0
$GC,5877,-0.66,-194.6,767.4,-13.7,613,5881,0.00,2.17,0.00,0.000,4,0.000,0.056,2501,2908,3658,0,0,0,0,0,0
$GC,5909,-0.66,-194.6,772.3,-13.7,614,5917,0.12,2.15,0.00,0.000,6,0.158,0.043,2535,1491,3657,0,0,0,0,0,0
$GC,6228,-0.68,-194.6,811.0,-12.0,630,6232,0.00,2.20,0.00,0.000,4,0.000,0.057,2526,2908,3655,0,0,0,0,0,0
$GC,6261,-0.70,-194.6,815.2,-11.8,631,6265,0.00,2.15,0.00,0.000,6,0.000,0.044,2526,1494,3655,0,0,0,0,0,0
$GC,6577,-0.72,-194.6,849.4,-10.2,646,6581,0.00,2.20,0.00,0.000,4,0.000,0.058,2515,2906,3653,0,0,0,0,0,0
$GC,6607,-0.74,-194.6,852.5,-10.1,647,6611,0.00,2.15,0.00,0.000,6,0.000,0.044,2516,1493,3652,0,0,0,0,0,0
$GC,6928,-0.74,-194.6,886.2,-10.3,663,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1493,3650,0,0,0,0,0,0
$GC,7239,-0.74,-194.6,914.8,-8.6,678,7243,0.00,2.20,0.00,0.000,4,0.000,0.058,2503,2905,3648,0,0,0,0,0,0
$GC,7305,-0.76,-194.6,920.3,-8.3,681,7309,0.00,2.17,0.00,0.000,6,0.000,0.045,2504,1492,3647,0,0,0,0,0,0
$GC,7632,-0.76,-194.6,951.1,-9.9,697,7636,0.00,2.00,0.00,0.000,4,0.000,0.057,2504,204,3645,0,0,0,0,0,0
$GC,7695,-0.76,-194.6,958.1,-11.1,699,7702,0.00,1.98,0.00,0.000,6,0.000,0.044,2494,1499,3645,0,0,0,0,0,0
$STATE,7968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7968,begin apogee
$GC,7974,-0.18,0.0,990.5,12.5,713,8138,0.57,0.00,158.23,1.450,6,0.130,0.000,2674,1853,2884,0,0,0,0,0,0
$STATE,8138,end apogee,CONTROL_FINISHED_OK
$STATE,8138,begin climb
$GC,8141,0.83,194.6,998.9,0.0,720,8325,0.98,2.42,175.70,1.389,4,0.080,0.062,3003,3251,2090,0,0,0,0,0,0
$GC,8409,0.68,194.6,967.4,16.7,732,8414,0.17,2.22,0.00,0.000,6,0.190,0.044,2970,1853,2085,0,0,0,0,0,0
$GC,8727,0.57,194.6,925.5,13.6,747,8729,0.12,0.00,0.00,0.000,6,0.190,0.000,2935,1853,2080,0,0,0,0,0,0
$GC,9035,0.51,194.6,887.9,12.6,762,9038,0.00,2.20,0.00,0.000,4,0.000,0.059,2933,3249,2079,0,0,0,0,0,0
$GC,9092,0.45,194.6,880.0,13.7,764,9097,0.17,2.17,0.00,0.000,6,0.175,0.042,2896,1834,2078,0,0,0,0,0,0
$GC,9408,0.45,194.6,843.0,12.0,779,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1834,2078,0,0,0,0,0,0
$GC,9717,0.45,194.6,806.8,11.4,794,9721,0.00,2.22,0.00,0.000,4,0.000,0.056,2891,3252,2076,0,0,0,0,0,0
$GC,9768,0.45,194.6,800.8,11.6,796,9772,0.00,2.15,0.00,0.000,6,0.000,0.041,2899,1836,2075,0,0,0,0,0,0
$GC,10088,0.45,194.6,763.5,11.6,812,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1836,2075,0,0,0,0,0,0
$GC,10398,0.46,201.7,730.1,10.4,827,10408,0.00,2.22,4.88,0.910,4,0.000,0.055,2899,3259,2060,0,0,0,0,0,0
$GC,10467,0.47,210.7,723.0,10.3,830,10483,0.00,2.12,10.20,1.151,6,0.000,0.041,2906,1849,2024,0,0,0,0,0,0
$GC,10797,0.50,229.0,690.1,10.0,845,10820,0.00,2.28,17.52,1.212,4,0.000,0.052,2917,437,1950,0,0,0,0,0,0
$GC,10861,0.51,242.5,683.3,10.1,847,10881,0.00,2.20,13.57,1.156,6,0.000,0.040,2917,1856,1895,0,0,0,0,0,0
$GC,11200,0.51,256.3,648.5,10.1,864,11223,0.00,2.25,13.60,1.147,4,0.000,0.057,2915,3249,1838,0,0,0,0,0,0
$GC,11271,0.51,256.3,640.6,10.9,867,11275,0.00,2.15,0.00,0.000,6,0.000,0.039,2923,1851,1837,0,0,0,0,0,0
$GC,11604,0.51,256.3,599.3,13.3,883,11608,0.00,2.17,0.00,0.000,4,0.000,0.050,2934,439,1835,0,0,0,0,0,0
$GC,11649,0.51,256.3,593.3,13.1,886,11656,0.00,2.17,0.00,0.000,6,0.000,0.039,2934,1847,1833,0,0,0,0,0,0
$GC,11975,0.49,256.3,550.3,12.7,917,11979,0.12,2.20,0.00,0.000,4,0.171,0.054,2892,3266,1834,0,0,0,0,0,0
$GC,12080,0.61,313.4,540.7,8.6,926,12138,0.12,2.12,51.40,1.147,6,0.085,0.038,2967,1849,1606,0,0,0,0,0,0
$GC,12457,0.55,313.4,491.4,14.1,961,12462,0.15,2.25,0.00,0.000,4,0.167,0.052,2919,3266,1600,0,0,0,0,0,0
$GC,12497,0.57,313.4,486.2,12.0,964,12502,0.00,2.15,0.00,0.000,6,0.000,0.037,2928,1849,1599,0,0,0,0,0,0
$GC,12823,0.59,313.4,451.2,11.3,994,12827,0.00,2.17,0.00,0.000,4,0.000,0.050,2939,440,1599,0,0,0,0,0,0
$GC,12896,0.62,313.4,442.3,12.6,1000,12900,0.00,2.17,0.00,0.000,6,0.000,0.038,2940,1867,1597,0,0,0,0,0,0
$GC,13221,0.62,313.4,403.8,11.2,1030,13225,0.00,2.12,0.00,0.000,4,0.000,0.053,2946,3248,1597,0,0,0,0,0,0
$GC,13295,0.69,338.7,396.3,9.7,1036,13322,0.00,2.10,21.73,0.987,6,0.000,0.037,2950,1840,1503,0,0,0,0,0,0
$GC,13648,0.69,338.7,360.9,11.8,1069,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1840,1499,0,0,0,0,0,0
$GC,13970,0.69,338.7,315.5,14.3,1099,13974,0.00,2.12,0.00,0.000,4,0.000,0.047,2966,438,1499,0,0,0,0,0,0
$GC,13988,0.69,338.7,312.9,13.3,1100,13992,0.00,2.12,0.00,0.000,6,0.000,0.034,2967,1844,1498,0,0,0,0,0,0
$GC,14313,0.69,338.7,269.0,13.2,1130,14317,0.00,2.12,0.00,0.000,4,0.000,0.049,2968,3255,1498,0,0,0,0,0,0
$GC,14396,0.72,338.7,259.4,12.3,1137,14400,0.00,2.12,0.00,0.000,6,0.000,0.035,2976,1838,1498,0,0,0,0,0,0
$GC,14721,0.72,338.7,213.7,14.3,1191,14729,0.00,2.15,0.00,0.000,4,0.000,0.046,2987,437,1498,0,0,0,0,0,0
$GC,14769,0.74,338.7,206.5,14.2,1199,14777,0.00,2.15,0.00,0.000,6,0.000,0.035,2987,1859,1498,0,0,0,0,0,0
$GC,15095,0.74,338.7,159.3,14.1,1260,15104,0.00,2.12,0.00,0.000,4,0.000,0.049,2987,3246,1498,0,0,0,0,0,0
$GC,15207,0.76,338.7,146.0,10.6,1280,15216,0.00,2.10,0.00,0.000,6,0.000,0.034,2996,1849,1498,0,0,0,0,0,0
$GC,15535,0.76,338.7,108.0,16.3,1341,15543,0.00,2.15,0.00,0.000,4,0.000,0.045,3006,440,1498,0,0,0,0,0,0
$GC,15609,0.78,338.7,95.7,15.1,1354,15617,0.00,2.12,0.00,0.000,6,0.000,0.033,3006,1848,1499,0,0,0,0,0,0
$GC,15938,0.93,430.4,60.3,7.3,1415,16022,0.10,2.20,75.68,0.705,4,0.098,0.044,3066,3260,1128,0,0,0,0,0,0
$GC,16054,0.93,430.4,47.5,12.6,1431,16063,0.08,2.17,0.00,0.000,6,0.137,0.034,3050,1857,1127,0,0,0,0,0,0
$GC,16386,0.94,430.4,5.2,11.8,1492,16394,0.00,2.20,0.00,0.000,4,0.000,0.045,3058,435,1125,0,0,0,0,0,0
$STATE,16401,end climb,SURFACE_DEPTH_REACHED
$STATE,16401,begin surface coast
$FINISH,1.1,1.021592
$STATE,16428,end surface coast,CONTROL_FINISHED_OK
$STATE,16429,begin surface
$SM_CCo,16507,0.00,0.000,0,0,1124,431.73
$SM_GC,1.96,7.53,0.00,0.00,0.029,0.000,0.000,153,1551,1124,-8.03,1.44,431.73,0,0,0,0,0,0
$IRIDIUM_FIX,2307.44,12347.26,240811,030309
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.48
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.50
$XPDR_PINGS,78
$24V_AH,23.3,28.305
$10V_AH,10.2,18.773
$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,20.050,140.450,542.500,0.000,0.000,31.317,39.531,255.903,19.500,0.000,36.558,3758.095,8510.866,604.543,3668.176,453.782,0.000,2011.083,0.000,3321.059,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,61.965,1450.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.181,1535.198,1676.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330260
$DATA_FILE_SIZE,83525,1499
$CAP_FILE_SIZE,175551,0
$CFSIZE,260165632,137707520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,294.4,1
$GPS,240811,123407,2313.865,12348.847,43,1.9,55,-3.3