version: 66.09
glider: 166
mission: 6
dive: 109
start: 8 24 111 12 45 31
data:
$ID,166
$MISSION,6
$DIVE,109
$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,-24527.135
$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,38
$R_STBD_OVSHOOT,73
$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
$GPS1,240811,123407,2313.865,12348.847,43,1.9,55,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.7
$GPS2,240811,124507,2313.912,12348.548,33,1.4,33,-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,149.8,193454,-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,18,-0.83,-194.6,0.0,0.0,0,100,0.00,0.00,-80.32,0.000,2,0.000,0.000,154,1551,3070,0,0,0,0,0,0
$GC,104,-0.83,-194.6,5.3,-8.0,11,136,9.05,2.12,-11.73,0.000,4,0.223,0.053,2463,189,3680,0,0,0,0,0,0
$GC,304,-0.62,-194.6,93.9,-33.1,46,313,0.28,1.95,0.00,0.000,6,0.160,0.033,2536,1471,3682,0,0,0,0,0,0
$GC,631,-0.52,-194.6,156.7,-16.1,107,639,0.15,0.00,0.00,0.000,6,0.168,0.000,2577,1472,3683,0,0,0,0,0,0
$GC,959,-0.52,-194.6,203.3,-14.3,168,967,0.00,2.17,0.00,0.000,4,0.000,0.043,2568,2902,3683,0,0,0,0,0,0
$GC,998,-0.52,-194.6,208.0,-12.9,174,1006,0.00,2.12,0.00,0.000,6,0.000,0.034,2564,1500,3684,0,0,0,0,0,0
$GC,1326,-0.52,-194.6,242.8,-10.8,235,1334,0.00,2.20,0.00,0.000,4,0.000,0.045,2554,2901,3684,0,0,0,0,0,0
$GC,1350,-0.52,-194.6,245.7,-12.2,238,1358,0.00,2.12,0.00,0.000,6,0.000,0.036,2554,1505,3684,0,0,0,0,0,0
$GC,1682,-0.52,-194.6,291.4,-13.4,271,1686,0.00,2.00,0.00,0.000,4,0.000,0.047,2555,195,3683,0,0,0,0,0,0
$GC,1709,-0.52,-194.6,295.7,-13.3,273,1717,0.00,1.98,0.00,0.000,6,0.000,0.036,2546,1496,3683,0,0,0,0,0,0
$GC,2035,-0.50,-194.6,337.0,-12.0,304,2039,0.12,2.12,0.00,0.000,4,0.165,0.048,2574,2904,3681,0,0,0,0,0,0
$GC,2082,-0.55,-194.6,341.4,-9.7,308,2086,0.00,2.12,0.00,0.000,6,0.000,0.037,2575,1486,3681,0,0,0,0,0,0
$GC,2410,-0.58,-194.6,371.6,-10.0,338,2414,0.00,1.95,0.00,0.000,4,0.000,0.049,2581,201,3680,0,0,0,0,0,0
$GC,2445,-0.62,-194.6,375.4,-10.0,341,2449,0.00,1.92,0.00,0.000,6,0.000,0.037,2577,1500,3680,0,0,0,0,0,0
$GC,2776,-0.65,-194.6,418.1,-13.1,372,2781,0.12,2.15,0.00,0.000,4,0.083,0.048,2497,2907,3677,0,0,0,0,0,0
$GC,2841,-0.60,-194.6,428.2,-17.4,377,2846,0.17,2.12,0.00,0.000,6,0.155,0.038,2547,1489,3677,0,0,0,0,0,0
$GC,3173,-0.60,-194.6,475.2,-10.1,408,3177,0.00,1.98,0.00,0.000,4,0.000,0.050,2553,192,3675,0,0,0,0,0,0
$GC,3275,-0.60,-194.6,485.4,-9.2,417,3279,0.00,1.95,0.00,0.000,6,0.000,0.037,2546,1503,3675,0,0,0,0,0,0
$GC,3608,-0.60,-194.6,515.1,-11.2,448,3612,0.00,2.12,0.00,0.000,4,0.000,0.050,2535,2904,3673,0,0,0,0,0,0
$GC,3706,-0.62,-194.6,526.6,-11.6,456,3710,0.00,2.10,0.00,0.000,6,0.000,0.039,2534,1503,3672,0,0,0,0,0,0
$GC,4031,-0.62,-194.6,565.9,-10.8,486,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1503,3670,0,0,0,0,0,0
$GC,4351,-0.62,-194.6,600.0,-11.1,516,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1502,3668,0,0,0,0,0,0
$GC,4672,-0.62,-194.6,636.8,-10.9,532,4675,0.00,2.03,0.00,0.000,4,0.000,0.053,2535,198,3665,0,0,0,0,0,0
$GC,4718,-0.62,-194.6,642.2,-11.4,534,4722,0.00,1.95,0.00,0.000,6,0.000,0.040,2526,1497,3665,0,0,0,0,0,0
$GC,5051,-0.62,-194.6,674.8,-9.4,550,5055,0.00,2.15,0.00,0.000,4,0.000,0.053,2514,2914,3661,0,0,0,0,0,0
$GC,5074,-0.62,-194.6,676.9,-9.3,551,5078,0.00,2.15,0.00,0.000,6,0.000,0.041,2514,1490,3662,0,0,0,0,0,0
$GC,5401,-0.62,-194.6,711.8,-10.8,567,5405,0.10,2.00,0.00,0.000,4,0.175,0.054,2542,202,3659,0,0,0,0,0,0
$GC,5439,-0.64,-194.6,716.0,-10.6,568,5446,0.00,1.98,0.00,0.000,6,0.000,0.041,2536,1500,3658,0,0,0,0,0,0
$GC,5758,-0.66,-194.6,745.2,-9.4,584,5762,0.00,2.20,0.00,0.000,4,0.000,0.060,2526,2914,3656,0,0,0,0,0,0
$GC,5797,-0.69,-194.6,749.3,-9.6,585,5805,0.00,2.15,0.00,0.000,6,0.000,0.042,2526,1497,3655,0,0,0,0,0,0
$GC,6114,-0.69,-194.6,784.8,-11.7,601,6118,0.00,2.17,0.00,0.000,4,0.000,0.057,2507,2911,3653,0,0,0,0,0,0
$GC,6155,-0.70,-194.6,789.8,-12.1,603,6159,0.00,2.15,0.00,0.000,6,0.000,0.043,2509,1494,3652,0,0,0,0,0,0
$GC,6482,-0.70,-194.6,830.9,-12.3,619,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1494,3650,0,0,0,0,0,0
$GC,6794,-0.70,-194.6,864.3,-10.0,634,6798,0.00,2.17,0.00,0.000,4,0.000,0.057,2492,2904,3648,0,0,0,0,0,0
$GC,6838,-0.70,-194.6,868.9,-9.6,636,6842,0.00,2.15,0.00,0.000,6,0.000,0.044,2494,1498,3647,0,0,0,0,0,0
$GC,7160,-0.70,-194.6,901.5,-10.6,652,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1498,3645,0,0,0,0,0,0
$GC,7470,-0.70,-194.6,937.9,-12.4,667,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1498,3643,0,0,0,0,0,0
$GC,7778,-0.70,-194.6,975.0,-11.7,682,7782,0.00,2.03,0.00,0.000,4,0.000,0.058,2492,200,3641,0,0,0,0,0,0
$GC,7825,-0.69,-194.6,980.7,-12.8,684,7829,0.15,1.98,0.00,0.000,6,0.156,0.046,2524,1496,3641,0,0,0,0,0,0
$STATE,7924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7924,begin apogee
$GC,7932,-0.18,0.0,990.3,9.2,689,8095,0.47,0.00,157.85,1.447,6,0.116,0.000,2683,1862,2884,0,0,0,0,0,0
$STATE,8096,end apogee,CONTROL_FINISHED_OK
$STATE,8096,begin climb
$GC,8100,0.83,194.6,995.3,0.0,696,8289,0.93,2.45,176.48,1.385,4,0.071,0.061,3010,3257,2089,0,0,0,0,0,0
$GC,8300,0.65,194.6,967.5,20.3,706,8306,0.25,2.33,0.00,0.000,6,0.182,0.044,2958,1849,2087,0,0,0,0,0,0
$GC,8619,0.55,194.6,914.4,16.3,721,8621,0.12,0.00,0.00,0.000,6,0.188,0.000,2926,1848,2081,0,0,0,0,0,0
$GC,8926,0.48,194.6,873.7,12.3,736,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1848,2080,0,0,0,0,0,0
$GC,9237,0.41,194.6,835.4,12.5,751,9242,0.15,2.20,0.00,0.000,4,0.171,0.058,2874,3262,2078,0,0,0,0,0,0
$GC,9306,0.47,228.1,828.2,9.4,754,9342,0.00,2.17,29.12,1.313,6,0.000,0.043,2882,1841,1953,0,0,0,0,0,0
$GC,9659,0.52,253.2,795.0,9.7,771,9689,0.00,2.30,23.02,1.275,4,0.000,0.054,2892,437,1851,0,0,0,0,0,0
$GC,9726,0.55,253.2,787.9,10.7,774,9730,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1842,1848,0,0,0,0,0,0
$GC,10055,0.55,253.2,751.6,11.3,790,10059,0.00,2.25,0.00,0.000,4,0.000,0.058,2892,3265,1846,0,0,0,0,0,0
$GC,10133,0.57,253.2,742.0,11.9,793,10140,0.00,2.15,0.00,0.000,6,0.000,0.041,2902,1846,1846,0,0,0,0,0,0
$GC,10450,0.57,253.2,703.7,12.1,809,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1846,1845,0,0,0,0,0,0
$GC,10758,0.59,267.8,670.8,10.1,824,10780,0.00,2.22,13.70,1.171,4,0.000,0.053,2912,439,1791,0,0,0,0,0,0
$GC,10814,0.62,288.1,665.1,9.9,826,10839,0.00,2.20,20.25,1.191,6,0.000,0.041,2912,1861,1708,0,0,0,0,0,0
$GC,11159,0.62,288.1,627.1,11.5,843,11163,0.00,2.17,0.00,0.000,4,0.000,0.057,2912,3249,1704,0,0,0,0,0,0
$GC,11203,0.63,288.1,621.4,12.0,845,11207,0.00,2.12,0.00,0.000,6,0.000,0.040,2922,1847,1704,0,0,0,0,0,0
$GC,11532,0.63,288.1,581.9,12.4,867,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1848,1703,0,0,0,0,0,0
$GC,11859,0.63,288.1,541.9,12.1,898,11863,0.00,2.20,0.00,0.000,4,0.000,0.053,2922,3262,1703,0,0,0,0,0,0
$GC,11890,0.63,288.1,538.1,12.1,900,11894,0.00,2.12,0.00,0.000,6,0.000,0.040,2930,1846,1702,0,0,0,0,0,0
$GC,12216,0.61,288.1,498.9,11.5,930,12220,0.00,2.15,0.00,0.000,4,0.000,0.049,2942,437,1702,0,0,0,0,0,0
$GC,12246,0.61,288.1,495.6,11.5,932,12250,0.00,2.15,0.00,0.000,6,0.000,0.039,2941,1857,1702,0,0,0,0,0,0
$GC,12572,0.59,288.1,456.7,13.0,962,12576,0.00,2.12,0.00,0.000,4,0.000,0.055,2943,3248,1701,0,0,0,0,0,0
$GC,12763,0.59,288.1,432.8,11.9,979,12767,0.00,2.10,0.00,0.000,6,0.000,0.038,2951,1848,1701,0,0,0,0,0,0
$GC,13088,0.55,288.1,385.7,15.8,1009,13089,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1848,1701,0,0,0,0,0,0
$GC,13411,0.53,288.1,344.3,11.0,1039,13417,0.12,0.00,0.00,0.000,6,0.172,0.000,2918,1848,1701,0,0,0,0,0,0
$GC,13737,0.57,288.1,309.4,13.3,1070,13738,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1847,1701,0,0,0,0,0,0
$GC,14058,0.70,359.1,275.1,8.0,1100,14125,0.15,0.00,60.25,0.898,6,0.078,0.000,3007,1847,1419,0,0,0,0,0,0
$GC,14443,0.64,359.1,203.0,20.1,1157,14452,0.22,2.20,0.00,0.000,4,0.150,0.046,2939,3243,1415,0,0,0,0,0,0
$GC,14502,0.72,359.1,195.0,12.4,1166,14511,0.00,2.15,0.00,0.000,6,0.000,0.034,2947,1839,1415,0,0,0,0,0,0
$GC,14831,0.92,462.4,171.3,6.8,1227,14927,0.25,2.25,85.10,0.791,4,0.054,0.044,3081,449,996,0,0,0,0,0,0
$GC,14974,0.85,462.4,141.7,23.2,1248,14983,0.17,2.20,0.00,0.000,6,0.126,0.036,3024,1845,994,0,0,0,0,0,0
$GC,15304,0.85,462.4,76.1,21.1,1309,15314,0.00,2.20,0.00,0.000,4,0.000,0.047,3021,3262,993,0,0,0,0,0,0
$GC,15390,0.95,462.4,61.5,13.3,1324,15398,0.00,2.15,0.00,0.000,6,0.000,0.034,3029,1853,992,0,0,0,0,0,0
$GC,15719,1.04,477.0,34.8,10.1,1385,15737,0.15,2.22,12.55,0.612,4,0.070,0.044,3127,443,938,0,0,0,0,0,0
$GC,15840,1.01,477.0,12.6,17.6,1405,15850,0.15,2.15,0.00,0.000,6,0.129,0.032,3077,1857,937,0,0,0,0,0,0
$STATE,15897,end climb,SURFACE_DEPTH_REACHED
$STATE,15897,begin surface coast
$FINISH,1.1,1.008854
$STATE,15916,end surface coast,CONTROL_FINISHED_OK
$STATE,15916,begin surface
$SM_CCo,15993,0.00,0.000,0,0,935,478.09
$SM_GC,1.82,7.62,0.00,0.00,0.037,0.000,0.000,144,1490,935,-8.04,-0.28,478.09,0,0,0,0,0,0
$IRIDIUM_FIX,2307.44,12347.26,240811,121234
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.83
$INTERNAL_PRESSURE,9.42877
$TCM_TEMP,25.50
$XPDR_PINGS,74
$24V_AH,23.3,28.529
$10V_AH,10.2,18.931
$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,20.925,124.750,578.325,0.000,0.000,61.517,41.129,293.790,18.500,0.000,34.052,3541.655,8509.224,658.684,3472.446,450.453,0.000,1964.480,0.000,3046.549,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,61.200,1446.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,969.483,1452.626,1478.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,80198,1418
$CAP_FILE_SIZE,167493,0
$CFSIZE,260165632,137629696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,302.4,1
$GPS,240811,171415,2312.394,12349.083,73,99.0,92,-3.2