version: 66.09
glider: 166
mission: 6
dive: 111
start: 8 24 111 22 20 44
data:
$ID,166
$MISSION,6
$DIVE,111
$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,-24529.658
$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,40
$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
$GPS1,240811,220507,2310.180,12348.870,38,1.6,38,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.1
$GPS2,240811,222020,2310.152,12348.484,37,1.4,37,-3.2
$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,151.3,186540,-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,16,-0.83,-194.6,0.0,0.0,0,131,0.00,0.00,-112.35,0.000,2,0.000,0.000,154,1498,3183,0,0,0,0,0,0
$GC,134,-0.83,-194.6,5.9,-10.4,15,159,9.02,2.05,-9.27,0.000,4,0.222,0.054,2462,192,3682,0,0,0,0,0,0
$GC,312,-0.60,-194.6,83.2,-34.8,46,321,0.30,2.00,0.00,0.000,6,0.154,0.034,2544,1504,3683,0,0,0,0,0,0
$GC,640,-0.50,-194.6,154.2,-20.6,107,649,0.12,2.05,0.00,0.000,4,0.177,0.044,2585,205,3684,0,0,0,0,0,0
$GC,666,-0.43,-194.6,158.8,-18.7,110,674,0.00,1.98,0.00,0.000,6,0.000,0.034,2577,1502,3684,0,0,0,0,0,0
$GC,993,-0.43,-194.6,207.1,-12.3,171,1001,0.00,2.15,0.00,0.000,4,0.000,0.047,2567,2904,3684,0,0,0,0,0,0
$GC,1034,-0.43,-194.6,211.0,-10.2,177,1044,0.10,2.15,0.00,0.000,6,0.126,0.036,2602,1495,3684,0,0,0,0,0,0
$GC,1367,-0.49,-194.6,238.4,-10.6,238,1375,0.00,2.20,0.00,0.000,4,0.000,0.046,2595,2898,3684,0,0,0,0,0,0
$GC,1430,-0.58,-194.6,246.7,-11.6,249,1439,0.08,2.12,0.00,0.000,6,0.048,0.037,2524,1500,3684,0,0,0,0,0,0
$GC,1765,-0.50,-194.6,307.2,-16.8,282,1770,0.20,2.00,0.00,0.000,4,0.153,0.046,2588,194,3683,0,0,0,0,0,0
$GC,1805,-0.52,-194.6,312.7,-13.1,285,1813,0.00,1.95,0.00,0.000,6,0.000,0.035,2581,1499,3682,0,0,0,0,0,0
$GC,2131,-0.56,-194.6,339.9,-9.7,316,2135,0.00,2.12,0.00,0.000,4,0.000,0.046,2583,2911,3680,0,0,0,0,0,0
$GC,2186,-0.63,-194.6,345.5,-9.6,320,2194,0.12,2.12,0.00,0.000,6,0.082,0.037,2507,1491,3679,0,0,0,0,0,0
$GC,2511,-0.53,-194.6,404.8,-18.7,351,2516,0.22,1.98,0.00,0.000,4,0.155,0.047,2575,205,3678,0,0,0,0,0,0
$GC,2620,-0.57,-194.6,419.4,-11.9,360,2624,0.00,1.92,0.00,0.000,6,0.000,0.036,2572,1505,3678,0,0,0,0,0,0
$GC,2952,-0.59,-194.6,454.5,-10.0,391,2956,0.00,2.10,0.00,0.000,4,0.000,0.048,2562,2907,3675,0,0,0,0,0,0
$GC,2993,-0.63,-194.6,458.6,-10.1,394,2997,0.00,2.12,0.00,0.000,6,0.000,0.038,2562,1495,3675,0,0,0,0,0,0
$GC,3318,-0.65,-194.6,495.9,-12.2,424,3322,0.00,2.17,0.00,0.000,4,0.000,0.050,2550,2911,3673,0,0,0,0,0,0
$GC,3408,-0.70,-194.6,506.4,-11.2,431,3414,0.00,2.12,0.00,0.000,6,0.000,0.039,2549,1496,3671,0,0,0,0,0,0
$GC,3733,-0.70,-194.6,546.0,-12.5,462,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1496,3669,0,0,0,0,0,0
$GC,4053,-0.70,-194.6,579.5,-9.4,492,4057,0.00,2.15,0.00,0.000,4,0.000,0.052,2542,2904,3666,0,0,0,0,0,0
$GC,4111,-0.73,-194.6,585.1,-9.3,496,4118,0.00,2.12,0.00,0.000,6,0.000,0.041,2542,1501,3665,0,0,0,0,0,0
$GC,4431,-0.73,-194.6,622.8,-12.7,518,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1501,3663,0,0,0,0,0,0
$GC,4742,-0.73,-194.6,659.4,-10.6,533,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1501,3660,0,0,0,0,0,0
$GC,5050,-0.73,-194.6,688.5,-9.1,548,5054,0.00,2.15,0.00,0.000,4,0.000,0.059,2530,2901,3657,0,0,0,0,0,0
$GC,5089,-0.75,-194.6,692.0,-9.2,549,5096,0.00,2.12,0.00,0.000,6,0.000,0.041,2529,1500,3657,0,0,0,0,0,0
$GC,5406,-0.75,-194.6,726.3,-11.4,565,5410,0.00,2.20,0.00,0.000,4,0.000,0.057,2516,2909,3655,0,0,0,0,0,0
$GC,5461,-0.77,-194.6,732.7,-10.9,567,5467,0.00,2.15,0.00,0.000,6,0.000,0.044,2515,1492,3654,0,0,0,0,0,0
$GC,5778,-0.77,-194.6,768.4,-10.8,583,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1493,3652,0,0,0,0,0,0
$GC,6086,-0.77,-194.6,801.7,-11.1,598,6090,0.00,2.22,0.00,0.000,4,0.000,0.058,2508,2905,3650,0,0,0,0,0,0
$GC,6108,-0.77,-194.6,804.3,-11.4,599,6112,0.00,2.15,0.00,0.000,6,0.000,0.044,2507,1496,3649,0,0,0,0,0,0
$GC,6438,-0.75,-194.6,838.4,-10.1,615,6442,0.00,2.00,0.00,0.000,4,0.000,0.057,2512,199,3646,0,0,0,0,0,0
$GC,6493,-0.73,-194.6,844.5,-10.7,617,6497,0.00,1.98,0.00,0.000,6,0.000,0.044,2502,1494,3645,0,0,0,0,0,0
$GC,6815,-0.70,-194.6,874.9,-9.3,633,6819,0.00,2.17,0.00,0.000,4,0.000,0.057,2491,2915,3643,0,0,0,0,0,0
$GC,6851,-0.68,-194.6,878.2,-9.6,634,6858,0.12,2.17,0.00,0.000,6,0.168,0.044,2524,1488,3643,0,0,0,0,0,0
$GC,7171,-0.68,-194.6,904.7,-8.6,650,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1488,3641,0,0,0,0,0,0
$GC,7478,-0.68,-194.6,934.1,-9.9,665,7482,0.00,2.22,0.00,0.000,4,0.000,0.059,2514,2907,3639,0,0,0,0,0,0
$GC,7533,-0.71,-194.6,940.0,-10.3,667,7540,0.00,2.17,0.00,0.000,6,0.000,0.045,2514,1492,3638,0,0,0,0,0,0
$GC,7849,-0.71,-194.6,978.0,-12.6,683,7853,0.00,2.20,0.00,0.000,4,0.000,0.060,2502,2904,3637,0,0,0,0,0,0
$GC,7888,-0.71,-194.6,983.0,-13.1,684,7895,0.00,2.15,0.00,0.000,6,0.000,0.045,2502,1500,3636,0,0,0,0,0,0
$STATE,7955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7955,begin apogee
$GC,7961,-0.18,0.0,992.0,13.3,688,8125,0.57,0.00,157.45,1.457,6,0.128,0.000,2681,1853,2883,0,0,0,0,0,0
$STATE,8126,end apogee,CONTROL_FINISHED_OK
$STATE,8126,begin climb
$GC,8128,0.83,194.6,1001.3,0.0,695,8313,0.95,2.40,176.52,1.395,4,0.075,0.061,3010,3254,2089,0,0,0,0,0,0
$GC,8421,0.66,194.6,960.1,19.9,709,8426,0.22,2.25,0.00,0.000,6,0.185,0.045,2963,1850,2083,0,0,0,0,0,0
$GC,8740,0.55,194.6,908.2,17.1,724,8744,0.15,2.25,0.00,0.000,4,0.181,0.061,2914,3252,2079,0,0,0,0,0,0
$GC,8795,0.52,194.6,899.2,13.8,726,8799,0.00,2.15,0.00,0.000,6,0.000,0.044,2923,1846,2079,0,0,0,0,0,0
$GC,9113,0.47,194.6,854.4,14.9,741,9117,0.00,2.20,0.00,0.000,4,0.000,0.054,2933,436,2078,0,0,0,0,0,0
$GC,9160,0.42,194.6,847.1,15.6,743,9165,0.17,2.20,0.00,0.000,6,0.154,0.044,2881,1856,2076,0,0,0,0,0,0
$GC,9487,0.42,194.6,808.1,11.5,759,9491,0.00,2.17,0.00,0.000,4,0.000,0.058,2879,3252,2075,0,0,0,0,0,0
$GC,9510,0.42,194.6,805.3,11.3,760,9514,0.00,2.15,0.00,0.000,6,0.000,0.042,2887,1848,2075,0,0,0,0,0,0
$GC,9831,0.42,199.6,770.1,10.5,776,9835,0.00,2.17,0.00,0.000,4,0.000,0.052,2898,434,2074,0,0,0,0,0,0
$GC,9858,0.43,204.0,767.1,10.5,777,9876,0.00,2.17,7.05,1.073,6,0.000,0.042,2897,1845,2052,0,0,0,0,0,0
$GC,10187,0.45,224.3,733.1,9.9,793,10213,0.00,2.28,19.67,1.248,4,0.000,0.057,2898,3258,1968,0,0,0,0,0,0
$GC,10246,0.46,234.8,726.4,10.3,795,10262,0.00,2.15,10.98,1.143,6,0.000,0.041,2907,1850,1926,0,0,0,0,0,0
$GC,10582,0.46,234.8,690.4,11.1,812,10586,0.00,2.20,0.00,0.000,4,0.000,0.051,2918,436,1919,0,0,0,0,0,0
$GC,10622,0.46,234.8,685.3,11.6,814,10627,0.00,2.20,0.00,0.000,6,0.000,0.041,2918,1853,1919,0,0,0,0,0,0
$GC,10952,0.45,234.8,644.3,12.9,830,10956,0.00,2.20,0.00,0.000,4,0.000,0.057,2918,3267,1918,0,0,0,0,0,0
$GC,11024,0.45,234.8,634.2,12.9,833,11029,0.15,2.15,0.00,0.000,6,0.166,0.042,2889,1850,1918,0,0,0,0,0,0
$GC,11353,0.53,273.4,601.8,9.2,849,11398,0.00,2.30,34.25,1.196,4,0.000,0.053,2898,440,1767,0,0,0,0,0,0
$GC,11463,0.65,338.7,592.8,8.2,857,11530,0.17,2.22,59.10,1.169,6,0.070,0.041,2976,1851,1502,0,0,0,0,0,0
$GC,11856,0.58,338.7,531.1,16.4,894,11861,0.17,2.22,0.00,0.000,4,0.164,0.055,2921,3258,1496,0,0,0,0,0,0
$GC,11930,0.64,338.7,521.8,10.7,900,11934,0.00,2.15,0.00,0.000,6,0.000,0.041,2931,1848,1496,0,0,0,0,0,0
$GC,12256,0.64,338.7,478.9,15.2,930,12260,0.00,2.15,0.00,0.000,4,0.000,0.050,2938,442,1494,0,0,0,0,0,0
$GC,12311,0.67,338.7,470.2,14.7,934,12318,0.00,2.17,0.00,0.000,6,0.000,0.039,2939,1854,1493,0,0,0,0,0,0
$GC,12636,0.67,338.7,424.4,13.9,965,12640,0.00,2.17,0.00,0.000,4,0.000,0.055,2939,3262,1492,0,0,0,0,0,0
$GC,12767,0.70,338.7,407.1,13.3,976,12774,0.00,2.12,0.00,0.000,6,0.000,0.040,2949,1846,1492,0,0,0,0,0,0
$GC,13092,0.70,338.7,366.2,11.9,1007,13096,0.00,2.15,0.00,0.000,4,0.000,0.050,2964,442,1492,0,0,0,0,0,0
$GC,13172,0.72,338.7,356.0,13.5,1013,13180,0.00,2.15,0.00,0.000,6,0.000,0.039,2965,1862,1491,0,0,0,0,0,0
$GC,13499,0.72,338.7,306.0,14.7,1044,13503,0.00,2.12,0.00,0.000,4,0.000,0.052,2968,3259,1491,0,0,0,0,0,0
$GC,13596,0.74,338.7,292.6,12.9,1052,13600,0.00,2.12,0.00,0.000,6,0.000,0.037,2978,1839,1491,0,0,0,0,0,0
$GC,13922,0.73,338.7,253.3,10.9,1082,13926,0.00,2.12,0.00,0.000,4,0.000,0.048,2989,444,1491,0,0,0,0,0,0
$GC,13980,0.73,338.7,246.2,13.4,1089,13989,0.00,2.15,0.00,0.000,6,0.000,0.037,2989,1847,1491,0,0,0,0,0,0
$GC,14311,0.70,338.7,190.0,18.8,1150,14319,0.00,2.17,0.00,0.000,4,0.000,0.050,2988,3261,1491,0,0,0,0,0,0
$GC,14397,0.70,338.7,173.9,17.1,1165,14406,0.00,2.15,0.00,0.000,6,0.000,0.036,2996,1844,1491,0,0,0,0,0,0
$GC,14727,0.81,426.4,130.1,7.4,1226,14807,0.00,2.25,71.75,0.774,4,0.000,0.045,3007,443,1143,0,0,0,0,0,0
$GC,14851,0.85,426.4,117.8,11.1,1244,14859,0.00,2.20,0.00,0.000,6,0.000,0.034,3007,1846,1142,0,0,0,0,0,0
$GC,15178,0.91,426.4,61.5,14.4,1305,15187,0.00,2.17,0.00,0.000,4,0.000,0.047,3007,3252,1141,0,0,0,0,0,0
$GC,15217,1.00,426.4,56.6,11.9,1311,15225,0.10,2.15,0.00,0.000,6,0.042,0.034,3097,1842,1141,0,0,0,0,0,0
$GC,15547,0.95,426.4,6.3,17.1,1372,15556,0.15,2.17,0.00,0.000,4,0.153,0.043,3064,448,1140,0,0,0,0,0,0
$STATE,15568,end climb,SURFACE_DEPTH_REACHED
$STATE,15568,begin surface coast
$FINISH,1.1,1.021672
$STATE,15585,end surface coast,CONTROL_FINISHED_OK
$STATE,15585,begin surface
$SM_CCo,15666,0.00,0.000,0,0,1138,428.29
$SM_GC,1.94,7.72,0.00,0.00,0.044,0.000,0.000,154,1530,1138,-8.06,0.88,428.29,0,0,0,0,0,0
$IRIDIUM_FIX,2302.75,12351.16,240811,222252
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.76
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,24.80
$XPDR_PINGS,71
$24V_AH,23.2,28.981
$10V_AH,10.2,19.252
$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,20.850,154.775,536.775,0.000,0.000,96.264,113.422,379.043,17.750,0.000,38.375,3459.406,8289.544,646.004,3705.020,460.721,0.000,2005.096,0.000,3083.984,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,61.200,1456.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,941.625,1409.194,1465.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330200
$DATA_FILE_SIZE,76902,1378
$CAP_FILE_SIZE,177460,0
$CFSIZE,260165632,137445376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.221,278.1,1
$GPS,250811,024336,2308.247,12348.026,63,1.4,68,-3.2