version: 66.09
glider: 166
mission: 6
dive: 96
start: 8 21 111 23 29 19
data:
$ID,166
$MISSION,6
$DIVE,96
$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,250
$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,-24510.596
$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,48
$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
$GPS1,210811,232126,2335.503,12353.014,46,99.0,65,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.4
$GPS2,210811,232852,2335.538,12352.928,15,99.0,34,-3.3
$SPEED_LIMITS,0.184,0.333
$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,184.3,232815,-14.7,-10.645
$D_GRID,3131
$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,-243.3,0.0,0.0,0,127,0.00,0.00,-107.88,0.000,2,0.000,0.000,141,1498,3051,0,0,0,0,0,0
$GC,130,-0.83,-243.3,5.5,-10.1,15,163,9.05,2.00,-15.45,0.000,4,0.226,0.055,2475,195,3878,0,0,0,0,0,0
$GC,267,-0.54,-243.3,65.9,-39.2,38,275,0.32,1.98,0.00,0.000,6,0.164,0.032,2564,1496,3879,0,0,0,0,0,0
$GC,593,-0.42,-243.3,145.2,-21.9,99,601,0.15,0.00,0.00,0.000,6,0.167,0.000,2606,1499,3881,0,0,0,0,0,0
$GC,923,-0.40,-243.3,194.4,-14.8,160,932,0.00,2.15,0.00,0.000,4,0.000,0.041,2597,2904,3882,0,0,0,0,0,0
$GC,972,-0.44,-243.3,200.9,-12.5,168,980,0.00,2.12,0.00,0.000,6,0.000,0.032,2598,1488,3881,0,0,0,0,0,0
$GC,1299,-0.44,-243.3,247.5,-13.7,229,1307,0.00,2.15,0.00,0.000,4,0.000,0.041,2589,2902,3881,0,0,0,0,0,0
$GC,1357,-0.49,-243.3,254.4,-11.0,236,1361,0.00,2.10,0.00,0.000,6,0.000,0.031,2590,1486,3881,0,0,0,0,0,0
$GC,1683,-0.49,-243.3,296.9,-11.7,266,1687,0.00,2.12,0.00,0.000,4,0.000,0.041,2580,2900,3879,0,0,0,0,0,0
$GC,1722,-0.53,-243.3,301.4,-10.9,269,1726,0.00,2.08,0.00,0.000,6,0.000,0.033,2582,1501,3879,0,0,0,0,0,0
$GC,2053,-0.53,-243.3,337.8,-10.7,300,2057,0.00,2.12,0.00,0.000,4,0.000,0.044,2575,2901,3878,0,0,0,0,0,0
$GC,2115,-0.58,-243.3,343.4,-8.9,305,2119,0.00,2.08,0.00,0.000,6,0.000,0.034,2576,1488,3878,0,0,0,0,0,0
$GC,2440,-0.58,-243.3,377.2,-11.0,335,2444,0.00,2.15,0.00,0.000,4,0.000,0.045,2569,2903,3876,0,0,0,0,0,0
$GC,2474,-0.60,-243.3,380.9,-10.8,337,2482,0.00,2.10,0.00,0.000,6,0.000,0.034,2572,1490,3876,0,0,0,0,0,0
$GC,2799,-0.60,-243.3,419.3,-11.2,368,2803,0.00,2.15,0.00,0.000,4,0.000,0.046,2567,2905,3874,0,0,0,0,0,0
$GC,2851,-0.63,-243.3,424.4,-10.1,372,2855,0.00,2.08,0.00,0.000,6,0.000,0.036,2568,1495,3874,0,0,0,0,0,0
$GC,3176,-0.63,-243.3,462.8,-11.8,402,3180,0.00,2.15,0.00,0.000,4,0.000,0.048,2557,2904,3872,0,0,0,0,0,0
$GC,3251,-0.67,-243.3,471.0,-10.5,408,3255,0.00,2.08,0.00,0.000,6,0.000,0.037,2557,1500,3871,0,0,0,0,0,0
$GC,3577,-0.66,-243.3,510.9,-11.4,438,3581,0.00,2.15,0.00,0.000,4,0.000,0.051,2546,2896,3869,0,0,0,0,0,0
$GC,3609,-0.66,-243.3,514.9,-11.2,440,3616,0.00,2.10,0.00,0.000,6,0.000,0.038,2547,1475,3868,0,0,0,0,0,0
$GC,3935,-0.66,-243.3,553.3,-11.6,471,3939,0.00,2.17,0.00,0.000,4,0.000,0.051,2538,2895,3866,0,0,0,0,0,0
$GC,4060,-0.67,-243.3,566.6,-10.4,481,4067,0.00,2.08,0.00,0.000,6,0.000,0.041,2538,1503,3865,0,0,0,0,0,0
$GC,4384,-0.67,-243.3,606.3,-12.2,510,4388,0.00,1.98,0.00,0.000,4,0.000,0.052,2538,195,3862,0,0,0,0,0,0
$GC,4430,-0.66,-243.3,612.2,-12.8,512,4434,0.00,1.98,0.00,0.000,6,0.000,0.039,2528,1503,3862,0,0,0,0,0,0
$GC,4764,-0.64,-243.3,653.1,-12.0,528,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1503,3860,0,0,0,0,0,0
$GC,5072,-0.62,-243.3,687.1,-10.6,543,5076,0.00,2.17,0.00,0.000,4,0.000,0.062,2515,2911,3857,0,0,0,0,0,0
$GC,5122,-0.62,-243.3,692.3,-9.8,545,5126,0.00,2.12,0.00,0.000,6,0.000,0.042,2515,1503,3857,0,0,0,0,0,0
$GC,5446,-0.59,-243.3,725.3,-10.2,561,5448,0.12,0.00,0.00,0.000,6,0.158,0.000,2549,1503,3854,0,0,0,0,0,0
$GC,5754,-0.62,-243.3,751.7,-8.8,576,5758,0.00,2.17,0.00,0.000,4,0.000,0.057,2541,2905,3851,0,0,0,0,0,0
$GC,5817,-0.67,-243.3,757.4,-8.8,578,5824,0.00,2.10,0.00,0.000,6,0.000,0.043,2542,1498,3851,0,0,0,0,0,0
$GC,6134,-0.69,-243.3,788.1,-9.7,594,6138,0.00,2.17,0.00,0.000,4,0.000,0.057,2529,2900,3848,0,0,0,0,0,0
$GC,6186,-0.73,-243.3,792.6,-8.9,596,6190,0.00,2.12,0.00,0.000,6,0.000,0.043,2531,1491,3847,0,0,0,0,0,0
$GC,6507,-0.73,-243.3,823.3,-9.7,612,6511,0.00,2.17,0.00,0.000,4,0.000,0.057,2518,2900,3844,0,0,0,0,0,0
$GC,6529,-0.73,-243.3,825.7,-9.8,613,6533,0.00,2.10,0.00,0.000,6,0.000,0.044,2520,1503,3844,0,0,0,0,0,0
$GC,6858,-0.73,-243.3,862.4,-11.9,629,6862,0.00,2.17,0.00,0.000,4,0.000,0.058,2510,2901,3841,0,0,0,0,0,0
$GC,6905,-0.73,-243.3,868.0,-12.0,631,6909,0.00,2.12,0.00,0.000,6,0.000,0.044,2511,1494,3841,0,0,0,0,0,0
$GC,7234,-0.72,-243.3,909.4,-12.3,647,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1494,3839,0,0,0,0,0,0
$GC,7541,-0.72,-243.3,944.8,-11.1,662,7545,0.00,2.20,0.00,0.000,4,0.000,0.061,2495,2902,3837,0,0,0,0,0,0
$GC,7589,-0.72,-243.3,949.6,-10.6,664,7593,0.00,2.12,0.00,0.000,6,0.000,0.044,2496,1496,3836,0,0,0,0,0,0
$GC,7918,-0.69,-243.3,984.6,-10.5,680,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1495,3835,0,0,0,0,0,0
$STATE,7975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7975,begin apogee
$GC,7981,-0.18,0.0,990.9,10.3,683,8184,0.57,0.00,197.30,1.436,6,0.122,0.000,2681,1848,2883,0,0,0,0,0,0
$STATE,8184,end apogee,CONTROL_FINISHED_OK
$STATE,8185,begin climb
$GC,8187,0.83,243.3,996.4,0.0,692,8411,0.93,0.00,218.27,1.368,6,0.057,0.000,3014,1848,1892,0,0,0,0,0,0
$GC,8711,0.63,243.3,888.5,24.0,718,8716,0.25,2.25,0.00,0.000,4,0.179,0.063,2935,3257,1884,0,0,0,0,0,0
$GC,8774,0.55,243.3,876.4,16.5,721,8778,0.00,2.20,0.00,0.000,6,0.000,0.044,2943,1841,1883,0,0,0,0,0,0
$GC,9103,0.46,243.3,823.4,16.3,737,9108,0.17,2.22,0.00,0.000,4,0.165,0.056,2885,3252,1882,0,0,0,0,0,0
$GC,9130,0.41,243.3,819.0,14.6,738,9134,0.00,2.15,0.00,0.000,6,0.000,0.041,2894,1849,1881,0,0,0,0,0,0
$GC,9453,0.39,243.3,782.1,11.5,754,9457,0.00,2.17,0.00,0.000,4,0.000,0.053,2904,442,1880,0,0,0,0,0,0
$GC,9502,0.37,243.3,775.9,11.7,756,9507,0.15,2.15,0.00,0.000,6,0.151,0.041,2862,1851,1878,0,0,0,0,0,0
$GC,9820,0.50,328.3,749.8,8.1,771,9907,0.12,2.38,75.10,1.282,4,0.087,0.058,2926,3261,1545,0,0,0,0,0,0
$GC,9949,0.50,328.3,733.1,12.9,776,9956,0.00,2.22,0.00,0.000,6,0.000,0.042,2936,1844,1543,0,0,0,0,0,0
$GC,10266,0.45,328.3,688.5,14.3,792,10271,0.15,2.20,0.00,0.000,4,0.165,0.054,2904,434,1540,0,0,0,0,0,0
$GC,10317,0.47,328.3,682.2,11.1,794,10321,0.00,2.20,0.00,0.000,6,0.000,0.041,2904,1851,1538,0,0,0,0,0,0
$GC,10638,0.47,328.3,642.8,12.7,810,10642,0.00,2.20,0.00,0.000,4,0.000,0.057,2904,3261,1538,0,0,0,0,0,0
$GC,10733,0.50,328.3,631.0,12.3,814,10738,0.00,2.15,0.00,0.000,6,0.000,0.041,2913,1837,1537,0,0,0,0,0,0
$GC,11057,0.50,328.3,591.4,11.3,833,11061,0.00,2.15,0.00,0.000,4,0.000,0.051,2924,442,1537,0,0,0,0,0,0
$GC,11127,0.50,328.3,583.9,11.2,839,11131,0.00,2.15,0.00,0.000,6,0.000,0.038,2924,1865,1536,0,0,0,0,0,0
$GC,11452,0.48,328.3,546.2,11.6,869,11456,0.00,2.12,0.00,0.000,4,0.000,0.054,2924,3263,1536,0,0,0,0,0,0
$GC,11483,0.48,328.3,542.7,12.1,871,11488,0.12,2.12,0.00,0.000,6,0.166,0.040,2901,1844,1536,0,0,0,0,0,0
$GC,11809,0.53,349.1,510.2,10.0,901,11832,0.00,2.22,18.00,1.075,4,0.000,0.050,2910,443,1460,0,0,0,0,0,0
$GC,11882,0.59,361.6,502.9,10.3,907,11900,0.00,2.15,12.25,1.009,6,0.000,0.037,2910,1859,1409,0,0,0,0,0,0
$GC,12220,0.63,372.5,466.6,10.3,938,12237,0.10,2.17,10.88,0.963,4,0.099,0.053,2969,3258,1364,0,0,0,0,0,0
$GC,12287,0.59,372.5,456.8,17.3,943,12291,0.15,2.15,0.00,0.000,6,0.168,0.038,2938,1840,1364,0,0,0,0,0,0
$GC,12614,0.59,372.5,413.1,13.6,973,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1840,1364,0,0,0,0,0,0
$GC,12931,0.59,372.5,369.5,14.0,1003,12935,0.00,2.15,0.00,0.000,4,0.000,0.048,2948,436,1364,0,0,0,0,0,0
$GC,12971,0.59,372.5,364.0,13.2,1006,12975,0.00,2.12,0.00,0.000,6,0.000,0.036,2947,1854,1363,0,0,0,0,0,0
$GC,13297,0.59,372.5,321.0,12.3,1036,13298,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1854,1362,0,0,0,0,0,0
$GC,13620,0.59,372.5,281.1,12.7,1066,13624,0.00,2.10,0.00,0.000,4,0.000,0.050,2955,3254,1362,0,0,0,0,0,0
$GC,13641,0.59,372.5,277.6,12.9,1067,13649,0.00,2.10,0.00,0.000,6,0.000,0.036,2962,1845,1363,0,0,0,0,0,0
$GC,13969,0.59,372.5,233.9,12.4,1109,13978,0.00,2.12,0.00,0.000,4,0.000,0.047,2973,452,1362,0,0,0,0,0,0
$GC,14017,0.59,372.5,227.6,12.5,1117,14026,0.10,2.12,0.00,0.000,6,0.115,0.036,2938,1856,1362,0,0,0,0,0,0
$GC,14349,0.76,455.3,197.7,8.2,1178,14425,0.15,0.00,68.72,0.816,6,0.072,0.000,3027,1858,1027,0,0,0,0,0,0
$GC,14747,0.71,455.3,129.7,18.2,1248,14756,0.17,2.20,0.00,0.000,4,0.144,0.044,2987,450,1024,0,0,0,0,0,0
$GC,14771,0.69,455.3,125.8,17.1,1251,14781,0.00,2.15,0.00,0.000,6,0.000,0.034,2983,1850,1023,0,0,0,0,0,0
$GC,15100,0.92,565.6,93.6,7.4,1312,15195,0.15,0.00,88.70,0.710,6,0.076,0.000,3075,1853,575,0,0,0,0,0,0
$GC,15516,0.92,565.6,27.9,15.3,1385,15525,0.12,2.22,0.00,0.000,4,0.151,0.044,3050,440,570,0,0,0,0,0,0
$GC,15551,0.97,565.6,23.5,12.9,1390,15559,0.00,2.15,0.00,0.000,6,0.000,0.032,3050,1857,569,0,0,0,0,0,0
$STATE,15757,end climb,SURFACE_DEPTH_REACHED
$STATE,15757,begin surface coast
$FINISH,1.0,1.001320
$STATE,15790,end surface coast,CONTROL_FINISHED_OK
$STATE,15790,begin surface
$SM_CCo,15807,39.05,0.411,1,0,455,595.83
$SM_GC,1.83,0.00,0.00,39.05,0.000,0.000,0.411,127,1498,455,-8.18,-0.06,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2328.57,12355.75,210811,181831
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.52
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,26.00
$XPDR_PINGS,71
$24V_AH,23.3,25.461
$10V_AH,10.2,16.786
$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,20.575,138.125,689.225,39.050,0.000,28.746,20.451,218.137,17.750,0.000,36.413,3576.553,8025.602,787.039,3451.055,445.470,0.000,2165.397,0.000,3161.901,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,62.730,1435.905,410.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.741,1468.398,1559.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330248
$DATA_FILE_SIZE,80025,1434
$CAP_FILE_SIZE,172593,0
$CFSIZE,260165632,138792960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.128,356.6,1
$GPS,220811,035527,2333.652,12352.478,54,2.5,73,-3.3