version: 66.09
glider: 166
mission: 6
dive: 163
start: 9 3 111 12 17 56
data:
$ID,166
$MISSION,6
$DIVE,163
$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,340
$T_MISSION,370
$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,160
$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,450
$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,-24602.268
$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,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,46
$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
$GPS1,030911,120206,2129.127,12401.506,41,1.1,52,-2.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.3
$GPS2,030911,121732,2128.846,12401.803,13,1.8,13,-2.8
$SPEED_LIMITS,0.168,0.265
$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,320.7,3770,-17.2,-9.706
$D_GRID,4800
$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,-0.68,-155.7,0.0,0.0,0,132,0.00,0.00,-113.15,0.000,2,0.000,0.000,122,1488,3252,0,0,0,0,0,0
$GC,135,-0.68,-155.7,6.6,-12.0,16,159,9.50,2.17,-4.95,0.000,4,0.230,0.051,2505,2903,3519,0,0,0,0,0,0
$GC,220,-0.68,-155.7,43.2,-30.6,30,229,0.00,2.15,0.00,0.000,6,0.000,0.035,2501,1510,3521,0,0,0,0,0,0
$GC,547,-0.68,-155.7,133.4,-25.2,91,555,0.00,2.03,0.00,0.000,4,0.000,0.041,2497,192,3521,0,0,0,0,0,0
$GC,601,-0.68,-155.7,147.8,-25.3,100,610,0.10,1.98,0.00,0.000,6,0.154,0.034,2519,1494,3521,0,0,0,0,0,0
$GC,931,-0.68,-155.7,212.3,-19.0,161,939,0.00,2.15,0.00,0.000,4,0.000,0.043,2511,2903,3522,0,0,0,0,0,0
$GC,953,-0.68,-155.7,216.5,-19.5,164,961,0.00,2.15,0.00,0.000,6,0.000,0.035,2516,1501,3521,0,0,0,0,0,0
$GC,1289,-0.68,-155.7,271.7,-15.2,213,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1500,3522,0,0,0,0,0,0
$GC,1612,-0.68,-155.7,325.7,-15.8,243,1616,0.00,2.03,0.00,0.000,4,0.000,0.047,2517,199,3521,0,0,0,0,0,0
$GC,1737,-0.68,-155.7,347.2,-16.1,254,1740,0.00,1.95,0.00,0.000,6,0.000,0.034,2509,1508,3521,0,0,0,0,0,0
$GC,2067,-0.68,-155.7,396.1,-13.2,285,2071,0.00,2.03,0.00,0.000,4,0.000,0.047,2513,195,3518,0,0,0,0,0,0
$GC,2094,-0.68,-155.7,400.0,-13.7,287,2102,0.00,1.98,0.00,0.000,6,0.000,0.036,2504,1500,3519,0,0,0,0,0,0
$GC,2422,-0.68,-155.7,440.5,-12.6,318,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1500,3516,0,0,0,0,0,0
$GC,2741,-0.68,-155.7,480.5,-14.1,348,2745,0.00,2.03,0.00,0.000,4,0.000,0.049,2520,206,3514,0,0,0,0,0,0
$GC,2779,-0.68,-155.7,486.7,-14.8,351,2786,0.00,1.98,0.00,0.000,6,0.000,0.039,2510,1500,3513,0,0,0,0,0,0
$GC,3104,-0.68,-155.7,532.1,-12.8,382,3108,0.00,2.03,0.00,0.000,4,0.000,0.049,2510,205,3510,0,0,0,0,0,0
$GC,3142,-0.68,-155.7,537.4,-13.3,385,3149,0.00,1.98,0.00,0.000,6,0.000,0.038,2501,1499,3510,0,0,0,0,0,0
$GC,3468,-0.68,-155.7,577.7,-12.4,416,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1499,3507,0,0,0,0,0,0
$GC,3793,-0.68,-155.7,620.1,-13.8,440,3797,0.00,2.15,0.00,0.000,4,0.000,0.053,2490,2904,3504,0,0,0,0,0,0
$GC,3844,-0.68,-155.7,627.0,-13.0,442,3849,0.12,2.12,0.00,0.000,6,0.161,0.041,2524,1501,3503,0,0,0,0,0,0
$GC,4160,-0.68,-155.7,663.2,-11.4,457,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1500,3500,0,0,0,0,0,0
$GC,4469,-0.68,-155.7,695.6,-9.8,472,4473,0.00,2.22,0.00,0.000,4,0.000,0.056,2516,2914,3497,0,0,0,0,0,0
$GC,4500,-0.68,-155.7,698.3,-9.7,473,4504,0.00,2.15,0.00,0.000,6,0.000,0.043,2516,1495,3497,0,0,0,0,0,0
$GC,4816,-0.68,-155.7,727.6,-8.8,488,4820,0.00,2.00,0.00,0.000,4,0.000,0.054,2510,199,3494,0,0,0,0,0,0
$GC,4832,-0.68,-155.7,729.4,-8.7,488,4839,0.00,2.00,0.00,0.000,6,0.000,0.041,2498,1513,3493,0,0,0,0,0,0
$GC,5151,-0.68,-155.7,759.2,-9.4,504,5155,0.00,2.15,0.00,0.000,4,0.000,0.054,2484,2907,3491,0,0,0,0,0,0
$GC,5172,-0.68,-155.7,761.6,-9.5,505,5177,0.12,2.15,0.00,0.000,6,0.163,0.041,2519,1495,3491,0,0,0,0,0,0
$GC,5497,-0.68,-155.7,785.7,-7.4,521,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1496,3488,0,0,0,0,0,0
$GC,5803,-0.68,-155.7,806.6,-6.7,536,5807,0.00,2.20,0.00,0.000,4,0.000,0.057,2510,2901,3485,0,0,0,0,0,0
$GC,5873,-0.68,-155.7,811.3,-6.7,539,5876,0.00,2.15,0.00,0.000,6,0.000,0.043,2509,1499,3484,0,0,0,0,0,0
$GC,6208,-0.68,-155.7,836.7,-7.9,555,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1498,3483,0,0,0,0,0,0
$GC,6515,-0.68,-155.7,863.2,-9.1,570,6519,0.00,2.20,0.00,0.000,4,0.000,0.058,2500,2906,3480,0,0,0,0,0,0
$GC,6547,-0.68,-155.7,866.2,-9.1,571,6554,0.00,2.17,0.00,0.000,6,0.000,0.044,2501,1493,3480,0,0,0,0,0,0
$GC,6867,-0.68,-155.7,896.5,-9.5,587,6871,0.00,2.22,0.00,0.000,4,0.000,0.058,2492,2910,3477,0,0,0,0,0,0
$GC,6905,-0.68,-155.7,900.7,-9.6,588,6913,0.12,2.17,0.00,0.000,6,0.161,0.044,2526,1494,3477,0,0,0,0,0,0
$GC,7224,-0.68,-155.7,924.9,-7.3,604,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1494,3476,0,0,0,0,0,0
$GC,7531,-0.68,-155.7,945.5,-6.3,619,7535,0.00,2.22,0.00,0.000,4,0.000,0.060,2519,2910,3475,0,0,0,0,0,0
$GC,7631,-0.68,-155.7,951.7,-6.2,623,7638,0.00,2.17,0.00,0.000,6,0.000,0.046,2518,1500,3474,0,0,0,0,0,0
$GC,7950,-0.68,-155.7,973.5,-7.4,639,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1499,3472,0,0,0,0,0,0
$STATE,8172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8172,begin apogee
$GC,8178,-0.14,0.0,991.5,8.3,650,8311,0.52,0.00,124.78,1.471,6,0.122,0.000,2696,1847,2884,0,0,0,0,0,0
$STATE,8312,end apogee,CONTROL_FINISHED_OK
$STATE,8312,begin climb
$GC,8315,0.68,155.7,994.7,0.0,656,8467,0.77,0.00,143.80,1.410,6,0.071,0.000,2964,1847,2248,0,0,0,0,0,0
$GC,8775,0.68,155.7,942.8,12.9,679,8779,0.00,2.28,0.00,0.000,4,0.000,0.063,2964,3263,2241,0,0,0,0,0,0
$GC,8820,0.68,155.7,936.1,14.1,681,8824,0.00,2.20,0.00,0.000,6,0.000,0.047,2974,1852,2239,0,0,0,0,0,0
$GC,9147,0.68,155.7,890.5,14.2,697,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1852,2238,0,0,0,0,0,0
$GC,9459,0.68,155.7,846.3,14.7,712,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1852,2235,0,0,0,0,0,0
$GC,9766,0.68,155.7,800.0,15.1,727,9770,0.00,2.22,0.00,0.000,4,0.000,0.058,2974,3254,2235,0,0,0,0,0,0
$GC,9821,0.68,155.7,790.6,16.4,729,9826,0.00,2.17,0.00,0.000,6,0.000,0.044,2983,1843,2234,0,0,0,0,0,0
$GC,10145,0.68,155.7,736.1,17.0,745,10149,0.00,2.22,0.00,0.000,4,0.000,0.057,2983,3257,2233,0,0,0,0,0,0
$GC,10169,0.68,155.7,731.7,17.1,746,10173,0.00,2.17,0.00,0.000,6,0.000,0.043,2991,1836,2232,0,0,0,0,0,0
$GC,10498,0.68,155.7,674.7,16.8,762,10502,0.00,2.22,0.00,0.000,4,0.000,0.056,2991,3255,2232,0,0,0,0,0,0
$GC,10611,0.68,155.7,656.1,15.5,767,10616,0.12,2.12,0.00,0.000,6,0.204,0.042,2971,1851,2232,0,0,0,0,0,0
$GC,10937,0.68,155.7,613.1,12.4,783,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1852,2232,0,0,0,0,0,0
$GC,11254,0.68,155.7,572.6,13.1,807,11258,0.00,2.20,0.00,0.000,4,0.000,0.054,2969,3258,2231,0,0,0,0,0,0
$GC,11318,0.68,155.7,562.9,15.8,812,11322,0.00,2.15,0.00,0.000,6,0.000,0.041,2977,1847,2230,0,0,0,0,0,0
$GC,11643,0.68,155.7,512.7,14.3,842,11648,0.00,2.20,0.00,0.000,4,0.000,0.053,2974,3259,2230,0,0,0,0,0,0
$GC,11711,0.68,155.7,503.2,14.0,847,11718,0.00,2.15,0.00,0.000,6,0.000,0.041,2983,1844,2229,0,0,0,0,0,0
$GC,12036,0.68,155.7,465.0,11.9,878,12040,0.00,2.12,0.00,0.000,4,0.000,0.050,2993,445,2230,0,0,0,0,0,0
$GC,12067,0.68,155.7,461.7,11.6,880,12071,0.00,2.15,0.00,0.000,6,0.000,0.041,2993,1854,2229,0,0,0,0,0,0
$GC,12392,0.68,155.7,423.5,13.4,910,12396,0.00,2.15,0.00,0.000,4,0.000,0.055,2993,3257,2229,0,0,0,0,0,0
$GC,12561,0.68,155.7,397.6,15.9,925,12566,0.15,2.12,0.00,0.000,6,0.185,0.040,2965,1851,2229,0,0,0,0,0,0
$GC,12887,0.68,155.7,356.0,11.7,955,12891,0.00,2.20,0.00,0.000,4,0.000,0.052,2956,3254,2229,0,0,0,0,0,0
$GC,13010,0.68,155.7,343.0,9.9,965,13017,0.00,2.12,0.00,0.000,6,0.000,0.038,2964,1850,2229,0,0,0,0,0,0
$GC,13335,0.68,155.7,310.2,10.8,996,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1850,2229,0,0,0,0,0,0
$GC,13658,0.71,174.6,278.6,8.9,1026,13682,0.00,2.22,14.30,0.865,4,0.000,0.047,2973,438,2171,0,0,0,0,0,0
$GC,13794,0.71,174.6,265.4,9.9,1038,13799,0.00,2.15,0.00,0.000,6,0.000,0.037,2962,1859,2170,0,0,0,0,0,0
$GC,14120,0.76,220.8,235.3,7.8,1084,14167,0.00,2.25,40.80,0.868,4,0.000,0.050,2957,3251,1982,0,0,0,0,0,0
$GC,14269,0.76,220.8,222.5,10.0,1108,14277,0.00,2.17,0.00,0.000,6,0.000,0.036,2967,1851,1980,0,0,0,0,0,0
$GC,14597,0.76,220.8,186.9,10.8,1169,14606,0.00,2.20,0.00,0.000,4,0.000,0.046,2979,442,1978,0,0,0,0,0,0
$GC,14697,0.76,220.8,176.0,10.3,1187,14705,0.00,2.15,0.00,0.000,6,0.000,0.035,2977,1845,1978,0,0,0,0,0,0
$GC,15027,0.86,298.3,151.8,6.5,1248,15101,0.12,0.00,65.10,0.778,6,0.086,0.000,3042,1847,1666,0,0,0,0,0,0
$GC,15420,0.86,298.3,92.3,14.1,1318,15428,0.00,2.17,0.00,0.000,4,0.000,0.046,3039,3249,1662,0,0,0,0,0,0
$GC,15514,0.86,298.3,80.8,11.6,1334,15522,0.00,2.15,0.00,0.000,6,0.000,0.034,3047,1844,1662,0,0,0,0,0,0
$GC,15841,0.88,317.7,49.1,8.9,1395,15866,0.00,2.17,17.15,0.645,4,0.000,0.043,3047,3260,1587,0,0,0,0,0,0
$GC,15942,0.88,317.7,39.0,10.5,1412,15950,0.00,2.15,0.00,0.000,6,0.000,0.034,3055,1848,1586,0,0,0,0,0,0
$GC,16268,0.88,317.7,5.4,9.9,1473,16277,0.00,2.15,0.00,0.000,4,0.000,0.043,3060,446,1586,0,0,0,0,0,0
$STATE,16293,end climb,SURFACE_DEPTH_REACHED
$STATE,16293,begin surface coast
$FINISH,1.3,1.021551
$STATE,16305,end surface coast,CONTROL_FINISHED_OK
$STATE,16306,begin surface
$SM_CCo,16326,69.82,0.510,1,0,1048,450.13
$SM_GC,1.84,0.00,0.00,69.82,0.000,0.000,0.510,130,1520,1048,-8.17,0.57,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2120.26,12359.39,030911,121240
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.44
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.20
$XPDR_PINGS,80
$24V_AH,23.1,38.588
$10V_AH,10.1,27.765
$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,19.225,128.375,405.925,69.825,0.000,107.921,137.930,276.871,20.000,0.000,14.387,3672.850,8762.064,628.620,3790.681,459.251,0.000,1943.747,0.000,3225.737,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,63.495,1471.095,510.255,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.720,1515.780,1689.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330172
$DATA_FILE_SIZE,83623,1479
$CAP_FILE_SIZE,165873,0
$CFSIZE,260165632,132947968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.223,152.1,1
$GPS,030911,165301,2128.608,12401.129,63,1.6,63,-2.8