version: 66.09
glider: 166
mission: 6
dive: 169
start: 9 4 111 16 9 1
data:
$ID,166
$MISSION,6
$DIVE,169
$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,-24609.916
$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,41
$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
$GPS1,040911,155826,2126.135,12402.155,39,2.1,58,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.7
$GPS2,040911,160837,2125.886,12402.246,38,1.3,45,-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,333.2,8546,-17.2,-9.706
$D_GRID,4998
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-155.7,0.0,0.0,0,107,0.00,0.00,-87.18,0.000,2,0.000,0.000,122,1490,3196,0,0,0,0,0,0
$GC,110,-0.68,-155.7,6.3,-11.3,12,134,9.55,2.20,-6.07,0.000,4,0.230,0.049,2507,2925,3520,0,0,0,0,0,0
$GC,144,-0.68,-155.7,24.3,-44.8,16,153,0.00,2.20,0.00,0.000,6,0.000,0.034,2509,1497,3521,0,0,0,0,0,0
$GC,470,-0.68,-155.7,123.8,-24.6,77,478,0.00,1.98,0.00,0.000,4,0.000,0.040,2508,206,3522,0,0,0,0,0,0
$GC,552,-0.68,-155.7,142.3,-20.0,91,560,0.00,1.95,0.00,0.000,6,0.000,0.032,2499,1504,3523,0,0,0,0,0,0
$GC,881,-0.68,-155.7,205.8,-16.6,152,889,0.00,2.12,0.00,0.000,4,0.000,0.041,2488,2906,3524,0,0,0,0,0,0
$GC,1014,-0.68,-155.7,228.2,-17.2,176,1023,0.08,2.12,0.00,0.000,6,0.147,0.034,2518,1505,3524,0,0,0,0,0,0
$GC,1345,-0.68,-155.7,279.7,-14.1,220,1349,0.00,1.98,0.00,0.000,4,0.000,0.043,2520,205,3523,0,0,0,0,0,0
$GC,1418,-0.68,-155.7,290.7,-14.7,226,1427,0.00,1.95,0.00,0.000,6,0.000,0.032,2513,1499,3523,0,0,0,0,0,0
$GC,1743,-0.68,-155.7,336.1,-13.8,257,1747,0.00,2.12,0.00,0.000,4,0.000,0.044,2506,2909,3523,0,0,0,0,0,0
$GC,1810,-0.68,-155.7,345.3,-12.8,262,1818,0.00,2.12,0.00,0.000,6,0.000,0.034,2510,1494,3523,0,0,0,0,0,0
$GC,2135,-0.68,-155.7,391.9,-14.1,293,2139,0.00,1.98,0.00,0.000,4,0.000,0.046,2521,210,3521,0,0,0,0,0,0
$GC,2180,-0.68,-155.7,398.8,-15.5,297,2184,0.00,1.92,0.00,0.000,6,0.000,0.037,2511,1500,3522,0,0,0,0,0,0
$GC,2511,-0.68,-155.7,449.3,-15.0,328,2515,0.00,2.03,0.00,0.000,4,0.000,0.048,2511,202,3519,0,0,0,0,0,0
$GC,2569,-0.68,-155.7,458.1,-15.8,333,2573,0.00,1.95,0.00,0.000,6,0.000,0.037,2503,1502,3518,0,0,0,0,0,0
$GC,2899,-0.68,-155.7,504.6,-13.6,364,2903,0.00,2.00,0.00,0.000,4,0.000,0.048,2503,211,3516,0,0,0,0,0,0
$GC,2989,-0.68,-155.7,517.5,-13.9,372,2994,0.12,1.95,0.00,0.000,6,0.171,0.037,2526,1505,3515,0,0,0,0,0,0
$GC,3315,-0.68,-155.7,549.5,-8.9,402,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1505,3513,0,0,0,0,0,0
$GC,3635,-0.68,-155.7,578.4,-9.1,432,3638,0.00,2.03,0.00,0.000,4,0.000,0.050,2526,212,3509,0,0,0,0,0,0
$GC,3664,-0.68,-155.7,581.5,-9.9,434,3672,0.00,1.98,0.00,0.000,6,0.000,0.041,2519,1505,3509,0,0,0,0,0,0
$GC,3985,-0.68,-155.7,615.4,-10.9,458,3989,0.00,2.15,0.00,0.000,4,0.000,0.053,2506,2906,3506,0,0,0,0,0,0
$GC,4076,-0.68,-155.7,625.2,-10.9,462,4081,0.00,2.12,0.00,0.000,6,0.000,0.042,2507,1508,3505,0,0,0,0,0,0
$GC,4409,-0.68,-155.7,665.9,-12.2,478,4413,0.00,2.03,0.00,0.000,4,0.000,0.053,2506,198,3502,0,0,0,0,0,0
$GC,4470,-0.68,-155.7,673.9,-12.8,480,4477,0.10,1.98,0.00,0.000,6,0.184,0.040,2519,1504,3502,0,0,0,0,0,0
$GC,4787,-0.68,-155.7,707.2,-10.1,496,4791,0.00,2.12,0.00,0.000,4,0.000,0.054,2506,2901,3499,0,0,0,0,0,0
$GC,4859,-0.68,-155.7,714.7,-9.8,499,4864,0.00,2.12,0.00,0.000,6,0.000,0.041,2507,1497,3497,0,0,0,0,0,0
$GC,5184,-0.68,-155.7,747.2,-9.9,515,5188,0.00,2.00,0.00,0.000,4,0.000,0.054,2505,198,3495,0,0,0,0,0,0
$GC,5244,-0.68,-155.7,754.3,-11.3,517,5251,0.00,2.00,0.00,0.000,6,0.000,0.042,2496,1493,3494,0,0,0,0,0,0
$GC,5560,-0.68,-155.7,785.5,-9.9,533,5565,0.10,2.22,0.00,0.000,4,0.185,0.063,2512,2911,3492,0,0,0,0,0,0
$GC,5594,-0.68,-155.7,788.5,-9.7,534,5599,0.00,2.12,0.00,0.000,6,0.000,0.044,2511,1502,3492,0,0,0,0,0,0
$GC,5916,-0.68,-155.7,820.0,-10.1,550,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1502,3490,0,0,0,0,0,0
$GC,6226,-0.68,-155.7,850.1,-9.5,565,6230,0.00,2.20,0.00,0.000,4,0.000,0.058,2501,2904,3488,0,0,0,0,0,0
$GC,6290,-0.68,-155.7,856.1,-9.2,568,6294,0.00,2.17,0.00,0.000,6,0.000,0.045,2501,1497,3487,0,0,0,0,0,0
$GC,6618,-0.68,-155.7,890.0,-10.3,584,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1497,3486,0,0,0,0,0,0
$GC,6929,-0.68,-155.7,922.2,-10.3,599,6933,0.00,2.25,0.00,0.000,4,0.000,0.061,2497,2911,3484,0,0,0,0,0,0
$GC,6962,-0.68,-155.7,926.0,-10.1,600,6969,0.00,2.17,0.00,0.000,6,0.000,0.047,2497,1505,3483,0,0,0,0,0,0
$GC,7278,-0.68,-155.7,960.4,-11.1,616,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1505,3482,0,0,0,0,0,0
$STATE,7565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7565,begin apogee
$GC,7573,-0.14,0.0,991.5,10.6,630,7707,0.60,0.00,126.68,1.458,6,0.129,0.000,2694,1849,2883,0,0,0,0,0,0
$STATE,7707,end apogee,CONTROL_FINISHED_OK
$STATE,7707,begin climb
$GC,7710,0.68,155.7,995.8,0.0,636,7859,0.75,2.45,141.68,1.401,4,0.073,0.065,2960,3247,2248,0,0,0,0,0,0
$GC,7916,0.68,155.7,975.6,14.9,646,7921,0.00,2.28,0.00,0.000,6,0.000,0.047,2969,1848,2244,0,0,0,0,0,0
$GC,8245,0.68,155.7,927.2,14.7,662,8249,0.00,2.25,0.00,0.000,4,0.000,0.063,2969,3252,2239,0,0,0,0,0,0
$GC,8283,0.68,155.7,920.7,16.0,663,8290,0.00,2.17,0.00,0.000,6,0.000,0.045,2978,1844,2238,0,0,0,0,0,0
$GC,8601,0.68,155.7,873.5,15.0,679,8605,0.00,2.25,0.00,0.000,4,0.000,0.061,2973,3255,2237,0,0,0,0,0,0
$GC,8622,0.68,155.7,869.6,15.3,680,8626,0.00,2.15,0.00,0.000,6,0.000,0.044,2981,1845,2236,0,0,0,0,0,0
$GC,8949,0.68,155.7,816.3,16.8,696,8953,0.00,2.22,0.00,0.000,4,0.000,0.059,2973,3253,2235,0,0,0,0,0,0
$GC,9014,0.68,155.7,805.3,17.7,699,9018,0.00,2.15,0.00,0.000,6,0.000,0.043,2981,1850,2235,0,0,0,0,0,0
$GC,9340,0.68,155.7,747.7,17.3,715,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1850,2234,0,0,0,0,0,0
$GC,9650,0.68,155.7,697.3,15.7,730,9654,0.00,2.20,0.00,0.000,4,0.000,0.058,2976,3254,2233,0,0,0,0,0,0
$GC,9774,0.68,155.7,678.8,14.9,735,9778,0.00,2.12,0.00,0.000,6,0.000,0.042,2984,1850,2232,0,0,0,0,0,0
$GC,10090,0.68,155.7,635.6,12.9,750,10091,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1850,2232,0,0,0,0,0,0
$GC,10402,0.68,155.7,596.6,12.4,766,10406,0.00,2.20,0.00,0.000,4,0.000,0.056,2976,3254,2232,0,0,0,0,0,0
$GC,10442,0.68,155.7,591.3,12.9,769,10446,0.00,2.12,0.00,0.000,6,0.000,0.041,2984,1845,2231,0,0,0,0,0,0
$GC,10769,0.68,155.7,549.1,13.9,799,10773,0.00,2.22,0.00,0.000,4,0.000,0.056,2976,3258,2231,0,0,0,0,0,0
$GC,10853,0.68,155.7,536.1,14.9,806,10857,0.00,2.15,0.00,0.000,6,0.000,0.041,2985,1849,2231,0,0,0,0,0,0
$GC,11180,0.68,155.7,487.9,15.4,836,11184,0.00,2.20,0.00,0.000,4,0.000,0.054,2977,3258,2231,0,0,0,0,0,0
$GC,11209,0.68,155.7,483.0,15.9,838,11213,0.00,2.15,0.00,0.000,6,0.000,0.039,2985,1836,2230,0,0,0,0,0,0
$GC,11534,0.68,155.7,433.2,13.8,868,11535,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1837,2230,0,0,0,0,0,0
$GC,11858,0.68,155.7,396.6,10.7,898,11862,0.00,2.12,0.00,0.000,4,0.000,0.049,2995,442,2230,0,0,0,0,0,0
$GC,11875,0.68,155.7,394.1,11.1,899,11879,0.00,2.15,0.00,0.000,6,0.000,0.038,2988,1857,2230,0,0,0,0,0,0
$GC,12203,0.68,155.7,362.3,12.0,929,12207,0.00,2.15,0.00,0.000,4,0.000,0.053,2988,3252,2230,0,0,0,0,0,0
$GC,12288,0.68,155.7,350.6,14.0,936,12292,0.12,2.10,0.00,0.000,6,0.189,0.037,2967,1846,2230,0,0,0,0,0,0
$GC,12613,0.68,155.7,314.4,9.8,966,12617,0.00,2.17,0.00,0.000,4,0.000,0.049,2963,3257,2230,0,0,0,0,0,0
$GC,12698,0.68,155.7,305.6,10.5,973,12702,0.00,2.12,0.00,0.000,6,0.000,0.037,2970,1844,2230,0,0,0,0,0,0
$GC,13025,0.68,155.7,272.7,11.3,1003,13029,0.00,2.12,0.00,0.000,4,0.000,0.047,2977,436,2230,0,0,0,0,0,0
$GC,13055,0.68,155.7,269.4,11.0,1005,13060,0.00,2.12,0.00,0.000,6,0.000,0.034,2968,1861,2230,0,0,0,0,0,0
$GC,13383,0.68,155.7,233.0,9.9,1049,13391,0.00,2.12,0.00,0.000,4,0.000,0.050,2962,3239,2230,0,0,0,0,0,0
$GC,13564,0.75,213.3,217.3,7.3,1082,13617,0.00,2.10,46.88,0.850,6,0.000,0.036,2970,1852,2013,0,0,0,0,0,0
$GC,13937,0.75,213.3,179.5,11.8,1149,13945,0.00,2.17,0.00,0.000,4,0.000,0.045,2983,449,2009,0,0,0,0,0,0
$GC,14022,0.75,213.3,169.8,11.2,1164,14031,0.00,2.12,0.00,0.000,6,0.000,0.034,2979,1838,2009,0,0,0,0,0,0
$GC,14351,0.82,268.1,140.7,7.4,1225,14403,0.00,2.28,46.53,0.763,4,0.000,0.047,2981,3263,1790,0,0,0,0,0,0
$GC,14540,0.82,268.1,119.0,11.8,1257,14548,0.00,2.17,0.00,0.000,6,0.000,0.034,2989,1850,1789,0,0,0,0,0,0
$GC,14865,0.97,390.0,96.2,4.6,1318,14979,0.20,2.28,101.20,0.718,4,0.062,0.044,3103,449,1291,0,0,0,0,0,0
$GC,15094,0.97,390.0,61.2,15.2,1354,15103,0.12,2.17,0.00,0.000,6,0.122,0.034,3061,1860,1288,0,0,0,0,0,0
$GC,15429,0.97,390.0,18.8,12.1,1415,15437,0.00,2.20,0.00,0.000,4,0.000,0.042,3070,446,1288,0,0,0,0,0,0
$GC,15457,0.97,390.0,14.7,12.9,1419,15465,0.00,2.12,0.00,0.000,6,0.000,0.032,3069,1839,1288,0,0,0,0,0,0
$STATE,15549,end climb,SURFACE_DEPTH_REACHED
$STATE,15549,begin surface coast
$FINISH,1.4,1.021558
$STATE,15575,end surface coast,CONTROL_FINISHED_OK
$STATE,15575,begin surface
$SM_CCo,15593,42.92,0.431,1,0,1048,450.13
$SM_GC,1.74,0.00,0.00,42.92,0.000,0.000,0.431,147,1484,1048,-8.12,-0.42,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2117.95,12404.52,040911,161646
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.87
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,25.90
$XPDR_PINGS,73
$24V_AH,23.0,39.636
$10V_AH,10.1,28.775
$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,19.325,141.450,462.950,42.925,0.000,52.262,94.158,215.087,18.250,0.000,45.977,3574.539,8041.890,575.781,3603.156,441.809,0.000,1931.534,0.000,3213.582,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,65.025,1458.090,431.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,985.401,1473.696,1673.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330184
$DATA_FILE_SIZE,80174,1440
$CAP_FILE_SIZE,162511,0
$CFSIZE,260165632,132435968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.283,146.1,1
$GPS,040911,203127,2125.687,12402.443,44,4.7,63,-2.8