version: 66.09
glider: 166
mission: 6
dive: 171
start: 9 5 111 1 14 30
data:
$ID,166
$MISSION,6
$DIVE,171
$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,-24612.434
$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,52
$R_STBD_OVSHOOT,44
$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
$GPS1,050911,010700,2125.626,12402.864,39,1.3,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-72.5
$GPS2,050911,011406,2125.574,12402.908,15,1.9,25,-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,317.3,9607,-17.2,-9.706
$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,-0.68,-155.7,0.0,0.0,0,100,0.00,0.00,-81.20,0.000,2,0.000,0.000,138,1476,2973,0,0,0,0,0,0
$GC,103,-0.68,-155.7,5.1,-7.1,11,135,9.43,2.22,-11.20,0.000,4,0.226,0.053,2507,2904,3521,0,0,0,0,0,0
$GC,155,-0.68,-155.7,26.3,-42.9,18,164,0.00,2.15,0.00,0.000,6,0.000,0.035,2498,1517,3523,0,0,0,0,0,0
$GC,482,-0.68,-155.7,124.9,-24.7,79,490,0.00,2.03,0.00,0.000,4,0.000,0.041,2496,198,3524,0,0,0,0,0,0
$GC,557,-0.68,-155.7,147.1,-26.6,92,565,0.10,1.98,0.00,0.000,6,0.155,0.033,2517,1502,3524,0,0,0,0,0,0
$GC,885,-0.68,-155.7,214.4,-17.5,153,893,0.00,2.03,0.00,0.000,4,0.000,0.040,2518,192,3526,0,0,0,0,0,0
$GC,1018,-0.68,-155.7,237.7,-17.3,177,1027,0.00,1.98,0.00,0.000,6,0.000,0.031,2510,1510,3525,0,0,0,0,0,0
$GC,1347,-0.68,-155.7,290.8,-16.4,215,1350,0.00,2.05,0.00,0.000,4,0.000,0.040,2500,2895,3526,0,0,0,0,0,0
$GC,1384,-0.68,-155.7,297.6,-16.5,218,1393,0.00,2.12,0.00,0.000,6,0.000,0.034,2503,1497,3526,0,0,0,0,0,0
$GC,1710,-0.68,-155.7,350.7,-16.0,249,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1497,3526,0,0,0,0,0,0
$GC,2030,-0.68,-155.7,398.7,-14.7,279,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1497,3525,0,0,0,0,0,0
$GC,2351,-0.68,-155.7,440.0,-12.5,309,2354,0.00,1.98,0.00,0.000,4,0.000,0.045,2522,203,3523,0,0,0,0,0,0
$GC,2374,-0.68,-155.7,443.4,-12.8,311,2378,0.00,1.92,0.00,0.000,6,0.000,0.035,2514,1490,3523,0,0,0,0,0,0
$GC,2705,-0.68,-155.7,491.2,-15.3,342,2709,0.00,2.12,0.00,0.000,4,0.000,0.047,2504,2909,3521,0,0,0,0,0,0
$GC,2757,-0.68,-155.7,499.0,-14.9,346,2761,0.00,2.12,0.00,0.000,6,0.000,0.037,2504,1501,3520,0,0,0,0,0,0
$GC,3082,-0.68,-155.7,549.5,-14.3,376,3086,0.00,2.00,0.00,0.000,4,0.000,0.049,2504,198,3518,0,0,0,0,0,0
$GC,3211,-0.68,-155.7,567.3,-13.3,387,3218,0.00,1.98,0.00,0.000,6,0.000,0.038,2494,1492,3517,0,0,0,0,0,0
$GC,3546,-0.68,-155.7,606.0,-11.8,417,3550,0.10,2.17,0.00,0.000,4,0.188,0.050,2510,2916,3514,0,0,0,0,0,0
$GC,3578,-0.68,-155.7,609.7,-10.8,418,3585,0.00,2.17,0.00,0.000,6,0.000,0.041,2511,1483,3513,0,0,0,0,0,0
$GC,3895,-0.68,-155.7,643.0,-10.5,434,3898,0.00,1.98,0.00,0.000,4,0.000,0.051,2511,196,3511,0,0,0,0,0,0
$GC,3920,-0.68,-155.7,645.5,-10.6,435,3924,0.00,1.98,0.00,0.000,6,0.000,0.039,2503,1502,3511,0,0,0,0,0,0
$GC,4252,-0.68,-155.7,681.7,-10.9,451,4256,0.00,2.03,0.00,0.000,4,0.000,0.052,2502,204,3508,0,0,0,0,0,0
$GC,4307,-0.68,-155.7,688.8,-12.8,453,4312,0.08,2.00,0.00,0.000,6,0.150,0.040,2516,1495,3507,0,0,0,0,0,0
$GC,4631,-0.68,-155.7,726.1,-12.2,469,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1495,3504,0,0,0,0,0,0
$GC,4938,-0.68,-155.7,758.5,-9.5,484,4942,0.00,2.17,0.00,0.000,4,0.000,0.055,2504,2914,3502,0,0,0,0,0,0
$GC,4991,-0.68,-155.7,763.1,-8.7,486,4995,0.00,2.17,0.00,0.000,6,0.000,0.043,2502,1494,3501,0,0,0,0,0,0
$GC,5313,-0.68,-155.7,790.2,-8.1,502,5317,0.00,2.20,0.00,0.000,4,0.000,0.057,2490,2913,3499,0,0,0,0,0,0
$GC,5353,-0.68,-155.7,793.4,-7.9,504,5358,0.12,2.17,0.00,0.000,6,0.159,0.044,2524,1493,3498,0,0,0,0,0,0
$GC,5682,-0.68,-155.7,814.7,-6.5,520,5686,0.00,2.22,0.00,0.000,4,0.000,0.057,2515,2912,3496,0,0,0,0,0,0
$GC,5715,-0.68,-155.7,817.2,-6.6,521,5723,0.00,2.17,0.00,0.000,6,0.000,0.044,2515,1489,3495,0,0,0,0,0,0
$GC,6033,-0.68,-155.7,841.4,-8.3,537,6037,0.00,2.22,0.00,0.000,4,0.000,0.056,2504,2910,3493,0,0,0,0,0,0
$GC,6065,-0.68,-155.7,844.6,-8.6,538,6072,0.00,2.15,0.00,0.000,6,0.000,0.044,2504,1500,3493,0,0,0,0,0,0
$GC,6382,-0.68,-155.7,875.7,-10.4,554,6386,0.00,2.03,0.00,0.000,4,0.000,0.057,2505,211,3491,0,0,0,0,0,0
$GC,6431,-0.68,-155.7,880.9,-11.4,556,6435,0.00,2.00,0.00,0.000,6,0.000,0.044,2497,1508,3491,0,0,0,0,0,0
$GC,6763,-0.68,-155.7,916.2,-10.3,572,6767,0.00,2.15,0.00,0.000,4,0.000,0.057,2497,2906,3489,0,0,0,0,0,0
$GC,6807,-0.68,-155.7,920.9,-10.3,574,6812,0.12,2.15,0.00,0.000,6,0.161,0.044,2526,1500,3489,0,0,0,0,0,0
$GC,7137,-0.68,-155.7,948.2,-7.8,590,7141,0.00,2.22,0.00,0.000,4,0.000,0.059,2519,2909,3486,0,0,0,0,0,0
$GC,7187,-0.68,-155.7,952.2,-7.8,592,7191,0.00,2.17,0.00,0.000,6,0.000,0.045,2520,1496,3486,0,0,0,0,0,0
$GC,7511,-0.68,-155.7,974.6,-6.8,608,7515,0.00,2.20,0.00,0.000,4,0.000,0.059,2512,2905,3485,0,0,0,0,0,0
$GC,7571,-0.68,-155.7,978.8,-6.6,610,7578,0.00,2.17,0.00,0.000,6,0.000,0.045,2512,1494,3484,0,0,0,0,0,0
$STATE,7741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7741,begin apogee
$GC,7747,-0.14,0.0,991.0,7.3,619,7882,0.55,0.00,127.72,1.459,6,0.124,0.000,2690,1862,2883,0,0,0,0,0,0
$STATE,7883,end apogee,CONTROL_FINISHED_OK
$STATE,7883,begin climb
$GC,7886,0.68,155.7,991.1,0.0,625,8037,0.77,2.45,142.43,1.399,4,0.073,0.063,2961,3245,2248,0,0,0,0,0,0
$GC,8060,0.68,155.7,969.9,16.7,633,8065,0.00,2.30,0.00,0.000,6,0.000,0.044,2969,1856,2245,0,0,0,0,0,0
$GC,8382,0.68,155.7,914.7,16.8,649,8386,0.00,2.25,0.00,0.000,4,0.000,0.060,2969,3257,2239,0,0,0,0,0,0
$GC,8456,0.68,155.7,902.3,16.1,652,8461,0.00,2.22,0.00,0.000,6,0.000,0.044,2979,1833,2238,0,0,0,0,0,0
$GC,8778,0.68,155.7,852.3,15.2,668,8782,0.00,2.28,0.00,0.000,4,0.000,0.059,2971,3260,2236,0,0,0,0,0,0
$GC,8808,0.68,155.7,847.8,15.7,669,8812,0.00,2.20,0.00,0.000,6,0.000,0.044,2980,1840,2236,0,0,0,0,0,0
$GC,9123,0.68,155.7,799.1,15.5,684,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1840,2235,0,0,0,0,0,0
$GC,9433,0.68,155.7,750.7,15.2,699,9437,0.00,2.22,0.00,0.000,4,0.000,0.057,2978,3251,2234,0,0,0,0,0,0
$GC,9529,0.68,155.7,735.8,15.2,703,9533,0.00,2.15,0.00,0.000,6,0.000,0.042,2987,1848,2234,0,0,0,0,0,0
$GC,9851,0.68,155.7,686.5,15.1,719,9855,0.00,2.20,0.00,0.000,4,0.000,0.054,2979,3257,2233,0,0,0,0,0,0
$GC,9868,0.68,155.7,684.0,15.0,720,9872,0.00,2.15,0.00,0.000,6,0.000,0.041,2987,1846,2232,0,0,0,0,0,0
$GC,10203,0.68,155.7,635.2,14.9,736,10207,0.00,2.15,0.00,0.000,4,0.000,0.050,2998,439,2232,0,0,0,0,0,0
$GC,10243,0.68,155.7,628.8,15.6,738,10247,0.00,2.17,0.00,0.000,6,0.000,0.041,2990,1859,2232,0,0,0,0,0,0
$GC,10562,0.68,155.7,585.4,13.0,758,10566,0.00,2.15,0.00,0.000,4,0.000,0.057,2989,3256,2231,0,0,0,0,0,0
$GC,10654,0.68,155.7,572.9,13.9,766,10658,0.12,2.15,0.00,0.000,6,0.197,0.041,2968,1845,2231,0,0,0,0,0,0
$GC,10981,0.68,155.7,533.4,13.0,796,10985,0.00,2.20,0.00,0.000,4,0.000,0.053,2959,3257,2231,0,0,0,0,0,0
$GC,11080,0.68,155.7,519.4,13.7,804,11087,0.00,2.17,0.00,0.000,6,0.000,0.040,2967,1850,2230,0,0,0,0,0,0
$GC,11406,0.68,155.7,476.2,13.8,835,11410,0.00,2.20,0.00,0.000,4,0.000,0.052,2959,3264,2230,0,0,0,0,0,0
$GC,11436,0.68,155.7,472.1,14.2,837,11440,0.00,2.15,0.00,0.000,6,0.000,0.039,2967,1847,2230,0,0,0,0,0,0
$GC,11766,0.68,155.7,427.5,13.3,867,11770,0.00,2.20,0.00,0.000,4,0.000,0.050,2959,3265,2230,0,0,0,0,0,0
$GC,11829,0.68,155.7,418.5,13.1,872,11833,0.00,2.15,0.00,0.000,6,0.000,0.038,2967,1844,2230,0,0,0,0,0,0
$GC,12157,0.68,155.7,379.3,11.8,902,12161,0.00,2.20,0.00,0.000,4,0.000,0.050,2959,3261,2230,0,0,0,0,0,0
$GC,12279,0.68,155.7,365.9,10.0,912,12286,0.00,2.15,0.00,0.000,6,0.000,0.038,2967,1838,2230,0,0,0,0,0,0
$GC,12605,0.71,181.0,336.7,8.6,943,12631,0.00,2.25,19.65,0.941,4,0.000,0.050,2959,3255,2146,0,0,0,0,0,0
$GC,12684,0.71,181.0,329.0,10.2,950,12688,0.00,2.15,0.00,0.000,6,0.000,0.037,2967,1843,2145,0,0,0,0,0,0
$GC,13009,0.71,181.0,292.1,11.3,980,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1842,2144,0,0,0,0,0,0
$GC,13331,0.76,215.1,260.0,8.3,1010,13368,0.00,2.28,30.40,0.881,4,0.000,0.048,2959,3254,2007,0,0,0,0,0,0
$GC,13455,0.80,253.1,250.1,8.1,1020,13494,0.08,2.17,33.55,0.857,6,0.063,0.035,3016,1849,1852,0,0,0,0,0,0
$GC,13815,0.80,253.1,193.2,16.7,1085,13824,0.00,2.17,0.00,0.000,4,0.000,0.046,3026,449,1846,0,0,0,0,0,0
$GC,13975,0.80,253.1,167.6,15.5,1113,13984,0.00,2.15,0.00,0.000,6,0.000,0.034,3023,1863,1844,0,0,0,0,0,0
$GC,14302,0.80,253.1,128.4,11.1,1174,14310,0.00,2.15,0.00,0.000,4,0.000,0.049,3025,3243,1844,0,0,0,0,0,0
$GC,14444,0.80,253.1,109.2,12.2,1200,14453,0.08,2.12,0.00,0.000,6,0.142,0.036,3009,1849,1844,0,0,0,0,0,0
$GC,14774,0.87,308.3,81.0,7.4,1261,14828,0.00,2.17,47.15,0.708,4,0.000,0.044,3018,437,1626,0,0,0,0,0,0
$GC,14918,0.93,358.2,69.8,7.6,1284,14971,0.00,2.15,42.42,0.684,6,0.000,0.033,3011,1836,1422,0,0,0,0,0,0
$GC,15290,1.00,412.3,43.2,7.4,1351,15344,0.15,2.28,45.38,0.653,4,0.073,0.043,3114,441,1201,0,0,0,0,0,0
$GC,15404,1.00,412.3,27.3,15.8,1368,15413,0.12,2.17,0.00,0.000,6,0.125,0.032,3071,1854,1200,0,0,0,0,0,0
$STATE,15577,end climb,SURFACE_DEPTH_REACHED
$STATE,15577,begin surface coast
$FINISH,1.0,1.021494
$STATE,15600,end surface coast,CONTROL_FINISHED_OK
$STATE,15600,begin surface
$SM_CCo,15620,34.85,0.376,1,0,1048,450.13
$SM_GC,1.71,0.00,0.00,34.85,0.000,0.000,0.376,132,1486,1048,-8.16,-0.40,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2117.95,12401.30,040911,202055
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.36
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.40
$XPDR_PINGS,85
$24V_AH,22.9,39.986
$10V_AH,10.1,29.097
$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,19.350,151.425,488.700,34.850,0.000,34.861,30.439,183.123,21.250,0.000,26.176,3515.418,8114.195,595.385,3404.255,442.101,0.000,1950.314,0.000,3136.867,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,62.730,1458.855,376.380,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.935,1436.470,1559.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330204
$DATA_FILE_SIZE,80203,1404
$CAP_FILE_SIZE,165014,0
$CFSIZE,260165632,132259840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.235,133.2,1
$GPS,050911,053726,2125.560,12402.574,56,1.8,75,-2.8