version: 66.09
glider: 166
mission: 6
dive: 172
start: 9 5 111 5 44 43
data:
$ID,166
$MISSION,6
$DIVE,172
$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,-24613.691
$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,45
$R_STBD_OVSHOOT,41
$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
$GPS1,050911,053726,2125.560,12402.574,56,1.8,75,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-72.4
$GPS2,050911,054419,2125.475,12402.704,13,1.6,30,-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,318.0,9589,-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,-155.7,0.0,0.0,0,109,0.00,0.00,-89.78,0.000,2,0.000,0.000,130,1486,3270,0,0,0,0,0,0
$GC,111,-0.68,-155.7,6.5,-10.8,12,136,9.45,2.20,-4.65,0.000,4,0.228,0.053,2507,2906,3522,0,0,0,0,0,0
$GC,146,-0.68,-155.7,25.4,-46.8,16,154,0.00,2.15,0.00,0.000,6,0.000,0.032,2512,1492,3523,0,0,0,0,0,0
$GC,470,-0.68,-155.7,127.6,-24.2,77,478,0.00,1.98,0.00,0.000,4,0.000,0.040,2522,209,3524,0,0,0,0,0,0
$GC,552,-0.68,-155.7,145.0,-18.9,91,560,0.00,1.95,0.00,0.000,6,0.000,0.031,2513,1499,3525,0,0,0,0,0,0
$GC,880,-0.68,-155.7,207.9,-17.7,152,889,0.00,2.00,0.00,0.000,4,0.000,0.043,2520,217,3526,0,0,0,0,0,0
$GC,969,-0.68,-155.7,225.7,-19.7,168,977,0.00,1.95,0.00,0.000,6,0.000,0.034,2512,1508,3526,0,0,0,0,0,0
$GC,1305,-0.68,-155.7,284.4,-15.1,211,1309,0.00,2.10,0.00,0.000,4,0.000,0.046,2502,2901,3526,0,0,0,0,0,0
$GC,1403,-0.68,-155.7,298.3,-13.3,219,1407,0.00,2.10,0.00,0.000,6,0.000,0.035,2504,1500,3526,0,0,0,0,0,0
$GC,1728,-0.68,-155.7,344.6,-13.1,249,1731,0.00,2.00,0.00,0.000,4,0.000,0.047,2506,204,3526,0,0,0,0,0,0
$GC,1785,-0.68,-155.7,352.2,-13.1,254,1788,0.00,1.95,0.00,0.000,6,0.000,0.037,2504,1499,3526,0,0,0,0,0,0
$GC,2115,-0.68,-155.7,396.1,-14.1,285,2119,0.00,2.03,0.00,0.000,4,0.000,0.047,2513,198,3524,0,0,0,0,0,0
$GC,2165,-0.68,-155.7,403.9,-15.5,289,2172,0.00,1.95,0.00,0.000,6,0.000,0.036,2506,1502,3524,0,0,0,0,0,0
$GC,2491,-0.68,-155.7,453.3,-14.1,320,2495,0.00,2.12,0.00,0.000,4,0.000,0.050,2497,2913,3522,0,0,0,0,0,0
$GC,2554,-0.68,-155.7,461.9,-13.0,325,2558,0.00,2.12,0.00,0.000,6,0.000,0.038,2497,1506,3521,0,0,0,0,0,0
$GC,2880,-0.68,-155.7,506.6,-13.2,355,2883,0.00,2.00,0.00,0.000,4,0.000,0.050,2497,199,3519,0,0,0,0,0,0
$GC,2947,-0.68,-155.7,516.4,-14.5,361,2952,0.12,1.95,0.00,0.000,6,0.175,0.037,2522,1498,3519,0,0,0,0,0,0
$GC,3278,-0.68,-155.7,558.8,-12.5,392,3282,0.00,2.15,0.00,0.000,4,0.000,0.050,2513,2907,3515,0,0,0,0,0,0
$GC,3306,-0.68,-155.7,562.3,-12.7,394,3310,0.00,2.12,0.00,0.000,6,0.000,0.039,2513,1498,3515,0,0,0,0,0,0
$GC,3643,-0.68,-155.7,605.3,-12.6,423,3647,0.00,1.98,0.00,0.000,4,0.000,0.053,2513,199,3511,0,0,0,0,0,0
$GC,3676,-0.68,-155.7,610.0,-13.1,424,3680,0.00,2.00,0.00,0.000,6,0.000,0.038,2505,1503,3511,0,0,0,0,0,0
$GC,3998,-0.68,-155.7,648.1,-11.6,440,4002,0.00,2.12,0.00,0.000,4,0.000,0.052,2490,2904,3508,0,0,0,0,0,0
$GC,4038,-0.68,-155.7,652.5,-10.9,442,4042,0.12,2.12,0.00,0.000,6,0.161,0.041,2524,1500,3508,0,0,0,0,0,0
$GC,4366,-0.68,-155.7,685.4,-10.4,458,4370,0.00,2.00,0.00,0.000,4,0.000,0.054,2526,205,3505,0,0,0,0,0,0
$GC,4456,-0.68,-155.7,696.3,-12.1,462,4460,0.00,1.98,0.00,0.000,6,0.000,0.041,2515,1515,3504,0,0,0,0,0,0
$GC,4791,-0.68,-155.7,732.5,-10.6,478,4795,0.00,2.12,0.00,0.000,4,0.000,0.054,2511,2907,3500,0,0,0,0,0,0
$GC,4834,-0.68,-155.7,737.3,-10.3,480,4838,0.00,2.15,0.00,0.000,6,0.000,0.042,2511,1495,3500,0,0,0,0,0,0
$GC,5164,-0.68,-155.7,770.4,-10.2,496,5168,0.00,2.17,0.00,0.000,4,0.000,0.056,2501,2903,3498,0,0,0,0,0,0
$GC,5204,-0.68,-155.7,774.8,-10.3,498,5208,0.00,2.15,0.00,0.000,6,0.000,0.042,2502,1494,3498,0,0,0,0,0,0
$GC,5531,-0.68,-155.7,809.4,-10.6,514,5535,0.00,2.20,0.00,0.000,4,0.000,0.057,2491,2912,3495,0,0,0,0,0,0
$GC,5554,-0.68,-155.7,811.7,-10.5,515,5559,0.12,2.15,0.00,0.000,6,0.161,0.043,2525,1502,3495,0,0,0,0,0,0
$GC,5885,-0.68,-155.7,839.0,-7.9,531,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1502,3493,0,0,0,0,0,0
$GC,6191,-0.68,-155.7,862.5,-7.6,546,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1502,3491,0,0,0,0,0,0
$GC,6502,-0.68,-155.7,886.1,-7.7,561,6506,0.00,2.22,0.00,0.000,4,0.000,0.060,2517,2906,3489,0,0,0,0,0,0
$GC,6529,-0.68,-155.7,888.4,-7.8,562,6533,0.00,2.17,0.00,0.000,6,0.000,0.045,2517,1496,3488,0,0,0,0,0,0
$GC,6851,-0.68,-155.7,915.9,-8.9,578,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1495,3487,0,0,0,0,0,0
$GC,7162,-0.68,-155.7,946.0,-10.1,593,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1495,3485,0,0,0,0,0,0
$GC,7469,-0.68,-155.7,976.7,-9.8,608,7473,0.00,2.22,0.00,0.000,4,0.000,0.063,2507,2909,3484,0,0,0,0,0,0
$GC,7548,-0.68,-155.7,984.3,-9.6,611,7555,0.00,2.20,0.00,0.000,6,0.000,0.048,2506,1497,3483,0,0,0,0,0,0
$STATE,7615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7615,begin apogee
$GC,7621,-0.14,0.0,991.1,10.1,615,7754,0.57,0.00,127.55,1.464,6,0.126,0.000,2691,1845,2883,0,0,0,0,0,0
$STATE,7755,end apogee,CONTROL_FINISHED_OK
$STATE,7755,begin climb
$GC,7759,0.68,155.7,995.2,0.0,621,7910,0.77,2.42,142.48,1.404,4,0.073,0.063,2963,3247,2248,0,0,0,0,0,0
$GC,7978,0.68,155.7,971.2,16.1,631,7985,0.00,2.28,0.00,0.000,6,0.000,0.046,2973,1849,2243,0,0,0,0,0,0
$GC,8294,0.68,155.7,917.8,16.9,647,8298,0.00,2.28,0.00,0.000,4,0.000,0.062,2973,3257,2239,0,0,0,0,0,0
$GC,8361,0.68,155.7,905.9,17.3,650,8365,0.00,2.20,0.00,0.000,6,0.000,0.046,2982,1849,2238,0,0,0,0,0,0
$GC,8691,0.68,155.7,849.5,16.7,666,8695,0.00,2.25,0.00,0.000,4,0.000,0.060,2982,3263,2237,0,0,0,0,0,0
$GC,8713,0.68,155.7,844.9,16.9,667,8718,0.00,2.20,0.00,0.000,6,0.000,0.044,2990,1839,2236,0,0,0,0,0,0
$GC,9037,0.68,155.7,792.4,15.8,683,9041,0.00,2.25,0.00,0.000,4,0.000,0.060,2983,3260,2235,0,0,0,0,0,0
$GC,9121,0.68,155.7,779.1,15.0,687,9125,0.00,2.17,0.00,0.000,6,0.000,0.042,2991,1844,2234,0,0,0,0,0,0
$GC,9448,0.68,155.7,731.9,14.2,703,9452,0.00,2.22,0.00,0.000,4,0.000,0.055,2991,3261,2233,0,0,0,0,0,0
$GC,9490,0.68,155.7,725.7,15.5,705,9495,0.15,2.15,0.00,0.000,6,0.193,0.041,2965,1849,2232,0,0,0,0,0,0
$GC,9817,0.68,155.7,683.4,12.9,721,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1849,2232,0,0,0,0,0,0
$GC,10126,0.68,155.7,643.4,12.8,736,10130,0.00,2.17,0.00,0.000,4,0.000,0.054,2955,3254,2231,0,0,0,0,0,0
$GC,10200,0.68,155.7,634.2,12.6,739,10204,0.00,2.15,0.00,0.000,6,0.000,0.041,2964,1839,2231,0,0,0,0,0,0
$GC,10525,0.68,155.7,592.4,13.8,757,10529,0.00,2.22,0.00,0.000,4,0.000,0.054,2960,3266,2231,0,0,0,0,0,0
$GC,10582,0.68,155.7,583.9,14.5,761,10590,0.00,2.17,0.00,0.000,6,0.000,0.042,2968,1842,2231,0,0,0,0,0,0
$GC,10907,0.68,155.7,536.0,13.2,792,10911,0.00,2.20,0.00,0.000,4,0.000,0.052,2965,3256,2230,0,0,0,0,0,0
$GC,11128,0.68,155.7,511.1,11.0,811,11132,0.00,2.15,0.00,0.000,6,0.000,0.039,2973,1836,2230,0,0,0,0,0,0
$GC,11455,0.68,155.7,477.1,10.8,841,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1836,2230,0,0,0,0,0,0
$GC,11772,0.68,155.7,441.9,11.1,871,11776,0.00,2.20,0.00,0.000,4,0.000,0.051,2974,3268,2230,0,0,0,0,0,0
$GC,11827,0.68,155.7,435.2,11.8,875,11834,0.00,2.15,0.00,0.000,6,0.000,0.037,2983,1842,2229,0,0,0,0,0,0
$GC,12153,0.68,155.7,396.3,12.6,906,12157,0.00,2.12,0.00,0.000,4,0.000,0.048,2993,445,2230,0,0,0,0,0,0
$GC,12219,0.68,155.7,387.9,12.6,911,12226,0.00,2.15,0.00,0.000,6,0.000,0.037,2992,1851,2229,0,0,0,0,0,0
$GC,12545,0.68,155.7,350.5,11.7,942,12549,0.00,2.15,0.00,0.000,4,0.000,0.053,2992,3249,2229,0,0,0,0,0,0
$GC,12607,0.68,155.7,342.9,12.1,947,12612,0.12,2.10,0.00,0.000,6,0.184,0.037,2971,1850,2229,0,0,0,0,0,0
$GC,12932,0.68,155.7,309.2,9.9,977,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1850,2229,0,0,0,0,0,0
$GC,13256,0.71,179.6,279.9,8.7,1007,13280,0.00,2.17,18.73,0.872,4,0.000,0.049,2961,3252,2151,0,0,0,0,0,0
$GC,13305,0.72,182.9,274.9,9.6,1011,13317,0.00,2.12,4.72,0.619,6,0.000,0.037,2967,1847,2137,0,0,0,0,0,0
$GC,13637,0.72,182.9,241.6,10.5,1049,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1847,2136,0,0,0,0,0,0
$GC,13964,0.75,213.2,211.3,8.4,1110,14001,0.00,2.22,27.10,0.820,4,0.000,0.047,2978,439,2013,0,0,0,0,0,0
$GC,14046,0.82,265.0,204.7,7.5,1123,14099,0.08,2.17,44.95,0.816,6,0.057,0.036,3031,1847,1803,0,0,0,0,0,0
$GC,14421,0.82,265.0,154.2,15.4,1190,14429,0.00,2.22,0.00,0.000,4,0.000,0.044,3043,441,1798,0,0,0,0,0,0
$GC,14470,0.82,265.0,146.4,16.8,1198,14479,0.10,2.17,0.00,0.000,6,0.130,0.035,3008,1860,1796,0,0,0,0,0,0
$GC,14800,0.83,276.1,111.2,9.2,1259,14816,0.00,2.20,10.25,0.656,4,0.000,0.047,3007,3260,1757,0,0,0,0,0,0
$GC,14898,0.86,303.6,102.3,8.6,1276,14929,0.00,2.15,24.85,0.705,6,0.000,0.034,3016,1852,1646,0,0,0,0,0,0
$GC,15248,0.93,359.0,74.7,7.4,1340,15301,0.00,2.28,46.83,0.689,4,0.000,0.044,3026,435,1419,0,0,0,0,0,0
$GC,15407,0.96,381.1,61.6,8.8,1366,15437,0.00,2.15,19.70,0.643,6,0.000,0.031,3026,1841,1329,0,0,0,0,0,0
$GC,15758,1.05,455.3,33.3,6.6,1430,15825,0.15,0.00,60.83,0.645,6,0.072,0.000,3117,1842,1027,0,0,0,0,0,0
$STATE,15940,end climb,SURFACE_DEPTH_REACHED
$STATE,15940,begin surface coast
$FINISH,1.1,1.009036
$STATE,15958,end surface coast,CONTROL_FINISHED_OK
$STATE,15958,begin surface
$SM_CCo,16036,0.00,0.000,0,0,1022,456.50
$SM_GC,1.80,7.75,0.00,0.00,0.034,0.000,0.000,137,1494,1022,-8.03,-0.17,456.50,0,0,0,0,0,0
$IRIDIUM_FIX,2117.95,12406.44,050911,010137
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.95
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.30
$XPDR_PINGS,72
$24V_AH,23.0,40.163
$10V_AH,10.1,29.262
$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,19.525,142.125,527.975,0.000,0.000,30.885,21.651,181.382,18.000,0.000,31.350,3628.756,8254.183,574.374,3524.142,450.776,0.000,1967.383,0.000,3271.770,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,63.495,1464.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,999.412,1497.699,1674.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330224
$DATA_FILE_SIZE,83546,1463
$CAP_FILE_SIZE,166984,0
$CFSIZE,260165632,132169728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.333,126.6,1
$GPS,050911,101327,2125.131,12403.464,30,99.0,49,-2.8