version: 66.09
glider: 166
mission: 6
dive: 173
start: 9 5 111 10 20 54
data:
$ID,166
$MISSION,6
$DIVE,173
$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,-24614.951
$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,43
$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
$GPS1,050911,101327,2125.131,12403.464,30,99.0,49,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.3
$GPS2,050911,102030,2125.006,12403.619,34,2.0,44,-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,304.1,11154,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-155.7,0.0,0.0,0,105,0.00,0.00,-86.60,0.000,2,0.000,0.000,131,1491,3138,0,0,0,0,0,0
$GC,108,-0.68,-155.7,6.0,-10.3,12,133,9.30,2.17,-7.32,0.000,4,0.220,0.049,2507,2915,3520,0,0,0,0,0,0
$GC,190,-0.68,-155.7,40.0,-33.0,25,198,0.00,2.20,0.00,0.000,6,0.000,0.036,2509,1503,3522,0,0,0,0,0,0
$GC,517,-0.68,-155.7,135.7,-25.9,86,526,0.00,2.15,0.00,0.000,4,0.000,0.041,2500,2906,3523,0,0,0,0,0,0
$GC,557,-0.68,-155.7,145.4,-22.7,92,565,0.00,2.15,0.00,0.000,6,0.000,0.034,2506,1496,3523,0,0,0,0,0,0
$GC,886,-0.68,-155.7,213.2,-19.6,153,894,0.00,2.15,0.00,0.000,4,0.000,0.041,2497,2903,3524,0,0,0,0,0,0
$GC,914,-0.68,-155.7,218.8,-19.5,157,922,0.00,2.12,0.00,0.000,6,0.000,0.034,2504,1500,3524,0,0,0,0,0,0
$GC,1240,-0.68,-155.7,280.5,-15.8,202,1244,0.00,2.00,0.00,0.000,4,0.000,0.044,2504,202,3524,0,0,0,0,0,0
$GC,1299,-0.68,-155.7,290.5,-17.7,207,1302,0.00,1.95,0.00,0.000,6,0.000,0.033,2496,1495,3524,0,0,0,0,0,0
$GC,1629,-0.68,-155.7,342.6,-14.9,238,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1495,3524,0,0,0,0,0,0
$GC,1949,-0.68,-155.7,395.3,-16.0,268,1953,0.00,2.00,0.00,0.000,4,0.000,0.046,2498,202,3523,0,0,0,0,0,0
$GC,2066,-0.68,-155.7,413.4,-15.8,278,2070,0.00,1.95,0.00,0.000,6,0.000,0.037,2505,1500,3523,0,0,0,0,0,0
$GC,2397,-0.68,-155.7,461.5,-15.3,309,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1501,3521,0,0,0,0,0,0
$GC,2721,-0.68,-155.7,510.9,-15.3,339,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1501,3519,0,0,0,0,0,0
$GC,3047,-0.68,-155.7,559.2,-13.1,370,3051,0.00,2.00,0.00,0.000,4,0.000,0.050,2507,208,3516,0,0,0,0,0,0
$GC,3088,-0.68,-155.7,564.7,-13.8,373,3094,0.00,1.98,0.00,0.000,6,0.000,0.039,2498,1511,3515,0,0,0,0,0,0
$GC,3425,-0.68,-155.7,606.1,-12.5,403,3429,0.00,2.12,0.00,0.000,4,0.000,0.050,2487,2904,3512,0,0,0,0,0,0
$GC,3521,-0.68,-155.7,617.6,-10.9,407,3526,0.12,2.12,0.00,0.000,6,0.162,0.040,2520,1500,3511,0,0,0,0,0,0
$GC,3843,-0.68,-155.7,650.0,-10.3,423,3847,0.00,2.20,0.00,0.000,4,0.000,0.054,2512,2902,3509,0,0,0,0,0,0
$GC,3890,-0.68,-155.7,654.9,-10.7,425,3894,0.00,2.15,0.00,0.000,6,0.000,0.041,2512,1489,3508,0,0,0,0,0,0
$GC,4219,-0.68,-155.7,690.5,-10.9,441,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1490,3505,0,0,0,0,0,0
$GC,4526,-0.68,-155.7,724.7,-11.4,456,4530,0.00,2.00,0.00,0.000,4,0.000,0.054,2511,199,3502,0,0,0,0,0,0
$GC,4575,-0.68,-155.7,731.2,-13.3,458,4579,0.00,1.98,0.00,0.000,6,0.000,0.041,2500,1496,3502,0,0,0,0,0,0
$GC,4904,-0.68,-155.7,770.9,-12.3,474,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1496,3499,0,0,0,0,0,0
$GC,5212,-0.68,-155.7,806.7,-11.0,489,5217,0.10,2.05,0.00,0.000,4,0.187,0.061,2524,196,3496,0,0,0,0,0,0
$GC,5268,-0.68,-155.7,812.6,-10.3,491,5272,0.00,2.00,0.00,0.000,6,0.000,0.042,2514,1506,3496,0,0,0,0,0,0
$GC,5590,-0.68,-155.7,842.2,-9.1,507,5594,0.00,2.17,0.00,0.000,4,0.000,0.057,2501,2910,3493,0,0,0,0,0,0
$GC,5658,-0.68,-155.7,848.6,-9.2,510,5662,0.00,2.15,0.00,0.000,6,0.000,0.047,2501,1503,3493,0,0,0,0,0,0
$GC,5987,-0.68,-155.7,882.0,-10.4,526,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1503,3491,0,0,0,0,0,0
$GC,6294,-0.68,-155.7,913.7,-10.1,541,6298,0.00,2.20,0.00,0.000,4,0.000,0.058,2491,2903,3489,0,0,0,0,0,0
$GC,6337,-0.68,-155.7,918.0,-9.9,543,6341,0.12,2.15,0.00,0.000,6,0.159,0.044,2525,1497,3488,0,0,0,0,0,0
$GC,6666,-0.68,-155.7,943.8,-7.5,559,6670,0.00,2.22,0.00,0.000,4,0.000,0.060,2518,2910,3486,0,0,0,0,0,0
$GC,6707,-0.68,-155.7,946.8,-7.2,561,6711,0.00,2.17,0.00,0.000,6,0.000,0.044,2517,1492,3486,0,0,0,0,0,0
$GC,7036,-0.68,-155.7,970.7,-7.4,577,7040,0.00,2.25,0.00,0.000,4,0.000,0.063,2507,2910,3485,0,0,0,0,0,0
$GC,7119,-0.68,-155.7,977.3,-7.5,580,7125,0.00,2.17,0.00,0.000,6,0.000,0.044,2508,1493,3484,0,0,0,0,0,0
$STATE,7288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7288,begin apogee
$GC,7296,-0.14,0.0,991.2,8.2,589,7429,0.57,0.00,126.90,1.456,6,0.123,0.000,2696,1858,2884,0,0,0,0,0,0
$STATE,7429,end apogee,CONTROL_FINISHED_OK
$STATE,7430,begin climb
$GC,7432,0.68,155.7,993.9,0.0,595,7581,0.75,2.42,141.40,1.397,4,0.068,0.063,2969,3247,2249,0,0,0,0,0,0
$GC,7625,0.68,155.7,972.1,16.8,604,7630,0.00,2.30,0.00,0.000,6,0.000,0.044,2978,1857,2245,0,0,0,0,0,0
$GC,7949,0.68,155.7,917.6,17.2,620,7953,0.00,2.25,0.00,0.000,4,0.000,0.060,2978,3257,2240,0,0,0,0,0,0
$GC,8035,0.68,155.7,901.8,18.4,624,8039,0.00,2.20,0.00,0.000,6,0.000,0.045,2988,1843,2238,0,0,0,0,0,0
$GC,8362,0.68,155.7,844.3,17.1,640,8366,0.00,2.22,0.00,0.000,4,0.000,0.059,2988,3258,2237,0,0,0,0,0,0
$GC,8447,0.68,155.7,829.3,17.6,643,8456,0.12,2.17,0.00,0.000,6,0.201,0.042,2968,1841,2236,0,0,0,0,0,0
$GC,8763,0.68,155.7,782.3,14.7,659,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1841,2235,0,0,0,0,0,0
$GC,9074,0.68,155.7,739.3,13.6,674,9078,0.00,2.15,0.00,0.000,4,0.000,0.052,2977,444,2234,0,0,0,0,0,0
$GC,9089,0.68,155.7,736.7,13.5,674,9096,0.00,2.17,0.00,0.000,6,0.000,0.042,2969,1848,2234,0,0,0,0,0,0
$GC,9406,0.68,155.7,694.4,13.4,690,9410,0.00,2.17,0.00,0.000,4,0.000,0.058,2963,3257,2233,0,0,0,0,0,0
$GC,9468,0.68,155.7,686.1,13.3,692,9474,0.00,2.15,0.00,0.000,6,0.000,0.041,2971,1846,2232,0,0,0,0,0,0
$GC,9784,0.68,155.7,646.2,12.1,708,9788,0.00,2.20,0.00,0.000,4,0.000,0.053,2964,3257,2232,0,0,0,0,0,0
$GC,9890,0.68,155.7,632.8,12.6,713,9894,0.00,2.15,0.00,0.000,6,0.000,0.041,2972,1845,2232,0,0,0,0,0,0
$GC,10212,0.68,155.7,589.5,13.7,732,10216,0.00,2.20,0.00,0.000,4,0.000,0.053,2968,3261,2232,0,0,0,0,0,0
$GC,10229,0.68,155.7,586.7,14.1,733,10233,0.00,2.12,0.00,0.000,6,0.000,0.041,2977,1849,2231,0,0,0,0,0,0
$GC,10560,0.68,155.7,538.5,14.2,764,10564,0.00,2.17,0.00,0.000,4,0.000,0.052,2969,3255,2231,0,0,0,0,0,0
$GC,10719,0.68,155.7,517.2,13.0,778,10723,0.00,2.15,0.00,0.000,6,0.000,0.040,2977,1844,2231,0,0,0,0,0,0
$GC,11045,0.68,155.7,474.9,13.2,808,11049,0.00,2.15,0.00,0.000,4,0.000,0.049,2988,443,2230,0,0,0,0,0,0
$GC,11066,0.68,155.7,471.6,13.7,809,11075,0.00,2.15,0.00,0.000,6,0.000,0.038,2980,1864,2230,0,0,0,0,0,0
$GC,11392,0.68,155.7,428.8,12.0,840,11396,0.00,2.15,0.00,0.000,4,0.000,0.055,2980,3254,2230,0,0,0,0,0,0
$GC,11409,0.68,155.7,426.6,12.0,841,11413,0.00,2.12,0.00,0.000,6,0.000,0.039,2988,1840,2229,0,0,0,0,0,0
$GC,11740,0.68,155.7,382.6,13.1,872,11744,0.00,2.17,0.00,0.000,4,0.000,0.053,2987,3251,2229,0,0,0,0,0,0
$GC,11796,0.68,155.7,374.7,13.8,877,11801,0.12,2.12,0.00,0.000,6,0.187,0.037,2966,1842,2229,0,0,0,0,0,0
$GC,12124,0.71,179.7,342.4,8.7,907,12148,0.00,2.22,18.55,0.942,4,0.000,0.048,2975,442,2150,0,0,0,0,0,0
$GC,12273,0.71,179.7,328.0,10.0,920,12278,0.00,2.15,0.00,0.000,6,0.000,0.037,2967,1856,2148,0,0,0,0,0,0
$GC,12600,0.71,179.7,296.5,10.0,950,12604,0.00,2.20,0.00,0.000,4,0.000,0.046,2969,434,2148,0,0,0,0,0,0
$GC,12664,0.71,179.7,289.7,10.3,955,12672,0.00,2.15,0.00,0.000,6,0.000,0.037,2961,1853,2148,0,0,0,0,0,0
$GC,12990,0.71,179.7,257.9,10.5,986,12994,0.00,2.12,0.00,0.000,4,0.000,0.050,2957,3248,2148,0,0,0,0,0,0
$GC,13068,0.71,179.7,249.2,11.2,993,13076,0.00,2.12,0.00,0.000,6,0.000,0.037,2966,1855,2148,0,0,0,0,0,0
$GC,13396,0.73,191.4,214.8,9.2,1054,13413,0.00,2.22,12.02,0.770,4,0.000,0.048,2964,3258,2103,0,0,0,0,0,0
$GC,13512,0.76,214.5,204.6,8.7,1074,13543,0.00,2.15,20.95,0.793,6,0.000,0.035,2972,1848,2009,0,0,0,0,0,0
$GC,13864,0.80,254.9,175.6,8.0,1138,13909,0.00,2.22,35.03,0.781,4,0.000,0.047,2975,3242,1844,0,0,0,0,0,0
$GC,13993,0.80,254.9,162.6,10.7,1159,14002,0.00,2.15,0.00,0.000,6,0.000,0.034,2985,1848,1842,0,0,0,0,0,0
$GC,14323,0.82,264.4,132.5,9.3,1220,14338,0.00,0.00,9.50,0.653,6,0.000,0.000,2985,1848,1805,0,0,0,0,0,0
$GC,14655,0.95,375.1,108.6,5.1,1282,14759,0.17,2.25,92.93,0.721,4,0.067,0.044,3093,448,1352,0,0,0,0,0,0
$GC,14873,0.95,375.1,78.6,14.7,1317,14882,0.10,2.15,0.00,0.000,6,0.129,0.034,3056,1852,1349,0,0,0,0,0,0
$GC,15206,0.95,375.1,39.8,10.8,1378,15214,0.00,2.15,0.00,0.000,4,0.000,0.044,3047,3248,1349,0,0,0,0,0,0
$GC,15304,0.97,388.5,30.2,9.1,1395,15322,0.00,2.12,12.27,0.588,6,0.000,0.033,3055,1846,1299,0,0,0,0,0,0
$STATE,15562,end climb,SURFACE_DEPTH_REACHED
$STATE,15562,begin surface coast
$FINISH,1.0,1.007991
$STATE,15596,end surface coast,CONTROL_FINISHED_OK
$STATE,15596,begin surface
$SM_CCo,15613,45.53,0.440,1,0,1048,450.13
$SM_GC,1.88,0.00,0.00,45.53,0.000,0.000,0.440,128,1497,1048,-8.18,-0.08,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2115.63,12401.30,050911,050552
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.56
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.40
$XPDR_PINGS,79
$24V_AH,23.0,40.334
$10V_AH,10.1,29.428
$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,18.950,138.525,469.550,45.525,0.000,23.701,41.427,166.226,19.750,0.000,44.969,3607.700,7894.442,582.477,3549.976,437.246,0.000,1957.791,0.000,3282.425,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,63.495,1455.795,439.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,989.053,1480.631,1719.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83611,1448
$CAP_FILE_SIZE,163062,0
$CFSIZE,260165632,132087808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.403,135.1,1
$GPS,050911,144326,2123.583,12404.102,27,99.0,46,-2.8