version: 66.09
glider: 166
mission: 6
dive: 175
start: 9 5 111 19 34 34
data:
$ID,166
$MISSION,6
$DIVE,175
$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,-24617.479
$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,47
$R_STBD_OVSHOOT,45
$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
$GPS1,050911,192257,2122.605,12404.179,26,99.0,45,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-71.0
$GPS2,050911,193410,2122.361,12404.358,35,99.0,54,-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,323.3,16017,-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,-155.7,0.0,0.0,0,107,0.00,0.00,-87.97,0.000,2,0.000,0.000,148,1495,3203,0,0,0,0,0,0
$GC,110,-0.68,-155.7,6.1,-10.6,12,133,9.35,0.00,-5.97,0.000,6,0.222,0.000,2517,1490,3518,0,0,0,0,0,0
$GC,450,-0.68,-155.7,125.8,-26.5,75,458,0.00,2.00,0.00,0.000,4,0.000,0.041,2504,201,3520,0,0,0,0,0,0
$GC,530,-0.68,-155.7,144.9,-24.0,89,538,0.00,1.95,0.00,0.000,6,0.000,0.031,2495,1504,3520,0,0,0,0,0,0
$GC,858,-0.68,-155.7,216.9,-25.4,150,868,0.10,2.12,0.00,0.000,4,0.196,0.040,2510,2897,3520,0,0,0,0,0,0
$GC,934,-0.68,-155.7,233.4,-19.0,163,942,0.00,2.10,0.00,0.000,6,0.000,0.032,2509,1507,3521,0,0,0,0,0,0
$GC,1266,-0.68,-155.7,292.3,-15.7,201,1270,0.00,2.10,0.00,0.000,4,0.000,0.038,2500,2910,3521,0,0,0,0,0,0
$GC,1276,-0.68,-155.7,294.8,-16.0,201,1283,0.00,2.12,0.00,0.000,6,0.000,0.032,2500,1501,3521,0,0,0,0,0,0
$GC,1601,-0.68,-155.7,337.6,-11.4,232,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1501,3521,0,0,0,0,0,0
$GC,1923,-0.68,-155.7,379.1,-14.5,262,1927,0.00,2.03,0.00,0.000,4,0.000,0.044,2520,203,3519,0,0,0,0,0,0
$GC,1957,-0.68,-155.7,385.0,-16.3,265,1961,0.00,1.92,0.00,0.000,6,0.000,0.033,2510,1486,3519,0,0,0,0,0,0
$GC,2290,-0.68,-155.7,436.3,-15.4,296,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1486,3517,0,0,0,0,0,0
$GC,2608,-0.68,-155.7,479.0,-12.7,326,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1487,3515,0,0,0,0,0,0
$GC,2929,-0.68,-155.7,517.7,-12.7,356,2933,0.00,2.17,0.00,0.000,4,0.000,0.049,2500,2897,3512,0,0,0,0,0,0
$GC,2961,-0.68,-155.7,522.8,-13.1,358,2970,0.00,2.15,0.00,0.000,6,0.000,0.038,2500,1504,3512,0,0,0,0,0,0
$GC,3287,-0.68,-155.7,569.6,-14.7,389,3291,0.00,2.03,0.00,0.000,4,0.000,0.050,2500,199,3509,0,0,0,0,0,0
$GC,3378,-0.68,-155.7,584.3,-16.6,397,3382,0.12,1.98,0.00,0.000,6,0.169,0.041,2523,1498,3509,0,0,0,0,0,0
$GC,3710,-0.68,-155.7,626.1,-12.0,418,3714,0.00,2.15,0.00,0.000,4,0.000,0.052,2515,2913,3505,0,0,0,0,0,0
$GC,3782,-0.68,-155.7,634.7,-11.0,421,3787,0.00,2.17,0.00,0.000,6,0.000,0.041,2515,1504,3505,0,0,0,0,0,0
$GC,4106,-0.68,-155.7,670.0,-10.5,437,4109,0.00,2.03,0.00,0.000,4,0.000,0.053,2515,198,3501,0,0,0,0,0,0
$GC,4144,-0.68,-155.7,674.6,-11.2,438,4152,0.00,2.00,0.00,0.000,6,0.000,0.041,2505,1495,3501,0,0,0,0,0,0
$GC,4460,-0.68,-155.7,708.8,-10.8,454,4464,0.00,2.17,0.00,0.000,4,0.000,0.053,2494,2913,3498,0,0,0,0,0,0
$GC,4509,-0.68,-155.7,714.4,-11.1,456,4514,0.12,2.15,0.00,0.000,6,0.159,0.042,2525,1497,3497,0,0,0,0,0,0
$GC,4834,-0.68,-155.7,745.3,-9.7,472,4838,0.00,2.00,0.00,0.000,4,0.000,0.055,2525,204,3495,0,0,0,0,0,0
$GC,4884,-0.68,-155.7,751.1,-10.6,474,4888,0.00,2.00,0.00,0.000,6,0.000,0.041,2514,1496,3494,0,0,0,0,0,0
$GC,5214,-0.68,-155.7,782.1,-9.3,490,5218,0.00,2.17,0.00,0.000,4,0.000,0.054,2501,2904,3492,0,0,0,0,0,0
$GC,5263,-0.68,-155.7,786.9,-9.0,492,5268,0.00,2.15,0.00,0.000,6,0.000,0.043,2502,1491,3491,0,0,0,0,0,0
$GC,5585,-0.68,-155.7,818.6,-10.2,508,5589,0.00,2.00,0.00,0.000,4,0.000,0.054,2501,198,3489,0,0,0,0,0,0
$GC,5656,-0.68,-155.7,826.5,-11.7,511,5660,0.12,2.03,0.00,0.000,6,0.168,0.043,2524,1517,3488,0,0,0,0,0,0
$GC,5988,-0.68,-155.7,855.9,-8.4,527,5992,0.00,2.15,0.00,0.000,4,0.000,0.056,2515,2904,3486,0,0,0,0,0,0
$GC,6113,-0.68,-155.7,866.6,-8.5,532,6120,0.00,2.15,0.00,0.000,6,0.000,0.044,2515,1501,3485,0,0,0,0,0,0
$GC,6429,-0.68,-155.7,895.3,-9.0,548,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1501,3483,0,0,0,0,0,0
$GC,6741,-0.68,-155.7,922.6,-8.7,563,6745,0.00,2.22,0.00,0.000,4,0.000,0.060,2503,2903,3482,0,0,0,0,0,0
$GC,6790,-0.68,-155.7,927.2,-8.7,565,6795,0.00,2.17,0.00,0.000,6,0.000,0.045,2504,1501,3481,0,0,0,0,0,0
$GC,7112,-0.68,-155.7,954.8,-8.4,581,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1501,3479,0,0,0,0,0,0
$GC,7424,-0.68,-155.7,979.6,-7.9,596,7428,0.00,2.22,0.00,0.000,4,0.000,0.061,2496,2908,3477,0,0,0,0,0,0
$GC,7451,-0.68,-155.7,982.1,-7.8,597,7455,0.00,2.20,0.00,0.000,6,0.000,0.047,2496,1491,3477,0,0,0,0,0,0
$STATE,7564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7564,begin apogee
$GC,7570,-0.14,0.0,991.5,8.5,603,7705,0.60,0.00,126.57,1.460,6,0.127,0.000,2695,1856,2883,0,0,0,0,0,0
$STATE,7706,end apogee,CONTROL_FINISHED_OK
$STATE,7706,begin climb
$GC,7708,0.68,155.7,993.3,0.0,609,7858,0.75,2.40,141.95,1.404,4,0.068,0.063,2966,3250,2248,0,0,0,0,0,0
$GC,7925,0.68,155.7,968.0,16.1,619,7929,0.00,2.28,0.00,0.000,6,0.000,0.046,2974,1845,2243,0,0,0,0,0,0
$GC,8249,0.68,155.7,917.1,16.0,635,8253,0.00,2.25,0.00,0.000,4,0.000,0.062,2968,3252,2238,0,0,0,0,0,0
$GC,8286,0.68,155.7,910.3,16.4,636,8294,0.00,2.17,0.00,0.000,6,0.000,0.043,2977,1846,2238,0,0,0,0,0,0
$GC,8603,0.68,155.7,862.3,14.6,652,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1846,2237,0,0,0,0,0,0
$GC,8914,0.68,155.7,818.7,14.1,667,8918,0.00,2.22,0.00,0.000,4,0.000,0.057,2970,3260,2236,0,0,0,0,0,0
$GC,9019,0.68,155.7,802.2,15.0,671,9026,0.00,2.17,0.00,0.000,6,0.000,0.043,2978,1844,2234,0,0,0,0,0,0
$GC,9336,0.68,155.7,755.1,15.1,687,9340,0.00,2.22,0.00,0.000,4,0.000,0.055,2970,3263,2233,0,0,0,0,0,0
$GC,9387,0.68,155.7,746.9,15.8,689,9391,0.00,2.17,0.00,0.000,6,0.000,0.042,2979,1837,2232,0,0,0,0,0,0
$GC,9708,0.68,155.7,698.6,14.9,705,9712,0.00,2.22,0.00,0.000,4,0.000,0.055,2971,3260,2232,0,0,0,0,0,0
$GC,9809,0.68,155.7,682.7,15.5,709,9817,0.00,2.15,0.00,0.000,6,0.000,0.041,2979,1851,2231,0,0,0,0,0,0
$GC,10125,0.68,155.7,634.7,15.2,725,10129,0.00,2.17,0.00,0.000,4,0.000,0.053,2971,3255,2231,0,0,0,0,0,0
$GC,10196,0.68,155.7,623.2,15.8,728,10201,0.00,2.15,0.00,0.000,6,0.000,0.041,2980,1837,2231,0,0,0,0,0,0
$GC,10522,0.68,155.7,576.4,14.3,751,10526,0.00,2.22,0.00,0.000,4,0.000,0.054,2971,3263,2230,0,0,0,0,0,0
$GC,10576,0.68,155.7,568.4,14.3,755,10580,0.00,2.15,0.00,0.000,6,0.000,0.041,2980,1850,2231,0,0,0,0,0,0
$GC,10901,0.68,155.7,526.8,12.2,785,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1850,2231,0,0,0,0,0,0
$GC,11221,0.68,155.7,485.2,13.0,815,11226,0.00,2.20,0.00,0.000,4,0.000,0.052,2971,3261,2230,0,0,0,0,0,0
$GC,11335,0.68,155.7,470.1,12.4,824,11342,0.00,2.15,0.00,0.000,6,0.000,0.039,2980,1841,2229,0,0,0,0,0,0
$GC,11660,0.68,155.7,427.5,12.8,855,11664,0.00,2.20,0.00,0.000,4,0.000,0.051,2972,3257,2230,0,0,0,0,0,0
$GC,11858,0.68,155.7,402.6,12.1,872,11863,0.00,2.15,0.00,0.000,6,0.000,0.037,2981,1845,2229,0,0,0,0,0,0
$GC,12184,0.68,155.7,365.1,11.1,902,12188,0.00,2.20,0.00,0.000,4,0.000,0.050,2972,3263,2229,0,0,0,0,0,0
$GC,12248,0.68,155.7,358.0,11.9,907,12252,0.00,2.15,0.00,0.000,6,0.000,0.037,2980,1845,2229,0,0,0,0,0,0
$GC,12573,0.68,155.7,323.7,10.1,937,12577,0.00,2.20,0.00,0.000,4,0.000,0.048,2972,3257,2229,0,0,0,0,0,0
$GC,12762,0.68,155.7,305.3,9.9,953,12771,0.00,2.15,0.00,0.000,6,0.000,0.037,2978,1854,2229,0,0,0,0,0,0
$GC,13088,0.68,155.7,272.0,10.5,984,13092,0.00,2.15,0.00,0.000,4,0.000,0.046,2985,439,2229,0,0,0,0,0,0
$GC,13185,0.68,155.7,260.8,11.7,992,13194,0.00,2.17,0.00,0.000,6,0.000,0.036,2976,1867,2229,0,0,0,0,0,0
$GC,13512,0.68,155.7,226.6,10.4,1044,13520,0.00,2.15,0.00,0.000,4,0.000,0.050,2977,3247,2229,0,0,0,0,0,0
$GC,13582,0.68,155.7,219.7,10.0,1056,13590,0.00,2.12,0.00,0.000,6,0.000,0.036,2988,1850,2229,0,0,0,0,0,0
$GC,13908,0.74,205.0,190.9,7.6,1117,13955,0.00,2.17,40.05,0.817,4,0.000,0.044,3000,442,2047,0,0,0,0,0,0
$GC,13990,0.75,211.6,183.5,9.4,1129,14007,0.00,2.17,7.20,0.655,6,0.000,0.036,2999,1848,2020,0,0,0,0,0,0
$GC,14329,0.75,211.6,143.7,11.7,1191,14337,0.00,2.17,0.00,0.000,4,0.000,0.047,3000,3248,2018,0,0,0,0,0,0
$GC,14487,0.75,211.6,123.2,12.7,1219,14495,0.00,2.15,0.00,0.000,6,0.000,0.035,3008,1841,2018,0,0,0,0,0,0
$GC,14812,0.82,269.5,95.1,7.3,1280,14867,0.00,2.25,49.08,0.725,4,0.000,0.044,3019,436,1785,0,0,0,0,0,0
$GC,15028,0.87,309.8,76.9,8.0,1317,15069,0.00,2.17,34.85,0.690,6,0.000,0.033,3019,1850,1621,0,0,0,0,0,0
$GC,15391,0.96,380.4,49.0,6.8,1382,15459,0.10,2.28,59.00,0.667,4,0.100,0.042,3092,446,1332,0,0,0,0,0,0
$GC,15531,0.96,380.4,32.5,13.9,1404,15540,0.10,2.17,0.00,0.000,6,0.125,0.032,3055,1860,1329,0,0,0,0,0,0
$STATE,15785,end climb,SURFACE_DEPTH_REACHED
$STATE,15785,begin surface coast
$FINISH,1.1,1.021725
$STATE,15812,end surface coast,CONTROL_FINISHED_OK
$STATE,15813,begin surface
$SM_CCo,15830,47.42,0.447,1,0,1048,450.13
$SM_GC,1.89,0.00,0.00,47.42,0.000,0.000,0.447,153,1495,1048,-8.10,-0.17,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2113.32,12403.22,050911,191924
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.36
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.20
$XPDR_PINGS,86
$24V_AH,23.0,40.676
$10V_AH,10.1,29.768
$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,18.975,138.475,458.700,47.425,0.000,60.152,88.522,234.435,21.500,0.000,56.754,3635.456,8108.812,579.490,3765.684,450.724,0.000,1974.829,0.000,3317.249,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,62.730,1460.385,446.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.212,1490.848,1694.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83375,1456
$CAP_FILE_SIZE,164853,0
$CFSIZE,260165632,131911680
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.340,136.8,1
$GPS,060911,000057,2121.687,12404.927,37,99.0,56,-2.8