version: 66.09
glider: 166
mission: 6
dive: 176
start: 9 6 111 0 8 58
data:
$ID,166
$MISSION,6
$DIVE,176
$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,-24618.834
$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,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
$GPS1,060911,000057,2121.687,12404.927,37,99.0,56,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.4
$GPS2,060911,000832,2121.597,12405.082,17,1.7,17,-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,315.5,17857,-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,17,-0.68,-155.7,0.0,0.0,0,106,0.00,0.00,-86.40,0.000,2,0.000,0.000,153,1495,3165,0,0,0,0,0,0
$GC,109,-0.68,-155.7,6.2,-10.9,12,133,9.30,2.20,-6.85,0.000,4,0.221,0.050,2506,2916,3521,0,0,0,0,0,0
$GC,179,-0.68,-155.7,36.7,-36.8,23,188,0.08,2.20,0.00,0.000,6,0.160,0.037,2516,1507,3522,0,0,0,0,0,0
$GC,507,-0.68,-155.7,121.0,-18.9,84,515,0.00,2.03,0.00,0.000,4,0.000,0.041,2517,190,3523,0,0,0,0,0,0
$GC,593,-0.68,-155.7,139.6,-20.8,99,601,0.00,1.98,0.00,0.000,6,0.000,0.031,2510,1503,3523,0,0,0,0,0,0
$GC,923,-0.68,-155.7,206.7,-20.0,160,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1507,3524,0,0,0,0,0,0
$GC,1251,-0.68,-155.7,266.7,-16.2,212,1255,0.00,2.12,0.00,0.000,4,0.000,0.041,2500,2903,3524,0,0,0,0,0,0
$GC,1271,-0.68,-155.7,270.5,-15.6,213,1278,0.00,2.15,0.00,0.000,6,0.000,0.032,2500,1489,3524,0,0,0,0,0,0
$GC,1597,-0.68,-155.7,324.5,-16.4,244,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1489,3524,0,0,0,0,0,0
$GC,1920,-0.68,-155.7,371.4,-14.8,274,1924,0.00,2.17,0.00,0.000,4,0.000,0.041,2507,2909,3523,0,0,0,0,0,0
$GC,1949,-0.68,-155.7,376.2,-14.2,276,1953,0.00,2.12,0.00,0.000,6,0.000,0.034,2509,1488,3523,0,0,0,0,0,0
$GC,2281,-0.68,-155.7,425.2,-14.2,307,2285,0.00,1.95,0.00,0.000,4,0.000,0.044,2509,199,3522,0,0,0,0,0,0
$GC,2319,-0.68,-155.7,431.5,-14.7,310,2328,0.00,1.95,0.00,0.000,6,0.000,0.033,2500,1499,3521,0,0,0,0,0,0
$GC,2645,-0.68,-155.7,477.2,-15.4,341,2649,0.00,2.10,0.00,0.000,4,0.000,0.045,2489,2907,3519,0,0,0,0,0,0
$GC,2684,-0.68,-155.7,482.4,-13.6,344,2689,0.12,2.10,0.00,0.000,6,0.160,0.035,2523,1503,3519,0,0,0,0,0,0
$GC,3009,-0.68,-155.7,521.3,-11.4,374,3013,0.00,2.15,0.00,0.000,4,0.000,0.047,2515,2908,3517,0,0,0,0,0,0
$GC,3041,-0.68,-155.7,525.2,-11.4,376,3048,0.00,2.12,0.00,0.000,6,0.000,0.037,2515,1507,3516,0,0,0,0,0,0
$GC,3369,-0.68,-155.7,563.1,-11.1,407,3373,0.00,2.00,0.00,0.000,4,0.000,0.048,2515,204,3514,0,0,0,0,0,0
$GC,3509,-0.68,-155.7,580.2,-11.8,419,3516,0.00,1.98,0.00,0.000,6,0.000,0.039,2506,1491,3513,0,0,0,0,0,0
$GC,3833,-0.68,-155.7,619.6,-13.1,443,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1491,3510,0,0,0,0,0,0
$GC,4139,-0.68,-155.7,657.3,-12.4,458,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1492,3507,0,0,0,0,0,0
$GC,4449,-0.68,-155.7,693.8,-11.5,473,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1492,3505,0,0,0,0,0,0
$GC,4760,-0.68,-155.7,728.8,-11.4,488,4764,0.00,2.17,0.00,0.000,4,0.000,0.055,2494,2909,3502,0,0,0,0,0,0
$GC,4826,-0.68,-155.7,736.5,-10.8,491,4831,0.08,2.17,0.00,0.000,6,0.138,0.044,2517,1507,3501,0,0,0,0,0,0
$GC,5153,-0.68,-155.7,770.0,-10.4,507,5157,0.00,2.20,0.00,0.000,4,0.000,0.057,2505,2909,3499,0,0,0,0,0,0
$GC,5182,-0.68,-155.7,773.1,-10.8,508,5186,0.00,2.15,0.00,0.000,6,0.000,0.044,2504,1496,3498,0,0,0,0,0,0
$GC,5498,-0.68,-155.7,806.6,-10.5,523,5502,0.00,2.20,0.00,0.000,4,0.000,0.058,2489,2909,3496,0,0,0,0,0,0
$GC,5543,-0.68,-155.7,811.4,-10.1,525,5548,0.10,2.17,0.00,0.000,6,0.142,0.045,2521,1507,3495,0,0,0,0,0,0
$GC,5872,-0.68,-155.7,838.5,-7.9,541,5876,0.00,2.20,0.00,0.000,4,0.000,0.059,2512,2910,3493,0,0,0,0,0,0
$GC,5912,-0.68,-155.7,841.7,-7.6,543,5917,0.00,2.17,0.00,0.000,6,0.000,0.044,2511,1496,3493,0,0,0,0,0,0
$GC,6242,-0.68,-155.7,867.9,-7.9,559,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1496,3491,0,0,0,0,0,0
$GC,6549,-0.68,-155.7,891.3,-7.3,574,6553,0.00,2.25,0.00,0.000,4,0.000,0.060,2502,2910,3489,0,0,0,0,0,0
$GC,6624,-0.68,-155.7,896.6,-7.3,577,6628,0.00,2.17,0.00,0.000,6,0.000,0.046,2501,1502,3489,0,0,0,0,0,0
$GC,6940,-0.68,-155.7,921.5,-7.9,592,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1502,3487,0,0,0,0,0,0
$GC,7250,-0.68,-155.7,945.8,-7.8,607,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1502,3485,0,0,0,0,0,0
$GC,7561,-0.68,-155.7,970.9,-8.2,622,7565,0.00,2.22,0.00,0.000,4,0.000,0.061,2493,2900,3484,0,0,0,0,0,0
$GC,7611,-0.68,-155.7,975.3,-8.2,624,7616,0.12,2.20,0.00,0.000,6,0.158,0.048,2526,1491,3484,0,0,0,0,0,0
$STATE,7827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7827,begin apogee
$GC,7835,-0.14,0.0,990.4,7.0,635,7969,0.50,0.00,127.65,1.457,6,0.119,0.000,2699,1853,2884,0,0,0,0,0,0
$STATE,7969,end apogee,CONTROL_FINISHED_OK
$STATE,7969,begin climb
$GC,7972,0.68,155.7,992.9,0.0,641,8122,0.75,2.45,142.50,1.401,4,0.067,0.062,2972,3254,2248,0,0,0,0,0,0
$GC,8161,0.68,155.7,972.1,16.8,650,8165,0.00,2.33,0.00,0.000,6,0.000,0.046,2982,1845,2245,0,0,0,0,0,0
$GC,8491,0.68,155.7,918.2,16.2,666,8495,0.00,2.28,0.00,0.000,4,0.000,0.061,2982,3257,2239,0,0,0,0,0,0
$GC,8557,0.68,155.7,906.5,16.7,669,8561,0.00,2.22,0.00,0.000,6,0.000,0.045,2991,1848,2237,0,0,0,0,0,0
$GC,8885,0.68,155.7,855.4,15.6,685,8889,0.00,2.25,0.00,0.000,4,0.000,0.060,2990,3263,2236,0,0,0,0,0,0
$GC,8949,0.68,155.7,845.1,16.6,688,8954,0.12,2.20,0.00,0.000,6,0.200,0.044,2970,1838,2236,0,0,0,0,0,0
$GC,9275,0.68,155.7,795.8,15.2,704,9279,0.00,2.22,0.00,0.000,4,0.000,0.058,2967,3260,2236,0,0,0,0,0,0
$GC,9332,0.68,155.7,786.8,15.4,706,9336,0.00,2.17,0.00,0.000,6,0.000,0.042,2975,1843,2234,0,0,0,0,0,0
$GC,9648,0.68,155.7,738.0,15.5,721,9652,0.00,2.22,0.00,0.000,4,0.000,0.054,2973,3266,2233,0,0,0,0,0,0
$GC,9715,0.68,155.7,727.0,16.2,724,9719,0.00,2.17,0.00,0.000,6,0.000,0.041,2981,1840,2233,0,0,0,0,0,0
$GC,10043,0.68,155.7,678.8,14.0,740,10048,0.00,2.22,0.00,0.000,4,0.000,0.057,2973,3266,2232,0,0,0,0,0,0
$GC,10091,0.68,155.7,671.8,14.5,742,10096,0.00,2.17,0.00,0.000,6,0.000,0.040,2981,1836,2231,0,0,0,0,0,0
$GC,10421,0.68,155.7,629.0,12.9,758,10425,0.00,2.12,0.00,0.000,4,0.000,0.050,2992,444,2231,0,0,0,0,0,0
$GC,10459,0.68,155.7,623.2,13.8,759,10466,0.00,2.15,0.00,0.000,6,0.000,0.039,2989,1862,2231,0,0,0,0,0,0
$GC,10779,0.68,155.7,578.5,15.4,781,10783,0.00,2.15,0.00,0.000,4,0.000,0.054,2989,3252,2231,0,0,0,0,0,0
$GC,10915,0.68,155.7,556.2,16.0,792,10923,0.12,2.12,0.00,0.000,6,0.197,0.041,2968,1851,2230,0,0,0,0,0,0
$GC,11241,0.68,155.7,514.8,12.1,823,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1851,2231,0,0,0,0,0,0
$GC,11563,0.68,155.7,478.9,11.5,853,11567,0.00,2.17,0.00,0.000,4,0.000,0.051,2965,3254,2230,0,0,0,0,0,0
$GC,11602,0.68,155.7,474.1,11.4,856,11606,0.00,2.12,0.00,0.000,6,0.000,0.039,2972,1849,2230,0,0,0,0,0,0
$GC,11928,0.68,155.7,434.4,12.9,886,11932,0.00,2.17,0.00,0.000,4,0.000,0.050,2965,3255,2230,0,0,0,0,0,0
$GC,12063,0.68,155.7,418.0,11.8,897,12071,0.00,2.12,0.00,0.000,6,0.000,0.038,2973,1848,2230,0,0,0,0,0,0
$GC,12389,0.68,155.7,381.3,11.0,928,12391,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1847,2230,0,0,0,0,0,0
$GC,12711,0.69,164.0,348.8,9.4,958,12723,0.00,2.17,5.05,0.714,4,0.000,0.052,2965,3251,2215,0,0,0,0,0,0
$GC,12816,0.69,164.0,338.1,10.6,967,12820,0.00,2.12,0.00,0.000,6,0.000,0.037,2973,1836,2215,0,0,0,0,0,0
$GC,13141,0.69,164.0,304.2,10.4,997,13145,0.00,2.17,0.00,0.000,4,0.000,0.048,2963,3252,2215,0,0,0,0,0,0
$GC,13231,0.69,164.0,294.7,10.4,1005,13235,0.00,2.10,0.00,0.000,6,0.000,0.035,2969,1849,2215,0,0,0,0,0,0
$GC,13558,0.74,204.8,267.3,8.0,1035,13600,0.00,2.22,36.67,0.890,4,0.000,0.046,2959,3265,2049,0,0,0,0,0,0
$GC,13623,0.76,216.5,261.3,9.2,1040,13640,0.00,2.17,11.65,0.792,6,0.000,0.035,2966,1845,2001,0,0,0,0,0,0
$GC,13959,0.76,216.5,225.9,10.6,1093,13970,0.00,2.17,0.00,0.000,4,0.000,0.046,2983,446,1997,0,0,0,0,0,0
$GC,14054,0.76,216.5,215.6,11.1,1109,14063,0.00,2.15,0.00,0.000,6,0.000,0.034,2978,1856,1996,0,0,0,0,0,0
$GC,14384,0.82,265.7,186.9,7.6,1170,14436,0.00,2.22,42.33,0.801,4,0.000,0.047,2978,3245,1799,0,0,0,0,0,0
$GC,14450,0.87,308.6,181.4,7.9,1179,14496,0.08,2.17,38.08,0.779,6,0.056,0.035,3041,1851,1625,0,0,0,0,0,0
$GC,14815,0.87,308.6,126.8,14.6,1245,14824,0.00,2.22,0.00,0.000,4,0.000,0.044,3052,439,1621,0,0,0,0,0,0
$GC,14901,0.87,308.6,114.3,13.9,1260,14909,0.00,2.15,0.00,0.000,6,0.000,0.034,3051,1842,1621,0,0,0,0,0,0
$GC,15227,0.88,313.8,78.2,9.5,1321,15238,0.00,2.22,5.53,0.520,4,0.000,0.045,3047,3268,1603,0,0,0,0,0,0
$GC,15305,0.88,313.8,70.1,10.2,1334,15313,0.00,2.17,0.00,0.000,6,0.000,0.033,3055,1840,1603,0,0,0,0,0,0
$GC,15633,0.88,313.8,33.1,10.3,1395,15641,0.00,2.15,0.00,0.000,4,0.000,0.042,3065,438,1603,0,0,0,0,0,0
$GC,15746,0.88,313.8,21.0,10.7,1415,15755,0.10,2.12,0.00,0.000,6,0.121,0.032,3026,1847,1603,0,0,0,0,0,0
$STATE,15956,end climb,SURFACE_DEPTH_REACHED
$STATE,15956,begin surface coast
$FINISH,1.0,1.021657
$STATE,15995,end surface coast,CONTROL_FINISHED_OK
$STATE,15995,begin surface
$SM_CCo,16014,73.40,0.513,1,0,1047,450.13
$SM_GC,1.76,0.00,0.00,73.40,0.000,0.000,0.513,154,1496,1047,-8.10,-0.11,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2111.01,12400.01,050911,191939
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.01
$INTERNAL_PRESSURE,9.42877
$TCM_TEMP,26.30
$XPDR_PINGS,87
$24V_AH,22.9,40.845
$10V_AH,10.1,29.932
$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,18.825,139.550,409.450,73.400,0.000,24.429,50.508,200.877,21.750,0.000,18.430,3662.571,8305.051,573.974,3549.950,445.133,0.000,1934.965,0.000,3251.985,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,61.965,1457.325,513.315,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.575,1495.741,1656.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,83552,1461
$CAP_FILE_SIZE,165620,0
$CFSIZE,260165632,131821568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.248,132.7,1
$GPS,060911,043831,2121.474,12404.985,39,1.7,39,-2.8