version: 66.09
glider: 166
mission: 6
dive: 177
start: 9 6 111 4 45 45
data:
$ID,166
$MISSION,6
$DIVE,177
$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,-24620.092
$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,40
$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
$GPS1,060911,043831,2121.474,12404.985,39,1.7,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-71.8
$GPS2,060911,044519,2121.421,12405.098,18,1.8,29,-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,316.7,18154,-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,-155.7,0.0,0.0,0,105,0.00,0.00,-86.28,0.000,2,0.000,0.000,154,1496,3135,0,0,0,0,0,0
$GC,108,-0.68,-155.7,5.6,-7.9,12,133,9.25,2.20,-7.47,0.000,4,0.219,0.049,2506,2916,3517,0,0,0,0,0,0
$GC,152,-0.68,-155.7,27.0,-48.8,18,161,0.00,2.17,0.00,0.000,6,0.000,0.034,2506,1511,3519,0,0,0,0,0,0
$GC,478,-0.68,-155.7,131.4,-20.6,79,486,0.00,2.00,0.00,0.000,4,0.000,0.040,2491,204,3520,0,0,0,0,0,0
$GC,581,-0.68,-155.7,152.7,-20.4,97,589,0.10,1.98,0.00,0.000,6,0.157,0.031,2515,1511,3520,0,0,0,0,0,0
$GC,910,-0.68,-155.7,217.8,-18.9,158,919,0.00,2.10,0.00,0.000,4,0.000,0.039,2506,2907,3521,0,0,0,0,0,0
$GC,948,-0.68,-155.7,224.8,-17.3,164,956,0.00,2.12,0.00,0.000,6,0.000,0.033,2507,1503,3521,0,0,0,0,0,0
$GC,1282,-0.68,-155.7,281.6,-15.3,208,1285,0.00,1.98,0.00,0.000,4,0.000,0.041,2506,199,3521,0,0,0,0,0,0
$GC,1406,-0.68,-155.7,301.1,-15.8,219,1410,0.00,1.92,0.00,0.000,6,0.000,0.032,2498,1503,3521,0,0,0,0,0,0
$GC,1737,-0.68,-155.7,356.2,-15.3,250,1741,0.00,2.08,0.00,0.000,4,0.000,0.042,2506,2903,3521,0,0,0,0,0,0
$GC,1825,-0.68,-155.7,369.8,-14.4,257,1832,0.00,2.12,0.00,0.000,6,0.000,0.034,2507,1496,3521,0,0,0,0,0,0
$GC,2151,-0.68,-155.7,417.0,-14.4,288,2155,0.00,1.95,0.00,0.000,4,0.000,0.044,2507,200,3519,0,0,0,0,0,0
$GC,2200,-0.68,-155.7,424.9,-15.8,292,2207,0.00,1.95,0.00,0.000,6,0.000,0.034,2498,1493,3519,0,0,0,0,0,0
$GC,2526,-0.68,-155.7,474.1,-14.4,323,2530,0.00,2.12,0.00,0.000,4,0.000,0.046,2488,2907,3517,0,0,0,0,0,0
$GC,2569,-0.68,-155.7,480.6,-13.9,326,2578,0.12,2.15,0.00,0.000,6,0.162,0.037,2521,1505,3517,0,0,0,0,0,0
$GC,2895,-0.68,-155.7,518.0,-11.0,357,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1505,3515,0,0,0,0,0,0
$GC,3216,-0.68,-155.7,554.0,-11.8,387,3219,0.00,2.03,0.00,0.000,4,0.000,0.050,2524,198,3512,0,0,0,0,0,0
$GC,3297,-0.68,-155.7,565.0,-13.9,394,3300,0.00,1.98,0.00,0.000,6,0.000,0.038,2517,1502,3512,0,0,0,0,0,0
$GC,3625,-0.68,-155.7,608.9,-12.8,422,3629,0.00,2.12,0.00,0.000,4,0.000,0.052,2506,2904,3509,0,0,0,0,0,0
$GC,3684,-0.68,-155.7,615.9,-11.9,424,3691,0.00,2.15,0.00,0.000,6,0.000,0.041,2506,1494,3508,0,0,0,0,0,0
$GC,4000,-0.68,-155.7,653.0,-11.5,440,4003,0.00,2.00,0.00,0.000,4,0.000,0.052,2506,199,3505,0,0,0,0,0,0
$GC,4061,-0.68,-155.7,660.9,-12.9,442,4069,0.00,2.00,0.00,0.000,6,0.000,0.039,2496,1498,3505,0,0,0,0,0,0
$GC,4379,-0.68,-155.7,697.1,-11.8,458,4381,0.10,0.00,0.00,0.000,6,0.186,0.000,2519,1498,3501,0,0,0,0,0,0
$GC,4686,-0.68,-155.7,730.5,-11.1,473,4690,0.00,2.17,0.00,0.000,4,0.000,0.054,2506,2907,3499,0,0,0,0,0,0
$GC,4713,-0.68,-155.7,733.7,-11.5,474,4717,0.00,2.15,0.00,0.000,6,0.000,0.041,2506,1490,3499,0,0,0,0,0,0
$GC,5036,-0.68,-155.7,770.9,-11.0,490,5040,0.00,2.00,0.00,0.000,4,0.000,0.054,2506,195,3496,0,0,0,0,0,0
$GC,5060,-0.68,-155.7,773.7,-11.1,491,5064,0.00,2.00,0.00,0.000,6,0.000,0.041,2503,1507,3495,0,0,0,0,0,0
$GC,5393,-0.68,-155.7,808.0,-10.0,507,5397,0.00,2.15,0.00,0.000,4,0.000,0.055,2493,2912,3493,0,0,0,0,0,0
$GC,5435,-0.68,-155.7,812.0,-10.0,509,5440,0.12,2.15,0.00,0.000,6,0.160,0.042,2527,1500,3492,0,0,0,0,0,0
$GC,5766,-0.68,-155.7,841.1,-8.8,525,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1500,3490,0,0,0,0,0,0
$GC,6074,-0.68,-155.7,867.8,-8.5,540,6078,0.00,2.17,0.00,0.000,4,0.000,0.058,2519,2900,3488,0,0,0,0,0,0
$GC,6114,-0.68,-155.7,871.3,-8.5,542,6118,0.00,2.15,0.00,0.000,6,0.000,0.044,2519,1498,3488,0,0,0,0,0,0
$GC,6441,-0.68,-155.7,898.4,-8.3,558,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1499,3486,0,0,0,0,0,0
$GC,6752,-0.68,-155.7,923.6,-8.3,573,6756,0.00,2.22,0.00,0.000,4,0.000,0.060,2508,2907,3484,0,0,0,0,0,0
$GC,6785,-0.68,-155.7,926.5,-8.2,574,6789,0.00,2.17,0.00,0.000,6,0.000,0.046,2508,1496,3484,0,0,0,0,0,0
$GC,7101,-0.68,-155.7,956.9,-10.2,589,7105,0.00,2.20,0.00,0.000,4,0.000,0.060,2498,2901,3482,0,0,0,0,0,0
$GC,7143,-0.68,-155.7,961.1,-10.3,591,7147,0.00,2.17,0.00,0.000,6,0.000,0.047,2499,1493,3482,0,0,0,0,0,0
$STATE,7405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7405,begin apogee
$GC,7411,-0.14,0.0,992.2,12.0,604,7546,0.60,0.00,127.10,1.458,6,0.129,0.000,2689,1857,2885,0,0,0,0,0,0
$STATE,7547,end apogee,CONTROL_FINISHED_OK
$STATE,7547,begin climb
$GC,7549,0.68,155.7,998.4,0.0,610,7697,0.77,0.00,143.52,1.401,6,0.070,0.000,2964,1858,2249,0,0,0,0,0,0
$GC,7995,0.68,155.7,953.4,12.1,632,7999,0.00,2.22,0.00,0.000,4,0.000,0.065,2963,3252,2240,0,0,0,0,0,0
$GC,8096,0.68,155.7,940.5,12.9,636,8100,0.00,2.17,0.00,0.000,6,0.000,0.046,2972,1850,2239,0,0,0,0,0,0
$GC,8417,0.68,155.7,896.6,14.2,652,8421,0.00,2.22,0.00,0.000,4,0.000,0.063,2971,3258,2237,0,0,0,0,0,0
$GC,8453,0.68,155.7,891.4,14.9,653,8459,0.00,2.17,0.00,0.000,6,0.000,0.045,2979,1850,2237,0,0,0,0,0,0
$GC,8768,0.68,155.7,844.7,15.2,669,8772,0.00,2.22,0.00,0.000,4,0.000,0.064,2976,3250,2236,0,0,0,0,0,0
$GC,8823,0.68,155.7,835.1,16.4,671,8828,0.00,2.17,0.00,0.000,6,0.000,0.042,2984,1845,2235,0,0,0,0,0,0
$GC,9148,0.68,155.7,780.7,17.4,687,9152,0.00,2.20,0.00,0.000,4,0.000,0.057,2977,3258,2234,0,0,0,0,0,0
$GC,9270,0.68,155.7,759.4,16.4,692,9274,0.00,2.17,0.00,0.000,6,0.000,0.042,2985,1828,2234,0,0,0,0,0,0
$GC,9594,0.68,155.7,709.1,15.5,708,9598,0.00,2.22,0.00,0.000,4,0.000,0.055,2979,3263,2233,0,0,0,0,0,0
$GC,9649,0.68,155.7,700.1,14.9,710,9653,0.00,2.17,0.00,0.000,6,0.000,0.041,2988,1852,2232,0,0,0,0,0,0
$GC,9971,0.68,155.7,652.5,15.1,726,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1852,2232,0,0,0,0,0,0
$GC,10282,0.68,155.7,607.3,14.3,741,10286,0.00,2.17,0.00,0.000,4,0.000,0.054,2986,3252,2231,0,0,0,0,0,0
$GC,10342,0.68,155.7,598.2,14.1,743,10349,0.00,2.17,0.00,0.000,6,0.000,0.040,2995,1840,2231,0,0,0,0,0,0
$GC,10668,0.68,155.7,556.2,12.6,774,10672,0.00,2.20,0.00,0.000,4,0.000,0.054,2987,3258,2231,0,0,0,0,0,0
$GC,10927,0.68,155.7,519.7,14.8,796,10934,0.00,2.15,0.00,0.000,6,0.000,0.039,2995,1842,2230,0,0,0,0,0,0
$GC,11253,0.68,155.7,471.7,14.0,827,11257,0.00,2.20,0.00,0.000,4,0.000,0.052,2987,3255,2230,0,0,0,0,0,0
$GC,11410,0.68,155.7,451.9,11.4,840,11418,0.08,2.15,0.00,0.000,6,0.177,0.038,2965,1852,2230,0,0,0,0,0,0
$GC,11736,0.68,155.7,416.8,11.4,871,11740,0.00,2.17,0.00,0.000,4,0.000,0.050,2956,3255,2230,0,0,0,0,0,0
$GC,11756,0.68,155.7,414.7,11.4,872,11760,0.00,2.12,0.00,0.000,6,0.000,0.037,2964,1843,2230,0,0,0,0,0,0
$GC,12081,0.68,155.7,378.4,11.4,902,12085,0.00,2.12,0.00,0.000,4,0.000,0.047,2975,440,2230,0,0,0,0,0,0
$GC,12171,0.68,155.7,367.3,12.1,909,12178,0.00,2.15,0.00,0.000,6,0.000,0.037,2966,1864,2229,0,0,0,0,0,0
$GC,12497,0.69,164.0,333.7,9.4,940,12509,0.00,2.15,5.00,0.696,4,0.000,0.054,2964,3251,2215,0,0,0,0,0,0
$GC,12639,0.69,164.0,319.4,10.1,952,12646,0.00,2.12,0.00,0.000,6,0.000,0.037,2972,1837,2215,0,0,0,0,0,0
$GC,12968,0.71,179.8,287.6,9.0,983,12992,0.00,2.22,16.05,0.870,4,0.000,0.050,2967,3248,2149,0,0,0,0,0,0
$GC,13076,0.71,179.8,275.4,11.4,992,13084,0.00,2.15,0.00,0.000,6,0.000,0.037,2974,1849,2148,0,0,0,0,0,0
$GC,13404,0.71,179.8,243.7,9.9,1029,13412,0.00,2.20,0.00,0.000,4,0.000,0.046,2983,440,2147,0,0,0,0,0,0
$GC,13490,0.71,179.8,235.1,10.0,1044,13498,0.00,2.15,0.00,0.000,6,0.000,0.037,2977,1844,2147,0,0,0,0,0,0
$GC,13816,0.71,179.8,204.1,10.1,1105,13824,0.00,2.17,0.00,0.000,4,0.000,0.044,2986,448,2147,0,0,0,0,0,0
$GC,13874,0.71,179.8,198.2,10.3,1115,13881,0.00,2.12,0.00,0.000,6,0.000,0.035,2980,1843,2147,0,0,0,0,0,0
$GC,14201,0.80,253.9,170.1,6.6,1176,14267,0.00,0.00,63.12,0.791,6,0.000,0.000,2980,1844,1847,0,0,0,0,0,0
$GC,14588,0.80,253.9,133.6,11.2,1245,14596,0.00,2.20,0.00,0.000,4,0.000,0.047,2984,3251,1842,0,0,0,0,0,0
$GC,14620,0.80,253.9,129.7,11.6,1250,14629,0.00,2.15,0.00,0.000,6,0.000,0.034,2992,1851,1842,0,0,0,0,0,0
$GC,14946,0.81,258.6,97.1,9.5,1311,14956,0.00,2.22,4.70,0.490,4,0.000,0.044,3002,433,1829,0,0,0,0,0,0
$GC,15000,0.86,295.8,92.5,8.1,1320,15038,0.00,2.15,33.15,0.698,6,0.000,0.033,3003,1853,1678,0,0,0,0,0,0
$GC,15359,0.92,351.7,67.4,7.4,1385,15414,0.12,2.22,47.58,0.675,4,0.084,0.041,3087,442,1448,0,0,0,0,0,0
$GC,15474,0.92,351.7,52.8,13.0,1402,15483,0.12,2.17,0.00,0.000,6,0.125,0.031,3043,1848,1446,0,0,0,0,0,0
$GC,15804,0.94,360.8,21.2,9.3,1463,15819,0.00,0.00,8.85,0.543,6,0.000,0.000,3043,1849,1412,0,0,0,0,0,0
$STATE,15984,end climb,SURFACE_DEPTH_REACHED
$STATE,15984,begin surface coast
$FINISH,1.1,1.021505
$STATE,16017,end surface coast,CONTROL_FINISHED_OK
$STATE,16017,begin surface
$SM_CCo,16034,53.28,0.464,1,0,1048,450.13
$SM_GC,1.82,0.00,0.00,53.28,0.000,0.000,0.464,153,1477,1048,-8.10,-0.65,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2111.01,12403.22,060911,000014
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.20
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.40
$XPDR_PINGS,84
$24V_AH,23.0,41.014
$10V_AH,10.1,30.104
$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,18.900,142.000,449.075,53.275,0.000,25.132,18.373,191.915,21.000,0.000,32.180,3740.671,8019.005,628.006,3647.861,452.687,0.000,2012.976,0.000,3399.330,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,65.025,1458.090,463.590,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.693,1537.852,1811.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83724,1502
$CAP_FILE_SIZE,166954,0
$CFSIZE,260165632,131739648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.269,119.1,1
$GPS,060911,091537,2121.552,12405.506,58,1.3,58,-2.8