version: 66.09
glider: 166
mission: 6
dive: 178
start: 9 6 111 9 24 3
data:
$ID,166
$MISSION,6
$DIVE,178
$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,-24621.445
$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,49
$R_STBD_OVSHOOT,39
$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
$GPS1,060911,091537,2121.552,12405.506,58,1.3,58,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.3
$GPS2,060911,092337,2121.460,12405.731,38,2.0,45,-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,301.5,18647,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-155.7,0.0,0.0,0,106,0.00,0.00,-85.45,0.000,2,0.000,0.000,152,1477,3128,0,0,0,0,0,0
$GC,108,-0.68,-155.7,6.0,-10.2,11,133,9.30,2.25,-7.57,0.000,4,0.220,0.051,2509,2912,3521,0,0,0,0,0,0
$GC,184,-0.68,-155.7,36.1,-32.6,23,192,0.00,2.17,0.00,0.000,6,0.000,0.034,2498,1503,3522,0,0,0,0,0,0
$GC,511,-0.68,-155.7,134.0,-23.0,84,519,0.00,2.00,0.00,0.000,4,0.000,0.039,2493,192,3523,0,0,0,0,0,0
$GC,592,-0.68,-155.7,151.0,-20.5,98,600,0.10,1.98,0.00,0.000,6,0.158,0.031,2517,1509,3523,0,0,0,0,0,0
$GC,920,-0.68,-155.7,213.7,-18.9,159,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1513,3524,0,0,0,0,0,0
$GC,1254,-0.68,-155.7,276.2,-17.6,208,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1513,3525,0,0,0,0,0,0
$GC,1572,-0.68,-155.7,329.7,-16.3,238,1576,0.00,2.03,0.00,0.000,4,0.000,0.041,2521,189,3524,0,0,0,0,0,0
$GC,1595,-0.68,-155.7,333.6,-15.8,240,1599,0.00,1.95,0.00,0.000,6,0.000,0.032,2519,1505,3524,0,0,0,0,0,0
$GC,1926,-0.68,-155.7,381.1,-12.6,271,1930,0.00,2.10,0.00,0.000,4,0.000,0.043,2518,2907,3523,0,0,0,0,0,0
$GC,1958,-0.68,-155.7,385.2,-12.0,273,1967,0.00,2.12,0.00,0.000,6,0.000,0.034,2518,1484,3523,0,0,0,0,0,0
$GC,2284,-0.68,-155.7,426.2,-13.0,304,2287,0.00,1.92,0.00,0.000,4,0.000,0.043,2518,207,3522,0,0,0,0,0,0
$GC,2322,-0.68,-155.7,431.6,-13.7,307,2329,0.00,1.92,0.00,0.000,6,0.000,0.033,2508,1492,3522,0,0,0,0,0,0
$GC,2648,-0.68,-155.7,477.4,-13.7,338,2652,0.00,2.10,0.00,0.000,4,0.000,0.044,2498,2905,3519,0,0,0,0,0,0
$GC,2710,-0.68,-155.7,485.3,-12.7,343,2714,0.00,2.10,0.00,0.000,6,0.000,0.036,2499,1499,3518,0,0,0,0,0,0
$GC,3035,-0.68,-155.7,531.8,-15.2,373,3039,0.00,2.00,0.00,0.000,4,0.000,0.047,2498,198,3516,0,0,0,0,0,0
$GC,3141,-0.68,-155.7,548.4,-15.6,382,3149,0.12,1.95,0.00,0.000,6,0.174,0.037,2522,1492,3515,0,0,0,0,0,0
$GC,3466,-0.68,-155.7,587.8,-12.1,413,3470,0.00,2.00,0.00,0.000,4,0.000,0.049,2522,202,3512,0,0,0,0,0,0
$GC,3494,-0.68,-155.7,591.4,-12.4,415,3500,0.00,1.98,0.00,0.000,6,0.000,0.037,2514,1509,3512,0,0,0,0,0,0
$GC,3812,-0.68,-155.7,630.7,-12.2,434,3816,0.00,2.12,0.00,0.000,4,0.000,0.050,2504,2909,3509,0,0,0,0,0,0
$GC,3891,-0.68,-155.7,639.7,-11.1,437,3895,0.00,2.12,0.00,0.000,6,0.000,0.040,2504,1507,3509,0,0,0,0,0,0
$GC,4207,-0.68,-155.7,676.2,-11.4,452,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1507,3506,0,0,0,0,0,0
$GC,4518,-0.68,-155.7,710.1,-11.1,467,4522,0.00,2.05,0.00,0.000,4,0.000,0.054,2503,181,3503,0,0,0,0,0,0
$GC,4556,-0.68,-155.7,715.2,-12.6,468,4564,0.08,2.03,0.00,0.000,6,0.151,0.041,2517,1493,3502,0,0,0,0,0,0
$GC,4872,-0.68,-155.7,747.0,-10.0,484,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1494,3500,0,0,0,0,0,0
$GC,5183,-0.68,-155.7,778.0,-9.9,499,5188,0.00,2.20,0.00,0.000,4,0.000,0.055,2503,2916,3497,0,0,0,0,0,0
$GC,5210,-0.68,-155.7,781.0,-10.1,500,5215,0.00,2.17,0.00,0.000,6,0.000,0.042,2502,1482,3497,0,0,0,0,0,0
$GC,5532,-0.68,-155.7,813.6,-10.1,516,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1482,3494,0,0,0,0,0,0
$GC,5844,-0.68,-155.7,844.6,-10.0,531,5848,0.00,2.22,0.00,0.000,4,0.000,0.057,2486,2912,3493,0,0,0,0,0,0
$GC,5910,-0.68,-155.7,851.3,-9.4,534,5915,0.12,2.17,0.00,0.000,6,0.159,0.044,2520,1493,3492,0,0,0,0,0,0
$GC,6236,-0.68,-155.7,876.3,-7.6,550,6240,0.00,2.22,0.00,0.000,4,0.000,0.057,2512,2909,3490,0,0,0,0,0,0
$GC,6280,-0.68,-155.7,879.9,-7.3,552,6284,0.00,2.17,0.00,0.000,6,0.000,0.044,2512,1488,3489,0,0,0,0,0,0
$GC,6607,-0.68,-155.7,905.3,-7.7,568,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1488,3487,0,0,0,0,0,0
$GC,6918,-0.68,-155.7,930.2,-8.5,583,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1488,3486,0,0,0,0,0,0
$GC,7226,-0.68,-155.7,958.4,-9.7,598,7230,0.00,2.25,0.00,0.000,4,0.000,0.060,2501,2906,3484,0,0,0,0,0,0
$GC,7266,-0.68,-155.7,962.3,-9.6,600,7270,0.00,2.17,0.00,0.000,6,0.000,0.046,2502,1496,3484,0,0,0,0,0,0
$STATE,7528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7528,begin apogee
$GC,7536,-0.14,0.0,990.4,10.6,613,7670,0.57,0.00,127.55,1.452,6,0.124,0.000,2691,1858,2884,0,0,0,0,0,0
$STATE,7671,end apogee,CONTROL_FINISHED_OK
$STATE,7671,begin climb
$GC,7675,0.68,155.7,995.1,0.0,619,7827,0.77,2.47,142.80,1.396,4,0.068,0.063,2977,3253,2248,0,0,0,0,0,0
$GC,7857,0.68,155.7,978.2,14.6,628,7861,0.00,2.30,0.00,0.000,6,0.000,0.044,2987,1853,2246,0,0,0,0,0,0
$GC,8186,0.68,155.7,924.4,16.6,644,8190,0.00,2.25,0.00,0.000,4,0.000,0.062,2985,3253,2239,0,0,0,0,0,0
$GC,8264,0.68,155.7,910.3,17.2,647,8271,0.00,2.17,0.00,0.000,6,0.000,0.044,2993,1846,2238,0,0,0,0,0,0
$GC,8583,0.68,155.7,858.8,16.7,663,8587,0.00,2.25,0.00,0.000,4,0.000,0.060,2992,3263,2237,0,0,0,0,0,0
$GC,8650,0.68,155.7,847.0,16.2,666,8655,0.15,2.20,0.00,0.000,6,0.193,0.044,2965,1834,2237,0,0,0,0,0,0
$GC,8977,0.68,155.7,802.5,13.7,682,8981,0.00,2.25,0.00,0.000,4,0.000,0.057,2955,3264,2235,0,0,0,0,0,0
$GC,9073,0.68,155.7,788.6,14.5,686,9077,0.00,2.15,0.00,0.000,6,0.000,0.044,2963,1847,2234,0,0,0,0,0,0
$GC,9400,0.68,155.7,740.9,14.8,702,9404,0.00,2.22,0.00,0.000,4,0.000,0.057,2959,3257,2233,0,0,0,0,0,0
$GC,9456,0.68,155.7,732.4,15.2,704,9463,0.00,2.15,0.00,0.000,6,0.000,0.041,2967,1849,2233,0,0,0,0,0,0
$GC,9774,0.68,155.7,686.5,14.9,720,9778,0.00,2.17,0.00,0.000,4,0.000,0.051,2978,437,2232,0,0,0,0,0,0
$GC,9806,0.68,155.7,680.7,16.1,721,9813,0.00,2.17,0.00,0.000,6,0.000,0.041,2970,1865,2232,0,0,0,0,0,0
$GC,10124,0.68,155.7,632.6,15.5,737,10128,0.00,2.15,0.00,0.000,4,0.000,0.057,2967,3253,2232,0,0,0,0,0,0
$GC,10215,0.68,155.7,618.7,15.0,741,10219,0.00,2.15,0.00,0.000,6,0.000,0.042,2975,1838,2231,0,0,0,0,0,0
$GC,10547,0.68,155.7,572.8,12.9,765,10551,0.00,2.22,0.00,0.000,4,0.000,0.056,2968,3260,2231,0,0,0,0,0,0
$GC,10702,0.68,155.7,551.9,12.5,778,10710,0.00,2.17,0.00,0.000,6,0.000,0.041,2976,1848,2230,0,0,0,0,0,0
$GC,11027,0.68,155.7,510.7,13.0,809,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1849,2230,0,0,0,0,0,0
$GC,11348,0.68,155.7,471.9,11.6,839,11352,0.00,2.20,0.00,0.000,4,0.000,0.053,2968,3257,2230,0,0,0,0,0,0
$GC,11393,0.68,155.7,466.0,12.8,842,11401,0.00,2.15,0.00,0.000,6,0.000,0.040,2977,1837,2230,0,0,0,0,0,0
$GC,11718,0.68,155.7,424.5,12.5,873,11722,0.00,2.20,0.00,0.000,4,0.000,0.053,2968,3256,2230,0,0,0,0,0,0
$GC,11758,0.68,155.7,419.3,12.8,876,11765,0.00,2.12,0.00,0.000,6,0.000,0.039,2976,1851,2230,0,0,0,0,0,0
$GC,12084,0.68,155.7,380.0,12.4,907,12088,0.00,2.15,0.00,0.000,4,0.000,0.049,2987,436,2230,0,0,0,0,0,0
$GC,12206,0.68,155.7,364.8,12.4,917,12210,0.00,2.15,0.00,0.000,6,0.000,0.039,2980,1858,2230,0,0,0,0,0,0
$GC,12532,0.71,175.7,329.7,8.9,947,12551,0.00,0.00,15.27,0.907,6,0.000,0.000,2980,1858,2167,0,0,0,0,0,0
$GC,12872,0.71,175.7,294.7,12.1,979,12876,0.00,2.15,0.00,0.000,4,0.000,0.050,2978,3260,2165,0,0,0,0,0,0
$GC,12893,0.71,175.7,291.8,11.6,980,12901,0.00,2.15,0.00,0.000,6,0.000,0.037,2983,1852,2165,0,0,0,0,0,0
$GC,13220,0.71,175.7,253.0,11.4,1011,13224,0.00,2.15,0.00,0.000,4,0.000,0.046,2992,442,2165,0,0,0,0,0,0
$GC,13444,0.72,185.6,229.9,9.3,1050,13461,0.00,2.15,10.45,0.767,6,0.000,0.037,2984,1859,2128,0,0,0,0,0,0
$GC,13784,0.72,187.3,200.7,9.6,1112,13791,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1859,2127,0,0,0,0,0,0
$GC,14107,0.75,212.9,170.4,8.6,1173,14137,0.00,0.00,24.62,0.770,6,0.000,0.000,2984,1860,2015,0,0,0,0,0,0
$GC,14461,0.77,230.3,134.1,9.0,1237,14485,0.00,2.12,16.02,0.711,4,0.000,0.046,2986,3256,1944,0,0,0,0,0,0
$GC,14650,0.87,305.7,119.6,6.6,1271,14724,0.00,2.15,64.55,0.735,6,0.000,0.035,2995,1845,1636,0,0,0,0,0,0
$GC,15045,0.90,334.2,84.6,8.5,1341,15077,0.12,2.17,24.60,0.673,4,0.086,0.042,3081,437,1519,0,0,0,0,0,0
$GC,15144,0.90,334.2,71.3,15.3,1357,15153,0.12,2.15,0.00,0.000,6,0.129,0.033,3036,1851,1517,0,0,0,0,0,0
$GC,15475,0.91,336.2,36.5,9.6,1418,15484,0.00,2.12,0.00,0.000,4,0.000,0.044,3034,3243,1517,0,0,0,0,0,0
$GC,15513,0.91,337.0,32.7,9.7,1424,15521,0.00,2.10,0.00,0.000,6,0.000,0.033,3042,1855,1517,0,0,0,0,0,0
$STATE,15832,end climb,SURFACE_DEPTH_REACHED
$STATE,15832,begin surface coast
$FINISH,1.0,1.008673
$STATE,15862,end surface coast,CONTROL_FINISHED_OK
$STATE,15862,begin surface
$SM_CCo,15881,64.93,0.495,1,0,1048,450.13
$SM_GC,1.97,0.00,0.00,64.93,0.000,0.000,0.495,133,1488,1048,-8.13,-0.31,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2115.63,12404.52,060911,040449
$TT8_MAMPS,0.027713,0.027713
$HUMID,34.01
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.10
$XPDR_PINGS,75
$24V_AH,23.0,41.182
$10V_AH,10.1,30.274
$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,18.875,129.475,425.875,64.925,0.000,28.937,22.820,228.365,18.750,0.000,45.900,3704.186,8014.380,610.497,3633.064,454.898,0.000,1944.986,0.000,3317.390,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,63.495,1451.970,494.955,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.135,1525.309,1785.911,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83599,1489
$CAP_FILE_SIZE,161664,0
$CFSIZE,260165632,131653632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.415,118.0,1
$GPS,060911,135137,2120.730,12407.108,61,1.5,61,-2.8