version: 66.09
glider: 166
mission: 6
dive: 179
start: 9 6 111 14 0 55
data:
$ID,166
$MISSION,6
$DIVE,179
$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,-24622.699
$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,43
$R_STBD_OVSHOOT,50
$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
$GPS1,060911,135137,2120.730,12407.108,61,1.5,61,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-73.3
$GPS2,060911,140031,2120.651,12407.359,18,1.5,35,-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,283.7,21462,-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,-155.7,0.0,0.0,0,103,0.00,0.00,-82.53,0.000,2,0.000,0.000,126,1488,3018,0,0,0,0,0,0
$GC,106,-0.68,-155.7,5.2,-7.5,11,131,9.38,2.22,-10.15,0.000,4,0.223,0.051,2508,2907,3521,0,0,0,0,0,0
$GC,215,-0.68,-155.7,44.3,-30.3,29,225,0.00,2.15,0.00,0.000,6,0.000,0.034,2500,1503,3523,0,0,0,0,0,0
$GC,543,-0.68,-155.7,137.4,-27.1,90,551,0.00,1.98,0.00,0.000,4,0.000,0.039,2499,199,3523,0,0,0,0,0,0
$GC,661,-0.68,-155.7,166.0,-21.5,111,670,0.10,1.95,0.00,0.000,6,0.155,0.031,2521,1501,3524,0,0,0,0,0,0
$GC,988,-0.68,-155.7,228.9,-17.7,172,996,0.00,2.00,0.00,0.000,4,0.000,0.040,2521,195,3525,0,0,0,0,0,0
$GC,1022,-0.68,-155.7,234.9,-17.3,177,1032,0.00,1.95,0.00,0.000,6,0.000,0.031,2513,1499,3525,0,0,0,0,0,0
$GC,1358,-0.68,-155.7,295.6,-16.5,215,1362,0.00,2.10,0.00,0.000,4,0.000,0.042,2503,2907,3525,0,0,0,0,0,0
$GC,1388,-0.68,-155.7,299.9,-14.2,217,1392,0.00,2.10,0.00,0.000,6,0.000,0.033,2503,1494,3525,0,0,0,0,0,0
$GC,1713,-0.68,-155.7,348.8,-14.6,247,1717,0.00,1.95,0.00,0.000,4,0.000,0.044,2506,211,3525,0,0,0,0,0,0
$GC,1862,-0.68,-155.7,371.6,-15.6,260,1866,0.00,1.92,0.00,0.000,6,0.000,0.036,2509,1495,3525,0,0,0,0,0,0
$GC,2193,-0.68,-155.7,421.7,-14.7,291,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1495,3524,0,0,0,0,0,0
$GC,2517,-0.68,-155.7,463.7,-13.4,321,2521,0.00,2.15,0.00,0.000,4,0.000,0.047,2503,2903,3521,0,0,0,0,0,0
$GC,2545,-0.68,-155.7,468.2,-12.9,323,2550,0.00,2.12,0.00,0.000,6,0.000,0.039,2503,1504,3521,0,0,0,0,0,0
$GC,2879,-0.68,-155.7,514.6,-14.3,354,2883,0.00,2.03,0.00,0.000,4,0.000,0.050,2503,198,3519,0,0,0,0,0,0
$GC,2927,-0.68,-155.7,522.3,-14.9,358,2935,0.08,1.98,0.00,0.000,6,0.157,0.037,2518,1492,3518,0,0,0,0,0,0
$GC,3253,-0.68,-155.7,562.2,-11.2,389,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1492,3516,0,0,0,0,0,0
$GC,3577,-0.68,-155.7,597.9,-10.7,419,3581,0.00,2.15,0.00,0.000,4,0.000,0.051,2510,2909,3513,0,0,0,0,0,0
$GC,3688,-0.68,-155.7,611.0,-11.1,424,3692,0.00,2.15,0.00,0.000,6,0.000,0.041,2510,1499,3511,0,0,0,0,0,0
$GC,4017,-0.68,-155.7,648.3,-11.1,440,4021,0.00,2.20,0.00,0.000,4,0.000,0.055,2499,2908,3509,0,0,0,0,0,0
$GC,4072,-0.68,-155.7,654.8,-11.4,442,4079,0.00,2.15,0.00,0.000,6,0.000,0.042,2499,1499,3508,0,0,0,0,0,0
$GC,4390,-0.68,-155.7,690.9,-11.5,458,4392,0.12,0.00,0.00,0.000,6,0.168,0.000,2525,1499,3505,0,0,0,0,0,0
$GC,4698,-0.68,-155.7,720.1,-9.3,473,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1498,3502,0,0,0,0,0,0
$GC,5007,-0.68,-155.7,747.4,-8.6,488,5011,0.00,2.20,0.00,0.000,4,0.000,0.060,2513,2899,3499,0,0,0,0,0,0
$GC,5058,-0.68,-155.7,751.7,-8.3,490,5062,0.00,2.15,0.00,0.000,6,0.000,0.045,2514,1504,3499,0,0,0,0,0,0
$GC,5374,-0.68,-155.7,780.0,-8.8,505,5378,0.00,2.03,0.00,0.000,4,0.000,0.057,2514,195,3497,0,0,0,0,0,0
$GC,5397,-0.68,-155.7,782.2,-8.7,506,5401,0.00,2.00,0.00,0.000,6,0.000,0.043,2502,1498,3496,0,0,0,0,0,0
$GC,5733,-0.68,-155.7,813.3,-9.4,522,5737,0.00,2.17,0.00,0.000,4,0.000,0.056,2490,2905,3494,0,0,0,0,0,0
$GC,5798,-0.68,-155.7,819.2,-9.0,525,5803,0.12,2.15,0.00,0.000,6,0.158,0.043,2525,1492,3494,0,0,0,0,0,0
$GC,6134,-0.68,-155.7,845.7,-7.8,541,6138,0.00,2.22,0.00,0.000,4,0.000,0.057,2516,2912,3491,0,0,0,0,0,0
$GC,6183,-0.68,-155.7,849.9,-7.9,543,6187,0.00,2.15,0.00,0.000,6,0.000,0.044,2517,1501,3491,0,0,0,0,0,0
$GC,6507,-0.68,-155.7,876.8,-8.6,559,6511,0.00,2.20,0.00,0.000,4,0.000,0.057,2506,2904,3489,0,0,0,0,0,0
$GC,6539,-0.68,-155.7,879.8,-8.7,560,6546,0.00,2.15,0.00,0.000,6,0.000,0.044,2506,1503,3489,0,0,0,0,0,0
$GC,6856,-0.68,-155.7,909.1,-9.6,576,6860,0.00,2.22,0.00,0.000,4,0.000,0.058,2496,2913,3487,0,0,0,0,0,0
$GC,6929,-0.68,-155.7,916.1,-9.7,579,6933,0.00,2.20,0.00,0.000,6,0.000,0.044,2497,1489,3486,0,0,0,0,0,0
$GC,7251,-0.68,-155.7,949.5,-10.6,595,7254,0.00,2.03,0.00,0.000,4,0.000,0.058,2496,195,3485,0,0,0,0,0,0
$GC,7300,-0.68,-155.7,955.1,-11.3,597,7305,0.08,2.05,0.00,0.000,6,0.143,0.044,2521,1504,3484,0,0,0,0,0,0
$GC,7630,-0.68,-155.7,983.4,-8.6,613,7634,0.00,2.17,0.00,0.000,4,0.000,0.057,2515,2907,3483,0,0,0,0,0,0
$STATE,7711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7711,begin apogee
$GC,7718,-0.14,0.0,990.3,8.0,616,7857,0.55,0.00,127.50,1.454,6,0.118,0.000,2703,1843,2883,0,0,0,0,0,0
$STATE,7858,end apogee,CONTROL_FINISHED_OK
$STATE,7858,begin climb
$GC,7860,0.68,155.7,993.0,0.0,623,8012,0.73,2.47,141.95,1.398,4,0.063,0.061,2967,3255,2248,0,0,0,0,0,0
$GC,8059,0.68,155.7,970.6,16.4,632,8063,0.00,2.28,0.00,0.000,6,0.000,0.045,2976,1857,2244,0,0,0,0,0,0
$GC,8393,0.68,155.7,913.2,17.5,648,8397,0.00,2.25,0.00,0.000,4,0.000,0.061,2973,3260,2238,0,0,0,0,0,0
$GC,8434,0.68,155.7,905.3,18.2,650,8439,0.00,2.20,0.00,0.000,6,0.000,0.043,2981,1838,2238,0,0,0,0,0,0
$GC,8761,0.68,155.7,847.1,17.5,666,8765,0.00,2.25,0.00,0.000,4,0.000,0.057,2979,3263,2236,0,0,0,0,0,0
$GC,8857,0.68,155.7,830.4,17.2,670,8861,0.00,2.17,0.00,0.000,6,0.000,0.041,2987,1848,2236,0,0,0,0,0,0
$GC,9173,0.68,155.7,780.9,15.1,685,9177,0.00,2.22,0.00,0.000,4,0.000,0.055,2979,3266,2234,0,0,0,0,0,0
$GC,9222,0.68,155.7,773.1,15.1,687,9226,0.00,2.20,0.00,0.000,6,0.000,0.041,2988,1841,2234,0,0,0,0,0,0
$GC,9546,0.68,155.7,728.5,13.3,703,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1840,2234,0,0,0,0,0,0
$GC,9853,0.68,155.7,686.8,13.3,718,9857,0.00,2.22,0.00,0.000,4,0.000,0.054,2980,3267,2233,0,0,0,0,0,0
$GC,9963,0.68,155.7,671.6,15.0,723,9967,0.00,2.17,0.00,0.000,6,0.000,0.040,2988,1837,2232,0,0,0,0,0,0
$GC,10289,0.68,155.7,622.7,14.9,739,10293,0.00,2.22,0.00,0.000,4,0.000,0.054,2980,3258,2232,0,0,0,0,0,0
$GC,10361,0.68,155.7,611.7,14.5,742,10365,0.00,2.15,0.00,0.000,6,0.000,0.041,2988,1842,2232,0,0,0,0,0,0
$GC,10694,0.68,155.7,563.6,15.7,769,10698,0.00,2.20,0.00,0.000,4,0.000,0.053,2980,3258,2231,0,0,0,0,0,0
$GC,10810,0.68,155.7,544.0,16.9,779,10819,0.00,2.17,0.00,0.000,6,0.000,0.039,2989,1846,2231,0,0,0,0,0,0
$GC,11136,0.68,155.7,493.9,14.0,810,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1846,2231,0,0,0,0,0,0
$GC,11459,0.68,155.7,452.1,13.1,840,11463,0.00,2.17,0.00,0.000,4,0.000,0.049,2999,433,2231,0,0,0,0,0,0
$GC,11491,0.68,155.7,446.7,14.5,842,11499,0.00,2.17,0.00,0.000,6,0.000,0.039,2992,1868,2230,0,0,0,0,0,0
$GC,11819,0.68,155.7,404.1,13.0,873,11823,0.00,2.12,0.00,0.000,4,0.000,0.054,2983,3250,2230,0,0,0,0,0,0
$GC,12074,0.68,155.7,371.5,12.7,895,12082,0.00,2.15,0.00,0.000,6,0.000,0.039,2991,1831,2229,0,0,0,0,0,0
$GC,12400,0.68,155.7,333.9,10.6,926,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1831,2229,0,0,0,0,0,0
$GC,12721,0.68,155.7,300.1,11.0,956,12725,0.00,2.15,0.00,0.000,4,0.000,0.047,3001,436,2229,0,0,0,0,0,0
$GC,12896,0.68,155.7,278.7,12.4,971,12901,0.00,2.15,0.00,0.000,6,0.000,0.039,2990,1860,2229,0,0,0,0,0,0
$GC,13223,0.68,155.7,244.1,9.8,1006,13231,0.00,2.12,0.00,0.000,4,0.000,0.050,2990,3236,2229,0,0,0,0,0,0
$GC,13348,0.68,155.7,230.8,10.9,1029,13356,0.00,2.12,0.00,0.000,6,0.000,0.037,2994,1840,2229,0,0,0,0,0,0
$GC,13674,0.68,155.7,191.9,10.9,1090,13682,0.00,2.15,0.00,0.000,4,0.000,0.047,3005,446,2229,0,0,0,0,0,0
$GC,13721,0.68,155.7,186.7,11.0,1097,13730,0.10,2.12,0.00,0.000,6,0.148,0.036,2967,1839,2229,0,0,0,0,0,0
$GC,14053,0.84,285.5,163.0,4.3,1158,14169,0.15,2.33,106.80,0.787,4,0.081,0.046,3045,3268,1719,0,0,0,0,0,0
$GC,14271,0.84,285.5,137.2,14.9,1192,14280,0.10,2.20,0.00,0.000,6,0.146,0.035,3024,1854,1717,0,0,0,0,0,0
$GC,14602,0.84,285.5,95.2,12.3,1253,14610,0.00,2.20,0.00,0.000,4,0.000,0.044,3033,433,1715,0,0,0,0,0,0
$GC,14693,0.84,285.5,85.4,10.3,1269,14701,0.00,2.17,0.00,0.000,6,0.000,0.034,3025,1859,1714,0,0,0,0,0,0
$GC,15020,0.89,320.5,55.4,8.2,1330,15058,0.00,2.25,29.92,0.661,4,0.000,0.041,3033,440,1576,0,0,0,0,0,0
$GC,15152,0.91,337.4,43.6,9.0,1352,15175,0.00,2.17,15.38,0.618,6,0.000,0.032,3033,1859,1507,0,0,0,0,0,0
$GC,15499,0.94,363.3,14.0,8.6,1415,15530,0.00,2.22,23.12,0.612,4,0.000,0.042,3043,436,1401,0,0,0,0,0,0
$STATE,15627,end climb,SURFACE_DEPTH_REACHED
$STATE,15627,begin surface coast
$FINISH,2.1,1.021820
$STATE,15634,end surface coast,CONTROL_FINISHED_OK
$STATE,15634,begin surface
$SM_CCo,15652,56.25,0.477,1,0,1048,450.13
$SM_GC,1.97,0.00,0.00,56.25,0.000,0.000,0.477,153,1531,1048,-8.10,0.88,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2113.32,12406.44,060911,090904
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.85
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,26.10
$XPDR_PINGS,68
$24V_AH,23.0,41.351
$10V_AH,10.1,30.439
$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,19.025,140.825,444.675,56.250,0.000,55.079,42.275,190.990,17.000,0.000,36.114,3602.153,7995.942,579.590,3606.877,450.723,0.000,1957.333,0.000,3295.637,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,61.200,1453.500,476.595,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.025,1473.722,1691.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80218,1438
$CAP_FILE_SIZE,164604,0
$CFSIZE,260165632,131567616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.319,136.3,1
$GPS,060911,182407,2119.023,12407.252,35,2.0,35,-2.8