version: 66.09
glider: 166
mission: 6
dive: 183
start: 9 7 111 8 42 22
data:
$ID,166
$MISSION,6
$DIVE,183
$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,595.83368
$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,-24629.113
$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,56
$R_STBD_OVSHOOT,43
$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
$GPS1,070911,082907,2118.340,12408.102,36,1.9,36,-2.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.2
$GPS2,070911,084157,2118.320,12408.174,40,2.1,59,-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,304.7,25813,-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,-155.7,0.0,0.0,0,100,0.00,0.00,-80.97,0.000,2,0.000,0.000,146,1472,2991,0,0,0,0,0,0
$GC,105,-0.68,-155.7,5.4,-9.8,11,130,9.30,2.25,-10.48,0.000,4,0.223,0.052,2506,2909,3520,0,0,0,0,0,0
$GC,232,-0.68,-155.7,50.1,-28.0,33,242,0.08,2.12,0.00,0.000,6,0.157,0.034,2517,1522,3522,0,0,0,0,0,0
$GC,561,-0.68,-155.7,126.0,-19.8,94,569,0.00,2.03,0.00,0.000,4,0.000,0.038,2520,189,3523,0,0,0,0,0,0
$GC,584,-0.68,-155.7,130.5,-19.0,97,593,0.00,1.98,0.00,0.000,6,0.000,0.030,2512,1507,3523,0,0,0,0,0,0
$GC,912,-0.68,-155.7,198.4,-21.1,158,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1510,3523,0,0,0,0,0,0
$GC,1246,-0.68,-155.7,265.9,-18.1,212,1250,0.00,2.00,0.00,0.000,4,0.000,0.040,2512,188,3523,0,0,0,0,0,0
$GC,1269,-0.68,-155.7,270.2,-18.3,214,1273,0.00,1.95,0.00,0.000,6,0.000,0.032,2502,1510,3523,0,0,0,0,0,0
$GC,1599,-0.68,-155.7,324.1,-14.4,245,1603,0.00,2.00,0.00,0.000,4,0.000,0.041,2504,190,3523,0,0,0,0,0,0
$GC,1690,-0.68,-155.7,337.5,-15.6,253,1694,0.00,1.95,0.00,0.000,6,0.000,0.034,2498,1503,3523,0,0,0,0,0,0
$GC,2021,-0.68,-155.7,388.5,-17.1,284,2024,0.00,2.10,0.00,0.000,4,0.000,0.044,2502,2906,3522,0,0,0,0,0,0
$GC,2060,-0.68,-155.7,395.4,-17.2,287,2064,0.00,2.10,0.00,0.000,6,0.000,0.034,2502,1493,3522,0,0,0,0,0,0
$GC,2385,-0.68,-155.7,448.2,-13.8,317,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1493,3520,0,0,0,0,0,0
$GC,2705,-0.68,-155.7,488.3,-11.9,347,2709,0.00,1.98,0.00,0.000,4,0.000,0.047,2502,205,3517,0,0,0,0,0,0
$GC,2731,-0.68,-155.7,491.3,-12.0,349,2736,0.12,1.95,0.00,0.000,6,0.171,0.037,2526,1499,3517,0,0,0,0,0,0
$GC,3056,-0.68,-155.7,525.9,-11.1,379,3060,0.00,2.12,0.00,0.000,4,0.000,0.050,2517,2908,3514,0,0,0,0,0,0
$GC,3146,-0.68,-155.7,535.6,-10.4,386,3152,0.00,2.12,0.00,0.000,6,0.000,0.038,2517,1505,3513,0,0,0,0,0,0
$GC,3471,-0.68,-155.7,575.9,-12.8,417,3474,0.00,2.00,0.00,0.000,4,0.000,0.050,2517,204,3510,0,0,0,0,0,0
$GC,3511,-0.68,-155.7,581.5,-14.4,420,3518,0.00,1.98,0.00,0.000,6,0.000,0.041,2507,1499,3510,0,0,0,0,0,0
$GC,3841,-0.68,-155.7,623.5,-11.8,443,3845,0.00,2.17,0.00,0.000,4,0.000,0.053,2497,2917,3507,0,0,0,0,0,0
$GC,3895,-0.68,-155.7,630.2,-11.8,445,3904,0.00,2.15,0.00,0.000,6,0.000,0.041,2497,1502,3506,0,0,0,0,0,0
$GC,4214,-0.68,-155.7,668.2,-11.8,461,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1502,3503,0,0,0,0,0,0
$GC,4521,-0.68,-155.7,705.3,-11.8,476,4526,0.12,2.05,0.00,0.000,4,0.171,0.054,2531,200,3501,0,0,0,0,0,0
$GC,4613,-0.68,-155.7,715.0,-10.0,480,4617,0.00,1.98,0.00,0.000,6,0.000,0.041,2523,1508,3500,0,0,0,0,0,0
$GC,4946,-0.68,-155.7,743.5,-8.1,496,4950,0.00,2.15,0.00,0.000,4,0.000,0.054,2503,2902,3497,0,0,0,0,0,0
$GC,4990,-0.68,-155.7,747.1,-7.8,498,4994,0.00,2.15,0.00,0.000,6,0.000,0.041,2508,1489,3496,0,0,0,0,0,0
$GC,5320,-0.68,-155.7,776.7,-9.7,514,5324,0.00,2.20,0.00,0.000,4,0.000,0.054,2493,2903,3493,0,0,0,0,0,0
$GC,5360,-0.68,-155.7,780.9,-10.0,516,5364,0.10,2.15,0.00,0.000,6,0.171,0.041,2519,1494,3493,0,0,0,0,0,0
$GC,5688,-0.68,-155.7,813.0,-10.3,532,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1493,3490,0,0,0,0,0,0
$GC,5996,-0.68,-155.7,843.7,-9.6,547,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1493,3489,0,0,0,0,0,0
$GC,6306,-0.68,-155.7,871.1,-8.5,562,6310,0.00,2.20,0.00,0.000,4,0.000,0.060,2508,2901,3486,0,0,0,0,0,0
$GC,6380,-0.68,-155.7,877.3,-8.3,565,6384,0.00,2.17,0.00,0.000,6,0.000,0.046,2508,1495,3486,0,0,0,0,0,0
$GC,6696,-0.68,-155.7,904.1,-8.5,580,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1494,3484,0,0,0,0,0,0
$GC,7005,-0.68,-155.7,931.0,-8.9,595,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1495,3483,0,0,0,0,0,0
$GC,7317,-0.68,-155.7,960.1,-9.4,610,7321,0.00,2.25,0.00,0.000,4,0.000,0.067,2496,2903,3481,0,0,0,0,0,0
$GC,7377,-0.68,-155.7,966.2,-9.3,612,7384,0.00,2.17,0.00,0.000,6,0.000,0.047,2496,1496,3480,0,0,0,0,0,0
$STATE,7629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7629,begin apogee
$GC,7637,-0.14,0.0,990.5,9.8,625,7771,0.60,0.00,127.00,1.455,6,0.122,0.000,2703,1845,2884,0,0,0,0,0,0
$STATE,7772,end apogee,CONTROL_FINISHED_OK
$STATE,7772,begin climb
$GC,7774,0.68,155.7,994.3,0.0,631,7926,0.70,2.47,142.88,1.395,4,0.068,0.063,2957,3246,2248,0,0,0,0,0,0
$GC,7951,0.68,155.7,977.9,14.2,639,7959,0.00,2.30,0.00,0.000,6,0.000,0.045,2967,1851,2245,0,0,0,0,0,0
$GC,8267,0.68,155.7,929.6,15.2,655,8271,0.00,2.25,0.00,0.000,4,0.000,0.062,2966,3252,2239,0,0,0,0,0,0
$GC,8319,0.68,155.7,921.1,16.4,657,8323,0.00,2.20,0.00,0.000,6,0.000,0.045,2975,1839,2238,0,0,0,0,0,0
$GC,8635,0.68,155.7,869.2,16.3,672,8639,0.00,2.25,0.00,0.000,4,0.000,0.060,2971,3253,2237,0,0,0,0,0,0
$GC,8715,0.68,155.7,856.1,16.1,675,8723,0.00,2.17,0.00,0.000,6,0.000,0.044,2980,1843,2236,0,0,0,0,0,0
$GC,9031,0.68,155.7,803.3,16.9,691,9035,0.00,2.22,0.00,0.000,4,0.000,0.059,2972,3257,2235,0,0,0,0,0,0
$GC,9078,0.68,155.7,795.6,16.9,693,9082,0.00,2.17,0.00,0.000,6,0.000,0.044,2981,1845,2235,0,0,0,0,0,0
$GC,9406,0.68,155.7,739.5,17.2,709,9410,0.00,2.20,0.00,0.000,4,0.000,0.058,2972,3255,2234,0,0,0,0,0,0
$GC,9455,0.68,155.7,730.1,17.5,711,9459,0.00,2.15,0.00,0.000,6,0.000,0.043,2981,1846,2233,0,0,0,0,0,0
$GC,9783,0.68,155.7,678.7,14.7,727,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1846,2233,0,0,0,0,0,0
$GC,10094,0.68,155.7,637.7,12.6,742,10098,0.00,2.20,0.00,0.000,4,0.000,0.056,2973,3258,2232,0,0,0,0,0,0
$GC,10154,0.68,155.7,629.6,12.4,744,10161,0.00,2.15,0.00,0.000,6,0.000,0.041,2981,1845,2232,0,0,0,0,0,0
$GC,10475,0.68,155.7,586.7,13.9,764,10479,0.00,2.20,0.00,0.000,4,0.000,0.053,2973,3257,2231,0,0,0,0,0,0
$GC,10705,0.68,155.7,553.8,14.1,784,10709,0.00,2.15,0.00,0.000,6,0.000,0.041,2981,1843,2231,0,0,0,0,0,0
$GC,11030,0.68,155.7,508.5,13.8,814,11034,0.00,2.20,0.00,0.000,4,0.000,0.052,2973,3258,2231,0,0,0,0,0,0
$GC,11085,0.68,155.7,500.7,13.9,818,11093,0.00,2.15,0.00,0.000,6,0.000,0.040,2981,1854,2230,0,0,0,0,0,0
$GC,11411,0.68,155.7,455.7,13.7,849,11415,0.00,2.20,0.00,0.000,4,0.000,0.052,2973,3266,2230,0,0,0,0,0,0
$GC,11508,0.68,155.7,443.2,13.2,857,11512,0.00,2.15,0.00,0.000,6,0.000,0.038,2982,1846,2230,0,0,0,0,0,0
$GC,11833,0.68,155.7,404.4,11.1,887,11837,0.00,2.17,0.00,0.000,4,0.000,0.048,2992,431,2230,0,0,0,0,0,0
$GC,11855,0.68,155.7,401.6,11.3,888,11862,0.00,2.17,0.00,0.000,6,0.000,0.037,2985,1853,2229,0,0,0,0,0,0
$GC,12182,0.68,155.7,364.1,11.4,919,12186,0.00,2.15,0.00,0.000,4,0.000,0.054,2982,3251,2230,0,0,0,0,0,0
$GC,12203,0.68,155.7,361.3,11.5,920,12210,0.00,2.15,0.00,0.000,6,0.000,0.039,2990,1839,2229,0,0,0,0,0,0
$GC,12528,0.68,155.7,324.7,12.1,951,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1839,2229,0,0,0,0,0,0
$GC,12850,0.68,155.7,289.4,10.4,981,12854,0.00,2.12,0.00,0.000,4,0.000,0.048,2996,440,2229,0,0,0,0,0,0
$GC,12983,0.68,155.7,275.2,11.0,992,12991,0.00,2.15,0.00,0.000,6,0.000,0.038,2987,1848,2230,0,0,0,0,0,0
$GC,13312,0.77,222.7,246.2,6.9,1027,13372,0.00,2.28,54.50,0.876,4,0.000,0.051,2985,3260,1976,0,0,0,0,0,0
$GC,13524,0.77,222.7,223.7,12.3,1063,13533,0.00,2.17,0.00,0.000,6,0.000,0.037,2995,1852,1973,0,0,0,0,0,0
$GC,13853,0.77,222.7,185.9,12.3,1124,13861,0.00,2.17,0.00,0.000,4,0.000,0.046,3009,445,1971,0,0,0,0,0,0
$GC,13905,0.77,222.7,180.1,10.9,1133,13913,0.00,2.15,0.00,0.000,6,0.000,0.036,3010,1840,1970,0,0,0,0,0,0
$GC,14231,0.77,222.7,143.0,10.8,1194,14239,0.00,2.20,0.00,0.000,4,0.000,0.047,3010,3253,1971,0,0,0,0,0,0
$GC,14299,0.77,222.7,136.3,10.3,1205,14307,0.00,2.15,0.00,0.000,6,0.000,0.034,3018,1847,1971,0,0,0,0,0,0
$GC,14625,0.77,223.5,107.3,9.7,1266,14633,0.00,2.17,0.00,0.000,4,0.000,0.043,3030,439,1970,0,0,0,0,0,0
$GC,14710,0.77,223.5,97.9,11.2,1281,14719,0.10,2.15,0.00,0.000,6,0.124,0.035,2995,1862,1970,0,0,0,0,0,0
$GC,15041,0.89,321.9,77.4,5.6,1342,15132,0.10,2.28,83.47,0.698,4,0.101,0.041,3068,436,1569,0,0,0,0,0,0
$GC,15185,0.89,321.9,61.9,12.6,1363,15194,0.08,2.17,0.00,0.000,6,0.134,0.032,3035,1836,1566,0,0,0,0,0,0
$GC,15515,0.94,360.8,30.8,8.1,1424,15553,0.00,0.00,32.55,0.633,6,0.000,0.000,3035,1838,1412,0,0,0,0,0,0
$STATE,15866,end climb,SURFACE_DEPTH_REACHED
$STATE,15866,begin surface coast
$FINISH,1.0,1.021746
$STATE,15908,end surface coast,CONTROL_FINISHED_OK
$STATE,15908,begin surface
$SM_CCo,15925,120.32,0.552,1,0,453,595.83
$SM_GC,1.70,0.00,0.00,120.32,0.000,0.000,0.552,129,1485,453,-8.16,-0.42,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2113.32,12351.67,070911,080843
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.65
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,26.50
$XPDR_PINGS,76
$24V_AH,23.0,42.048
$10V_AH,10.1,31.129
$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,18.675,134.125,440.400,120.325,0.000,157.520,70.646,56.087,19.000,0.000,62.883,3712.027,8252.145,670.818,3714.163,458.516,0.000,2025.425,0.000,3354.079,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,67.320,1455.030,552.330,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.739,1530.562,1821.766,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330180
$DATA_FILE_SIZE,86862,1495
$CAP_FILE_SIZE,164686,0
$CFSIZE,260165632,131162112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.360,112.5,1
$GPS,070911,131107,2118.115,12409.254,31,1.2,31,-2.8