version: 66.09
glider: 166
mission: 6
dive: 152
start: 9 1 111 8 27 0
data:
$ID,166
$MISSION,6
$DIVE,152
$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,400
$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,-24588.418
$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,52
$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
$GPS1,010911,081757,2205.540,12358.156,41,99.0,60,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.0
$GPS2,010911,082634,2205.403,12358.106,14,4.7,33,-3.0
$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,150.3,65648,-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,-155.7,0.0,0.0,0,103,0.00,0.00,-83.75,0.000,2,0.000,0.000,140,1484,3209,0,0,0,0,0,0
$GC,106,-0.68,-155.7,6.0,-8.3,12,131,9.48,2.22,-5.85,0.000,4,0.228,0.053,2504,2911,3522,0,0,0,0,0,0
$GC,276,-0.68,-155.7,69.5,-30.6,42,284,0.00,2.17,0.00,0.000,6,0.000,0.038,2496,1516,3524,0,0,0,0,0,0
$GC,599,-0.68,-155.7,155.1,-24.3,103,607,0.10,2.08,0.00,0.000,4,0.190,0.045,2526,196,3526,0,0,0,0,0,0
$GC,663,-0.68,-155.7,168.4,-19.9,113,672,0.00,2.00,0.00,0.000,6,0.000,0.037,2517,1499,3526,0,0,0,0,0,0
$GC,992,-0.68,-155.7,218.3,-13.8,174,1000,0.00,2.17,0.00,0.000,4,0.000,0.047,2508,2904,3527,0,0,0,0,0,0
$GC,1008,-0.68,-155.7,221.0,-14.1,176,1016,0.00,2.15,0.00,0.000,6,0.000,0.037,2508,1500,3527,0,0,0,0,0,0
$GC,1336,-0.68,-155.7,275.2,-16.1,223,1339,0.00,2.03,0.00,0.000,4,0.000,0.048,2509,195,3527,0,0,0,0,0,0
$GC,1395,-0.68,-155.7,285.2,-14.9,228,1404,0.00,2.00,0.00,0.000,6,0.000,0.036,2499,1510,3527,0,0,0,0,0,0
$GC,1721,-0.68,-155.7,333.8,-15.9,259,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1510,3527,0,0,0,0,0,0
$GC,2041,-0.68,-155.7,383.6,-15.6,289,2045,0.00,2.03,0.00,0.000,4,0.000,0.048,2503,199,3525,0,0,0,0,0,0
$GC,2150,-0.68,-155.7,402.3,-17.0,298,2157,0.00,1.95,0.00,0.000,6,0.000,0.036,2495,1501,3524,0,0,0,0,0,0
$GC,2475,-0.68,-155.7,443.4,-10.3,329,2479,0.00,2.03,0.00,0.000,4,0.000,0.048,2508,199,3523,0,0,0,0,0,0
$GC,2549,-0.68,-155.7,451.6,-11.2,335,2556,0.00,1.98,0.00,0.000,6,0.000,0.037,2498,1509,3522,0,0,0,0,0,0
$GC,2875,-0.68,-155.7,488.5,-12.9,366,2878,0.00,2.03,0.00,0.000,4,0.000,0.048,2498,202,3519,0,0,0,0,0,0
$GC,2982,-0.68,-155.7,504.6,-15.1,375,2989,0.12,1.98,0.00,0.000,6,0.173,0.037,2521,1507,3519,0,0,0,0,0,0
$GC,3307,-0.68,-155.7,550.6,-14.1,406,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1507,3516,0,0,0,0,0,0
$GC,3629,-0.68,-155.7,591.0,-11.0,436,3633,0.00,2.15,0.00,0.000,4,0.000,0.055,2513,2903,3513,0,0,0,0,0,0
$GC,3658,-0.68,-155.7,594.4,-10.4,438,3662,0.00,2.15,0.00,0.000,6,0.000,0.041,2513,1491,3512,0,0,0,0,0,0
$GC,3988,-0.68,-155.7,624.6,-9.1,456,3992,0.00,2.00,0.00,0.000,4,0.000,0.054,2513,199,3509,0,0,0,0,0,0
$GC,4066,-0.68,-155.7,633.0,-10.4,459,4070,0.00,2.00,0.00,0.000,6,0.000,0.039,2502,1496,3509,0,0,0,0,0,0
$GC,4387,-0.68,-155.7,666.0,-10.4,475,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1496,3506,0,0,0,0,0,0
$GC,4699,-0.68,-155.7,699.6,-11.2,490,4703,0.00,2.17,0.00,0.000,4,0.000,0.056,2484,2904,3503,0,0,0,0,0,0
$GC,4754,-0.68,-155.7,706.3,-11.1,492,4759,0.15,2.17,0.00,0.000,6,0.157,0.044,2526,1498,3502,0,0,0,0,0,0
$GC,5078,-0.68,-155.7,735.8,-8.9,508,5082,0.00,2.20,0.00,0.000,4,0.000,0.059,2515,2904,3500,0,0,0,0,0,0
$GC,5133,-0.68,-155.7,740.8,-8.7,510,5137,0.00,2.15,0.00,0.000,6,0.000,0.044,2516,1495,3500,0,0,0,0,0,0
$GC,5455,-0.68,-155.7,768.9,-8.8,526,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1496,3497,0,0,0,0,0,0
$GC,5766,-0.68,-155.7,799.5,-10.7,541,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1495,3495,0,0,0,0,0,0
$GC,6073,-0.68,-155.7,836.2,-11.7,556,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1495,3494,0,0,0,0,0,0
$GC,6382,-0.68,-155.7,872.0,-11.0,571,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1495,3491,0,0,0,0,0,0
$GC,6694,-0.68,-155.7,904.0,-10.6,586,6698,0.00,2.25,0.00,0.000,4,0.000,0.061,2516,2903,3490,0,0,0,0,0,0
$GC,6744,-0.68,-155.7,909.6,-10.4,588,6748,0.00,2.17,0.00,0.000,6,0.000,0.047,2514,1503,3489,0,0,0,0,0,0
$GC,7068,-0.68,-155.7,941.6,-9.4,604,7072,0.00,2.22,0.00,0.000,4,0.000,0.061,2506,2901,3488,0,0,0,0,0,0
$GC,7123,-0.68,-155.7,946.7,-8.9,606,7127,0.00,2.17,0.00,0.000,6,0.000,0.047,2506,1498,3487,0,0,0,0,0,0
$GC,7445,-0.68,-155.7,972.8,-7.7,622,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1498,3486,0,0,0,0,0,0
$STATE,7669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7669,begin apogee
$GC,7677,-0.14,0.0,990.3,8.0,633,7810,0.57,0.00,127.43,1.467,6,0.129,0.000,2689,1854,2883,0,0,0,0,0,0
$STATE,7811,end apogee,CONTROL_FINISHED_OK
$STATE,7811,begin climb
$GC,7814,0.68,155.7,991.4,0.0,639,7960,0.77,0.00,141.93,1.409,6,0.076,0.000,2961,1854,2249,0,0,0,0,0,0
$GC,8267,0.68,155.7,934.0,14.4,661,8271,0.00,2.25,0.00,0.000,4,0.000,0.065,2961,3257,2240,0,0,0,0,0,0
$GC,8301,0.68,155.7,929.0,14.6,662,8305,0.00,2.22,0.00,0.000,6,0.000,0.047,2970,1841,2239,0,0,0,0,0,0
$GC,8623,0.68,155.7,883.8,14.0,678,8627,0.00,2.28,0.00,0.000,4,0.000,0.063,2970,3258,2237,0,0,0,0,0,0
$GC,8689,0.68,155.7,873.9,14.0,681,8693,0.00,2.20,0.00,0.000,6,0.000,0.046,2978,1854,2237,0,0,0,0,0,0
$GC,9018,0.68,155.7,828.0,14.7,697,9022,0.00,2.22,0.00,0.000,4,0.000,0.060,2976,3254,2236,0,0,0,0,0,0
$GC,9068,0.68,155.7,819.6,15.7,699,9073,0.00,2.17,0.00,0.000,6,0.000,0.044,2984,1853,2235,0,0,0,0,0,0
$GC,9392,0.68,155.7,766.3,17.3,715,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1853,2235,0,0,0,0,0,0
$GC,9700,0.68,155.7,714.8,16.0,730,9704,0.00,2.22,0.00,0.000,4,0.000,0.058,2979,3266,2233,0,0,0,0,0,0
$GC,9772,0.68,155.7,703.1,15.8,733,9776,0.00,2.20,0.00,0.000,6,0.000,0.041,2987,1822,2232,0,0,0,0,0,0
$GC,10095,0.68,155.7,661.5,11.7,749,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1822,2232,0,0,0,0,0,0
$GC,10403,0.68,155.7,626.2,11.2,764,10404,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1822,2231,0,0,0,0,0,0
$GC,10715,0.68,155.7,589.4,12.7,783,10719,0.00,2.22,0.00,0.000,4,0.000,0.054,2987,3257,2231,0,0,0,0,0,0
$GC,10869,0.68,155.7,568.2,14.5,796,10876,0.12,2.15,0.00,0.000,6,0.203,0.041,2969,1844,2231,0,0,0,0,0,0
$GC,11194,0.68,155.7,520.3,15.2,827,11198,0.00,2.17,0.00,0.000,4,0.000,0.050,2978,438,2231,0,0,0,0,0,0
$GC,11215,0.68,155.7,516.8,14.5,828,11222,0.00,2.17,0.00,0.000,6,0.000,0.040,2970,1875,2230,0,0,0,0,0,0
$GC,11543,0.68,155.7,473.6,11.8,859,11546,0.00,2.12,0.00,0.000,4,0.000,0.055,2964,3249,2230,0,0,0,0,0,0
$GC,11616,0.68,155.7,464.9,11.5,865,11620,0.00,2.12,0.00,0.000,6,0.000,0.039,2973,1848,2230,0,0,0,0,0,0
$GC,11944,0.68,156.3,432.1,9.7,895,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1848,2230,0,0,0,0,0,0
$GC,12265,0.68,156.3,397.9,11.9,925,12269,0.00,2.15,0.00,0.000,4,0.000,0.048,2983,434,2230,0,0,0,0,0,0
$GC,12304,0.68,156.3,392.1,13.0,928,12309,0.00,2.15,0.00,0.000,6,0.000,0.040,2975,1854,2230,0,0,0,0,0,0
$GC,12630,0.68,156.3,347.4,14.0,958,12634,0.00,2.15,0.00,0.000,4,0.000,0.053,2975,3250,2229,0,0,0,0,0,0
$GC,12743,0.68,156.3,331.9,12.6,967,12750,0.00,2.10,0.00,0.000,6,0.000,0.037,2984,1838,2230,0,0,0,0,0,0
$GC,13068,0.72,184.8,301.5,8.5,998,13103,0.00,2.25,23.10,0.926,4,0.000,0.049,2981,3248,2129,0,0,0,0,0,0
$GC,13215,0.72,189.0,287.7,9.5,1011,13227,0.00,2.12,5.12,0.674,6,0.000,0.036,2989,1848,2113,0,0,0,0,0,0
$GC,13546,0.72,189.0,250.2,11.4,1042,13550,0.00,2.17,0.00,0.000,4,0.000,0.045,3000,436,2112,0,0,0,0,0,0
$GC,13603,0.72,189.0,243.7,12.2,1051,13611,0.00,2.17,0.00,0.000,6,0.000,0.035,2998,1850,2111,0,0,0,0,0,0
$GC,13929,0.72,189.0,203.5,13.1,1112,13937,0.00,2.17,0.00,0.000,4,0.000,0.049,2993,3253,2111,0,0,0,0,0,0
$GC,14018,0.72,189.0,192.2,11.7,1128,14026,0.00,2.15,0.00,0.000,6,0.000,0.036,3000,1844,2111,0,0,0,0,0,0
$GC,14346,0.75,208.4,162.0,8.9,1189,14370,0.00,2.25,18.12,0.773,4,0.000,0.047,2999,3258,2034,0,0,0,0,0,0
$GC,14535,0.75,208.4,141.5,10.7,1222,14543,0.00,2.15,0.00,0.000,6,0.000,0.035,3008,1851,2034,0,0,0,0,0,0
$GC,14863,0.75,212.7,105.5,9.5,1283,14879,0.00,2.17,5.62,0.561,4,0.000,0.045,3020,451,2015,0,0,0,0,0,0
$GC,15050,0.78,238.2,89.1,8.6,1317,15081,0.00,2.12,22.38,0.703,6,0.000,0.034,3020,1853,1913,0,0,0,0,0,0
$GC,15402,0.91,341.6,55.6,5.4,1381,15494,0.00,2.25,86.18,0.692,4,0.000,0.044,3019,3248,1490,0,0,0,0,0,0
$GC,15525,1.04,448.6,49.4,5.2,1398,15624,0.12,2.17,87.47,0.672,6,0.041,0.034,3109,1852,1053,0,0,0,0,0,0
$STATE,15828,end climb,SURFACE_DEPTH_REACHED
$STATE,15829,begin surface coast
$FINISH,1.1,1.021510
$STATE,15841,end surface coast,CONTROL_FINISHED_OK
$STATE,15841,begin surface
$SM_CCo,15920,0.00,0.000,0,0,1046,450.86
$SM_GC,1.69,7.82,0.00,0.00,0.041,0.000,0.000,136,1489,1046,-8.03,-0.31,450.86,0,0,0,0,0,0
$IRIDIUM_FIX,2159.71,12359.47,010911,030350
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.91
$INTERNAL_PRESSURE,9.42877
$TCM_TEMP,26.00
$XPDR_PINGS,77
$24V_AH,23.0,36.333
$10V_AH,10.2,25.867
$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,19.275,121.200,517.350,0.000,0.000,25.248,16.596,293.898,19.250,0.000,37.441,3567.906,8312.987,551.870,3557.859,429.886,0.000,1904.498,0.000,3200.573,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,65.025,1466.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,992.690,1484.509,1661.327,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330196
$DATA_FILE_SIZE,83431,1451
$CAP_FILE_SIZE,156797,0
$CFSIZE,260165632,133984256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,236.0,1
$GPS,010911,125357,2203.037,12358.706,39,99.0,58,-3.0