version: 66.09
glider: 166
mission: 6
dive: 153
start: 9 1 111 13 6 31
data:
$ID,166
$MISSION,6
$DIVE,153
$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,-24589.678
$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,44
$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
$GPS1,010911,125357,2203.037,12358.706,39,99.0,58,-3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.6
$GPS2,010911,130606,2202.933,12358.610,39,1.4,50,-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,158.6,61039,-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,-155.7,0.0,0.0,0,104,0.00,0.00,-85.22,0.000,2,0.000,0.000,136,1485,3121,0,0,0,0,0,0
$GC,109,-0.68,-155.7,5.5,-8.1,11,134,9.35,2.20,-7.50,0.000,4,0.226,0.053,2505,2911,3520,0,0,0,0,0,0
$GC,272,-0.68,-155.7,69.2,-30.3,40,281,0.00,2.15,0.00,0.000,6,0.000,0.037,2498,1515,3521,0,0,0,0,0,0
$GC,598,-0.68,-155.7,147.9,-19.6,101,606,0.00,2.05,0.00,0.000,4,0.000,0.047,2495,196,3523,0,0,0,0,0,0
$GC,718,-0.68,-155.7,172.0,-18.1,122,727,0.10,1.98,0.00,0.000,6,0.149,0.037,2520,1489,3523,0,0,0,0,0,0
$GC,1047,-0.68,-155.7,232.1,-16.9,183,1055,0.00,2.17,0.00,0.000,4,0.000,0.047,2511,2902,3523,0,0,0,0,0,0
$GC,1090,-0.68,-155.7,238.6,-14.1,190,1097,0.00,2.17,0.00,0.000,6,0.000,0.038,2511,1493,3523,0,0,0,0,0,0
$GC,1418,-0.68,-155.7,283.9,-14.5,228,1422,0.00,1.98,0.00,0.000,4,0.000,0.047,2512,196,3523,0,0,0,0,0,0
$GC,1476,-0.68,-155.7,293.2,-15.7,233,1480,0.00,1.98,0.00,0.000,6,0.000,0.036,2502,1512,3523,0,0,0,0,0,0
$GC,1807,-0.68,-155.7,349.7,-17.0,264,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1512,3522,0,0,0,0,0,0
$GC,2127,-0.68,-155.7,391.6,-12.1,294,2131,0.00,2.03,0.00,0.000,4,0.000,0.048,2510,203,3521,0,0,0,0,0,0
$GC,2183,-0.68,-155.7,399.6,-13.8,299,2187,0.00,1.95,0.00,0.000,6,0.000,0.036,2509,1504,3520,0,0,0,0,0,0
$GC,2514,-0.68,-155.7,447.8,-13.9,330,2518,0.00,2.03,0.00,0.000,4,0.000,0.050,2513,201,3518,0,0,0,0,0,0
$GC,2626,-0.68,-155.7,463.7,-13.4,340,2630,0.00,1.95,0.00,0.000,6,0.000,0.037,2504,1511,3517,0,0,0,0,0,0
$GC,2957,-0.68,-155.7,504.7,-12.4,371,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1511,3514,0,0,0,0,0,0
$GC,3279,-0.68,-155.7,545.5,-13.2,401,3283,0.00,2.05,0.00,0.000,4,0.000,0.050,2503,202,3511,0,0,0,0,0,0
$GC,3417,-0.68,-155.7,565.2,-14.6,413,3422,0.12,1.95,0.00,0.000,6,0.171,0.038,2527,1504,3510,0,0,0,0,0,0
$GC,3745,-0.68,-155.7,599.7,-9.4,443,3749,0.00,2.12,0.00,0.000,4,0.000,0.052,2519,2907,3507,0,0,0,0,0,0
$GC,3786,-0.68,-155.7,603.6,-8.9,445,3790,0.00,2.15,0.00,0.000,6,0.000,0.040,2519,1489,3506,0,0,0,0,0,0
$GC,4114,-0.68,-155.7,633.4,-9.0,461,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1488,3504,0,0,0,0,0,0
$GC,4424,-0.68,-155.7,664.2,-11.0,476,4428,0.00,2.22,0.00,0.000,4,0.000,0.054,2507,2912,3501,0,0,0,0,0,0
$GC,4445,-0.68,-155.7,666.9,-11.0,477,4449,0.00,2.17,0.00,0.000,6,0.000,0.042,2506,1493,3500,0,0,0,0,0,0
$GC,4773,-0.68,-155.7,705.6,-12.2,493,4777,0.00,2.00,0.00,0.000,4,0.000,0.054,2502,202,3498,0,0,0,0,0,0
$GC,4830,-0.68,-155.7,713.3,-13.5,495,4835,0.12,2.00,0.00,0.000,6,0.167,0.041,2532,1496,3497,0,0,0,0,0,0
$GC,5152,-0.68,-155.7,744.8,-9.5,511,5156,0.00,2.17,0.00,0.000,4,0.000,0.055,2523,2908,3494,0,0,0,0,0,0
$GC,5186,-0.68,-155.7,748.1,-9.4,512,5194,0.00,2.15,0.00,0.000,6,0.000,0.042,2523,1494,3494,0,0,0,0,0,0
$GC,5502,-0.68,-155.7,779.4,-10.3,528,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1494,3492,0,0,0,0,0,0
$GC,5812,-0.68,-155.7,812.0,-10.6,543,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1494,3489,0,0,0,0,0,0
$GC,6123,-0.68,-155.7,843.0,-9.7,558,6127,0.00,2.22,0.00,0.000,4,0.000,0.060,2513,2909,3487,0,0,0,0,0,0
$GC,6171,-0.68,-155.7,847.8,-10.1,560,6175,0.00,2.17,0.00,0.000,6,0.000,0.045,2513,1496,3487,0,0,0,0,0,0
$GC,6498,-0.68,-155.7,878.1,-8.8,576,6502,0.00,2.20,0.00,0.000,4,0.000,0.059,2503,2903,3485,0,0,0,0,0,0
$GC,6527,-0.68,-155.7,880.6,-8.6,577,6531,0.00,2.17,0.00,0.000,6,0.000,0.045,2503,1488,3484,0,0,0,0,0,0
$GC,6843,-0.68,-155.7,910.3,-9.5,592,6847,0.00,2.22,0.00,0.000,4,0.000,0.059,2493,2913,3483,0,0,0,0,0,0
$GC,6858,-0.68,-155.7,911.9,-9.5,592,6867,0.12,2.17,0.00,0.000,6,0.163,0.045,2526,1496,3483,0,0,0,0,0,0
$GC,7177,-0.68,-155.7,938.2,-8.6,608,7181,0.00,2.22,0.00,0.000,4,0.000,0.060,2518,2905,3481,0,0,0,0,0,0
$GC,7201,-0.68,-155.7,940.4,-8.5,609,7205,0.00,2.17,0.00,0.000,6,0.000,0.046,2518,1496,3481,0,0,0,0,0,0
$GC,7530,-0.68,-155.7,969.2,-8.3,625,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1497,3479,0,0,0,0,0,0
$STATE,7773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7773,begin apogee
$GC,7779,-0.14,0.0,990.9,9.0,637,7914,0.55,0.00,125.62,1.477,6,0.125,0.000,2694,1856,2882,0,0,0,0,0,0
$STATE,7915,end apogee,CONTROL_FINISHED_OK
$STATE,7915,begin climb
$GC,7917,0.68,155.7,993.4,0.0,643,8063,0.77,0.00,142.10,1.413,6,0.073,0.000,2967,1856,2249,0,0,0,0,0,0
$GC,8365,0.68,155.7,930.8,16.3,665,8369,0.00,2.25,0.00,0.000,4,0.000,0.063,2967,3263,2240,0,0,0,0,0,0
$GC,8399,0.68,155.7,925.2,16.7,666,8403,0.00,2.20,0.00,0.000,6,0.000,0.047,2977,1850,2239,0,0,0,0,0,0
$GC,8720,0.68,155.7,868.5,17.7,682,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1849,2237,0,0,0,0,0,0
$GC,9029,0.68,155.7,815.0,16.7,697,9033,0.00,2.25,0.00,0.000,4,0.000,0.061,2977,3264,2236,0,0,0,0,0,0
$GC,9097,0.68,155.7,803.1,17.2,700,9101,0.00,2.17,0.00,0.000,6,0.000,0.044,2987,1837,2236,0,0,0,0,0,0
$GC,9418,0.68,155.7,747.2,17.5,716,9422,0.00,2.25,0.00,0.000,4,0.000,0.058,2984,3267,2235,0,0,0,0,0,0
$GC,9480,0.68,155.7,736.0,17.6,718,9487,0.00,2.15,0.00,0.000,6,0.000,0.044,2993,1852,2234,0,0,0,0,0,0
$GC,9796,0.68,155.7,679.4,17.8,734,9800,0.00,2.17,0.00,0.000,4,0.000,0.054,3003,431,2234,0,0,0,0,0,0
$GC,9828,0.68,155.7,673.5,17.5,735,9837,0.12,2.20,0.00,0.000,6,0.192,0.044,2970,1857,2232,0,0,0,0,0,0
$GC,10146,0.68,155.7,629.5,12.6,751,10150,0.00,2.15,0.00,0.000,4,0.000,0.057,2960,3252,2232,0,0,0,0,0,0
$GC,10184,0.68,155.7,624.4,12.0,752,10191,0.00,2.15,0.00,0.000,6,0.000,0.042,2968,1852,2232,0,0,0,0,0,0
$GC,10504,0.68,155.7,590.0,10.8,772,10508,0.00,2.15,0.00,0.000,4,0.000,0.051,2980,440,2232,0,0,0,0,0,0
$GC,10546,0.68,155.7,585.4,11.1,775,10550,0.00,2.17,0.00,0.000,6,0.000,0.042,2976,1860,2231,0,0,0,0,0,0
$GC,10871,0.68,155.7,546.3,11.9,805,10875,0.00,2.15,0.00,0.000,4,0.000,0.058,2976,3260,2231,0,0,0,0,0,0
$GC,11045,0.68,155.7,523.6,12.8,820,11049,0.00,2.12,0.00,0.000,6,0.000,0.042,2984,1848,2230,0,0,0,0,0,0
$GC,11372,0.68,155.7,479.7,14.1,850,11376,0.00,2.20,0.00,0.000,4,0.000,0.056,2980,3256,2230,0,0,0,0,0,0
$GC,11405,0.68,155.7,474.2,15.4,852,11412,0.00,2.12,0.00,0.000,6,0.000,0.040,2988,1838,2230,0,0,0,0,0,0
$GC,11730,0.68,155.7,428.8,13.1,883,11735,0.00,2.22,0.00,0.000,4,0.000,0.053,2984,3267,2230,0,0,0,0,0,0
$GC,11817,0.68,155.7,417.9,12.3,890,11821,0.00,2.15,0.00,0.000,6,0.000,0.039,2992,1850,2230,0,0,0,0,0,0
$GC,12150,0.68,155.7,372.8,14.3,921,12154,0.00,2.15,0.00,0.000,4,0.000,0.049,3003,443,2230,0,0,0,0,0,0
$GC,12218,0.68,155.7,363.2,13.3,927,12223,0.12,2.15,0.00,0.000,6,0.181,0.041,2968,1859,2230,0,0,0,0,0,0
$GC,12545,0.68,155.7,326.7,10.4,957,12549,0.00,2.15,0.00,0.000,4,0.000,0.053,2958,3253,2230,0,0,0,0,0,0
$GC,12617,0.68,155.7,318.3,11.5,963,12621,0.00,2.12,0.00,0.000,6,0.000,0.037,2966,1846,2230,0,0,0,0,0,0
$GC,12946,0.68,155.7,282.0,11.3,993,12950,0.00,2.17,0.00,0.000,4,0.000,0.049,2961,3255,2229,0,0,0,0,0,0
$GC,13078,0.68,155.7,265.0,12.5,1004,13087,0.00,2.15,0.00,0.000,6,0.000,0.037,2970,1844,2230,0,0,0,0,0,0
$GC,13405,0.69,163.1,229.0,9.4,1054,13414,0.00,0.00,4.45,0.602,6,0.000,0.000,2970,1844,2219,0,0,0,0,0,0
$GC,13734,0.79,239.5,204.3,6.5,1115,13809,0.00,2.28,65.72,0.860,4,0.000,0.047,2981,442,1905,0,0,0,0,0,0
$GC,13867,0.90,334.6,196.6,5.7,1135,13957,0.12,2.20,81.25,0.828,6,0.044,0.034,3050,1843,1520,0,0,0,0,0,0
$GC,14277,0.90,334.6,127.0,20.8,1207,14286,0.00,2.22,0.00,0.000,4,0.000,0.049,3049,3256,1514,0,0,0,0,0,0
$GC,14363,0.90,334.6,111.5,16.6,1222,14371,0.00,2.17,0.00,0.000,6,0.000,0.035,3058,1848,1514,0,0,0,0,0,0
$GC,14690,0.90,334.6,63.6,13.4,1283,14699,0.00,2.17,0.00,0.000,4,0.000,0.045,3070,449,1512,0,0,0,0,0,0
$GC,14876,0.93,356.0,43.8,8.8,1317,14900,0.00,2.15,18.38,0.659,6,0.000,0.034,3070,1859,1432,0,0,0,0,0,0
$STATE,15208,end climb,SURFACE_DEPTH_REACHED
$STATE,15208,begin surface coast
$FINISH,0.9,1.021550
$STATE,15236,end surface coast,CONTROL_FINISHED_OK
$STATE,15236,begin surface
$SM_CCo,15254,130.82,0.582,1,0,453,595.83
$SM_GC,1.60,0.00,0.00,130.82,0.000,0.000,0.582,137,1483,453,-8.14,-0.48,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2157.39,12401.40,010911,121213
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.20
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.50
$XPDR_PINGS,78
$24V_AH,23.0,36.515
$10V_AH,10.2,26.022
$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,19.200,129.675,437.525,130.825,0.000,159.747,45.179,60.725,19.500,0.000,51.554,3442.094,8224.245,656.228,3357.644,427.621,0.000,1923.280,0.000,3028.960,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,63.495,1477.215,582.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.878,1419.714,1539.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76806,1383
$CAP_FILE_SIZE,156169,0
$CFSIZE,260165632,133873664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152,224.7,1
$GPS,010911,172444,2200.147,12358.698,40,2.3,59,-3.0