version: 66.09
glider: 166
mission: 6
dive: 157
start: 9 2 111 8 5 23
data:
$ID,166
$MISSION,6
$DIVE,157
$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,-24594.711
$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,54
$R_STBD_OVSHOOT,42
$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
$GPS1,020911,072432,2149.934,12400.034,41,2.0,48,-2.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.1
$GPS2,020911,080500,2149.090,12400.289,38,1.9,43,-2.9
$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,167.9,35358,-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,-155.7,0.0,0.0,0,108,0.00,0.00,-88.47,0.000,2,0.000,0.000,135,1479,3257,0,0,0,0,0,0
$GC,111,-0.68,-155.7,6.3,-11.2,12,135,9.35,2.22,-4.78,0.000,4,0.223,0.053,2501,2909,3522,0,0,0,0,0,0
$GC,212,-0.68,-155.7,47.7,-28.0,29,220,0.00,2.15,0.00,0.000,6,0.000,0.036,2494,1515,3522,0,0,0,0,0,0
$GC,539,-0.68,-155.7,127.6,-24.3,90,548,0.10,2.05,0.00,0.000,4,0.193,0.045,2527,202,3523,0,0,0,0,0,0
$GC,755,-0.68,-155.7,172.0,-18.3,129,763,0.00,1.98,0.00,0.000,6,0.000,0.034,2519,1505,3524,0,0,0,0,0,0
$GC,1081,-0.68,-155.7,227.8,-17.5,190,1090,0.00,2.03,0.00,0.000,4,0.000,0.044,2520,209,3524,0,0,0,0,0,0
$GC,1162,-0.68,-155.7,242.0,-19.0,204,1170,0.00,1.95,0.00,0.000,6,0.000,0.036,2510,1493,3524,0,0,0,0,0,0
$GC,1497,-0.68,-155.7,299.7,-14.6,239,1500,0.00,2.12,0.00,0.000,4,0.000,0.045,2500,2905,3522,0,0,0,0,0,0
$GC,1538,-0.68,-155.7,306.0,-14.8,242,1543,0.00,2.10,0.00,0.000,6,0.000,0.037,2500,1495,3521,0,0,0,0,0,0
$GC,1863,-0.68,-155.7,359.1,-15.2,272,1867,0.00,2.17,0.00,0.000,4,0.000,0.047,2492,2908,3519,0,0,0,0,0,0
$GC,1894,-0.68,-155.7,363.6,-15.7,274,1899,0.12,2.10,0.00,0.000,6,0.158,0.037,2527,1502,3519,0,0,0,0,0,0
$GC,2219,-0.68,-155.7,408.9,-13.4,304,2223,0.00,2.00,0.00,0.000,4,0.000,0.049,2539,195,3517,0,0,0,0,0,0
$GC,2271,-0.68,-155.7,415.9,-13.7,308,2277,0.00,1.92,0.00,0.000,6,0.000,0.036,2530,1503,3516,0,0,0,0,0,0
$GC,2597,-0.68,-155.7,452.5,-9.6,339,2601,0.00,2.12,0.00,0.000,4,0.000,0.049,2534,2911,3512,0,0,0,0,0,0
$GC,2646,-0.68,-155.7,457.1,-8.9,343,2653,0.00,2.12,0.00,0.000,6,0.000,0.039,2534,1494,3511,0,0,0,0,0,0
$GC,2971,-0.68,-155.7,491.1,-12.6,374,2975,0.00,2.20,0.00,0.000,4,0.000,0.049,2524,2909,3509,0,0,0,0,0,0
$GC,3003,-0.68,-155.7,495.7,-13.6,376,3010,0.00,2.10,0.00,0.000,6,0.000,0.038,2524,1498,3508,0,0,0,0,0,0
$GC,3329,-0.68,-155.7,540.5,-12.1,407,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1498,3505,0,0,0,0,0,0
$GC,3649,-0.68,-155.7,572.1,-8.2,437,3653,0.00,2.17,0.00,0.000,4,0.000,0.054,2514,2899,3502,0,0,0,0,0,0
$GC,3679,-0.68,-155.7,574.6,-8.0,439,3686,0.00,2.12,0.00,0.000,6,0.000,0.041,2513,1503,3501,0,0,0,0,0,0
$GC,4014,-0.68,-155.7,610.7,-12.1,467,4018,0.00,2.00,0.00,0.000,4,0.000,0.052,2513,199,3498,0,0,0,0,0,0
$GC,4085,-0.68,-155.7,620.2,-14.0,470,4088,0.00,1.95,0.00,0.000,6,0.000,0.040,2504,1506,3497,0,0,0,0,0,0
$GC,4418,-0.68,-155.7,657.0,-9.4,486,4422,0.00,2.03,0.00,0.000,4,0.000,0.052,2501,198,3494,0,0,0,0,0,0
$GC,4561,-0.68,-155.7,670.6,-8.8,492,4566,0.12,2.00,0.00,0.000,6,0.170,0.041,2523,1496,3493,0,0,0,0,0,0
$GC,4888,-0.68,-155.7,695.4,-9.1,508,4892,0.00,2.15,0.00,0.000,4,0.000,0.054,2514,2911,3490,0,0,0,0,0,0
$GC,4937,-0.68,-155.7,700.7,-10.6,510,4941,0.00,2.15,0.00,0.000,6,0.000,0.041,2514,1504,3490,0,0,0,0,0,0
$GC,5261,-0.68,-155.7,740.0,-12.9,526,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1505,3487,0,0,0,0,0,0
$GC,5568,-0.68,-155.7,776.6,-11.1,541,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1504,3484,0,0,0,0,0,0
$GC,5880,-0.68,-155.7,807.0,-9.2,556,5884,0.00,2.20,0.00,0.000,4,0.000,0.058,2501,2912,3482,0,0,0,0,0,0
$GC,5935,-0.68,-155.7,812.0,-8.5,558,5939,0.00,2.15,0.00,0.000,6,0.000,0.044,2500,1496,3481,0,0,0,0,0,0
$GC,6256,-0.68,-155.7,843.0,-10.0,574,6260,0.00,2.03,0.00,0.000,4,0.000,0.057,2498,195,3479,0,0,0,0,0,0
$GC,6291,-0.68,-155.7,847.0,-11.4,575,6296,0.12,1.98,0.00,0.000,6,0.168,0.042,2522,1500,3478,0,0,0,0,0,0
$GC,6607,-0.68,-155.7,878.6,-10.8,590,6611,0.00,2.17,0.00,0.000,4,0.000,0.057,2514,2904,3476,0,0,0,0,0,0
$GC,6674,-0.68,-155.7,886.0,-10.7,593,6678,0.00,2.12,0.00,0.000,6,0.000,0.043,2513,1491,3476,0,0,0,0,0,0
$GC,7003,-0.68,-155.7,919.6,-9.7,609,7007,0.00,2.20,0.00,0.000,4,0.000,0.057,2504,2906,3474,0,0,0,0,0,0
$GC,7031,-0.68,-155.7,922.5,-9.2,610,7035,0.00,2.12,0.00,0.000,6,0.000,0.044,2503,1500,3474,0,0,0,0,0,0
$GC,7349,-0.68,-155.7,949.0,-7.8,625,7353,0.00,2.22,0.00,0.000,4,0.000,0.058,2494,2902,3472,0,0,0,0,0,0
$GC,7390,-0.68,-155.7,952.3,-7.9,627,7395,0.10,2.15,0.00,0.000,6,0.171,0.044,2520,1499,3472,0,0,0,0,0,0
$GC,7718,-0.68,-155.7,977.3,-7.8,643,7722,0.00,2.20,0.00,0.000,4,0.000,0.059,2512,2908,3471,0,0,0,0,0,0
$GC,7760,-0.68,-155.7,980.4,-7.9,645,7764,0.00,2.15,0.00,0.000,6,0.000,0.045,2513,1494,3470,0,0,0,0,0,0
$STATE,7879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7879,begin apogee
$GC,7885,-0.14,0.0,990.7,8.4,651,8018,0.55,0.00,123.68,1.466,6,0.121,0.000,2700,1851,2883,0,0,0,0,0,0
$STATE,8019,end apogee,CONTROL_FINISHED_OK
$STATE,8019,begin climb
$GC,8021,0.68,155.7,992.9,0.0,657,8171,0.73,2.40,140.82,1.401,4,0.068,0.061,2961,3246,2248,0,0,0,0,0,0
$GC,8222,0.68,155.7,970.2,16.8,666,8226,0.00,2.25,0.00,0.000,6,0.000,0.045,2972,1851,2244,0,0,0,0,0,0
$GC,8555,0.68,155.7,914.0,16.9,682,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1851,2239,0,0,0,0,0,0
$GC,8865,0.68,155.7,862.7,15.9,697,8869,0.00,2.22,0.00,0.000,4,0.000,0.066,2970,3254,2237,0,0,0,0,0,0
$GC,8904,0.68,155.7,856.1,16.1,698,8911,0.00,2.17,0.00,0.000,6,0.000,0.044,2979,1836,2236,0,0,0,0,0,0
$GC,9221,0.68,155.7,806.2,15.6,714,9225,0.00,2.22,0.00,0.000,4,0.000,0.058,2971,3250,2235,0,0,0,0,0,0
$GC,9255,0.68,155.7,800.6,15.7,715,9262,0.00,2.12,0.00,0.000,6,0.000,0.043,2979,1849,2235,0,0,0,0,0,0
$GC,9571,0.68,155.7,752.6,15.0,731,9575,0.00,2.20,0.00,0.000,4,0.000,0.057,2971,3250,2234,0,0,0,0,0,0
$GC,9610,0.68,155.7,746.5,14.9,733,9614,0.00,2.12,0.00,0.000,6,0.000,0.040,2980,1849,2233,0,0,0,0,0,0
$GC,9940,0.68,155.7,699.6,13.8,749,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1849,2233,0,0,0,0,0,0
$GC,10247,0.68,155.7,660.1,12.2,764,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1849,2233,0,0,0,0,0,0
$GC,10556,0.68,155.7,616.8,15.7,779,10560,0.00,2.17,0.00,0.000,4,0.000,0.050,2990,440,2232,0,0,0,0,0,0
$GC,10608,0.68,155.7,608.1,17.3,781,10612,0.00,2.12,0.00,0.000,6,0.000,0.041,2982,1853,2232,0,0,0,0,0,0
$GC,10938,0.68,155.7,550.8,15.7,810,10942,0.00,2.17,0.00,0.000,4,0.000,0.057,2981,3253,2231,0,0,0,0,0,0
$GC,11025,0.68,155.7,537.4,15.6,817,11029,0.00,2.12,0.00,0.000,6,0.000,0.047,2989,1848,2230,0,0,0,0,0,0
$GC,11355,0.68,155.7,496.8,10.7,848,11359,0.00,2.17,0.00,0.000,4,0.000,0.052,2981,3251,2230,0,0,0,0,0,0
$GC,11452,0.68,155.7,486.1,11.2,856,11459,0.00,2.12,0.00,0.000,6,0.000,0.038,2990,1846,2229,0,0,0,0,0,0
$GC,11777,0.68,155.7,447.1,13.4,887,11781,0.00,2.17,0.00,0.000,4,0.000,0.051,2982,3251,2229,0,0,0,0,0,0
$GC,11878,0.68,155.7,433.9,13.6,895,11885,0.00,2.10,0.00,0.000,6,0.000,0.037,2990,1841,2229,0,0,0,0,0,0
$GC,12204,0.68,155.7,385.5,14.1,926,12208,0.00,2.20,0.00,0.000,4,0.000,0.050,2982,3263,2229,0,0,0,0,0,0
$GC,12249,0.68,155.7,379.1,13.8,929,12260,0.00,2.12,0.00,0.000,6,0.000,0.037,2990,1851,2229,0,0,0,0,0,0
$GC,12574,0.68,155.7,343.8,11.0,960,12578,0.00,2.17,0.00,0.000,4,0.000,0.049,2981,3263,2229,0,0,0,0,0,0
$GC,12642,0.68,155.7,336.3,10.7,965,12650,0.00,2.10,0.00,0.000,6,0.000,0.037,2990,1849,2229,0,0,0,0,0,0
$GC,12967,0.68,155.7,293.0,14.4,996,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1849,2229,0,0,0,0,0,0
$GC,13292,0.70,171.2,258.8,9.1,1026,13308,0.00,2.20,11.40,0.815,4,0.000,0.048,2982,3258,2186,0,0,0,0,0,0
$GC,13444,0.71,178.0,243.8,9.4,1045,13460,0.00,2.15,7.78,0.739,6,0.000,0.036,2986,1839,2157,0,0,0,0,0,0
$GC,13784,0.71,178.0,206.9,12.4,1107,13792,0.00,2.15,0.00,0.000,4,0.000,0.046,2997,441,2157,0,0,0,0,0,0
$GC,13958,0.75,209.2,187.6,8.4,1139,13996,0.00,2.15,28.23,0.807,6,0.000,0.034,2989,1857,2029,0,0,0,0,0,0
$GC,14315,0.76,215.4,153.8,9.4,1204,14332,0.00,2.17,6.50,0.623,4,0.000,0.049,2992,3248,2004,0,0,0,0,0,0
$GC,14449,0.82,264.6,142.2,7.6,1227,14501,0.00,2.12,42.42,0.767,6,0.000,0.034,3001,1851,1804,0,0,0,0,0,0
$GC,14819,0.82,264.6,110.0,10.4,1294,14827,0.00,2.17,0.00,0.000,4,0.000,0.044,3012,442,1799,0,0,0,0,0,0
$GC,14872,0.82,264.6,104.7,9.8,1303,14879,0.00,2.15,0.00,0.000,6,0.000,0.034,3012,1853,1798,0,0,0,0,0,0
$GC,15199,0.93,354.9,83.4,5.9,1364,15281,0.00,2.20,74.75,0.705,4,0.000,0.042,3016,446,1436,0,0,0,0,0,0
$GC,15364,0.96,377.7,69.2,8.8,1389,15396,0.08,2.17,20.08,0.649,6,0.054,0.032,3080,1860,1342,0,0,0,0,0,0
$GC,15718,0.96,377.7,22.3,15.7,1453,15727,0.00,2.12,0.00,0.000,4,0.000,0.044,3077,3249,1340,0,0,0,0,0,0
$GC,15771,0.96,377.7,15.0,13.6,1462,15780,0.10,2.12,0.00,0.000,6,0.139,0.034,3054,1852,1340,0,0,0,0,0,0
$STATE,15864,end climb,SURFACE_DEPTH_REACHED
$STATE,15864,begin surface coast
$FINISH,0.9,1.021718
$STATE,15890,end surface coast,CONTROL_FINISHED_OK
$STATE,15890,begin surface
$SM_CCo,15907,108.75,0.548,1,0,454,595.83
$SM_GC,1.66,0.00,0.00,108.75,0.000,0.000,0.548,146,1473,454,-8.12,-0.76,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2141.13,12401.35,020911,070731
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.18
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,26.60
$XPDR_PINGS,84
$24V_AH,23.2,37.400
$10V_AH,10.1,26.724
$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,18.825,146.075,455.650,108.750,0.000,138.413,115.462,1661.125,21.000,0.000,46.030,3682.440,8280.284,658.962,4579.560,1233.170,0.000,2045.064,0.000,3324.213,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,65.790,1465.740,547.740,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.275,1520.139,1768.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330392
$DATA_FILE_SIZE,83689,1483
$CAP_FILE_SIZE,180683,0
$CFSIZE,260165632,133496832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.126,186.5,1
$GPS,020911,123357,2145.976,12400.852,29,99.0,48,-2.9