version: 66.09
glider: 166
mission: 6
dive: 159
start: 9 2 111 17 54 30
data:
$ID,166
$MISSION,6
$DIVE,159
$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,-24597.238
$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,47
$R_STBD_OVSHOOT,39
$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
$GPS1,020911,173727,2141.874,12400.782,34,99.0,53,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-69.6
$GPS2,020911,175407,2141.679,12400.804,31,1.9,31,-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,184.1,21673,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.68,-155.7,0.0,0.0,0,108,0.00,0.00,-85.65,0.000,2,0.000,0.000,125,1484,3148,0,0,0,0,0,0
$GC,111,-0.68,-155.7,5.6,-8.5,12,136,9.32,2.22,-7.20,0.000,4,0.220,0.051,2506,2918,3520,0,0,0,0,0,0
$GC,202,-0.68,-155.7,42.5,-30.6,27,210,0.00,2.20,0.00,0.000,6,0.000,0.037,2506,1513,3521,0,0,0,0,0,0
$GC,530,-0.68,-155.7,127.8,-20.8,88,538,0.00,2.05,0.00,0.000,4,0.000,0.046,2505,198,3523,0,0,0,0,0,0
$GC,695,-0.68,-155.7,160.9,-21.1,117,703,0.00,2.00,0.00,0.000,6,0.000,0.036,2497,1511,3523,0,0,0,0,0,0
$GC,1022,-0.68,-155.7,221.6,-16.9,178,1031,0.00,2.15,0.00,0.000,4,0.000,0.048,2486,2901,3523,0,0,0,0,0,0
$GC,1065,-0.68,-155.7,229.0,-16.6,185,1074,0.10,2.15,0.00,0.000,6,0.144,0.037,2519,1494,3523,0,0,0,0,0,0
$GC,1399,-0.68,-155.7,276.9,-15.3,230,1403,0.00,1.98,0.00,0.000,4,0.000,0.047,2529,202,3523,0,0,0,0,0,0
$GC,1423,-0.68,-155.7,280.7,-15.0,232,1426,0.00,1.95,0.00,0.000,6,0.000,0.037,2522,1499,3523,0,0,0,0,0,0
$GC,1754,-0.68,-155.7,330.7,-14.9,263,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1499,3522,0,0,0,0,0,0
$GC,2073,-0.68,-155.7,371.5,-12.1,293,2077,0.00,2.03,0.00,0.000,4,0.000,0.048,2522,188,3520,0,0,0,0,0,0
$GC,2130,-0.68,-155.7,379.2,-13.2,298,2134,0.00,1.98,0.00,0.000,6,0.000,0.037,2517,1500,3519,0,0,0,0,0,0
$GC,2461,-0.68,-155.7,421.4,-12.1,329,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1500,3517,0,0,0,0,0,0
$GC,2785,-0.68,-155.7,457.7,-12.2,359,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1500,3515,0,0,0,0,0,0
$GC,3112,-0.68,-155.7,502.1,-12.5,390,3116,0.00,2.15,0.00,0.000,4,0.000,0.052,2522,2903,3511,0,0,0,0,0,0
$GC,3297,-0.68,-155.7,519.7,-7.9,406,3305,0.00,2.15,0.00,0.000,6,0.000,0.041,2523,1503,3509,0,0,0,0,0,0
$GC,3623,-0.68,-155.7,546.5,-9.0,437,3626,0.00,2.00,0.00,0.000,4,0.000,0.051,2523,201,3507,0,0,0,0,0,0
$GC,3686,-0.68,-155.7,553.3,-10.9,442,3693,0.00,1.98,0.00,0.000,6,0.000,0.039,2513,1503,3506,0,0,0,0,0,0
$GC,4011,-0.68,-155.7,593.8,-13.2,473,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1504,3503,0,0,0,0,0,0
$GC,4335,-0.68,-155.7,631.1,-10.4,491,4339,0.00,2.17,0.00,0.000,4,0.000,0.054,2501,2913,3500,0,0,0,0,0,0
$GC,4413,-0.68,-155.7,639.0,-9.7,494,4417,0.00,2.17,0.00,0.000,6,0.000,0.042,2502,1491,3499,0,0,0,0,0,0
$GC,4729,-0.68,-155.7,672.5,-11.1,509,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1491,3497,0,0,0,0,0,0
$GC,5040,-0.68,-155.7,708.5,-11.7,524,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1491,3494,0,0,0,0,0,0
$GC,5348,-0.68,-155.7,743.4,-11.2,539,5351,0.00,2.00,0.00,0.000,4,0.000,0.055,2503,196,3491,0,0,0,0,0,0
$GC,5394,-0.68,-155.7,748.8,-12.0,541,5398,0.12,2.00,0.00,0.000,6,0.170,0.042,2526,1499,3491,0,0,0,0,0,0
$GC,5724,-0.68,-155.7,775.6,-7.6,557,5728,0.00,2.15,0.00,0.000,4,0.000,0.054,2518,2906,3489,0,0,0,0,0,0
$GC,5779,-0.68,-155.7,780.2,-8.0,559,5783,0.00,2.15,0.00,0.000,6,0.000,0.042,2518,1495,3488,0,0,0,0,0,0
$GC,6103,-0.68,-155.7,808.3,-9.2,575,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1495,3486,0,0,0,0,0,0
$GC,6410,-0.68,-155.7,836.9,-9.3,590,6414,0.00,2.20,0.00,0.000,4,0.000,0.057,2507,2907,3484,0,0,0,0,0,0
$GC,6438,-0.68,-155.7,839.7,-9.6,591,6442,0.00,2.15,0.00,0.000,6,0.000,0.044,2507,1495,3484,0,0,0,0,0,0
$GC,6761,-0.68,-155.7,875.7,-11.7,607,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1494,3482,0,0,0,0,0,0
$GC,7068,-0.68,-155.7,912.4,-11.6,622,7072,0.00,2.00,0.00,0.000,4,0.000,0.057,2508,199,3481,0,0,0,0,0,0
$GC,7095,-0.68,-155.7,916.0,-11.6,623,7099,0.00,2.03,0.00,0.000,6,0.000,0.044,2498,1499,3479,0,0,0,0,0,0
$GC,7424,-0.68,-155.7,955.6,-12.2,639,7428,0.00,2.20,0.00,0.000,4,0.000,0.057,2488,2916,3477,0,0,0,0,0,0
$GC,7472,-0.68,-155.7,961.2,-11.6,641,7477,0.12,2.17,0.00,0.000,6,0.164,0.045,2520,1500,3477,0,0,0,0,0,0
$STATE,7776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7776,begin apogee
$GC,7784,-0.14,0.0,990.9,8.9,656,7916,0.52,0.00,125.35,1.463,6,0.128,0.000,2690,1853,2884,0,0,0,0,0,0
$STATE,7917,end apogee,CONTROL_FINISHED_OK
$STATE,7917,begin climb
$GC,7919,0.68,155.7,993.9,0.0,662,8069,0.77,2.42,141.62,1.402,4,0.074,0.063,2962,3245,2248,0,0,0,0,0,0
$GC,8096,0.68,155.7,974.7,15.8,670,8105,0.00,2.30,0.00,0.000,6,0.000,0.045,2972,1852,2245,0,0,0,0,0,0
$GC,8415,0.68,155.7,920.6,17.5,686,8419,0.00,2.25,0.00,0.000,4,0.000,0.060,2969,3260,2240,0,0,0,0,0,0
$GC,8475,0.68,155.7,908.8,18.1,688,8483,0.00,2.20,0.00,0.000,6,0.000,0.044,2978,1838,2239,0,0,0,0,0,0
$GC,8792,0.68,155.7,853.6,17.2,704,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1838,2237,0,0,0,0,0,0
$GC,9104,0.68,155.7,803.4,15.7,719,9108,0.00,2.22,0.00,0.000,4,0.000,0.059,2970,3251,2236,0,0,0,0,0,0
$GC,9154,0.68,155.7,794.6,15.6,721,9158,0.00,2.15,0.00,0.000,6,0.000,0.041,2978,1842,2235,0,0,0,0,0,0
$GC,9483,0.68,155.7,744.2,15.4,737,9487,0.00,2.17,0.00,0.000,4,0.000,0.052,2989,438,2235,0,0,0,0,0,0
$GC,9516,0.68,155.7,738.5,15.7,738,9520,0.00,2.15,0.00,0.000,6,0.000,0.043,2981,1848,2234,0,0,0,0,0,0
$GC,9838,0.68,155.7,690.0,15.1,754,9842,0.00,2.20,0.00,0.000,4,0.000,0.058,2977,3258,2233,0,0,0,0,0,0
$GC,9962,0.68,155.7,670.6,15.3,759,9968,0.00,2.12,0.00,0.000,6,0.000,0.041,2985,1851,2233,0,0,0,0,0,0
$GC,10278,0.68,155.7,625.4,13.6,775,10282,0.00,2.17,0.00,0.000,4,0.000,0.054,2977,3258,2232,0,0,0,0,0,0
$GC,10344,0.68,155.7,616.4,13.4,778,10348,0.00,2.17,0.00,0.000,6,0.000,0.041,2986,1846,2232,0,0,0,0,0,0
$GC,10671,0.68,155.7,572.8,13.9,802,10675,0.00,2.20,0.00,0.000,4,0.000,0.054,2978,3258,2232,0,0,0,0,0,0
$GC,10931,0.68,155.7,533.2,14.4,824,10938,0.00,2.12,0.00,0.000,6,0.000,0.040,2986,1842,2231,0,0,0,0,0,0
$GC,11257,0.68,155.7,484.7,14.4,855,11261,0.00,2.20,0.00,0.000,4,0.000,0.052,2978,3256,2231,0,0,0,0,0,0
$GC,11344,0.68,155.7,472.9,13.4,862,11348,0.00,2.10,0.00,0.000,6,0.000,0.039,2986,1851,2230,0,0,0,0,0,0
$GC,11669,0.68,155.7,434.1,11.8,892,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1851,2230,0,0,0,0,0,0
$GC,11992,0.68,155.7,390.9,13.9,922,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1851,2230,0,0,0,0,0,0
$GC,12321,0.68,155.7,351.8,10.3,953,12325,0.00,2.17,0.00,0.000,4,0.000,0.050,2978,3255,2230,0,0,0,0,0,0
$GC,12420,0.68,155.7,340.2,11.5,961,12427,0.00,2.12,0.00,0.000,6,0.000,0.037,2986,1846,2230,0,0,0,0,0,0
$GC,12748,0.68,155.7,298.5,12.0,992,12752,0.00,2.17,0.00,0.000,4,0.000,0.049,2978,3260,2230,0,0,0,0,0,0
$GC,12925,0.68,155.7,278.5,10.2,1008,12929,0.00,2.12,0.00,0.000,6,0.000,0.037,2987,1849,2230,0,0,0,0,0,0
$GC,13251,0.68,155.7,248.4,11.7,1039,13262,0.00,2.17,0.00,0.000,4,0.000,0.046,2997,440,2230,0,0,0,0,0,0
$GC,13291,0.68,155.7,243.3,13.0,1045,13299,0.00,2.15,0.00,0.000,6,0.000,0.036,2989,1862,2230,0,0,0,0,0,0
$GC,13622,0.74,203.8,208.4,7.7,1106,13668,0.00,2.15,39.10,0.844,4,0.000,0.050,2979,3252,2052,0,0,0,0,0,0
$GC,13877,0.76,220.3,186.1,9.0,1151,13900,0.00,2.17,15.18,0.766,6,0.000,0.035,2987,1836,1985,0,0,0,0,0,0
$GC,14221,0.76,220.3,154.1,11.2,1214,14230,0.00,2.15,0.00,0.000,4,0.000,0.046,2998,449,1982,0,0,0,0,0,0
$GC,14251,0.76,220.3,150.7,11.3,1218,14259,0.00,2.12,0.00,0.000,6,0.000,0.036,2990,1838,1982,0,0,0,0,0,0
$GC,14578,0.84,280.3,121.9,7.2,1279,14639,0.00,2.25,50.72,0.750,4,0.000,0.048,2981,3251,1740,0,0,0,0,0,0
$GC,14729,0.84,280.3,108.5,9.7,1303,14738,0.00,2.15,0.00,0.000,6,0.000,0.035,2989,1857,1740,0,0,0,0,0,0
$GC,15057,0.92,347.7,80.3,6.9,1364,15120,0.15,2.28,56.40,0.702,4,0.076,0.044,3085,437,1465,0,0,0,0,0,0
$GC,15253,0.92,347.7,53.1,13.8,1396,15262,0.12,2.17,0.00,0.000,6,0.133,0.033,3042,1858,1461,0,0,0,0,0,0
$GC,15583,0.92,352.1,18.9,9.5,1457,15593,0.00,2.25,4.62,0.438,4,0.000,0.043,3043,433,1447,0,0,0,0,0,0
$GC,15617,0.93,354.7,15.3,9.6,1462,15627,0.00,2.15,4.07,0.402,6,0.000,0.033,3041,1844,1437,0,0,0,0,0,0
$STATE,15746,end climb,SURFACE_DEPTH_REACHED
$STATE,15747,begin surface coast
$FINISH,1.0,1.018552
$STATE,15775,end surface coast,CONTROL_FINISHED_OK
$STATE,15775,begin surface
$SM_CCo,15792,55.58,0.477,1,0,1048,450.13
$SM_GC,1.88,0.00,0.00,55.58,0.000,0.000,0.477,144,1474,1048,-8.13,-0.74,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2136.49,12358.13,020911,121202
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.36
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.20
$XPDR_PINGS,76
$24V_AH,23.1,37.848
$10V_AH,10.1,27.085
$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,18.650,125.400,437.075,55.575,0.000,31.389,27.127,760.587,19.000,0.000,32.396,3692.962,7930.323,571.831,3989.526,649.444,0.000,1945.519,0.000,3349.615,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,62.730,1463.445,477.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1019.829,1526.312,1788.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330332
$DATA_FILE_SIZE,83509,1490
$CAP_FILE_SIZE,163102,0
$CFSIZE,260165632,133365760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200,141.6,1
$GPS,020911,222024,2138.171,12402.043,43,1.4,60,-2.9