version: 66.09
glider: 166
mission: 6
dive: 160
start: 9 2 111 22 33 25
data:
$ID,166
$MISSION,6
$DIVE,160
$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,-24598.496
$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,59
$R_STBD_OVSHOOT,36
$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
$GPS1,020911,222024,2138.171,12402.043,43,1.4,60,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.3
$GPS2,020911,223302,2138.054,12402.170,16,1.6,16,-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,233.9,15377,-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,18,-0.68,-155.7,0.0,0.0,0,104,0.00,0.00,-82.90,0.000,2,0.000,0.000,139,1473,3042,0,0,0,0,0,0
$GC,109,-0.68,-155.7,5.3,-8.2,11,134,9.27,2.28,-9.25,0.000,4,0.223,0.054,2504,2912,3521,0,0,0,0,0,0
$GC,163,-0.68,-155.7,30.8,-45.4,19,171,0.00,2.15,0.00,0.000,6,0.000,0.037,2507,1526,3522,0,0,0,0,0,0
$GC,489,-0.68,-155.7,121.6,-23.0,80,497,0.00,2.05,0.00,0.000,4,0.000,0.043,2505,202,3523,0,0,0,0,0,0
$GC,564,-0.68,-155.7,138.6,-20.5,93,573,0.00,1.98,0.00,0.000,6,0.000,0.036,2497,1496,3524,0,0,0,0,0,0
$GC,893,-0.68,-155.7,209.7,-21.1,154,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1497,3525,0,0,0,0,0,0
$GC,1227,-0.68,-155.7,273.5,-19.2,205,1231,0.00,2.15,0.00,0.000,4,0.000,0.047,2486,2907,3525,0,0,0,0,0,0
$GC,1270,-0.68,-155.7,281.8,-17.3,208,1279,0.10,2.17,0.00,0.000,6,0.141,0.037,2522,1494,3524,0,0,0,0,0,0
$GC,1595,-0.68,-155.7,326.2,-12.9,239,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1493,3525,0,0,0,0,0,0
$GC,1919,-0.68,-155.7,366.4,-12.5,269,1923,0.00,2.17,0.00,0.000,4,0.000,0.048,2515,2904,3523,0,0,0,0,0,0
$GC,1947,-0.68,-155.7,370.5,-12.5,271,1951,0.00,2.12,0.00,0.000,6,0.000,0.039,2515,1500,3523,0,0,0,0,0,0
$GC,2280,-0.68,-155.7,409.0,-10.5,302,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1499,3520,0,0,0,0,0,0
$GC,2598,-0.68,-155.7,440.3,-9.9,332,2601,0.00,2.03,0.00,0.000,4,0.000,0.050,2533,193,3518,0,0,0,0,0,0
$GC,2692,-0.68,-155.7,451.6,-12.7,340,2699,0.00,2.00,0.00,0.000,6,0.000,0.037,2525,1501,3517,0,0,0,0,0,0
$GC,3018,-0.68,-155.7,497.7,-15.1,371,3022,0.00,2.15,0.00,0.000,4,0.000,0.050,2516,2910,3514,0,0,0,0,0,0
$GC,3120,-0.68,-155.7,512.4,-13.8,380,3124,0.00,2.15,0.00,0.000,6,0.000,0.040,2516,1492,3512,0,0,0,0,0,0
$GC,3445,-0.68,-155.7,552.6,-11.8,410,3449,0.00,2.20,0.00,0.000,4,0.000,0.052,2505,2917,3510,0,0,0,0,0,0
$GC,3497,-0.68,-155.7,558.5,-11.3,414,3501,0.00,2.15,0.00,0.000,6,0.000,0.041,2506,1498,3510,0,0,0,0,0,0
$GC,3828,-0.68,-155.7,597.6,-12.1,445,3832,0.00,2.00,0.00,0.000,4,0.000,0.052,2506,198,3507,0,0,0,0,0,0
$GC,3920,-0.68,-155.7,609.7,-14.1,450,3923,0.00,2.00,0.00,0.000,6,0.000,0.040,2496,1515,3506,0,0,0,0,0,0
$GC,4255,-0.68,-155.7,646.9,-10.2,466,4259,0.00,2.12,0.00,0.000,4,0.000,0.052,2484,2904,3503,0,0,0,0,0,0
$GC,4349,-0.68,-155.7,656.7,-10.0,470,4354,0.15,2.12,0.00,0.000,6,0.158,0.041,2525,1501,3501,0,0,0,0,0,0
$GC,4679,-0.68,-155.7,687.8,-10.2,486,4682,0.00,2.00,0.00,0.000,4,0.000,0.056,2533,202,3500,0,0,0,0,0,0
$GC,4728,-0.68,-155.7,693.8,-11.6,488,4732,0.00,1.98,0.00,0.000,6,0.000,0.041,2524,1499,3499,0,0,0,0,0,0
$GC,5056,-0.68,-155.7,729.0,-10.9,504,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1499,3496,0,0,0,0,0,0
$GC,5367,-0.68,-155.7,761.9,-10.0,519,5371,0.00,2.17,0.00,0.000,4,0.000,0.057,2510,2904,3493,0,0,0,0,0,0
$GC,5444,-0.68,-155.7,769.0,-8.5,522,5448,0.00,2.15,0.00,0.000,6,0.000,0.043,2510,1495,3493,0,0,0,0,0,0
$GC,5768,-0.68,-155.7,794.0,-7.9,538,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1496,3491,0,0,0,0,0,0
$GC,6074,-0.68,-155.7,823.0,-10.2,553,6079,0.00,2.22,0.00,0.000,4,0.000,0.059,2495,2905,3488,0,0,0,0,0,0
$GC,6118,-0.68,-155.7,827.8,-10.5,555,6123,0.10,2.15,0.00,0.000,6,0.171,0.044,2520,1500,3488,0,0,0,0,0,0
$GC,6448,-0.68,-155.7,857.3,-8.3,571,6452,0.00,2.25,0.00,0.000,4,0.000,0.060,2512,2908,3486,0,0,0,0,0,0
$GC,6498,-0.68,-155.7,861.7,-8.0,573,6502,0.00,2.17,0.00,0.000,6,0.000,0.045,2512,1494,3486,0,0,0,0,0,0
$GC,6814,-0.68,-155.7,889.9,-9.3,588,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1493,3484,0,0,0,0,0,0
$GC,7125,-0.68,-155.7,919.6,-10.0,603,7129,0.00,2.25,0.00,0.000,4,0.000,0.061,2502,2912,3482,0,0,0,0,0,0
$GC,7157,-0.68,-155.7,923.3,-10.0,604,7164,0.00,2.17,0.00,0.000,6,0.000,0.045,2505,1494,3482,0,0,0,0,0,0
$GC,7475,-0.68,-155.7,955.5,-9.9,620,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1494,3480,0,0,0,0,0,0
$GC,7783,-0.68,-155.7,983.0,-8.4,635,7787,0.00,2.25,0.00,0.000,4,0.000,0.060,2500,2913,3478,0,0,0,0,0,0
$GC,7804,-0.68,-155.7,984.9,-8.1,636,7808,0.00,2.17,0.00,0.000,6,0.000,0.046,2502,1501,3478,0,0,0,0,0,0
$STATE,7875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7875,begin apogee
$GC,7883,-0.14,0.0,990.8,8.3,640,8015,0.60,0.00,126.35,1.463,6,0.128,0.000,2694,1853,2884,0,0,0,0,0,0
$STATE,8016,end apogee,CONTROL_FINISHED_OK
$STATE,8016,begin climb
$GC,8018,0.68,155.7,991.5,0.0,646,8171,0.77,2.42,142.30,1.400,4,0.073,0.062,2966,3250,2248,0,0,0,0,0,0
$GC,8217,0.68,155.7,966.7,17.5,655,8221,0.00,2.28,0.00,0.000,6,0.000,0.044,2975,1852,2245,0,0,0,0,0,0
$GC,8551,0.68,155.7,911.8,16.5,671,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1852,2240,0,0,0,0,0,0
$GC,8859,0.68,155.7,862.0,16.2,686,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1852,2237,0,0,0,0,0,0
$GC,9168,0.68,155.7,809.9,16.8,701,9172,0.00,2.20,0.00,0.000,4,0.000,0.058,2975,3252,2236,0,0,0,0,0,0
$GC,9218,0.68,155.7,801.6,16.6,703,9222,0.00,2.17,0.00,0.000,6,0.000,0.043,2983,1836,2235,0,0,0,0,0,0
$GC,9540,0.68,155.7,754.7,14.0,719,9544,0.00,2.22,0.00,0.000,4,0.000,0.057,2980,3258,2235,0,0,0,0,0,0
$GC,9628,0.68,155.7,742.3,13.9,723,9632,0.00,2.15,0.00,0.000,6,0.000,0.042,2989,1852,2234,0,0,0,0,0,0
$GC,9957,0.68,155.7,692.8,16.5,739,9961,0.00,2.17,0.00,0.000,4,0.000,0.055,2981,3253,2234,0,0,0,0,0,0
$GC,10021,0.68,155.7,681.9,16.3,742,10025,0.00,2.15,0.00,0.000,6,0.000,0.041,2989,1848,2233,0,0,0,0,0,0
$GC,10350,0.68,155.7,633.8,13.9,758,10354,0.00,2.20,0.00,0.000,4,0.000,0.054,2982,3254,2233,0,0,0,0,0,0
$GC,10444,0.68,155.7,619.9,14.5,762,10448,0.00,2.15,0.00,0.000,6,0.000,0.041,2990,1843,2232,0,0,0,0,0,0
$GC,10775,0.68,155.7,568.8,16.4,787,10779,0.00,2.17,0.00,0.000,4,0.000,0.054,2983,3254,2232,0,0,0,0,0,0
$GC,10819,0.68,155.7,560.7,16.8,790,10826,0.00,2.15,0.00,0.000,6,0.000,0.041,2991,1832,2231,0,0,0,0,0,0
$GC,11146,0.68,155.7,507.1,16.4,821,11150,0.00,2.22,0.00,0.000,4,0.000,0.054,2983,3252,2231,0,0,0,0,0,0
$GC,11239,0.68,155.7,491.7,15.3,829,11247,0.00,2.15,0.00,0.000,6,0.000,0.039,2991,1851,2231,0,0,0,0,0,0
$GC,11567,0.68,155.7,455.0,10.9,860,11571,0.00,2.17,0.00,0.000,4,0.000,0.052,2983,3264,2231,0,0,0,0,0,0
$GC,11678,0.68,155.7,441.5,13.0,869,11686,0.00,2.15,0.00,0.000,6,0.000,0.039,2991,1837,2231,0,0,0,0,0,0
$GC,12003,0.68,155.7,395.1,14.8,900,12007,0.00,2.20,0.00,0.000,4,0.000,0.050,2984,3261,2230,0,0,0,0,0,0
$GC,12043,0.68,155.7,388.7,16.2,903,12047,0.00,2.12,0.00,0.000,6,0.000,0.038,2992,1851,2230,0,0,0,0,0,0
$GC,12370,0.68,155.7,344.2,12.6,933,12374,0.00,2.15,0.00,0.000,4,0.000,0.050,2984,3257,2230,0,0,0,0,0,0
$GC,12467,0.68,155.7,330.7,14.1,941,12471,0.00,2.12,0.00,0.000,6,0.000,0.037,2992,1842,2230,0,0,0,0,0,0
$GC,12793,0.68,155.7,292.5,11.0,971,12797,0.00,2.17,0.00,0.000,4,0.000,0.049,2984,3257,2230,0,0,0,0,0,0
$GC,12889,0.68,155.7,282.1,11.5,979,12894,0.00,2.12,0.00,0.000,6,0.000,0.037,2990,1839,2230,0,0,0,0,0,0
$GC,13216,0.70,172.2,249.4,9.0,1009,13234,0.00,2.17,12.62,0.825,4,0.000,0.047,3000,444,2180,0,0,0,0,0,0
$GC,13257,0.73,192.7,245.7,8.8,1015,13282,0.00,2.15,19.08,0.846,6,0.000,0.036,2992,1859,2098,0,0,0,0,0,0
$GC,13601,0.73,192.7,211.3,12.6,1078,13609,0.00,2.15,0.00,0.000,4,0.000,0.050,2988,3243,2095,0,0,0,0,0,0
$GC,13788,0.73,192.7,189.0,10.4,1112,13796,0.00,2.12,0.00,0.000,6,0.000,0.036,3000,1849,2096,0,0,0,0,0,0
$GC,14115,0.73,192.7,153.1,12.5,1173,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1849,2095,0,0,0,0,0,0
$GC,14442,0.76,215.1,121.9,8.8,1234,14472,0.00,2.20,20.60,0.732,4,0.000,0.048,2992,3243,2006,0,0,0,0,0,0
$GC,14522,0.79,243.4,115.3,8.5,1247,14553,0.00,2.15,24.67,0.724,6,0.000,0.034,3000,1844,1891,0,0,0,0,0,0
$GC,14872,0.91,343.3,84.7,5.5,1311,14963,0.12,2.28,83.47,0.710,4,0.088,0.044,3086,446,1483,0,0,0,0,0,0
$GC,15028,0.91,343.3,66.1,13.6,1334,15037,0.12,2.17,0.00,0.000,6,0.128,0.033,3045,1847,1479,0,0,0,0,0,0
$GC,15359,0.91,343.3,32.5,10.1,1395,15367,0.00,2.17,0.00,0.000,4,0.000,0.045,3041,3260,1479,0,0,0,0,0,0
$GC,15391,0.91,343.3,28.8,9.9,1400,15399,0.00,2.15,0.00,0.000,6,0.000,0.034,3044,1852,1478,0,0,0,0,0,0
$STATE,15641,end climb,SURFACE_DEPTH_REACHED
$STATE,15641,begin surface coast
$FINISH,1.1,1.021674
$STATE,15671,end surface coast,CONTROL_FINISHED_OK
$STATE,15671,begin surface
$SM_CCo,15688,58.88,0.484,1,0,1047,450.13
$SM_GC,1.68,0.00,0.00,58.88,0.000,0.000,0.484,147,1467,1047,-8.12,-0.93,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2129.53,12400.06,020911,222249
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.01
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.30
$XPDR_PINGS,68
$24V_AH,23.0,38.029
$10V_AH,10.2,27.253
$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,18.650,134.800,429.100,58.875,0.000,58.727,64.357,403.000,17.000,0.000,17.154,3627.127,8044.924,562.866,3633.346,626.583,0.000,1919.302,0.000,3277.430,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,61.965,1462.680,484.245,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,994.050,1485.516,1709.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330252
$DATA_FILE_SIZE,83486,1452
$CAP_FILE_SIZE,164746,0
$CFSIZE,260165632,133189632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.194,173.0,1
$GPS,030911,025727,2134.840,12400.616,26,2.2,45,-2.9