version: 66.09
glider: 166
mission: 6
dive: 161
start: 9 3 111 3 17 4
data:
$ID,166
$MISSION,6
$DIVE,161
$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,-24599.754
$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,61
$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
$GPS1,030911,025727,2134.840,12400.616,26,2.2,45,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-71.7
$GPS2,030911,031630,2134.592,12400.848,40,1.6,45,-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,206.0,8629,-18.9,-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,17,begin dive
$GC,19,-0.70,-129.4,0.0,0.0,0,107,0.00,0.00,-85.35,0.000,2,0.000,0.000,143,1466,3148,0,0,0,0,0,0
$GC,110,-0.70,-129.4,6.0,-10.8,12,134,9.35,2.25,-5.18,0.000,4,0.228,0.052,2502,2908,3414,0,0,0,0,0,0
$GC,307,-0.70,-129.4,72.4,-20.6,47,315,0.00,2.12,0.00,0.000,6,0.000,0.037,2504,1527,3416,0,0,0,0,0,0
$GC,633,-0.70,-129.4,144.5,-22.8,108,641,0.00,2.12,0.00,0.000,4,0.000,0.046,2495,2904,3417,0,0,0,0,0,0
$GC,657,-0.70,-129.4,150.1,-22.5,111,665,0.00,2.15,0.00,0.000,6,0.000,0.037,2495,1503,3417,0,0,0,0,0,0
$GC,986,-0.70,-129.4,215.7,-20.9,172,996,0.00,2.20,0.00,0.000,4,0.000,0.047,2484,2906,3418,0,0,0,0,0,0
$GC,1004,-0.70,-129.4,219.8,-20.7,174,1014,0.08,2.17,0.00,0.000,6,0.146,0.037,2511,1492,3418,0,0,0,0,0,0
$GC,1333,-0.70,-129.4,275.6,-14.0,220,1337,0.00,1.98,0.00,0.000,4,0.000,0.047,2519,202,3418,0,0,0,0,0,0
$GC,1371,-0.70,-129.4,281.1,-13.0,223,1378,0.00,1.98,0.00,0.000,6,0.000,0.034,2511,1510,3418,0,0,0,0,0,0
$GC,1696,-0.70,-129.4,326.5,-14.0,254,1700,0.00,2.10,0.00,0.000,4,0.000,0.047,2501,2905,3416,0,0,0,0,0,0
$GC,1736,-0.70,-129.4,332.1,-14.1,257,1740,0.00,2.10,0.00,0.000,6,0.000,0.037,2501,1498,3416,0,0,0,0,0,0
$GC,2064,-0.70,-129.4,375.2,-10.8,287,2068,0.00,2.20,0.00,0.000,4,0.000,0.049,2501,2909,3413,0,0,0,0,0,0
$GC,2119,-0.70,-129.4,381.9,-11.4,291,2126,0.00,2.12,0.00,0.000,6,0.000,0.038,2506,1495,3412,0,0,0,0,0,0
$GC,2444,-0.70,-129.4,426.7,-12.3,322,2448,0.00,1.98,0.00,0.000,4,0.000,0.049,2511,202,3411,0,0,0,0,0,0
$GC,2563,-0.70,-129.4,440.7,-10.7,332,2569,0.00,1.95,0.00,0.000,6,0.000,0.037,2502,1502,3410,0,0,0,0,0,0
$GC,2890,-0.70,-129.4,477.8,-19.3,363,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1503,3407,0,0,0,0,0,0
$GC,3217,-0.70,-129.4,540.0,-14.9,394,3221,0.00,2.03,0.00,0.000,4,0.000,0.050,2502,196,3404,0,0,0,0,0,0
$GC,3379,-0.70,-129.4,560.7,-11.7,408,3383,0.00,1.98,0.00,0.000,6,0.000,0.039,2492,1506,3402,0,0,0,0,0,0
$GC,3710,-0.70,-129.4,590.4,-11.1,439,3714,0.00,2.12,0.00,0.000,4,0.000,0.052,2479,2903,3399,0,0,0,0,0,0
$GC,3767,-0.70,-129.4,597.2,-12.0,443,3774,0.12,2.12,0.00,0.000,6,0.164,0.040,2513,1494,3399,0,0,0,0,0,0
$GC,4083,-0.70,-129.4,632.4,-10.7,460,4087,0.00,1.95,0.00,0.000,4,0.000,0.052,2519,207,3396,0,0,0,0,0,0
$GC,4129,-0.70,-129.4,637.4,-10.9,462,4133,0.00,1.95,0.00,0.000,6,0.000,0.040,2509,1498,3395,0,0,0,0,0,0
$GC,4464,-0.73,-155.7,663.8,-6.9,478,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1498,3392,0,0,0,0,0,0
$GC,4770,-0.73,-155.7,692.8,-11.0,493,4774,0.00,2.17,0.00,0.000,4,0.000,0.055,2494,2909,3389,0,0,0,0,0,0
$GC,4814,-0.73,-155.7,698.2,-11.5,495,4819,0.00,2.12,0.00,0.000,6,0.000,0.042,2494,1497,3388,0,0,0,0,0,0
$GC,5144,-0.73,-155.7,735.5,-10.1,511,5148,0.00,2.00,0.00,0.000,4,0.000,0.054,2504,201,3386,0,0,0,0,0,0
$GC,5222,-0.73,-155.7,743.8,-10.1,514,5226,0.00,2.00,0.00,0.000,6,0.000,0.042,2494,1508,3385,0,0,0,0,0,0
$GC,5546,-0.73,-155.7,772.3,-9.7,530,5550,0.00,2.17,0.00,0.000,4,0.000,0.055,2483,2915,3383,0,0,0,0,0,0
$GC,5613,-0.73,-155.7,779.9,-11.3,533,5617,0.00,2.15,0.00,0.000,6,0.000,0.043,2483,1501,3382,0,0,0,0,0,0
$GC,5940,-0.73,-155.7,819.4,-11.5,549,5944,0.00,2.03,0.00,0.000,4,0.000,0.056,2483,195,3379,0,0,0,0,0,0
$GC,6033,-0.73,-155.7,830.9,-12.7,553,6038,0.12,2.00,0.00,0.000,6,0.179,0.043,2505,1499,3379,0,0,0,0,0,0
$GC,6360,-0.73,-155.7,863.0,-9.5,569,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1499,3377,0,0,0,0,0,0
$GC,6671,-0.73,-155.7,892.3,-9.4,584,6675,0.00,2.20,0.00,0.000,4,0.000,0.058,2496,2909,3375,0,0,0,0,0,0
$GC,6737,-0.73,-155.7,898.5,-8.8,587,6741,0.00,2.15,0.00,0.000,6,0.000,0.044,2497,1499,3374,0,0,0,0,0,0
$GC,7065,-0.73,-155.7,927.5,-9.2,603,7069,0.00,2.20,0.00,0.000,4,0.000,0.059,2487,2903,3372,0,0,0,0,0,0
$GC,7090,-0.73,-155.7,929.7,-9.1,604,7094,0.00,2.12,0.00,0.000,6,0.000,0.044,2487,1502,3372,0,0,0,0,0,0
$GC,7417,-0.73,-155.7,962.8,-10.7,620,7420,0.00,2.03,0.00,0.000,4,0.000,0.059,2487,205,3371,0,0,0,0,0,0
$GC,7472,-0.73,-155.7,969.5,-12.6,622,7477,0.08,2.03,0.00,0.000,6,0.158,0.045,2510,1498,3370,0,0,0,0,0,0
$STATE,7688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7688,begin apogee
$GC,7696,-0.14,0.0,990.0,9.3,633,7808,0.57,0.00,103.12,1.467,6,0.129,0.000,2694,1864,2884,0,0,0,0,0,0
$STATE,7809,end apogee,CONTROL_FINISHED_OK
$STATE,7809,begin climb
$GC,7811,0.73,155.7,992.5,0.0,638,7964,0.82,2.42,142.48,1.409,4,0.070,0.063,2980,3245,2248,0,0,0,0,0,0
$GC,7994,0.73,155.7,972.9,16.0,647,7998,0.00,2.28,0.00,0.000,6,0.000,0.045,2987,1855,2245,0,0,0,0,0,0
$GC,8322,0.73,155.7,918.4,16.6,663,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1854,2240,0,0,0,0,0,0
$GC,8630,0.73,155.7,867.8,16.0,678,8634,0.00,2.20,0.00,0.000,4,0.000,0.061,2986,3251,2237,0,0,0,0,0,0
$GC,8694,0.73,155.7,857.7,16.1,681,8698,0.00,2.15,0.00,0.000,6,0.000,0.043,2995,1838,2236,0,0,0,0,0,0
$GC,9026,0.73,155.7,805.7,14.9,697,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1838,2235,0,0,0,0,0,0
$GC,9336,0.73,155.7,764.1,13.6,712,9340,0.00,2.20,0.00,0.000,4,0.000,0.057,2986,3252,2234,0,0,0,0,0,0
$GC,9409,0.73,155.7,753.0,15.0,715,9413,0.00,2.15,0.00,0.000,6,0.000,0.042,2995,1846,2233,0,0,0,0,0,0
$GC,9725,0.73,155.7,701.2,16.5,730,9729,0.00,2.20,0.00,0.000,4,0.000,0.054,2986,3254,2232,0,0,0,0,0,0
$GC,9766,0.73,155.7,694.5,16.9,732,9770,0.00,2.15,0.00,0.000,6,0.000,0.042,2994,1841,2231,0,0,0,0,0,0
$GC,10095,0.73,155.7,644.2,14.9,748,10099,0.00,2.17,0.00,0.000,4,0.000,0.054,2986,3252,2231,0,0,0,0,0,0
$GC,10144,0.73,155.7,636.9,13.8,750,10148,0.00,2.15,0.00,0.000,6,0.000,0.041,2993,1836,2231,0,0,0,0,0,0
$GC,10468,0.73,155.7,593.9,14.1,767,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1836,2231,0,0,0,0,0,0
$GC,10786,0.73,155.7,543.1,15.6,797,10790,0.00,2.20,0.00,0.000,4,0.000,0.054,2987,3258,2230,0,0,0,0,0,0
$GC,10992,0.73,155.7,512.6,14.6,815,10996,0.00,2.15,0.00,0.000,6,0.000,0.040,2995,1839,2230,0,0,0,0,0,0
$GC,11317,0.73,155.7,471.2,13.8,845,11318,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1839,2229,0,0,0,0,0,0
$GC,11639,0.73,155.7,423.4,14.4,875,11643,0.00,2.20,0.00,0.000,4,0.000,0.051,2987,3253,2230,0,0,0,0,0,0
$GC,11786,0.73,155.7,403.4,12.5,887,11794,0.00,2.12,0.00,0.000,6,0.000,0.038,2996,1847,2229,0,0,0,0,0,0
$GC,12111,0.73,155.7,369.3,11.5,918,12115,0.00,2.17,0.00,0.000,4,0.000,0.050,2988,3252,2228,0,0,0,0,0,0
$GC,12321,0.73,155.7,342.7,13.4,936,12325,0.00,2.12,0.00,0.000,6,0.000,0.037,2996,1837,2229,0,0,0,0,0,0
$GC,12646,0.73,155.7,300.3,11.0,966,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1837,2229,0,0,0,0,0,0
$GC,12971,0.73,155.7,265.2,11.6,996,12975,0.00,2.20,0.00,0.000,4,0.000,0.049,2987,3266,2229,0,0,0,0,0,0
$GC,13035,0.73,155.7,256.8,11.8,1001,13042,0.00,2.12,0.00,0.000,6,0.000,0.037,2995,1848,2229,0,0,0,0,0,0
$GC,13362,0.73,155.7,219.9,11.5,1056,13370,0.00,2.15,0.00,0.000,4,0.000,0.046,3005,447,2229,0,0,0,0,0,0
$GC,13422,0.73,155.7,213.3,11.5,1066,13430,0.00,2.12,0.00,0.000,6,0.000,0.035,2995,1853,2229,0,0,0,0,0,0
$GC,13750,0.75,172.5,182.7,8.9,1127,13766,0.00,0.00,12.65,0.761,6,0.000,0.000,2997,1853,2180,0,0,0,0,0,0
$GC,14086,0.81,220.6,154.6,7.3,1189,14139,0.00,2.20,41.72,0.786,4,0.000,0.049,2987,3244,1983,0,0,0,0,0,0
$GC,14174,0.83,232.4,146.8,9.1,1202,14191,0.00,2.15,11.48,0.697,6,0.000,0.036,2996,1854,1936,0,0,0,0,0,0
$GC,14512,0.83,236.9,113.2,9.5,1264,14522,0.00,2.22,4.68,0.513,4,0.000,0.045,3007,438,1917,0,0,0,0,0,0
$GC,14545,0.83,236.9,109.6,9.9,1269,14553,0.00,2.15,0.00,0.000,6,0.000,0.034,2999,1842,1916,0,0,0,0,0,0
$GC,14873,0.90,294.4,82.1,6.8,1330,14928,0.10,2.28,49.38,0.710,4,0.103,0.044,3052,3266,1683,0,0,0,0,0,0
$GC,15081,0.96,337.1,66.5,7.6,1365,15125,0.00,2.20,36.45,0.679,6,0.000,0.033,3061,1841,1509,0,0,0,0,0,0
$GC,15446,0.96,337.1,26.9,11.6,1431,15455,0.00,2.20,0.00,0.000,4,0.000,0.044,3070,440,1505,0,0,0,0,0,0
$GC,15511,0.96,337.1,19.3,11.6,1442,15519,0.00,2.15,0.00,0.000,6,0.000,0.033,3068,1855,1504,0,0,0,0,0,0
$STATE,15664,end climb,SURFACE_DEPTH_REACHED
$STATE,15664,begin surface coast
$FINISH,1.0,1.021515
$STATE,15692,end surface coast,CONTROL_FINISHED_OK
$STATE,15692,begin surface
$SM_CCo,15711,62.30,0.493,1,0,1048,450.13
$SM_GC,1.87,0.00,0.00,62.30,0.000,0.000,0.493,150,1486,1048,-8.11,-0.40,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2127.21,12358.76,030911,020252
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.93
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.40
$XPDR_PINGS,71
$24V_AH,23.1,38.222
$10V_AH,10.2,27.431
$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,18.725,133.250,401.950,62.300,0.000,54.602,131.891,696.532,17.750,0.000,46.369,3695.822,7920.724,566.013,4084.929,649.747,0.000,1920.740,0.000,3357.302,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,62.730,1466.505,493.425,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.816,1511.568,1798.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330364
$DATA_FILE_SIZE,83507,1475
$CAP_FILE_SIZE,165677,0
$CFSIZE,260165632,133189632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.193,153.2,1
$GPS,030911,074124,2131.188,12400.933,40,1.5,40,-2.8