version: 66.09
glider: 166
mission: 6
dive: 162
start: 9 3 111 8 7 54
data:
$ID,166
$MISSION,6
$DIVE,162
$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,-24601.01
$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,45
$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
$GPS1,030911,074124,2131.188,12400.933,40,1.5,40,-2.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.5
$GPS2,030911,080726,2130.714,12401.428,17,1.8,17,-2.8
$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,289.5,2793,-27.8,-9.706
$D_GRID,4800
$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,-0.87,-60.3,0.0,0.0,0,106,0.00,0.00,-86.07,0.000,6,0.000,0.000,145,1486,3131,0,0,0,0,0,0
$GC,109,-0.91,-91.1,5.2,-6.4,12,133,9.25,2.22,-2.58,0.000,4,0.234,0.053,2434,2917,3259,0,0,0,0,0,0
$GC,228,-0.91,-91.1,49.8,-32.9,32,237,0.00,2.20,0.00,0.000,6,0.000,0.038,2441,1504,3260,0,0,0,0,0,0
$GC,554,-0.91,-91.1,137.9,-25.2,93,561,0.00,2.00,0.00,0.000,4,0.000,0.044,2450,204,3261,0,0,0,0,0,0
$GC,629,-0.91,-91.1,156.3,-23.4,106,638,0.00,1.95,0.00,0.000,6,0.000,0.035,2442,1488,3261,0,0,0,0,0,0
$GC,958,-0.91,-91.1,231.3,-21.3,167,966,0.00,2.00,0.00,0.000,4,0.000,0.045,2450,203,3261,0,0,0,0,0,0
$GC,1182,-0.91,-91.1,270.1,-16.6,197,1186,0.00,1.98,0.00,0.000,6,0.000,0.036,2442,1509,3261,0,0,0,0,0,0
$GC,1512,-0.91,-91.1,327.1,-18.1,228,1516,0.00,2.03,0.00,0.000,4,0.000,0.047,2449,202,3260,0,0,0,0,0,0
$GC,1689,-0.91,-91.1,359.1,-16.5,243,1696,0.00,1.95,0.00,0.000,6,0.000,0.034,2443,1500,3259,0,0,0,0,0,0
$GC,2014,-0.91,-91.1,406.7,-15.0,274,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1500,3257,0,0,0,0,0,0
$GC,2336,-0.91,-91.1,456.8,-16.5,304,2340,0.00,2.03,0.00,0.000,4,0.000,0.047,2462,195,3254,0,0,0,0,0,0
$GC,2516,-0.91,-91.1,484.6,-14.2,320,2520,0.00,1.98,0.00,0.000,6,0.000,0.036,2453,1517,3253,0,0,0,0,0,0
$GC,2848,-0.91,-91.1,523.1,-13.1,351,2851,0.00,2.05,0.00,0.000,4,0.000,0.047,2453,197,3250,0,0,0,0,0,0
$GC,3105,-0.91,-91.1,569.0,-18.8,374,3109,0.00,1.98,0.00,0.000,6,0.000,0.037,2444,1509,3247,0,0,0,0,0,0
$GC,3434,-0.91,-91.1,615.4,-11.8,399,3438,0.00,2.03,0.00,0.000,4,0.000,0.049,2443,202,3244,0,0,0,0,0,0
$GC,3469,-0.91,-91.1,619.9,-12.4,400,3473,0.00,1.95,0.00,0.000,6,0.000,0.037,2435,1497,3244,0,0,0,0,0,0
$GC,3790,-0.91,-91.1,660.2,-13.2,416,3794,0.00,2.17,0.00,0.000,4,0.000,0.050,2424,2913,3241,0,0,0,0,0,0
$GC,3830,-0.91,-91.1,665.5,-13.4,418,3834,0.00,2.17,0.00,0.000,6,0.000,0.040,2429,1491,3240,0,0,0,0,0,0
$GC,4159,-0.91,-91.1,703.7,-11.2,434,4163,0.00,2.00,0.00,0.000,4,0.000,0.050,2429,194,3237,0,0,0,0,0,0
$GC,4264,-0.91,-91.1,716.9,-11.9,438,4273,0.12,2.00,0.00,0.000,6,0.205,0.039,2450,1502,3236,0,0,0,0,0,0
$GC,4583,-0.91,-91.1,749.7,-10.8,454,4587,0.00,2.05,0.00,0.000,4,0.000,0.050,2451,176,3234,0,0,0,0,0,0
$GC,4621,-0.91,-91.1,754.4,-11.8,455,4628,0.00,2.05,0.00,0.000,6,0.000,0.042,2442,1498,3233,0,0,0,0,0,0
$GC,4938,-0.92,-98.2,784.4,-8.9,471,4942,0.00,2.00,0.00,0.000,4,0.000,0.051,2441,206,3230,0,0,0,0,0,0
$GC,5119,-0.92,-98.2,803.5,-10.2,479,5123,0.00,1.98,0.00,0.000,6,0.000,0.042,2430,1500,3228,0,0,0,0,0,0
$GC,5453,-0.93,-107.7,832.9,-8.7,495,5457,0.00,2.08,0.00,0.000,4,0.000,0.054,2429,187,3225,0,0,0,0,0,0
$GC,5478,-0.94,-115.2,835.4,-8.9,496,5482,0.00,2.03,0.00,0.000,6,0.000,0.047,2420,1499,3225,0,0,0,0,0,0
$GC,5811,-0.95,-123.3,866.8,-8.8,512,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1499,3223,0,0,0,0,0,0
$GC,6121,-0.95,-130.4,894.8,-8.9,527,6125,0.00,2.17,0.00,0.000,4,0.000,0.057,2410,2904,3221,0,0,0,0,0,0
$GC,6200,-0.95,-130.4,902.4,-9.8,530,6208,0.00,2.15,0.00,0.000,6,0.000,0.044,2409,1498,3220,0,0,0,0,0,0
$GC,6516,-0.95,-130.4,935.0,-10.4,546,6520,0.00,2.03,0.00,0.000,4,0.000,0.056,2409,181,3218,0,0,0,0,0,0
$GC,6571,-0.95,-130.4,942.0,-12.8,548,6576,0.15,2.05,0.00,0.000,6,0.201,0.044,2437,1496,3217,0,0,0,0,0,0
$GC,6894,-0.95,-130.4,974.8,-10.0,564,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1498,3216,0,0,0,0,0,0
$STATE,7055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7055,begin apogee
$GC,7061,-0.14,0.0,990.7,9.6,572,7136,0.82,0.00,70.38,1.467,6,0.155,0.000,2696,1864,2884,0,0,0,0,0,0
$STATE,7136,end apogee,CONTROL_FINISHED_OK
$STATE,7136,begin climb
$GC,7142,0.95,130.4,992.5,0.0,575,7268,1.00,0.00,119.57,1.418,6,0.068,0.000,3055,1864,2352,0,0,0,0,0,0
$GC,7565,0.95,130.4,918.9,20.6,596,7569,0.00,2.20,0.00,0.000,4,0.000,0.063,3053,3248,2344,0,0,0,0,0,0
$GC,7637,0.95,130.4,903.0,20.9,599,7642,0.00,2.17,0.00,0.000,6,0.000,0.046,3061,1858,2342,0,0,0,0,0,0
$GC,7960,0.95,130.4,837.2,20.7,615,7964,0.00,2.22,0.00,0.000,4,0.000,0.060,3060,3256,2340,0,0,0,0,0,0
$GC,8069,0.95,130.4,813.7,21.6,620,8073,0.00,2.17,0.00,0.000,6,0.000,0.044,3068,1846,2339,0,0,0,0,0,0
$GC,8402,0.95,130.4,742.8,20.9,636,8406,0.00,2.20,0.00,0.000,4,0.000,0.057,3060,3255,2337,0,0,0,0,0,0
$GC,8458,0.95,130.4,730.5,21.8,638,8466,0.00,2.17,0.00,0.000,6,0.000,0.042,3068,1835,2336,0,0,0,0,0,0
$GC,8774,0.95,130.4,670.8,18.4,654,8778,0.00,2.22,0.00,0.000,4,0.000,0.057,3060,3250,2335,0,0,0,0,0,0
$GC,8940,0.95,130.4,641.4,17.5,661,8944,0.00,2.15,0.00,0.000,6,0.000,0.041,3068,1844,2334,0,0,0,0,0,0
$GC,9258,0.95,130.4,579.0,19.9,680,9262,0.00,2.20,0.00,0.000,4,0.000,0.053,3060,3259,2334,0,0,0,0,0,0
$GC,9413,0.95,130.4,551.1,18.2,693,9417,0.00,2.15,0.00,0.000,6,0.000,0.040,3068,1842,2333,0,0,0,0,0,0
$GC,9738,0.95,130.4,496.6,15.4,723,9742,0.00,2.20,0.00,0.000,4,0.000,0.052,3060,3254,2332,0,0,0,0,0,0
$GC,9792,0.95,130.4,488.2,16.0,727,9796,0.00,2.12,0.00,0.000,6,0.000,0.038,3068,1849,2332,0,0,0,0,0,0
$GC,10117,0.95,130.4,432.2,19.5,757,10121,0.00,2.17,0.00,0.000,4,0.000,0.050,3061,3255,2332,0,0,0,0,0,0
$GC,10173,0.95,130.4,420.5,20.7,761,10180,0.00,2.12,0.00,0.000,6,0.000,0.038,3069,1849,2331,0,0,0,0,0,0
$GC,10498,0.95,130.4,368.8,11.8,792,10502,0.00,2.17,0.00,0.000,4,0.000,0.049,3061,3261,2331,0,0,0,0,0,0
$GC,10757,0.95,130.4,334.1,14.3,814,10766,0.00,2.12,0.00,0.000,6,0.000,0.037,3069,1842,2331,0,0,0,0,0,0
$GC,11084,0.95,130.4,286.1,14.5,845,11088,0.00,2.20,0.00,0.000,4,0.000,0.047,3061,3269,2331,0,0,0,0,0,0
$GC,11154,0.95,130.4,276.6,13.3,850,11163,0.00,2.17,0.00,0.000,6,0.000,0.037,3069,1847,2331,0,0,0,0,0,0
$GC,11482,0.95,130.4,234.7,13.5,891,11490,0.00,2.17,0.00,0.000,4,0.000,0.046,3079,435,2331,0,0,0,0,0,0
$GC,11732,0.95,130.4,203.4,11.8,937,11740,0.00,2.15,0.00,0.000,6,0.000,0.036,3070,1859,2331,0,0,0,0,0,0
$GC,12058,0.95,130.4,170.9,11.0,998,12067,0.00,2.20,0.00,0.000,4,0.000,0.044,3076,434,2331,0,0,0,0,0,0
$GC,12082,0.95,130.4,168.5,10.9,1001,12090,0.00,2.15,0.00,0.000,6,0.000,0.036,3069,1856,2331,0,0,0,0,0,0
$GC,12411,1.00,167.9,137.9,5.7,1062,12450,0.00,2.15,29.27,0.760,4,0.000,0.046,3059,3242,2198,0,0,0,0,0,0
$GC,12547,1.00,167.9,126.4,10.9,1085,12556,0.00,2.15,0.00,0.000,6,0.000,0.035,3070,1838,2197,0,0,0,0,0,0
$GC,12876,1.04,198.5,93.7,6.4,1146,12907,0.00,0.00,26.83,0.706,6,0.000,0.000,3070,1838,2073,0,0,0,0,0,0
$GC,13230,1.11,252.5,61.2,3.9,1210,13280,0.00,2.28,44.80,0.684,4,0.000,0.046,3062,3251,1853,0,0,0,0,0,0
$GC,13380,1.13,270.6,52.0,7.8,1234,13404,0.08,2.15,16.45,0.630,6,0.063,0.034,3123,1852,1779,0,0,0,0,0,0
$GC,13722,1.13,270.6,6.9,12.6,1297,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1853,1777,0,0,0,0,0,0
$STATE,13751,end climb,SURFACE_DEPTH_REACHED
$STATE,13751,begin surface coast
$FINISH,1.0,1.021817
$STATE,13773,end surface coast,CONTROL_FINISHED_OK
$STATE,13774,begin surface
$SM_CCo,13791,162.35,0.575,1,0,454,595.83
$SM_GC,1.72,0.00,0.00,162.35,0.000,0.000,0.575,124,1487,454,-8.19,-0.37,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2122.58,12400.68,030911,070722
$TT8_MAMPS,0.026964,0.026964
$HUMID,32.47
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,26.10
$XPDR_PINGS,70
$24V_AH,23.4,38.409
$10V_AH,10.1,27.597
$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,19.125,114.900,307.300,162.350,0.000,147.744,184.093,739.257,17.500,0.000,18.184,3289.716,6949.916,585.908,3884.453,802.109,0.000,1823.274,0.000,3105.867,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,62.730,1466.505,574.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.130,1337.876,1658.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330320
$DATA_FILE_SIZE,73586,1306
$CAP_FILE_SIZE,153258,0
$CFSIZE,260165632,133054464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.301,136.3,1
$GPS,030911,120206,2129.127,12401.506,41,1.1,52,-2.8