version: 66.09
glider: 166
mission: 6
dive: 151
start: 9 1 111 3 52 52
data:
$ID,166
$MISSION,6
$DIVE,151
$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,400
$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,-24584.576
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,010911,034527,2207.989,12357.637,52,3.3,71,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.8
$GPS2,010911,035227,2207.893,12357.697,29,3.1,48,-3.0
$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,141.8,70290,-17.2,-9.706
$D_GRID,4975
$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,-155.7,0.0,0.0,0,92,0.00,0.00,-72.80,0.000,2,0.000,0.000,124,1473,3005,0,0,0,0,0,0
$GC,95,-0.68,-155.7,5.1,-7.2,10,120,9.38,2.28,-10.35,0.000,4,0.224,0.054,2503,2914,3521,0,0,0,0,0,0
$GC,261,-0.68,-155.7,67.9,-40.1,39,269,0.00,2.17,0.00,0.000,6,0.000,0.037,2504,1508,3523,0,0,0,0,0,0
$GC,590,-0.68,-155.7,157.5,-19.4,100,599,0.00,2.03,0.00,0.000,4,0.000,0.045,2505,205,3525,0,0,0,0,0,0
$GC,673,-0.68,-155.7,173.5,-18.5,114,681,0.00,2.00,0.00,0.000,6,0.000,0.037,2498,1508,3525,0,0,0,0,0,0
$GC,1002,-0.68,-155.7,238.6,-19.4,175,1010,0.00,2.05,0.00,0.000,4,0.000,0.046,2496,205,3526,0,0,0,0,0,0
$GC,1060,-0.68,-155.7,251.1,-21.3,185,1065,0.12,1.98,0.00,0.000,6,0.171,0.037,2521,1524,3526,0,0,0,0,0,0
$GC,1390,-0.68,-155.7,301.4,-12.6,216,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1524,3526,0,0,0,0,0,0
$GC,1714,-0.68,-155.7,335.0,-10.8,246,1717,0.00,2.03,0.00,0.000,4,0.000,0.047,2524,198,3526,0,0,0,0,0,0
$GC,1819,-0.68,-155.7,347.9,-11.4,255,1827,0.00,1.98,0.00,0.000,6,0.000,0.036,2516,1498,3525,0,0,0,0,0,0
$GC,2147,-0.68,-155.7,388.5,-13.6,286,2151,0.00,2.12,0.00,0.000,4,0.000,0.049,2516,2904,3524,0,0,0,0,0,0
$GC,2216,-0.68,-155.7,397.7,-12.3,292,2220,0.00,2.12,0.00,0.000,6,0.000,0.038,2519,1500,3523,0,0,0,0,0,0
$GC,2541,-0.68,-155.7,438.6,-11.9,322,2544,0.00,2.03,0.00,0.000,4,0.000,0.050,2523,201,3521,0,0,0,0,0,0
$GC,2578,-0.68,-155.7,442.8,-12.1,325,2581,0.00,1.98,0.00,0.000,6,0.000,0.038,2514,1510,3521,0,0,0,0,0,0
$GC,2908,-0.68,-155.7,481.6,-11.8,356,2912,0.00,2.10,0.00,0.000,4,0.000,0.050,2503,2904,3519,0,0,0,0,0,0
$GC,2950,-0.68,-155.7,486.0,-11.2,359,2955,0.00,2.12,0.00,0.000,6,0.000,0.039,2503,1495,3518,0,0,0,0,0,0
$GC,3281,-0.68,-155.7,526.3,-11.2,390,3285,0.00,1.98,0.00,0.000,4,0.000,0.051,2503,204,3516,0,0,0,0,0,0
$GC,3373,-0.68,-155.7,536.7,-11.2,398,3378,0.12,1.98,0.00,0.000,6,0.171,0.039,2527,1506,3515,0,0,0,0,0,0
$GC,3698,-0.68,-155.7,569.5,-10.8,428,3702,0.00,2.05,0.00,0.000,4,0.000,0.051,2527,196,3512,0,0,0,0,0,0
$GC,3783,-0.68,-155.7,580.2,-13.0,435,3790,0.00,2.00,0.00,0.000,6,0.000,0.041,2519,1508,3511,0,0,0,0,0,0
$GC,4114,-0.68,-155.7,620.8,-12.1,459,4118,0.00,2.15,0.00,0.000,4,0.000,0.054,2506,2903,3508,0,0,0,0,0,0
$GC,4135,-0.68,-155.7,623.5,-12.0,460,4139,0.00,2.15,0.00,0.000,6,0.000,0.041,2507,1505,3508,0,0,0,0,0,0
$GC,4464,-0.68,-155.7,659.5,-10.7,476,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1505,3505,0,0,0,0,0,0
$GC,4772,-0.68,-155.7,693.7,-11.4,491,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1505,3503,0,0,0,0,0,0
$GC,5081,-0.68,-155.7,729.2,-11.5,506,5085,0.00,2.05,0.00,0.000,4,0.000,0.057,2508,196,3500,0,0,0,0,0,0
$GC,5154,-0.68,-155.7,738.5,-12.9,509,5158,0.00,2.00,0.00,0.000,6,0.000,0.042,2499,1500,3499,0,0,0,0,0,0
$GC,5482,-0.68,-155.7,777.7,-12.1,525,5486,0.00,2.15,0.00,0.000,4,0.000,0.057,2488,2901,3497,0,0,0,0,0,0
$GC,5512,-0.68,-155.7,781.2,-11.9,526,5517,0.12,2.15,0.00,0.000,6,0.163,0.042,2521,1493,3496,0,0,0,0,0,0
$GC,5829,-0.68,-155.7,811.9,-8.9,541,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1493,3494,0,0,0,0,0,0
$GC,6137,-0.68,-155.7,836.4,-7.3,556,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1493,3493,0,0,0,0,0,0
$GC,6449,-0.68,-155.7,860.0,-8.0,571,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1492,3491,0,0,0,0,0,0
$GC,6756,-0.68,-155.7,887.0,-9.1,586,6761,0.00,2.22,0.00,0.000,4,0.000,0.061,2513,2907,3489,0,0,0,0,0,0
$GC,6790,-0.68,-155.7,890.2,-9.1,587,6797,0.00,2.17,0.00,0.000,6,0.000,0.046,2513,1497,3488,0,0,0,0,0,0
$GC,7108,-0.68,-155.7,919.8,-9.2,603,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1497,3487,0,0,0,0,0,0
$GC,7415,-0.68,-155.7,948.8,-9.7,618,7419,0.00,2.22,0.00,0.000,4,0.000,0.063,2503,2907,3485,0,0,0,0,0,0
$GC,7442,-0.68,-155.7,951.7,-9.7,619,7446,0.00,2.17,0.00,0.000,6,0.000,0.047,2503,1498,3484,0,0,0,0,0,0
$GC,7766,-0.68,-155.7,987.5,-11.6,635,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1498,3483,0,0,0,0,0,0
$STATE,7804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7804,begin apogee
$GC,7810,-0.14,0.0,992.2,11.3,637,7945,0.60,0.00,127.18,1.467,6,0.129,0.000,2693,1842,2883,0,0,0,0,0,0
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7946,begin climb
$GC,7948,0.68,155.7,997.0,0.0,643,8100,0.77,2.45,142.48,1.408,4,0.075,0.064,2964,3249,2248,0,0,0,0,0,0
$GC,8124,0.68,155.7,982.3,13.0,651,8132,0.00,2.33,0.00,0.000,6,0.000,0.046,2971,1848,2245,0,0,0,0,0,0
$GC,8440,0.68,155.7,936.2,15.0,667,8444,0.00,2.25,0.00,0.000,4,0.000,0.064,2971,3252,2239,0,0,0,0,0,0
$GC,8467,0.68,155.7,931.7,15.6,668,8471,0.00,2.20,0.00,0.000,6,0.000,0.046,2977,1846,2238,0,0,0,0,0,0
$GC,8797,0.68,155.7,882.3,15.0,684,8801,0.00,2.25,0.00,0.000,4,0.000,0.062,2974,3253,2237,0,0,0,0,0,0
$GC,8829,0.68,155.7,876.6,15.7,685,8836,0.00,2.17,0.00,0.000,6,0.000,0.044,2984,1836,2237,0,0,0,0,0,0
$GC,9147,0.68,155.7,829.0,15.1,701,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1837,2235,0,0,0,0,0,0
$GC,9455,0.68,155.7,781.8,15.2,716,9459,0.00,2.25,0.00,0.000,4,0.000,0.060,2979,3258,2234,0,0,0,0,0,0
$GC,9527,0.68,155.7,770.1,15.9,719,9531,0.00,2.17,0.00,0.000,6,0.000,0.044,2987,1841,2234,0,0,0,0,0,0
$GC,9851,0.68,155.7,722.5,14.6,735,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1841,2233,0,0,0,0,0,0
$GC,10159,0.68,155.7,674.8,15.4,750,10162,0.00,2.22,0.00,0.000,4,0.000,0.058,2979,3257,2232,0,0,0,0,0,0
$GC,10253,0.68,155.7,659.3,15.9,754,10257,0.00,2.17,0.00,0.000,6,0.000,0.044,2988,1851,2232,0,0,0,0,0,0
$GC,10582,0.68,155.7,608.1,15.8,770,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1851,2231,0,0,0,0,0,0
$GC,10897,0.68,155.7,559.8,15.0,797,10901,0.00,2.17,0.00,0.000,4,0.000,0.053,2998,442,2231,0,0,0,0,0,0
$GC,10921,0.68,155.7,556.2,15.1,798,10928,0.00,2.17,0.00,0.000,6,0.000,0.043,2990,1862,2230,0,0,0,0,0,0
$GC,11246,0.68,155.7,509.8,13.0,829,11250,0.00,2.15,0.00,0.000,4,0.000,0.057,2992,3250,2230,0,0,0,0,0,0
$GC,11288,0.68,155.7,504.4,13.6,832,11293,0.12,2.12,0.00,0.000,6,0.205,0.039,2971,1845,2229,0,0,0,0,0,0
$GC,11613,0.68,155.7,466.5,11.1,862,11617,0.00,2.20,0.00,0.000,4,0.000,0.052,2961,3260,2229,0,0,0,0,0,0
$GC,11667,0.68,155.7,460.3,12.0,866,11671,0.00,2.12,0.00,0.000,6,0.000,0.040,2970,1851,2229,0,0,0,0,0,0
$GC,11998,0.68,155.7,420.1,13.7,897,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1851,2229,0,0,0,0,0,0
$GC,12319,0.68,155.7,378.9,12.3,927,12323,0.00,2.17,0.00,0.000,4,0.000,0.050,2965,3261,2229,0,0,0,0,0,0
$GC,12359,0.68,155.7,373.2,13.0,930,12366,0.00,2.15,0.00,0.000,6,0.000,0.039,2974,1838,2229,0,0,0,0,0,0
$GC,12686,0.68,155.7,334.3,12.0,961,12690,0.00,2.20,0.00,0.000,4,0.000,0.050,2966,3255,2229,0,0,0,0,0,0
$GC,12719,0.68,155.7,330.0,11.8,963,12727,0.00,2.12,0.00,0.000,6,0.000,0.037,2974,1851,2229,0,0,0,0,0,0
$GC,13046,0.68,155.7,290.3,12.4,994,13050,0.00,2.15,0.00,0.000,4,0.000,0.048,2985,441,2229,0,0,0,0,0,0
$GC,13184,0.68,155.7,273.6,11.3,1006,13192,0.00,2.15,0.00,0.000,6,0.000,0.037,2978,1850,2229,0,0,0,0,0,0
$GC,13515,0.75,213.6,244.7,7.3,1043,13568,0.00,2.25,47.22,0.894,4,0.000,0.051,2967,3248,2012,0,0,0,0,0,0
$GC,13608,0.82,268.3,238.1,7.4,1057,13661,0.00,2.17,47.83,0.866,6,0.000,0.037,2976,1852,1790,0,0,0,0,0,0
$GC,13980,0.82,268.3,201.1,12.3,1124,13989,0.10,2.22,0.00,0.000,4,0.106,0.047,3043,441,1784,0,0,0,0,0,0
$GC,14011,0.82,268.3,196.9,14.6,1128,14020,0.10,2.17,0.00,0.000,6,0.144,0.037,3011,1841,1783,0,0,0,0,0,0
$GC,14342,0.82,268.3,148.9,12.5,1189,14350,0.00,2.20,0.00,0.000,4,0.000,0.049,3000,3257,1783,0,0,0,0,0,0
$GC,14432,0.82,268.3,136.7,12.9,1205,14440,0.00,2.17,0.00,0.000,6,0.000,0.037,3009,1837,1783,0,0,0,0,0,0
$GC,14758,0.82,268.3,97.6,10.8,1266,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1836,1783,0,0,0,0,0,0
$GC,15084,0.84,282.6,59.6,9.1,1327,15110,0.00,2.20,12.85,0.651,4,0.000,0.046,3020,436,1731,0,0,0,0,0,0
$GC,15205,0.87,305.3,49.4,8.8,1347,15236,0.00,2.17,20.92,0.668,6,0.000,0.034,3012,1862,1638,0,0,0,0,0,0
$GC,15556,1.01,423.6,22.9,4.8,1411,15661,0.17,0.00,96.82,0.659,6,0.068,0.000,3108,1863,1157,0,0,0,0,0,0
$STATE,15709,end climb,SURFACE_DEPTH_REACHED
$STATE,15709,begin surface coast
$FINISH,1.0,1.021545
$STATE,15727,end surface coast,CONTROL_FINISHED_OK
$STATE,15727,begin surface
$SM_CCo,15806,0.00,0.000,0,0,1150,425.35
$SM_GC,1.88,7.93,0.00,0.00,0.038,0.000,0.000,153,1485,1150,-8.04,-0.42,425.35,0,0,0,0,0,0
$IRIDIUM_FIX,2204.37,12445.98,310811,232357
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.90
$INTERNAL_PRESSURE,9.42877
$TCM_TEMP,25.10
$XPDR_PINGS,87
$24V_AH,23.0,36.152
$10V_AH,10.1,25.703
$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,19.550,125.475,495.300,0.000,0.000,23.835,24.229,173.734,21.750,0.000,52.725,3539.502,8320.850,541.185,3371.453,436.240,0.000,1866.246,0.000,3109.556,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,64.260,1467.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.474,1472.066,1595.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330284
$DATA_FILE_SIZE,80128,1437
$CAP_FILE_SIZE,157011,0
$CFSIZE,260165632,134070272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,237.4,1
$GPS,010911,081757,2205.540,12358.156,41,99.0,60,-3.0