version: 66.09
glider: 166
mission: 6
dive: 155
start: 9 1 111 22 18 39
data:
$ID,166
$MISSION,6
$DIVE,155
$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,-24592.197
$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,45
$R_STBD_OVSHOOT,44
$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
$GPS1,010911,215250,2157.258,12359.574,39,99.0,58,-2.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.2
$GPS2,010911,221816,2157.211,12359.896,12,99.0,31,-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,175.7,50396,-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,-155.7,0.0,0.0,0,99,0.00,0.00,-78.22,0.000,2,0.000,0.000,142,1486,3240,0,0,0,0,0,0
$GC,103,-0.68,-155.7,6.6,-11.8,11,129,9.32,2.22,-4.88,0.000,4,0.226,0.053,2504,2907,3523,0,0,0,0,0,0
$GC,195,-0.68,-155.7,47.5,-29.9,26,203,0.00,2.17,0.00,0.000,6,0.000,0.037,2508,1510,3524,0,0,0,0,0,0
$GC,520,-0.68,-155.7,127.6,-21.4,87,528,0.00,2.15,0.00,0.000,4,0.000,0.045,2499,2900,3525,0,0,0,0,0,0
$GC,538,-0.68,-155.7,130.8,-19.1,89,547,0.00,2.15,0.00,0.000,6,0.000,0.036,2505,1499,3525,0,0,0,0,0,0
$GC,868,-0.68,-155.7,197.9,-20.7,150,876,0.00,2.03,0.00,0.000,4,0.000,0.047,2505,202,3525,0,0,0,0,0,0
$GC,1008,-0.68,-155.7,225.7,-18.5,175,1017,0.00,1.98,0.00,0.000,6,0.000,0.036,2497,1498,3525,0,0,0,0,0,0
$GC,1335,-0.68,-155.7,273.3,-15.4,221,1339,0.00,2.00,0.00,0.000,4,0.000,0.046,2497,202,3525,0,0,0,0,0,0
$GC,1415,-0.68,-155.7,287.9,-19.4,228,1420,0.12,1.92,0.00,0.000,6,0.168,0.036,2521,1501,3525,0,0,0,0,0,0
$GC,1741,-0.68,-155.7,343.2,-13.8,258,1745,0.00,2.12,0.00,0.000,4,0.000,0.048,2518,2911,3523,0,0,0,0,0,0
$GC,1820,-0.68,-155.7,352.6,-10.8,264,1827,0.00,2.10,0.00,0.000,6,0.000,0.039,2521,1500,3522,0,0,0,0,0,0
$GC,2145,-0.68,-155.7,388.3,-12.3,295,2149,0.00,2.00,0.00,0.000,4,0.000,0.050,2530,205,3519,0,0,0,0,0,0
$GC,2192,-0.68,-155.7,394.5,-14.0,299,2196,0.00,1.95,0.00,0.000,6,0.000,0.037,2522,1511,3519,0,0,0,0,0,0
$GC,2523,-0.68,-155.7,441.3,-13.0,330,2527,0.00,1.98,0.00,0.000,4,0.000,0.048,2523,199,3517,0,0,0,0,0,0
$GC,2584,-0.68,-155.7,450.8,-15.2,335,2591,0.00,1.95,0.00,0.000,6,0.000,0.037,2514,1500,3517,0,0,0,0,0,0
$GC,2912,-0.68,-155.7,491.2,-10.8,366,2916,0.00,2.10,0.00,0.000,4,0.000,0.050,2504,2904,3513,0,0,0,0,0,0
$GC,2952,-0.68,-155.7,495.5,-10.4,369,2956,0.00,2.12,0.00,0.000,6,0.000,0.039,2504,1491,3512,0,0,0,0,0,0
$GC,3277,-0.68,-155.7,531.5,-11.3,399,3280,0.00,1.98,0.00,0.000,4,0.000,0.051,2503,200,3509,0,0,0,0,0,0
$GC,3405,-0.68,-155.7,549.5,-14.8,410,3412,0.00,1.98,0.00,0.000,6,0.000,0.039,2494,1492,3508,0,0,0,0,0,0
$GC,3730,-0.68,-155.7,596.6,-12.9,441,3732,0.10,0.00,0.00,0.000,6,0.188,0.000,2519,1492,3505,0,0,0,0,0,0
$GC,4052,-0.68,-155.7,629.1,-9.6,458,4056,0.00,2.15,0.00,0.000,4,0.000,0.054,2510,2905,3502,0,0,0,0,0,0
$GC,4109,-0.68,-155.7,634.6,-9.4,460,4113,0.00,2.10,0.00,0.000,6,0.000,0.041,2510,1501,3501,0,0,0,0,0,0
$GC,4424,-0.68,-155.7,673.7,-13.3,475,4428,0.00,2.20,0.00,0.000,4,0.000,0.054,2496,2911,3498,0,0,0,0,0,0
$GC,4453,-0.68,-155.7,677.5,-13.4,476,4457,0.00,2.12,0.00,0.000,6,0.000,0.042,2496,1501,3497,0,0,0,0,0,0
$GC,4769,-0.68,-155.7,717.3,-11.2,491,4771,0.12,0.00,0.00,0.000,6,0.169,0.000,2526,1501,3495,0,0,0,0,0,0
$GC,5079,-0.68,-155.7,741.8,-7.2,506,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1501,3493,0,0,0,0,0,0
$GC,5390,-0.68,-155.7,764.9,-8.0,521,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1501,3490,0,0,0,0,0,0
$GC,5697,-0.68,-155.7,794.6,-10.5,536,5701,0.00,2.20,0.00,0.000,4,0.000,0.058,2515,2903,3488,0,0,0,0,0,0
$GC,5752,-0.68,-155.7,800.8,-11.0,538,5759,0.00,2.17,0.00,0.000,6,0.000,0.044,2515,1492,3487,0,0,0,0,0,0
$GC,6070,-0.68,-155.7,834.9,-10.2,554,6074,0.00,2.22,0.00,0.000,4,0.000,0.060,2504,2907,3485,0,0,0,0,0,0
$GC,6103,-0.68,-155.7,838.5,-9.9,555,6107,0.00,2.12,0.00,0.000,6,0.000,0.044,2505,1503,3485,0,0,0,0,0,0
$GC,6425,-0.68,-155.7,868.0,-8.9,571,6429,0.00,2.20,0.00,0.000,4,0.000,0.060,2494,2912,3483,0,0,0,0,0,0
$GC,6468,-0.68,-155.7,871.8,-9.2,573,6472,0.00,2.15,0.00,0.000,6,0.000,0.046,2497,1500,3483,0,0,0,0,0,0
$GC,6795,-0.68,-155.7,902.1,-9.0,589,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1500,3481,0,0,0,0,0,0
$GC,7106,-0.68,-155.7,927.3,-7.6,604,7110,0.00,2.25,0.00,0.000,4,0.000,0.063,2495,2901,3479,0,0,0,0,0,0
$GC,7147,-0.68,-155.7,930.6,-7.6,606,7152,0.12,2.15,0.00,0.000,6,0.163,0.047,2527,1497,3478,0,0,0,0,0,0
$GC,7475,-0.68,-155.7,951.1,-6.6,622,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1497,3476,0,0,0,0,0,0
$GC,7786,-0.68,-155.7,972.5,-7.0,637,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1497,3475,0,0,0,0,0,0
$STATE,8029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8029,begin apogee
$GC,8035,-0.14,0.0,990.8,7.5,649,8169,0.50,0.00,124.45,1.470,6,0.122,0.000,2692,1856,2883,0,0,0,0,0,0
$STATE,8169,end apogee,CONTROL_FINISHED_OK
$STATE,8169,begin climb
$GC,8172,0.68,155.7,992.4,0.0,655,8318,0.80,0.00,142.38,1.409,6,0.072,0.000,2969,1855,2249,0,0,0,0,0,0
$GC,8616,0.68,155.7,929.0,16.3,677,8620,0.00,2.28,0.00,0.000,4,0.000,0.058,2980,438,2240,0,0,0,0,0,0
$GC,8643,0.68,155.7,923.8,17.0,678,8647,0.00,2.22,0.00,0.000,6,0.000,0.048,2977,1858,2239,0,0,0,0,0,0
$GC,8971,0.68,155.7,868.9,16.9,694,8975,0.00,2.22,0.00,0.000,4,0.000,0.061,2977,3267,2238,0,0,0,0,0,0
$GC,9067,0.68,155.7,852.4,17.1,698,9071,0.00,2.20,0.00,0.000,6,0.000,0.044,2986,1842,2236,0,0,0,0,0,0
$GC,9383,0.68,155.7,802.0,15.3,713,9387,0.00,2.25,0.00,0.000,4,0.000,0.060,2978,3263,2236,0,0,0,0,0,0
$GC,9426,0.68,155.7,795.1,15.2,715,9430,0.00,2.15,0.00,0.000,6,0.000,0.044,2986,1849,2235,0,0,0,0,0,0
$GC,9756,0.68,155.7,748.7,14.3,731,9760,0.00,2.22,0.00,0.000,4,0.000,0.058,2978,3261,2234,0,0,0,0,0,0
$GC,9795,0.68,155.7,742.5,14.7,733,9800,0.00,2.15,0.00,0.000,6,0.000,0.042,2986,1837,2234,0,0,0,0,0,0
$GC,10124,0.68,155.7,691.4,16.5,749,10128,0.00,2.20,0.00,0.000,4,0.000,0.054,2978,3261,2233,0,0,0,0,0,0
$GC,10172,0.68,155.7,683.1,17.5,751,10176,0.00,2.12,0.00,0.000,6,0.000,0.042,2986,1851,2232,0,0,0,0,0,0
$GC,10500,0.68,155.7,628.6,15.9,767,10504,0.00,2.17,0.00,0.000,4,0.000,0.053,2978,3260,2232,0,0,0,0,0,0
$GC,10551,0.68,155.7,620.4,15.9,769,10555,0.00,2.15,0.00,0.000,6,0.000,0.041,2986,1845,2232,0,0,0,0,0,0
$GC,10879,0.68,155.7,571.9,14.5,794,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1845,2231,0,0,0,0,0,0
$GC,11201,0.68,155.7,524.4,14.4,824,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1845,2231,0,0,0,0,0,0
$GC,11529,0.68,155.7,483.2,12.2,855,11533,0.00,2.20,0.00,0.000,4,0.000,0.053,2978,3260,2231,0,0,0,0,0,0
$GC,11631,0.68,155.7,469.6,12.4,863,11638,0.00,2.12,0.00,0.000,6,0.000,0.040,2986,1844,2230,0,0,0,0,0,0
$GC,11956,0.68,155.7,430.2,11.5,894,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1843,2230,0,0,0,0,0,0
$GC,12279,0.68,155.7,389.2,14.3,924,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1844,2230,0,0,0,0,0,0
$GC,12606,0.70,170.1,349.1,9.1,955,12621,0.00,2.20,10.43,0.914,4,0.000,0.051,2979,3262,2190,0,0,0,0,0,0
$GC,12679,0.71,179.5,342.1,9.3,961,12698,0.00,2.12,9.93,0.891,6,0.000,0.037,2987,1844,2151,0,0,0,0,0,0
$GC,13017,0.71,179.5,301.5,13.5,993,13021,0.00,2.22,0.00,0.000,4,0.000,0.049,2979,3269,2150,0,0,0,0,0,0
$GC,13116,0.71,179.5,288.1,12.7,1001,13123,0.00,2.15,0.00,0.000,6,0.000,0.037,2987,1848,2149,0,0,0,0,0,0
$GC,13441,0.71,179.5,254.9,10.7,1032,13445,0.00,2.20,0.00,0.000,4,0.000,0.047,2977,3266,2149,0,0,0,0,0,0
$GC,13516,0.71,179.5,246.4,11.7,1040,13524,0.00,2.17,0.00,0.000,6,0.000,0.036,2983,1845,2149,0,0,0,0,0,0
$GC,13843,0.73,190.3,211.3,9.3,1101,13860,0.00,2.25,11.10,0.774,4,0.000,0.047,2977,3266,2108,0,0,0,0,0,0
$GC,13894,0.74,202.4,206.6,9.2,1109,13912,0.00,2.17,12.32,0.773,6,0.000,0.034,2987,1844,2058,0,0,0,0,0,0
$GC,14235,0.74,202.4,171.0,10.5,1171,14243,0.00,2.17,0.00,0.000,4,0.000,0.044,2998,441,2056,0,0,0,0,0,0
$GC,14314,0.74,202.4,162.9,9.8,1185,14322,0.00,2.15,0.00,0.000,6,0.000,0.034,2991,1850,2056,0,0,0,0,0,0
$GC,14640,0.74,202.4,135.5,11.3,1246,14649,0.00,2.20,0.00,0.000,4,0.000,0.046,2999,449,2055,0,0,0,0,0,0
$GC,14678,0.74,202.4,131.1,11.0,1252,14686,0.00,2.15,0.00,0.000,6,0.000,0.035,2992,1862,2055,0,0,0,0,0,0
$GC,15005,0.79,240.4,104.7,8.1,1313,15043,0.00,2.28,32.92,0.732,4,0.000,0.044,3001,433,1902,0,0,0,0,0,0
$GC,15096,0.79,241.7,96.5,9.7,1327,15104,0.00,2.17,0.00,0.000,6,0.000,0.034,2996,1854,1899,0,0,0,0,0,0
$GC,15424,0.92,351.7,75.9,5.1,1388,15524,0.12,2.20,92.12,0.703,4,0.087,0.044,3063,3250,1448,0,0,0,0,0,0
$GC,15603,0.92,351.7,58.3,10.5,1415,15610,0.00,2.17,0.00,0.000,6,0.000,0.034,3071,1849,1448,0,0,0,0,0,0
$GC,15929,0.92,351.7,18.2,12.3,1476,15937,0.00,2.17,0.00,0.000,4,0.000,0.044,3082,441,1445,0,0,0,0,0,0
$GC,15978,0.92,351.7,11.9,13.2,1484,15987,0.10,2.12,0.00,0.000,6,0.125,0.032,3046,1850,1444,0,0,0,0,0,0
$STATE,16061,end climb,SURFACE_DEPTH_REACHED
$STATE,16061,begin surface coast
$FINISH,0.9,1.021221
$STATE,16090,end surface coast,CONTROL_FINISHED_OK
$STATE,16090,begin surface
$SM_CCo,16107,58.95,0.488,1,0,1048,450.13
$SM_GC,1.75,0.00,0.00,58.95,0.000,0.000,0.488,146,1480,1048,-8.12,-0.57,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2150.42,12358.80,010911,222207
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.89
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.20
$XPDR_PINGS,76
$24V_AH,23.1,36.916
$10V_AH,10.2,26.362
$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,18.725,134.050,435.650,58.950,0.000,149.907,159.239,791.923,19.000,0.000,33.518,3735.512,8455.722,608.834,4231.748,651.411,0.000,1943.437,0.000,3308.903,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,62.730,1470.330,488.070,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.805,1540.727,1800.981,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83530,1504
$CAP_FILE_SIZE,169067,0
$CFSIZE,260165632,133709824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181,204.5,1
$GPS,020911,024937,2153.427,12359.579,43,2.0,43,-2.9