version: 66.09
glider: 166
mission: 6
dive: 156
start: 9 2 111 3 7 3
data:
$ID,166
$MISSION,6
$DIVE,156
$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,-24593.453
$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,48
$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
$GPS1,020911,024937,2153.427,12359.579,43,2.0,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.8
$GPS2,020911,030640,2153.075,12359.772,32,1.9,35,-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,165.5,42737,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.68,-155.7,0.0,0.0,0,107,0.00,0.00,-85.43,0.000,2,0.000,0.000,150,1480,3148,0,0,0,0,0,0
$GC,110,-0.68,-155.7,5.8,-10.3,12,135,9.25,2.22,-7.12,0.000,4,0.223,0.051,2505,2911,3519,0,0,0,0,0,0
$GC,222,-0.68,-155.7,50.3,-31.6,31,230,0.00,2.20,0.00,0.000,6,0.000,0.038,2500,1507,3520,0,0,0,0,0,0
$GC,547,-0.68,-155.7,131.9,-19.5,92,555,0.00,2.15,0.00,0.000,4,0.000,0.046,2489,2895,3522,0,0,0,0,0,0
$GC,577,-0.68,-155.7,137.2,-18.8,96,586,0.08,2.15,0.00,0.000,6,0.155,0.037,2517,1496,3522,0,0,0,0,0,0
$GC,906,-0.68,-155.7,199.1,-19.6,157,914,0.00,2.00,0.00,0.000,4,0.000,0.047,2526,211,3523,0,0,0,0,0,0
$GC,1057,-0.68,-155.7,228.3,-18.7,184,1065,0.00,1.95,0.00,0.000,6,0.000,0.037,2518,1488,3522,0,0,0,0,0,0
$GC,1383,-0.68,-155.7,274.9,-12.2,227,1387,0.00,2.12,0.00,0.000,4,0.000,0.047,2507,2909,3522,0,0,0,0,0,0
$GC,1438,-0.68,-155.7,282.0,-11.8,231,1445,0.00,2.12,0.00,0.000,6,0.000,0.037,2508,1501,3521,0,0,0,0,0,0
$GC,1764,-0.68,-155.7,332.2,-16.8,262,1768,0.00,2.20,0.00,0.000,4,0.000,0.049,2501,2909,3520,0,0,0,0,0,0
$GC,1804,-0.68,-155.7,338.7,-16.4,265,1808,0.00,2.12,0.00,0.000,6,0.000,0.038,2501,1491,3520,0,0,0,0,0,0
$GC,2131,-0.68,-155.7,381.6,-11.1,295,2135,0.00,2.20,0.00,0.000,4,0.000,0.049,2501,2907,3518,0,0,0,0,0,0
$GC,2163,-0.68,-155.7,385.4,-10.9,297,2170,0.00,2.12,0.00,0.000,6,0.000,0.038,2502,1490,3518,0,0,0,0,0,0
$GC,2489,-0.68,-155.7,427.3,-13.1,328,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1489,3515,0,0,0,0,0,0
$GC,2811,-0.68,-155.7,467.6,-12.9,358,2815,0.00,2.00,0.00,0.000,4,0.000,0.050,2507,193,3513,0,0,0,0,0,0
$GC,2905,-0.68,-155.7,481.5,-13.9,366,2913,0.00,2.00,0.00,0.000,6,0.000,0.037,2498,1508,3512,0,0,0,0,0,0
$GC,3231,-0.68,-155.7,525.5,-13.3,397,3235,0.00,2.03,0.00,0.000,4,0.000,0.050,2498,201,3509,0,0,0,0,0,0
$GC,3394,-0.68,-155.7,548.8,-14.3,411,3401,0.12,1.95,0.00,0.000,6,0.172,0.039,2522,1503,3507,0,0,0,0,0,0
$GC,3719,-0.68,-155.7,587.9,-11.2,442,3723,0.00,2.03,0.00,0.000,4,0.000,0.051,2522,196,3504,0,0,0,0,0,0
$GC,3791,-0.68,-155.7,596.2,-11.3,448,3798,0.00,2.00,0.00,0.000,6,0.000,0.041,2514,1495,3503,0,0,0,0,0,0
$GC,4121,-0.68,-155.7,625.8,-8.8,466,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1495,3500,0,0,0,0,0,0
$GC,4428,-0.68,-155.7,659.6,-12.0,481,4432,0.00,2.17,0.00,0.000,4,0.000,0.054,2502,2910,3496,0,0,0,0,0,0
$GC,4501,-0.68,-155.7,668.7,-12.8,484,4505,0.00,2.15,0.00,0.000,6,0.000,0.042,2501,1492,3495,0,0,0,0,0,0
$GC,4817,-0.68,-155.7,712.0,-13.7,499,4821,0.00,2.22,0.00,0.000,4,0.000,0.057,2493,2918,3492,0,0,0,0,0,0
$GC,4860,-0.68,-155.7,718.0,-13.7,501,4865,0.12,2.12,0.00,0.000,6,0.161,0.044,2527,1504,3492,0,0,0,0,0,0
$GC,5189,-0.68,-155.7,752.4,-10.0,517,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1504,3490,0,0,0,0,0,0
$GC,5497,-0.68,-155.7,783.2,-10.1,532,5501,0.00,2.20,0.00,0.000,4,0.000,0.058,2518,2907,3487,0,0,0,0,0,0
$GC,5529,-0.68,-155.7,786.7,-10.1,533,5536,0.00,2.15,0.00,0.000,6,0.000,0.045,2518,1496,3487,0,0,0,0,0,0
$GC,5848,-0.68,-155.7,817.0,-9.4,549,5852,0.00,2.00,0.00,0.000,4,0.000,0.063,2518,204,3485,0,0,0,0,0,0
$GC,5908,-0.68,-155.7,823.8,-10.9,551,5915,0.00,2.00,0.00,0.000,6,0.000,0.043,2509,1497,3484,0,0,0,0,0,0
$GC,6227,-0.68,-155.7,855.0,-9.9,567,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1498,3482,0,0,0,0,0,0
$GC,6534,-0.68,-155.7,885.9,-10.3,582,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1497,3480,0,0,0,0,0,0
$GC,6843,-0.68,-155.7,917.8,-10.2,597,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1497,3478,0,0,0,0,0,0
$GC,7154,-0.68,-155.7,949.9,-10.4,612,7158,0.00,2.22,0.00,0.000,4,0.000,0.061,2498,2914,3476,0,0,0,0,0,0
$GC,7187,-0.68,-155.7,953.6,-10.1,613,7194,0.00,2.17,0.00,0.000,6,0.000,0.047,2498,1501,3476,0,0,0,0,0,0
$GC,7503,-0.68,-155.7,987.0,-10.1,629,7507,0.00,2.22,0.00,0.000,4,0.000,0.062,2488,2907,3474,0,0,0,0,0,0
$GC,7521,-0.68,-155.7,988.7,-10.0,629,7528,0.12,2.17,0.00,0.000,6,0.163,0.047,2521,1494,3474,0,0,0,0,0,0
$STATE,7546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7546,begin apogee
$GC,7552,-0.14,0.0,991.2,9.5,631,7685,0.52,0.00,124.53,1.465,6,0.122,0.000,2693,1857,2884,0,0,0,0,0,0
$STATE,7686,end apogee,CONTROL_FINISHED_OK
$STATE,7686,begin climb
$GC,7690,0.68,155.7,993.9,0.0,637,7839,0.75,2.40,141.25,1.405,4,0.071,0.062,2961,3246,2248,0,0,0,0,0,0
$GC,7878,0.68,155.7,973.0,16.2,646,7882,0.00,2.30,0.00,0.000,6,0.000,0.050,2969,1855,2245,0,0,0,0,0,0
$GC,8206,0.68,155.7,918.0,17.4,662,8210,0.00,2.25,0.00,0.000,4,0.000,0.061,2969,3255,2239,0,0,0,0,0,0
$GC,8255,0.68,155.7,908.6,18.3,664,8260,0.00,2.22,0.00,0.000,6,0.000,0.044,2978,1836,2238,0,0,0,0,0,0
$GC,8579,0.68,155.7,850.6,18.1,680,8584,0.00,2.25,0.00,0.000,4,0.000,0.057,2975,3253,2237,0,0,0,0,0,0
$GC,8606,0.68,155.7,844.9,18.7,681,8611,0.00,2.12,0.00,0.000,6,0.000,0.042,2982,1848,2236,0,0,0,0,0,0
$GC,8928,0.68,155.7,791.6,15.8,697,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1848,2235,0,0,0,0,0,0
$GC,9240,0.68,155.7,744.4,15.6,712,9244,0.00,2.20,0.00,0.000,4,0.000,0.056,2983,3254,2233,0,0,0,0,0,0
$GC,9323,0.68,155.7,730.3,16.4,715,9330,0.00,2.12,0.00,0.000,6,0.000,0.041,2990,1842,2233,0,0,0,0,0,0
$GC,9642,0.68,155.7,681.8,15.4,731,9646,0.00,2.20,0.00,0.000,4,0.000,0.054,2983,3257,2232,0,0,0,0,0,0
$GC,9710,0.68,155.7,670.4,15.7,734,9714,0.00,2.12,0.00,0.000,6,0.000,0.041,2991,1846,2232,0,0,0,0,0,0
$GC,10036,0.68,155.7,616.6,16.7,750,10040,0.00,2.17,0.00,0.000,4,0.000,0.054,2984,3255,2232,0,0,0,0,0,0
$GC,10110,0.68,155.7,604.5,16.0,753,10114,0.00,2.15,0.00,0.000,6,0.000,0.041,2991,1841,2232,0,0,0,0,0,0
$GC,10441,0.68,155.7,557.3,13.2,783,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1841,2232,0,0,0,0,0,0
$GC,10762,0.68,155.7,517.6,12.9,813,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1841,2231,0,0,0,0,0,0
$GC,11089,0.68,155.7,467.3,16.8,844,11090,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1841,2230,0,0,0,0,0,0
$GC,11409,0.68,155.7,412.8,15.9,874,11413,0.00,2.22,0.00,0.000,4,0.000,0.052,2991,3265,2230,0,0,0,0,0,0
$GC,11497,0.68,155.7,398.3,14.9,881,11505,0.12,2.15,0.00,0.000,6,0.196,0.039,2970,1836,2230,0,0,0,0,0,0
$GC,11823,0.73,193.5,364.4,8.1,912,11858,0.00,2.30,30.27,1.014,4,0.000,0.050,2961,3257,2095,0,0,0,0,0,0
$GC,11899,0.76,216.7,357.5,8.7,918,11929,0.00,2.15,21.60,0.968,6,0.000,0.037,2970,1845,1999,0,0,0,0,0,0
$GC,12248,0.76,216.7,321.2,11.5,951,12252,0.00,2.22,0.00,0.000,4,0.000,0.050,2962,3265,1994,0,0,0,0,0,0
$GC,12290,0.76,216.7,316.2,12.6,954,12294,0.00,2.15,0.00,0.000,6,0.000,0.037,2970,1840,1993,0,0,0,0,0,0
$GC,12615,0.76,216.7,273.5,12.4,984,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1840,1993,0,0,0,0,0,0
$GC,12937,0.77,227.3,241.1,9.3,1022,12953,0.00,2.20,9.52,0.788,4,0.000,0.047,2962,3257,1957,0,0,0,0,0,0
$GC,12987,0.77,227.3,236.0,10.3,1030,12996,0.00,2.17,0.00,0.000,6,0.000,0.036,2970,1846,1957,0,0,0,0,0,0
$GC,13315,0.77,227.3,199.7,10.1,1091,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1846,1956,0,0,0,0,0,0
$GC,13640,0.77,227.3,168.2,10.1,1152,13648,0.00,2.17,0.00,0.000,4,0.000,0.046,2981,444,1957,0,0,0,0,0,0
$GC,13722,0.77,227.3,159.9,10.3,1166,13731,0.00,2.15,0.00,0.000,6,0.000,0.036,2980,1860,1956,0,0,0,0,0,0
$GC,14051,0.79,244.1,126.3,9.0,1227,14073,0.00,0.00,16.15,0.731,6,0.000,0.000,2980,1862,1887,0,0,0,0,0,0
$GC,14394,0.91,341.7,97.0,5.6,1290,14485,0.17,2.22,81.90,0.734,4,0.070,0.045,3064,3248,1490,0,0,0,0,0,0
$GC,14531,0.93,354.4,84.4,9.2,1310,14549,0.00,2.17,12.05,0.639,6,0.000,0.034,3072,1848,1439,0,0,0,0,0,0
$GC,14870,0.93,354.4,41.0,12.1,1372,14878,0.00,2.17,0.00,0.000,4,0.000,0.044,3083,444,1434,0,0,0,0,0,0
$GC,14930,0.93,354.4,33.9,11.6,1382,14939,0.10,2.12,0.00,0.000,6,0.129,0.034,3049,1841,1433,0,0,0,0,0,0
$STATE,15252,end climb,SURFACE_DEPTH_REACHED
$STATE,15253,begin surface coast
$FINISH,1.0,1.015575
$STATE,15281,end surface coast,CONTROL_FINISHED_OK
$STATE,15281,begin surface
$SM_CCo,15298,56.38,0.483,1,0,1048,450.13
$SM_GC,1.62,0.00,0.00,56.38,0.000,0.000,0.483,146,1479,1048,-8.11,-0.59,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2148.09,12358.80,010911,222221
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.54
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.00
$XPDR_PINGS,87
$24V_AH,23.1,37.122
$10V_AH,10.2,26.533
$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,18.950,121.625,437.275,56.375,0.000,30.579,75.442,734.752,21.750,0.000,36.038,3569.729,7691.218,593.138,3888.675,622.048,0.000,1904.734,0.000,3220.224,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,62.730,1464.975,482.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,990.584,1480.364,1745.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330340
$DATA_FILE_SIZE,80213,1447
$CAP_FILE_SIZE,158915,0
$CFSIZE,260165632,133640192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135,213.2,1
$GPS,020911,072432,2149.934,12400.034,41,2.0,48,-2.9