version: 66.09
glider: 166
mission: 6
dive: 123
start: 8 27 111 6 24 43
data:
$ID,166
$MISSION,6
$DIVE,123
$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,-24547.467
$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,28
$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,41
$R_STBD_OVSHOOT,36
$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
$GPS1,270811,061657,2252.829,12349.457,47,99.0,66,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.8
$GPS2,270811,062417,2252.871,12349.373,15,99.0,34,-3.2
$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,132.8,154566,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.81,-155.7,0.0,0.0,0,93,0.00,0.00,-73.97,0.000,2,0.000,0.000,135,1488,3053,0,0,0,0,0,0
$GC,95,-0.81,-155.7,5.7,-10.0,10,120,9.35,2.05,-9.20,0.000,4,0.230,0.054,2481,190,3520,0,0,0,0,0,0
$GC,176,-0.81,-155.7,43.8,-46.3,23,184,0.00,2.03,0.00,0.000,6,0.000,0.036,2473,1506,3522,0,0,0,0,0,0
$GC,502,-0.81,-155.7,138.1,-21.2,84,510,0.00,2.05,0.00,0.000,4,0.000,0.047,2475,208,3525,0,0,0,0,0,0
$GC,589,-0.81,-155.7,156.7,-21.9,99,597,0.00,1.98,0.00,0.000,6,0.000,0.036,2466,1499,3525,0,0,0,0,0,0
$GC,918,-0.81,-155.7,224.2,-22.5,160,927,0.00,2.03,0.00,0.000,4,0.000,0.047,2467,209,3527,0,0,0,0,0,0
$GC,940,-0.81,-155.7,229.4,-21.5,163,948,0.00,1.98,0.00,0.000,6,0.000,0.037,2459,1504,3527,0,0,0,0,0,0
$GC,1277,-0.81,-155.7,298.6,-20.1,203,1281,0.00,2.00,0.00,0.000,4,0.000,0.047,2465,206,3527,0,0,0,0,0,0
$GC,1311,-0.81,-155.7,306.7,-21.7,206,1315,0.00,1.95,0.00,0.000,6,0.000,0.036,2461,1506,3527,0,0,0,0,0,0
$GC,1644,-0.81,-155.7,372.9,-17.9,237,1648,0.00,2.03,0.00,0.000,4,0.000,0.047,2464,196,3526,0,0,0,0,0,0
$GC,1761,-0.81,-155.7,395.7,-19.6,247,1768,0.00,1.98,0.00,0.000,6,0.000,0.037,2457,1496,3526,0,0,0,0,0,0
$GC,2089,-0.81,-155.7,453.6,-18.4,278,2092,0.00,2.00,0.00,0.000,4,0.000,0.049,2457,202,3524,0,0,0,0,0,0
$GC,2314,-0.81,-155.7,497.6,-19.2,298,2319,0.12,1.98,0.00,0.000,6,0.189,0.038,2478,1523,3522,0,0,0,0,0,0
$GC,2645,-0.81,-155.7,551.4,-16.6,329,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1523,3520,0,0,0,0,0,0
$GC,2965,-0.81,-155.7,600.3,-14.6,359,2968,0.00,2.05,0.00,0.000,4,0.000,0.051,2479,201,3517,0,0,0,0,0,0
$GC,3078,-0.81,-155.7,618.6,-16.4,364,3081,0.00,1.98,0.00,0.000,6,0.000,0.040,2471,1499,3516,0,0,0,0,0,0
$GC,3405,-0.81,-155.7,665.8,-14.1,380,3409,0.00,2.12,0.00,0.000,4,0.000,0.051,2457,2904,3513,0,0,0,0,0,0
$GC,3455,-0.81,-155.7,672.8,-13.6,382,3460,0.00,2.12,0.00,0.000,6,0.000,0.041,2456,1505,3512,0,0,0,0,0,0
$GC,3777,-0.81,-155.7,717.4,-14.0,398,3781,0.10,2.03,0.00,0.000,4,0.188,0.054,2487,195,3509,0,0,0,0,0,0
$GC,3908,-0.81,-155.7,735.1,-13.6,404,3912,0.00,2.00,0.00,0.000,6,0.000,0.040,2478,1514,3508,0,0,0,0,0,0
$GC,4242,-0.81,-155.7,778.0,-13.0,420,4246,0.00,2.05,0.00,0.000,4,0.000,0.053,2475,202,3505,0,0,0,0,0,0
$GC,4311,-0.81,-155.7,788.2,-14.5,423,4315,0.00,2.00,0.00,0.000,6,0.000,0.042,2469,1493,3504,0,0,0,0,0,0
$GC,4645,-0.81,-155.7,832.0,-13.2,439,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1494,3501,0,0,0,0,0,0
$GC,4953,-0.81,-155.7,872.4,-12.9,454,4956,0.00,2.03,0.00,0.000,4,0.000,0.056,2470,204,3499,0,0,0,0,0,0
$GC,5021,-0.81,-155.7,881.6,-13.9,457,5025,0.00,2.00,0.00,0.000,6,0.000,0.044,2465,1505,3498,0,0,0,0,0,0
$GC,5357,-0.81,-155.7,925.7,-12.8,473,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1506,3495,0,0,0,0,0,0
$GC,5663,-0.81,-155.7,963.8,-12.2,488,5667,0.00,2.17,0.00,0.000,4,0.000,0.058,2455,2904,3493,0,0,0,0,0,0
$GC,5687,-0.81,-155.7,966.6,-12.2,489,5692,0.12,2.17,0.00,0.000,6,0.170,0.044,2487,1493,3493,0,0,0,0,0,0
$STATE,5908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5909,begin apogee
$GC,5916,-0.18,0.0,990.4,10.6,500,6050,0.60,0.00,126.93,1.448,6,0.135,0.000,2677,1859,2884,0,0,0,0,0,0
$STATE,6051,end apogee,CONTROL_FINISHED_OK
$STATE,6051,begin climb
$GC,6055,0.81,155.7,993.9,0.0,506,6204,0.93,2.42,140.30,1.386,4,0.081,0.062,2997,3245,2248,0,0,0,0,0,0
$GC,6269,0.81,155.7,966.4,18.2,516,6273,0.00,2.28,0.00,0.000,6,0.000,0.045,3004,1842,2244,0,0,0,0,0,0
$GC,6595,0.81,155.7,909.6,16.7,532,6599,0.00,2.25,0.00,0.000,4,0.000,0.060,2997,3250,2239,0,0,0,0,0,0
$GC,6689,0.81,155.7,893.1,17.2,536,6694,0.00,2.22,0.00,0.000,6,0.000,0.045,3004,1841,2238,0,0,0,0,0,0
$GC,7019,0.81,155.7,836.5,18.1,552,7023,0.00,2.17,0.00,0.000,4,0.000,0.055,3013,436,2236,0,0,0,0,0,0
$GC,7051,0.81,155.7,829.5,19.5,553,7058,0.00,2.20,0.00,0.000,6,0.000,0.047,3003,1856,2236,0,0,0,0,0,0
$GC,7370,0.81,155.7,771.2,17.4,569,7374,0.00,2.17,0.00,0.000,4,0.000,0.057,2992,3260,2234,0,0,0,0,0,0
$GC,7475,0.81,155.7,751.7,18.1,573,7485,0.00,2.17,0.00,0.000,6,0.000,0.044,2998,1839,2233,0,0,0,0,0,0
$GC,7792,0.81,155.7,698.4,16.6,589,7796,0.00,2.17,0.00,0.000,4,0.000,0.053,3009,433,2233,0,0,0,0,0,0
$GC,7811,0.81,155.7,695.3,16.4,590,7815,0.00,2.20,0.00,0.000,6,0.000,0.044,2999,1857,2232,0,0,0,0,0,0
$GC,8138,0.81,155.7,643.7,15.5,606,8142,0.00,2.17,0.00,0.000,4,0.000,0.057,2989,3263,2232,0,0,0,0,0,0
$GC,8279,0.81,155.7,621.4,15.5,612,8283,0.00,2.15,0.00,0.000,6,0.000,0.043,2999,1846,2231,0,0,0,0,0,0
$GC,8602,0.81,155.7,570.3,17.1,636,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1845,2231,0,0,0,0,0,0
$GC,8923,0.81,155.7,519.7,15.3,666,8927,0.00,2.20,0.00,0.000,4,0.000,0.055,2990,3258,2230,0,0,0,0,0,0
$GC,9100,0.81,155.7,491.9,15.3,681,9107,0.00,2.17,0.00,0.000,6,0.000,0.042,3002,1845,2229,0,0,0,0,0,0
$GC,9426,0.81,155.7,443.9,15.2,712,9430,0.00,2.15,0.00,0.000,4,0.000,0.050,3017,434,2229,0,0,0,0,0,0
$GC,9486,0.81,155.7,434.5,15.6,717,9493,0.00,2.17,0.00,0.000,6,0.000,0.041,3008,1858,2228,0,0,0,0,0,0
$GC,9811,0.81,155.7,385.6,14.7,748,9815,0.00,2.12,0.00,0.000,4,0.000,0.054,2999,3254,2228,0,0,0,0,0,0
$GC,9889,0.81,155.7,374.2,13.8,754,9896,0.00,2.17,0.00,0.000,6,0.000,0.042,3008,1841,2228,0,0,0,0,0,0
$GC,10215,0.81,155.7,331.8,12.7,785,10219,0.00,2.20,0.00,0.000,4,0.000,0.053,2999,3258,2228,0,0,0,0,0,0
$GC,10292,0.81,155.7,322.0,11.6,791,10299,0.00,2.12,0.00,0.000,6,0.000,0.039,3007,1848,2228,0,0,0,0,0,0
$GC,10618,0.81,155.7,284.7,11.8,822,10622,0.00,2.17,0.00,0.000,4,0.000,0.051,2999,3258,2227,0,0,0,0,0,0
$GC,10650,0.81,155.7,280.6,11.9,824,10659,0.00,2.15,0.00,0.000,6,0.000,0.038,3008,1842,2228,0,0,0,0,0,0
$GC,10982,0.81,155.7,239.2,13.1,862,10990,0.00,2.20,0.00,0.000,4,0.000,0.050,3000,3254,2228,0,0,0,0,0,0
$GC,11015,0.81,155.7,234.4,13.9,867,11023,0.00,2.15,0.00,0.000,6,0.000,0.037,3009,1842,2228,0,0,0,0,0,0
$GC,11340,0.81,155.7,194.2,10.0,928,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1842,2228,0,0,0,0,0,0
$GC,11665,0.85,188.0,162.8,8.4,989,11696,0.00,2.28,25.42,0.791,4,0.000,0.049,3001,3257,2117,0,0,0,0,0,0
$GC,11778,0.85,188.0,150.9,11.5,1008,11786,0.00,2.17,0.00,0.000,6,0.000,0.037,3007,1850,2116,0,0,0,0,0,0
$GC,12107,0.85,188.0,113.2,12.4,1069,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1849,2116,0,0,0,0,0,0
$GC,12432,0.88,214.5,80.3,8.6,1130,12463,0.00,2.20,23.33,0.703,4,0.000,0.046,3001,3267,2009,0,0,0,0,0,0
$GC,12544,0.90,228.5,71.3,9.1,1148,12567,0.00,2.17,13.55,0.657,6,0.000,0.035,3009,1853,1950,0,0,0,0,0,0
$GC,12890,1.06,361.7,49.3,4.1,1211,13013,0.20,2.28,108.68,0.681,4,0.066,0.044,3126,447,1407,0,0,0,0,0,0
$GC,13092,1.06,361.7,21.8,18.1,1241,13101,0.08,2.17,0.00,0.000,6,0.142,0.034,3092,1851,1404,0,0,0,0,0,0
$STATE,13227,end climb,SURFACE_DEPTH_REACHED
$STATE,13227,begin surface coast
$FINISH,2.0,1.021448
$STATE,13245,end surface coast,CONTROL_FINISHED_OK
$STATE,13245,begin surface
$SM_CCo,13265,40.65,0.422,1,0,1252,400.08
$SM_GC,1.68,0.00,0.00,40.65,0.000,0.000,0.422,152,1486,1252,-8.10,-0.40,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2241.69,12349.19,270811,020220
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.40
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.50
$XPDR_PINGS,69
$24V_AH,23.3,31.424
$10V_AH,10.2,21.245
$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,19.750,115.750,438.200,40.650,0.000,31.402,44.566,190.815,17.250,0.000,38.554,3143.154,6386.849,545.015,3271.666,396.452,0.000,1780.484,0.000,2985.083,0.000,0.542,0.000
$DEVICE_MAMPS,229.500,61.965,1448.145,422.280,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.665,1300.150,1605.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330248
$DATA_FILE_SIZE,73481,1269
$CAP_FILE_SIZE,140548,0
$CFSIZE,260165632,136409088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.194,309.5,1
$GPS,270811,100845,2252.817,12350.075,72,99.0,91,-3.2