version: 66.09
glider: 166
mission: 6
dive: 124
start: 8 27 111 10 14 8
data:
$ID,166
$MISSION,6
$DIVE,124
$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,-24548.727
$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,46
$R_STBD_OVSHOOT,41
$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
$GPS1,270811,100845,2252.817,12350.075,72,99.0,91,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.6
$GPS2,270811,101345,2252.844,12350.010,64,3.0,83,-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,146.2,154391,-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,18,-0.81,-155.7,0.0,0.0,0,99,0.00,0.00,-78.40,0.000,2,0.000,0.000,141,1486,3203,0,0,0,0,0,0
$GC,102,-0.81,-155.7,6.5,-10.8,11,127,8.93,1.95,-5.85,0.000,4,0.215,0.049,2480,202,3520,0,0,0,0,0,0
$GC,315,-0.81,-155.7,91.0,-26.4,49,324,0.00,1.98,0.00,0.000,6,0.000,0.036,2468,1495,3522,0,0,0,0,0,0
$GC,639,-0.81,-155.7,170.1,-24.3,110,647,0.00,2.00,0.00,0.000,4,0.000,0.045,2465,209,3525,0,0,0,0,0,0
$GC,698,-0.81,-155.7,184.1,-23.0,119,707,0.00,1.98,0.00,0.000,6,0.000,0.037,2457,1501,3525,0,0,0,0,0,0
$GC,1026,-0.81,-155.7,257.7,-22.7,177,1029,0.00,2.00,0.00,0.000,4,0.000,0.047,2458,208,3525,0,0,0,0,0,0
$GC,1147,-0.81,-155.7,287.2,-22.8,188,1152,0.12,1.95,0.00,0.000,6,0.188,0.037,2481,1496,3525,0,0,0,0,0,0
$GC,1473,-0.81,-155.7,347.6,-16.2,218,1477,0.00,2.12,0.00,0.000,4,0.000,0.047,2473,2914,3525,0,0,0,0,0,0
$GC,1494,-0.81,-155.7,351.5,-16.4,219,1501,0.00,2.15,0.00,0.000,6,0.000,0.038,2476,1511,3525,0,0,0,0,0,0
$GC,1820,-0.81,-155.7,407.6,-17.2,250,1823,0.00,2.03,0.00,0.000,4,0.000,0.048,2478,191,3524,0,0,0,0,0,0
$GC,1925,-0.81,-155.7,426.1,-17.3,259,1932,0.00,1.98,0.00,0.000,6,0.000,0.037,2483,1507,3523,0,0,0,0,0,0
$GC,2251,-0.81,-155.7,477.0,-16.0,290,2255,0.00,2.05,0.00,0.000,4,0.000,0.048,2484,193,3522,0,0,0,0,0,0
$GC,2402,-0.81,-155.7,503.0,-17.1,303,2409,0.00,1.98,0.00,0.000,6,0.000,0.037,2474,1492,3521,0,0,0,0,0,0
$GC,2728,-0.81,-155.7,552.6,-14.8,334,2732,0.00,2.15,0.00,0.000,4,0.000,0.049,2463,2905,3519,0,0,0,0,0,0
$GC,2762,-0.81,-155.7,557.7,-15.1,337,2766,0.00,2.12,0.00,0.000,6,0.000,0.039,2463,1491,3519,0,0,0,0,0,0
$GC,3093,-0.81,-155.7,607.9,-15.5,366,3097,0.00,2.00,0.00,0.000,4,0.000,0.051,2464,195,3516,0,0,0,0,0,0
$GC,3289,-0.81,-155.7,641.4,-17.8,374,3297,0.08,2.00,0.00,0.000,6,0.162,0.040,2478,1497,3514,0,0,0,0,0,0
$GC,3608,-0.81,-155.7,687.3,-14.3,390,3612,0.00,2.17,0.00,0.000,4,0.000,0.052,2466,2918,3511,0,0,0,0,0,0
$GC,3635,-0.81,-155.7,691.8,-14.3,391,3639,0.00,2.15,0.00,0.000,6,0.000,0.041,2465,1495,3511,0,0,0,0,0,0
$GC,3956,-0.81,-155.7,736.3,-13.0,407,3960,0.00,2.00,0.00,0.000,4,0.000,0.054,2462,197,3508,0,0,0,0,0,0
$GC,4103,-0.81,-155.7,755.9,-13.1,413,4108,0.12,1.98,0.00,0.000,6,0.182,0.041,2486,1500,3507,0,0,0,0,0,0
$GC,4424,-0.81,-155.7,789.1,-10.1,429,4428,0.00,2.03,0.00,0.000,4,0.000,0.054,2488,204,3504,0,0,0,0,0,0
$GC,4494,-0.81,-155.7,796.9,-11.6,432,4498,0.00,2.03,0.00,0.000,6,0.000,0.050,2483,1521,3503,0,0,0,0,0,0
$GC,4826,-0.81,-155.7,832.6,-10.4,448,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1521,3500,0,0,0,0,0,0
$GC,5135,-0.81,-155.7,865.2,-10.7,463,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1521,3498,0,0,0,0,0,0
$GC,5447,-0.81,-155.7,900.9,-11.8,478,5451,0.00,2.05,0.00,0.000,4,0.000,0.057,2485,199,3495,0,0,0,0,0,0
$GC,5485,-0.81,-155.7,906.5,-13.8,479,5492,0.00,2.03,0.00,0.000,6,0.000,0.044,2476,1502,3494,0,0,0,0,0,0
$GC,5801,-0.81,-155.7,947.4,-13.5,495,5805,0.00,2.17,0.00,0.000,4,0.000,0.057,2465,2916,3492,0,0,0,0,0,0
$GC,5842,-0.81,-155.7,952.7,-13.6,497,5846,0.00,2.17,0.00,0.000,6,0.000,0.045,2464,1494,3492,0,0,0,0,0,0
$STATE,6126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6126,begin apogee
$GC,6132,-0.18,0.0,991.8,13.2,511,6267,0.70,0.00,127.03,1.450,6,0.143,0.000,2680,1862,2884,0,0,0,0,0,0
$STATE,6268,end apogee,CONTROL_FINISHED_OK
$STATE,6268,begin climb
$GC,6270,0.81,155.7,995.9,0.0,517,6420,0.93,2.40,140.32,1.390,4,0.079,0.063,2996,3239,2248,0,0,0,0,0,0
$GC,6485,0.81,155.7,968.9,17.8,527,6489,0.00,2.22,0.00,0.000,6,0.000,0.045,3003,1849,2244,0,0,0,0,0,0
$GC,6812,0.81,155.7,909.6,18.2,543,6816,0.00,2.22,0.00,0.000,4,0.000,0.060,3000,3249,2240,0,0,0,0,0,0
$GC,6904,0.81,155.7,892.5,19.0,547,6908,0.00,2.17,0.00,0.000,6,0.000,0.044,3008,1834,2237,0,0,0,0,0,0
$GC,7237,0.81,155.7,831.3,18.2,563,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1834,2236,0,0,0,0,0,0
$GC,7547,0.81,155.7,778.1,17.5,578,7551,0.00,2.22,0.00,0.000,4,0.000,0.056,2990,3257,2235,0,0,0,0,0,0
$GC,7596,0.81,155.7,769.0,17.1,580,7600,0.00,2.15,0.00,0.000,6,0.000,0.042,3000,1850,2234,0,0,0,0,0,0
$GC,7924,0.81,155.7,708.3,18.6,596,7928,0.00,2.17,0.00,0.000,4,0.000,0.050,3009,432,2233,0,0,0,0,0,0
$GC,7969,0.81,155.7,699.8,19.2,598,7974,0.00,2.17,0.00,0.000,6,0.000,0.042,3006,1842,2233,0,0,0,0,0,0
$GC,8297,0.81,155.7,641.4,18.0,614,8301,0.00,2.17,0.00,0.000,4,0.000,0.056,2996,3263,2232,0,0,0,0,0,0
$GC,8471,0.81,155.7,611.3,16.8,622,8475,0.00,2.15,0.00,0.000,6,0.000,0.041,3006,1849,2231,0,0,0,0,0,0
$GC,8795,0.81,155.7,562.6,14.3,649,8799,0.00,2.20,0.00,0.000,4,0.000,0.053,2997,3263,2231,0,0,0,0,0,0
$GC,8955,0.81,155.7,539.1,14.6,662,8962,0.00,2.15,0.00,0.000,6,0.000,0.041,3006,1849,2230,0,0,0,0,0,0
$GC,9280,0.81,155.7,491.2,15.1,693,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1849,2229,0,0,0,0,0,0
$GC,9602,0.81,155.7,438.3,17.4,723,9606,0.00,2.20,0.00,0.000,4,0.000,0.052,3000,3270,2229,0,0,0,0,0,0
$GC,9805,0.81,155.7,403.8,15.1,741,9810,0.00,2.15,0.00,0.000,6,0.000,0.038,3013,1845,2228,0,0,0,0,0,0
$GC,10130,0.81,155.7,358.7,13.0,771,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1845,2229,0,0,0,0,0,0
$GC,10453,0.81,155.7,322.3,10.6,801,10457,0.00,2.20,0.00,0.000,4,0.000,0.050,3007,3275,2228,0,0,0,0,0,0
$GC,10519,0.81,155.7,314.0,11.3,806,10526,0.00,2.15,0.00,0.000,6,0.000,0.037,3016,1840,2228,0,0,0,0,0,0
$GC,10848,0.81,155.7,273.8,13.2,837,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1840,2228,0,0,0,0,0,0
$GC,11174,0.81,155.7,227.9,13.9,883,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1840,2228,0,0,0,0,0,0
$GC,11501,0.81,155.7,185.8,10.9,944,11509,0.00,2.22,0.00,0.000,4,0.000,0.047,3008,3272,2228,0,0,0,0,0,0
$GC,11560,0.81,155.7,180.0,9.7,954,11568,0.00,2.15,0.00,0.000,6,0.000,0.035,3016,1851,2228,0,0,0,0,0,0
$GC,11884,0.81,155.7,147.9,11.0,1015,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1851,2228,0,0,0,0,0,0
$GC,12208,0.81,155.7,109.0,10.6,1076,12216,0.00,2.20,0.00,0.000,4,0.000,0.045,3007,3272,2228,0,0,0,0,0,0
$GC,12458,0.92,249.9,90.3,5.8,1122,12539,0.00,2.15,75.75,0.733,6,0.000,0.034,3016,1843,1865,0,0,0,0,0,0
$GC,12861,0.96,282.2,58.2,8.4,1193,12900,0.10,2.20,27.80,0.671,4,0.103,0.043,3084,450,1733,0,0,0,0,0,0
$GC,13000,0.96,282.2,42.2,12.2,1216,13008,0.00,2.17,0.00,0.000,6,0.000,0.032,3083,1865,1730,0,0,0,0,0,0
$GC,13324,0.96,282.2,8.9,11.5,1277,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1867,1730,0,0,0,0,0,0
$STATE,13369,end climb,SURFACE_DEPTH_REACHED
$STATE,13369,begin surface coast
$FINISH,1.0,1.022153
$STATE,13392,end surface coast,CONTROL_FINISHED_OK
$STATE,13392,begin surface
$SM_CCo,13411,72.30,0.523,1,0,1252,400.08
$SM_GC,1.86,0.00,0.00,72.30,0.000,0.000,0.523,154,1488,1252,-8.10,-0.34,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2246.36,12351.13,270811,060617
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.32
$INTERNAL_PRESSURE,9.46784
$TCM_TEMP,25.90
$XPDR_PINGS,75
$24V_AH,23.3,31.569
$10V_AH,10.2,21.396
$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,18.700,102.550,370.900,72.300,0.000,28.397,16.607,36.958,18.750,0.000,85.017,3207.540,6492.029,520.895,3186.435,369.189,0.000,1742.505,0.000,3024.925,0.000,0.541,0.000
$DEVICE_MAMPS,214.965,62.730,1449.675,523.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.241,1319.433,1620.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330172
$DATA_FILE_SIZE,73443,1289
$CAP_FILE_SIZE,137269,0
$CFSIZE,260165632,136298496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,320.8,1
$GPS,270811,140037,2252.310,12350.961,61,1.9,61,-3.2