version: 66.09
glider: 166
mission: 6
dive: 127
start: 8 27 111 21 57 14
data:
$ID,166
$MISSION,6
$DIVE,127
$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,-24552.51
$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,46
$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
$GPS1,270811,214927,2249.905,12351.763,38,99.0,57,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-66.6
$GPS2,270811,215651,2249.953,12351.667,40,2.9,59,-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,165.4,148767,-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,17,-0.81,-155.7,0.0,0.0,0,94,0.00,0.00,-74.45,0.000,2,0.000,0.000,135,1485,3047,0,0,0,0,0,0
$GC,97,-0.81,-155.7,5.1,-6.6,10,122,9.25,2.05,-9.27,0.000,4,0.225,0.056,2472,196,3521,0,0,0,0,0,0
$GC,205,-0.81,-155.7,52.5,-36.4,28,214,0.00,2.00,0.00,0.000,6,0.000,0.035,2462,1494,3523,0,0,0,0,0,0
$GC,533,-0.81,-155.7,147.6,-23.8,89,541,0.00,2.03,0.00,0.000,4,0.000,0.046,2460,214,3525,0,0,0,0,0,0
$GC,784,-0.81,-155.7,207.0,-23.4,135,792,0.08,1.98,0.00,0.000,6,0.169,0.035,2477,1503,3526,0,0,0,0,0,0
$GC,1118,-0.81,-155.7,274.8,-19.4,185,1121,0.00,2.00,0.00,0.000,4,0.000,0.047,2478,214,3526,0,0,0,0,0,0
$GC,1144,-0.81,-155.7,280.9,-20.1,187,1151,0.00,1.95,0.00,0.000,6,0.000,0.036,2471,1496,3526,0,0,0,0,0,0
$GC,1470,-0.81,-155.7,342.8,-19.7,218,1473,0.00,2.00,0.00,0.000,4,0.000,0.047,2472,212,3526,0,0,0,0,0,0
$GC,1550,-0.81,-155.7,358.7,-20.2,225,1553,0.00,1.92,0.00,0.000,6,0.000,0.035,2467,1511,3526,0,0,0,0,0,0
$GC,1880,-0.81,-155.7,419.9,-16.4,256,1884,0.00,2.03,0.00,0.000,4,0.000,0.047,2478,208,3525,0,0,0,0,0,0
$GC,1929,-0.81,-155.7,429.0,-18.5,260,1937,0.00,1.92,0.00,0.000,6,0.000,0.037,2472,1506,3525,0,0,0,0,0,0
$GC,2255,-0.81,-155.7,479.7,-15.2,291,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1506,3523,0,0,0,0,0,0
$GC,2577,-0.81,-155.7,525.6,-15.4,321,2581,0.00,2.03,0.00,0.000,4,0.000,0.050,2470,211,3521,0,0,0,0,0,0
$GC,2617,-0.81,-155.7,532.6,-16.3,324,2625,0.00,1.92,0.00,0.000,6,0.000,0.039,2459,1501,3520,0,0,0,0,0,0
$GC,2942,-0.81,-155.7,585.3,-16.0,355,2946,0.00,2.00,0.00,0.000,4,0.000,0.050,2461,213,3518,0,0,0,0,0,0
$GC,3096,-0.81,-155.7,612.7,-19.1,365,3103,0.12,1.95,0.00,0.000,6,0.187,0.037,2484,1502,3517,0,0,0,0,0,0
$GC,3412,-0.81,-155.7,660.5,-14.9,381,3416,0.00,2.00,0.00,0.000,4,0.000,0.050,2478,211,3514,0,0,0,0,0,0
$GC,3452,-0.81,-155.7,666.9,-16.0,382,3459,0.00,1.98,0.00,0.000,6,0.000,0.041,2466,1507,3513,0,0,0,0,0,0
$GC,3768,-0.81,-155.7,712.9,-14.2,398,3772,0.00,2.03,0.00,0.000,4,0.000,0.052,2465,221,3510,0,0,0,0,0,0
$GC,3861,-0.81,-155.7,726.9,-14.8,402,3866,0.00,1.98,0.00,0.000,6,0.000,0.041,2456,1500,3509,0,0,0,0,0,0
$GC,4191,-0.81,-155.7,768.6,-12.3,418,4195,0.00,2.15,0.00,0.000,4,0.000,0.053,2452,2905,3506,0,0,0,0,0,0
$GC,4231,-0.81,-155.7,773.5,-11.8,420,4236,0.12,2.10,0.00,0.000,6,0.171,0.041,2479,1506,3505,0,0,0,0,0,0
$GC,4559,-0.81,-155.7,808.6,-11.0,436,4563,0.00,2.00,0.00,0.000,4,0.000,0.054,2484,205,3502,0,0,0,0,0,0
$GC,4609,-0.81,-155.7,815.1,-12.8,438,4613,0.00,2.00,0.00,0.000,6,0.000,0.043,2481,1499,3502,0,0,0,0,0,0
$GC,4936,-0.81,-155.7,855.4,-12.6,454,4940,0.00,2.17,0.00,0.000,4,0.000,0.055,2472,2904,3499,0,0,0,0,0,0
$GC,4971,-0.81,-155.7,859.7,-12.4,455,4978,0.00,2.12,0.00,0.000,6,0.000,0.043,2472,1500,3498,0,0,0,0,0,0
$GC,5287,-0.81,-155.7,901.2,-13.1,471,5291,0.00,2.03,0.00,0.000,4,0.000,0.056,2472,197,3496,0,0,0,0,0,0
$GC,5415,-0.81,-155.7,918.7,-13.1,476,5423,0.00,2.03,0.00,0.000,6,0.000,0.043,2462,1506,3495,0,0,0,0,0,0
$GC,5733,-0.81,-155.7,958.7,-12.8,492,5737,0.00,2.03,0.00,0.000,4,0.000,0.056,2461,205,3492,0,0,0,0,0,0
$GC,5788,-0.81,-155.7,966.7,-14.0,494,5793,0.08,2.03,0.00,0.000,6,0.169,0.044,2487,1499,3492,0,0,0,0,0,0
$STATE,6005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6005,begin apogee
$GC,6013,-0.18,0.0,990.8,11.1,505,6146,0.60,0.00,126.82,1.454,6,0.133,0.000,2676,1865,2884,0,0,0,0,0,0
$STATE,6147,end apogee,CONTROL_FINISHED_OK
$STATE,6147,begin climb
$GC,6149,0.81,155.7,994.7,0.0,511,6297,0.93,2.38,140.00,1.395,4,0.077,0.060,3001,3251,2248,0,0,0,0,0,0
$GC,6313,0.81,155.7,975.9,17.3,519,6318,0.00,2.28,0.00,0.000,6,0.000,0.044,3010,1851,2246,0,0,0,0,0,0
$GC,6643,0.81,155.7,914.2,19.0,535,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1851,2239,0,0,0,0,0,0
$GC,6950,0.81,155.7,858.6,17.4,550,6954,0.00,2.25,0.00,0.000,4,0.000,0.060,3002,3262,2237,0,0,0,0,0,0
$GC,6983,0.81,155.7,852.5,17.8,551,6990,0.00,2.17,0.00,0.000,6,0.000,0.044,3012,1846,2236,0,0,0,0,0,0
$GC,7301,0.81,155.7,799.6,16.3,567,7305,0.00,2.20,0.00,0.000,4,0.000,0.057,3006,3252,2235,0,0,0,0,0,0
$GC,7333,0.81,155.7,793.5,17.3,568,7337,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,1833,2234,0,0,0,0,0,0
$GC,7655,0.81,155.7,738.7,16.9,584,7659,0.00,2.25,0.00,0.000,4,0.000,0.057,3004,3252,2233,0,0,0,0,0,0
$GC,7764,0.81,155.7,719.8,17.6,589,7768,0.00,2.12,0.00,0.000,6,0.000,0.042,3013,1851,2232,0,0,0,0,0,0
$GC,8092,0.81,155.7,659.6,18.4,605,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1850,2232,0,0,0,0,0,0
$GC,8403,0.81,155.7,603.1,17.2,620,8407,0.00,2.20,0.00,0.000,4,0.000,0.056,3004,3252,2230,0,0,0,0,0,0
$GC,8436,0.81,155.7,597.2,16.3,622,8443,0.00,2.15,0.00,0.000,6,0.000,0.041,3013,1845,2230,0,0,0,0,0,0
$GC,8764,0.81,155.7,551.2,13.4,653,8768,0.00,2.15,0.00,0.000,4,0.000,0.051,3027,436,2230,0,0,0,0,0,0
$GC,8785,0.81,155.7,547.6,13.9,654,8792,0.00,2.17,0.00,0.000,6,0.000,0.042,3019,1876,2229,0,0,0,0,0,0
$GC,9111,0.81,155.7,495.8,16.5,685,9115,0.00,2.12,0.00,0.000,4,0.000,0.056,3014,3251,2228,0,0,0,0,0,0
$GC,9309,0.81,155.7,462.1,16.2,702,9313,0.00,2.10,0.00,0.000,6,0.000,0.041,3023,1851,2228,0,0,0,0,0,0
$GC,9636,0.81,155.7,412.2,14.4,732,9640,0.00,2.17,0.00,0.000,4,0.000,0.053,3017,3254,2227,0,0,0,0,0,0
$GC,9670,0.81,155.7,406.8,15.2,735,9674,0.00,2.12,0.00,0.000,6,0.000,0.040,3025,1843,2227,0,0,0,0,0,0
$GC,10000,0.81,155.7,361.1,13.0,766,10001,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1843,2227,0,0,0,0,0,0
$GC,10322,0.81,155.7,315.1,16.0,796,10326,0.00,2.17,0.00,0.000,4,0.000,0.051,3019,3252,2227,0,0,0,0,0,0
$GC,10405,0.81,155.7,300.0,16.3,803,10412,0.00,2.12,0.00,0.000,6,0.000,0.038,3027,1849,2227,0,0,0,0,0,0
$GC,10730,0.81,155.7,254.5,12.9,834,10734,0.00,2.17,0.00,0.000,4,0.000,0.050,3019,3254,2227,0,0,0,0,0,0
$GC,10802,0.81,155.7,245.2,13.4,843,10810,0.00,2.15,0.00,0.000,6,0.000,0.037,3028,1846,2227,0,0,0,0,0,0
$GC,11129,0.81,155.7,202.0,13.7,904,11138,0.00,2.20,0.00,0.000,4,0.000,0.049,3020,3251,2227,0,0,0,0,0,0
$GC,11270,0.81,155.7,182.7,14.3,929,11278,0.00,2.15,0.00,0.000,6,0.000,0.037,3028,1845,2227,0,0,0,0,0,0
$GC,11596,0.81,155.7,139.7,12.2,990,11604,0.00,2.15,0.00,0.000,4,0.000,0.047,3037,448,2227,0,0,0,0,0,0
$GC,11639,0.81,155.7,134.8,11.2,997,11647,0.00,2.12,0.00,0.000,6,0.000,0.036,3028,1846,2227,0,0,0,0,0,0
$GC,11967,0.83,171.7,102.7,9.0,1058,11990,0.00,2.22,11.77,0.689,4,0.000,0.047,3029,3260,2184,0,0,0,0,0,0
$GC,12004,0.83,171.7,98.7,9.9,1063,12012,0.00,2.15,0.00,0.000,6,0.000,0.036,3038,1851,2184,0,0,0,0,0,0
$GC,12330,0.96,284.3,75.3,5.0,1124,12434,0.00,2.30,94.15,0.719,4,0.000,0.045,3032,3251,1724,0,0,0,0,0,0
$GC,12679,1.00,310.8,46.5,8.6,1183,12711,0.00,2.17,22.92,0.653,6,0.000,0.034,3040,1851,1616,0,0,0,0,0,0
$GC,13030,1.05,350.2,13.7,8.1,1247,13069,0.12,2.28,32.83,0.633,4,0.088,0.043,3127,438,1455,0,0,0,0,0,0
$GC,13104,1.05,350.2,4.1,14.6,1258,13112,0.12,2.20,0.00,0.000,6,0.140,0.036,3083,1862,1453,0,0,0,0,0,0
$STATE,13118,end climb,SURFACE_DEPTH_REACHED
$STATE,13118,begin surface coast
$FINISH,1.1,1.021521
$STATE,13136,end surface coast,CONTROL_FINISHED_OK
$STATE,13136,begin surface
$SM_CCo,13156,42.55,0.431,1,0,1252,400.08
$SM_GC,1.53,0.00,0.00,42.55,0.000,0.000,0.431,134,1489,1252,-8.16,-0.31,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2241.69,12351.13,270811,181849
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.20
$INTERNAL_PRESSURE,9.46784
$TCM_TEMP,26.10
$XPDR_PINGS,68
$24V_AH,23.3,32.076
$10V_AH,10.2,21.845
$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,19.175,123.125,428.500,42.550,0.000,24.607,46.635,165.132,17.000,0.000,61.476,3126.891,6371.993,549.374,3188.143,397.958,0.000,1750.610,0.000,2905.362,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,60.435,1453.500,431.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.083,1292.509,1595.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70236,1263
$CAP_FILE_SIZE,141456,0
$CFSIZE,260165632,136085504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.153,259.2,1
$GPS,280811,013836,2248.081,12351.478,39,1.7,39,-3.1