version: 66.09
glider: 166
mission: 6
dive: 128
start: 8 28 111 1 45 25
data:
$ID,166
$MISSION,6
$DIVE,128
$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,-24553.768
$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,40
$R_STBD_OVSHOOT,47
$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
$GPS1,280811,013836,2248.081,12351.478,39,1.7,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.8
$GPS2,280811,014502,2248.152,12351.396,35,1.8,35,-3.1
$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,142.1,145495,-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,-155.7,0.0,0.0,0,93,0.00,0.00,-74.32,0.000,2,0.000,0.000,122,1489,3076,0,0,0,0,0,0
$GC,96,-0.81,-155.7,5.8,-9.8,10,120,9.32,0.00,-8.43,0.000,6,0.228,0.000,2476,1488,3521,0,0,0,0,0,0
$GC,438,-0.81,-155.7,121.9,-23.9,73,446,0.00,2.03,0.00,0.000,4,0.000,0.047,2470,204,3525,0,0,0,0,0,0
$GC,570,-0.81,-155.7,157.1,-26.1,97,578,0.00,1.98,0.00,0.000,6,0.000,0.037,2462,1489,3526,0,0,0,0,0,0
$GC,900,-0.81,-155.7,235.0,-23.2,158,908,0.00,2.03,0.00,0.000,4,0.000,0.047,2462,204,3527,0,0,0,0,0,0
$GC,959,-0.81,-155.7,249.5,-23.6,168,968,0.08,1.98,0.00,0.000,6,0.161,0.037,2477,1496,3527,0,0,0,0,0,0
$GC,1285,-0.81,-155.7,311.8,-16.5,199,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1498,3527,0,0,0,0,0,0
$GC,1603,-0.81,-155.7,367.7,-17.3,229,1607,0.00,2.00,0.00,0.000,4,0.000,0.047,2478,202,3527,0,0,0,0,0,0
$GC,1717,-0.81,-155.7,388.7,-17.3,239,1720,0.00,1.95,0.00,0.000,6,0.000,0.036,2486,1502,3526,0,0,0,0,0,0
$GC,2047,-0.81,-155.7,445.2,-16.9,270,2051,0.00,2.12,0.00,0.000,4,0.000,0.048,2479,2906,3525,0,0,0,0,0,0
$GC,2065,-0.81,-155.7,448.1,-16.4,271,2069,0.00,2.12,0.00,0.000,6,0.000,0.038,2479,1501,3524,0,0,0,0,0,0
$GC,2396,-0.81,-155.7,500.1,-15.1,302,2400,0.00,2.05,0.00,0.000,4,0.000,0.050,2478,196,3522,0,0,0,0,0,0
$GC,2650,-0.81,-155.7,540.9,-16.1,324,2658,0.00,1.98,0.00,0.000,6,0.000,0.037,2467,1505,3520,0,0,0,0,0,0
$GC,2975,-0.81,-155.7,590.8,-15.1,355,2979,0.00,2.05,0.00,0.000,4,0.000,0.050,2468,196,3517,0,0,0,0,0,0
$GC,3060,-0.81,-155.7,604.6,-16.4,361,3066,0.00,1.98,0.00,0.000,6,0.000,0.038,2459,1500,3517,0,0,0,0,0,0
$GC,3376,-0.81,-155.7,655.6,-15.8,377,3381,0.10,2.03,0.00,0.000,4,0.194,0.051,2484,205,3513,0,0,0,0,0,0
$GC,3488,-0.81,-155.7,672.3,-14.0,382,3492,0.00,1.98,0.00,0.000,6,0.000,0.040,2475,1508,3513,0,0,0,0,0,0
$GC,3823,-0.81,-155.7,715.6,-12.8,398,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1509,3509,0,0,0,0,0,0
$GC,4131,-0.81,-155.7,757.2,-13.6,413,4134,0.00,2.03,0.00,0.000,4,0.000,0.054,2472,206,3507,0,0,0,0,0,0
$GC,4255,-0.81,-155.7,774.8,-13.9,418,4259,0.00,2.03,0.00,0.000,6,0.000,0.047,2468,1520,3505,0,0,0,0,0,0
$GC,4576,-0.81,-155.7,818.1,-13.2,434,4580,0.00,2.15,0.00,0.000,4,0.000,0.054,2452,2917,3502,0,0,0,0,0,0
$GC,4631,-0.81,-155.7,825.1,-12.4,436,4639,0.00,2.15,0.00,0.000,6,0.000,0.043,2455,1497,3501,0,0,0,0,0,0
$GC,4949,-0.81,-155.7,866.9,-13.5,452,4953,0.12,2.00,0.00,0.000,4,0.177,0.057,2490,205,3499,0,0,0,0,0,0
$GC,5095,-0.81,-155.7,886.3,-13.0,458,5098,0.00,2.00,0.00,0.000,6,0.000,0.043,2475,1509,3498,0,0,0,0,0,0
$GC,5418,-0.81,-155.7,925.9,-12.0,474,5421,0.00,2.05,0.00,0.000,4,0.000,0.054,2477,205,3495,0,0,0,0,0,0
$GC,5490,-0.81,-155.7,935.6,-12.9,477,5494,0.00,2.03,0.00,0.000,6,0.000,0.045,2461,1499,3495,0,0,0,0,0,0
$GC,5820,-0.81,-155.7,974.8,-12.0,493,5824,0.00,2.17,0.00,0.000,4,0.000,0.057,2449,2908,3493,0,0,0,0,0,0
$GC,5867,-0.81,-155.7,980.3,-11.7,495,5872,0.12,2.15,0.00,0.000,6,0.169,0.044,2485,1504,3493,0,0,0,0,0,0
$STATE,5964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5964,begin apogee
$GC,5970,-0.18,0.0,991.0,10.3,500,6106,0.60,0.00,127.25,1.450,6,0.132,0.000,2677,1857,2884,0,0,0,0,0,0
$STATE,6107,end apogee,CONTROL_FINISHED_OK
$STATE,6107,begin climb
$GC,6109,0.81,155.7,993.2,0.0,506,6258,0.93,2.42,139.95,1.388,4,0.073,0.062,2995,3246,2248,0,0,0,0,0,0
$GC,6347,0.81,155.7,956.8,20.3,517,6351,0.00,2.25,0.00,0.000,6,0.000,0.044,3004,1851,2243,0,0,0,0,0,0
$GC,6677,0.81,155.7,890.9,19.7,533,6681,0.00,2.25,0.00,0.000,4,0.000,0.059,2995,3260,2238,0,0,0,0,0,0
$GC,6698,0.81,155.7,885.7,19.6,534,6702,0.00,2.20,0.00,0.000,6,0.000,0.044,3004,1844,2237,0,0,0,0,0,0
$GC,7025,0.81,155.7,821.3,19.8,550,7029,0.00,2.20,0.00,0.000,4,0.000,0.054,3015,438,2236,0,0,0,0,0,0
$GC,7058,0.81,155.7,814.4,19.7,551,7065,0.00,2.20,0.00,0.000,6,0.000,0.045,3008,1854,2236,0,0,0,0,0,0
$GC,7376,0.81,155.7,755.2,18.8,567,7380,0.00,2.17,0.00,0.000,4,0.000,0.058,3008,3258,2234,0,0,0,0,0,0
$GC,7504,0.81,155.7,729.4,19.1,572,7512,0.00,2.15,0.00,0.000,6,0.000,0.043,3017,1849,2233,0,0,0,0,0,0
$GC,7822,0.81,155.7,668.8,19.8,588,7826,0.00,2.20,0.00,0.000,4,0.000,0.057,3008,3261,2232,0,0,0,0,0,0
$GC,7926,0.81,155.7,646.5,21.1,592,7935,0.00,2.17,0.00,0.000,6,0.000,0.042,3018,1836,2232,0,0,0,0,0,0
$GC,8246,0.81,155.7,589.3,17.4,610,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1836,2231,0,0,0,0,0,0
$GC,8563,0.81,155.7,535.5,16.2,640,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1836,2230,0,0,0,0,0,0
$GC,8884,0.81,155.7,482.8,16.2,670,8888,0.00,2.20,0.00,0.000,4,0.000,0.055,3009,3257,2230,0,0,0,0,0,0
$GC,8996,0.81,155.7,463.4,16.8,679,9003,0.00,2.15,0.00,0.000,6,0.000,0.040,3017,1837,2229,0,0,0,0,0,0
$GC,9322,0.81,155.7,410.0,16.9,710,9326,0.00,2.15,0.00,0.000,4,0.000,0.049,3030,433,2229,0,0,0,0,0,0
$GC,9407,0.81,155.7,395.5,17.9,717,9411,0.00,2.17,0.00,0.000,6,0.000,0.041,3026,1861,2228,0,0,0,0,0,0
$GC,9732,0.81,155.7,340.3,17.4,747,9736,0.00,2.15,0.00,0.000,4,0.000,0.054,3030,3260,2228,0,0,0,0,0,0
$GC,9799,0.81,155.7,328.1,18.0,752,9807,0.12,2.12,0.00,0.000,6,0.203,0.040,3010,1850,2228,0,0,0,0,0,0
$GC,10125,0.81,155.7,277.7,14.0,783,10126,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1850,2228,0,0,0,0,0,0
$GC,10442,0.81,155.7,237.1,11.4,823,10450,0.00,2.20,0.00,0.000,4,0.000,0.050,3006,3261,2228,0,0,0,0,0,0
$GC,10548,0.81,155.7,224.9,11.2,842,10555,0.00,2.15,0.00,0.000,6,0.000,0.038,3015,1847,2228,0,0,0,0,0,0
$GC,10876,0.81,155.7,187.3,11.2,903,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1848,2228,0,0,0,0,0,0
$GC,11202,0.81,155.7,150.2,10.9,964,11210,0.00,2.20,0.00,0.000,4,0.000,0.049,3007,3261,2228,0,0,0,0,0,0
$GC,11244,0.81,155.7,144.8,12.5,971,11252,0.00,2.15,0.00,0.000,6,0.000,0.037,3014,1848,2228,0,0,0,0,0,0
$GC,11572,0.83,176.3,108.7,8.8,1032,11598,0.00,2.20,15.50,0.722,4,0.000,0.045,3025,436,2164,0,0,0,0,0,0
$GC,11627,0.86,199.7,103.6,8.7,1040,11658,0.00,2.15,21.20,0.728,6,0.000,0.035,3016,1847,2069,0,0,0,0,0,0
$GC,11978,0.86,200.1,68.8,9.7,1104,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1847,2067,0,0,0,0,0,0
$GC,12305,1.01,324.5,45.2,4.5,1165,12417,0.15,2.22,103.12,0.691,4,0.078,0.044,3089,3267,1560,0,0,0,0,0,0
$GC,12501,1.01,324.5,24.9,15.1,1195,12509,0.00,2.22,0.00,0.000,6,0.000,0.035,3097,1850,1559,0,0,0,0,0,0
$STATE,12652,end climb,SURFACE_DEPTH_REACHED
$STATE,12652,begin surface coast
$FINISH,1.0,0.999332
$STATE,12669,end surface coast,CONTROL_FINISHED_OK
$STATE,12669,begin surface
$SM_CCo,12686,58.08,0.495,1,0,1252,400.08
$SM_GC,2.04,0.00,0.00,58.08,0.000,0.000,0.495,153,1488,1252,-8.10,-0.34,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2241.69,12353.07,270811,212144
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.66
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,25.00
$XPDR_PINGS,75
$24V_AH,23.3,32.232
$10V_AH,10.2,21.990
$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,19.550,102.750,407.025,58.075,0.000,23.667,24.408,158.812,18.750,0.000,36.182,3040.502,6047.857,535.399,3122.446,378.735,0.000,1720.603,0.000,2893.526,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,61.965,1449.675,494.955,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.962,1254.680,1574.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330196
$DATA_FILE_SIZE,70325,1225
$CAP_FILE_SIZE,134560,0
$CFSIZE,260165632,136015872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.199,271.3,1
$GPS,280811,051938,2247.008,12351.549,63,1.2,64,-3.1