version: 66.09
glider: 166
mission: 6
dive: 129
start: 8 28 111 5 31 31
data:
$ID,166
$MISSION,6
$DIVE,129
$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,-24555.025
$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,38
$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
$GPS1,280811,051938,2247.008,12351.549,63,1.2,64,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.9
$GPS2,280811,053108,2247.135,12351.359,49,1.5,49,-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,132.1,143628,-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,20,-0.81,-155.7,0.0,0.0,0,94,0.00,0.00,-71.45,0.000,2,0.000,0.000,135,1488,2984,0,0,0,0,0,0
$GC,97,-0.81,-155.7,5.2,-7.9,10,122,9.30,1.98,-10.85,0.000,4,0.226,0.051,2483,206,3520,0,0,0,0,0,0
$GC,151,-0.81,-155.7,29.0,-43.2,18,159,0.00,2.00,0.00,0.000,6,0.000,0.035,2474,1502,3521,0,0,0,0,0,0
$GC,477,-0.81,-155.7,118.8,-25.5,79,485,0.00,2.03,0.00,0.000,4,0.000,0.042,2477,203,3524,0,0,0,0,0,0
$GC,537,-0.81,-155.7,133.6,-24.6,89,545,0.00,1.98,0.00,0.000,6,0.000,0.034,2468,1500,3524,0,0,0,0,0,0
$GC,864,-0.81,-155.7,205.2,-21.0,150,872,0.00,2.03,0.00,0.000,4,0.000,0.044,2469,202,3525,0,0,0,0,0,0
$GC,964,-0.81,-155.7,226.7,-21.1,168,973,0.00,1.98,0.00,0.000,6,0.000,0.036,2459,1502,3525,0,0,0,0,0,0
$GC,1300,-0.81,-155.7,293.2,-18.5,209,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1502,3525,0,0,0,0,0,0
$GC,1620,-0.81,-155.7,348.5,-16.0,239,1624,0.00,2.00,0.00,0.000,4,0.000,0.048,2473,211,3524,0,0,0,0,0,0
$GC,1785,-0.81,-155.7,379.6,-18.6,253,1792,0.00,1.95,0.00,0.000,6,0.000,0.037,2467,1505,3523,0,0,0,0,0,0
$GC,2110,-0.81,-155.7,437.8,-17.1,284,2114,0.00,2.00,0.00,0.000,4,0.000,0.048,2467,206,3522,0,0,0,0,0,0
$GC,2264,-0.81,-155.7,466.0,-19.6,297,2270,0.00,1.95,0.00,0.000,6,0.000,0.038,2457,1499,3520,0,0,0,0,0,0
$GC,2589,-0.81,-155.7,522.8,-16.9,328,2593,0.10,2.03,0.00,0.000,4,0.196,0.049,2485,201,3518,0,0,0,0,0,0
$GC,2651,-0.81,-155.7,532.8,-16.0,333,2657,0.00,1.98,0.00,0.000,6,0.000,0.037,2476,1512,3517,0,0,0,0,0,0
$GC,2976,-0.81,-155.7,577.4,-13.1,364,2979,0.00,2.00,0.00,0.000,4,0.000,0.048,2477,202,3514,0,0,0,0,0,0
$GC,3014,-0.81,-155.7,583.1,-14.9,367,3021,0.00,1.98,0.00,0.000,6,0.000,0.039,2468,1491,3514,0,0,0,0,0,0
$GC,3346,-0.81,-155.7,628.2,-13.4,389,3350,0.00,1.98,0.00,0.000,4,0.000,0.049,2468,193,3511,0,0,0,0,0,0
$GC,3463,-0.81,-155.7,645.4,-14.2,394,3467,0.00,2.00,0.00,0.000,6,0.000,0.039,2459,1496,3510,0,0,0,0,0,0
$GC,3793,-0.81,-155.7,691.3,-14.3,410,3797,0.00,2.17,0.00,0.000,4,0.000,0.052,2444,2914,3506,0,0,0,0,0,0
$GC,3814,-0.81,-155.7,694.9,-14.3,411,3819,0.10,2.15,0.00,0.000,6,0.148,0.041,2477,1513,3506,0,0,0,0,0,0
$GC,4143,-0.81,-155.7,734.7,-12.1,427,4146,0.00,2.03,0.00,0.000,4,0.000,0.054,2474,198,3503,0,0,0,0,0,0
$GC,4288,-0.81,-155.7,754.7,-13.6,433,4292,0.00,2.00,0.00,0.000,6,0.000,0.041,2465,1499,3502,0,0,0,0,0,0
$GC,4610,-0.81,-155.7,795.0,-12.4,449,4614,0.00,2.03,0.00,0.000,4,0.000,0.053,2471,199,3499,0,0,0,0,0,0
$GC,4794,-0.81,-155.7,820.7,-13.4,457,4799,0.00,2.00,0.00,0.000,6,0.000,0.041,2464,1495,3497,0,0,0,0,0,0
$GC,5123,-0.81,-155.7,858.3,-11.1,473,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1496,3495,0,0,0,0,0,0
$GC,5433,-0.81,-155.7,894.4,-11.6,488,5437,0.00,2.03,0.00,0.000,4,0.000,0.056,2465,195,3492,0,0,0,0,0,0
$GC,5578,-0.81,-155.7,914.0,-13.7,494,5582,0.00,2.03,0.00,0.000,6,0.000,0.044,2456,1499,3491,0,0,0,0,0,0
$GC,5902,-0.81,-155.7,955.0,-12.7,510,5906,0.10,2.22,0.00,0.000,4,0.200,0.057,2470,2916,3489,0,0,0,0,0,0
$GC,5956,-0.81,-155.7,961.6,-10.9,512,5964,0.00,2.17,0.00,0.000,6,0.000,0.045,2470,1494,3489,0,0,0,0,0,0
$STATE,6209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6209,begin apogee
$GC,6217,-0.18,0.0,990.7,11.5,525,6351,0.68,0.00,126.50,1.454,6,0.140,0.000,2680,1861,2883,0,0,0,0,0,0
$STATE,6352,end apogee,CONTROL_FINISHED_OK
$STATE,6352,begin climb
$GC,6354,0.81,155.7,993.4,0.0,531,6503,0.93,2.40,140.10,1.393,4,0.080,0.063,3000,3241,2248,0,0,0,0,0,0
$GC,6536,0.81,155.7,970.2,18.8,539,6543,0.00,2.28,0.00,0.000,6,0.000,0.044,3009,1843,2245,0,0,0,0,0,0
$GC,6854,0.81,155.7,910.3,18.7,555,6858,0.00,2.25,0.00,0.000,4,0.000,0.060,3006,3254,2240,0,0,0,0,0,0
$GC,6959,0.81,155.7,889.7,18.1,559,6966,0.00,2.17,0.00,0.000,6,0.000,0.044,3011,1848,2238,0,0,0,0,0,0
$GC,7275,0.81,155.7,833.3,17.4,575,7279,0.00,2.20,0.00,0.000,4,0.000,0.054,3022,432,2237,0,0,0,0,0,0
$GC,7340,0.81,155.7,822.2,18.1,578,7344,0.00,2.20,0.00,0.000,6,0.000,0.045,3017,1851,2236,0,0,0,0,0,0
$GC,7667,0.81,155.7,767.8,16.1,594,7671,0.00,2.17,0.00,0.000,4,0.000,0.057,3010,3260,2234,0,0,0,0,0,0
$GC,7727,0.81,155.7,757.1,17.4,596,7735,0.00,2.17,0.00,0.000,6,0.000,0.043,3017,1833,2233,0,0,0,0,0,0
$GC,8045,0.81,155.7,702.2,18.1,612,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1833,2233,0,0,0,0,0,0
$GC,8353,0.81,155.7,646.9,17.8,627,8357,0.00,2.22,0.00,0.000,4,0.000,0.056,3007,3263,2232,0,0,0,0,0,0
$GC,8514,0.81,155.7,617.3,18.9,634,8519,0.00,2.15,0.00,0.000,6,0.000,0.042,3016,1850,2231,0,0,0,0,0,0
$GC,8838,0.81,155.7,555.8,18.2,660,8842,0.00,2.20,0.00,0.000,4,0.000,0.055,3008,3263,2231,0,0,0,0,0,0
$GC,8903,0.81,155.7,544.0,18.3,665,8907,0.00,2.15,0.00,0.000,6,0.000,0.041,3017,1847,2230,0,0,0,0,0,0
$GC,9228,0.81,155.7,487.6,16.3,695,9232,0.00,2.20,0.00,0.000,4,0.000,0.054,3009,3257,2230,0,0,0,0,0,0
$GC,9263,0.81,155.7,481.9,17.0,697,9270,0.00,2.15,0.00,0.000,6,0.000,0.039,3017,1842,2229,0,0,0,0,0,0
$GC,9588,0.81,155.7,427.0,16.0,728,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1842,2229,0,0,0,0,0,0
$GC,9912,0.81,155.7,377.7,15.9,758,9916,0.00,2.20,0.00,0.000,4,0.000,0.050,3015,3265,2229,0,0,0,0,0,0
$GC,9922,0.81,155.7,375.2,15.5,758,9929,0.00,2.15,0.00,0.000,6,0.000,0.037,3026,1852,2228,0,0,0,0,0,0
$GC,10248,0.81,155.7,330.3,13.8,789,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1852,2228,0,0,0,0,0,0
$GC,10571,0.81,155.7,281.6,15.0,819,10575,0.00,2.17,0.00,0.000,4,0.000,0.049,3018,3263,2228,0,0,0,0,0,0
$GC,10675,0.81,155.7,264.9,15.2,828,10684,0.00,2.15,0.00,0.000,6,0.000,0.036,3027,1850,2228,0,0,0,0,0,0
$GC,11000,0.81,155.7,221.9,11.7,879,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1850,2228,0,0,0,0,0,0
$GC,11326,0.81,155.7,183.0,12.1,940,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1849,2228,0,0,0,0,0,0
$GC,11650,0.81,155.7,143.8,13.0,1001,11658,0.00,2.22,0.00,0.000,4,0.000,0.047,3019,3258,2229,0,0,0,0,0,0
$GC,11875,0.81,155.7,117.6,10.9,1042,11883,0.00,2.15,0.00,0.000,6,0.000,0.034,3027,1848,2228,0,0,0,0,0,0
$GC,12201,0.81,155.7,88.6,10.1,1103,12209,0.00,2.17,0.00,0.000,4,0.000,0.044,3037,437,2229,0,0,0,0,0,0
$GC,12449,0.88,219.2,60.3,7.0,1148,12511,0.00,2.15,50.80,0.714,6,0.000,0.033,3029,1866,1989,0,0,0,0,0,0
$GC,12834,1.05,356.3,46.4,4.0,1216,12952,0.15,0.00,112.93,0.682,6,0.078,0.000,3111,1866,1430,0,0,0,0,0,0
$STATE,13154,end climb,SURFACE_DEPTH_REACHED
$STATE,13154,begin surface coast
$FINISH,0.9,1.009026
$STATE,13171,end surface coast,CONTROL_FINISHED_OK
$STATE,13172,begin surface
$SM_CCo,13189,40.05,0.418,1,0,1252,400.08
$SM_GC,1.73,0.00,0.00,40.05,0.000,0.000,0.418,154,1501,1252,-8.10,0.03,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2237.01,12349.83,280811,050500
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.80
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.60
$XPDR_PINGS,79
$24V_AH,23.3,32.401
$10V_AH,10.2,22.145
$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,19.200,102.100,430.325,40.050,0.000,60.998,80.409,279.276,19.750,0.000,50.113,3149.180,6361.001,532.620,3475.522,394.536,0.000,1751.359,0.000,3010.358,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,62.730,1454.265,418.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.857,1302.420,1653.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330252
$DATA_FILE_SIZE,73509,1273
$CAP_FILE_SIZE,139248,0
$CFSIZE,260165632,135933952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.156,297.2,1
$GPS,280811,091337,2246.794,12352.015,52,2.0,52,-3.1