version: 66.09
glider: 166
mission: 6
dive: 130
start: 8 28 111 9 21 16
data:
$ID,166
$MISSION,6
$DIVE,130
$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,-24556.283
$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,36
$R_STBD_OVSHOOT,45
$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
$GPS1,280811,091337,2246.794,12352.015,52,2.0,52,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.3
$GPS2,280811,092052,2246.900,12351.969,32,2.2,51,-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,147.8,143090,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.81,-155.7,0.0,0.0,0,92,0.00,0.00,-73.50,0.000,2,0.000,0.000,138,1501,3034,0,0,0,0,0,0
$GC,95,-0.81,-155.7,5.8,-10.0,10,120,9.10,2.08,-9.57,0.000,4,0.220,0.054,2476,195,3521,0,0,0,0,0,0
$GC,150,-0.81,-155.7,31.7,-48.8,18,159,0.00,2.03,0.00,0.000,6,0.000,0.037,2465,1498,3522,0,0,0,0,0,0
$GC,476,-0.81,-155.7,130.1,-26.5,79,483,0.00,2.05,0.00,0.000,4,0.000,0.045,2464,199,3525,0,0,0,0,0,0
$GC,530,-0.81,-155.7,144.7,-25.1,88,539,0.00,2.00,0.00,0.000,6,0.000,0.037,2456,1503,3526,0,0,0,0,0,0
$GC,859,-0.81,-155.7,218.5,-22.6,149,867,0.00,2.05,0.00,0.000,4,0.000,0.046,2457,202,3527,0,0,0,0,0,0
$GC,968,-0.81,-155.7,244.9,-23.7,169,976,0.08,1.98,0.00,0.000,6,0.172,0.036,2471,1496,3527,0,0,0,0,0,0
$GC,1305,-0.81,-155.7,309.3,-17.9,202,1309,0.00,2.00,0.00,0.000,4,0.000,0.046,2472,202,3527,0,0,0,0,0,0
$GC,1362,-0.81,-155.7,320.0,-18.4,207,1366,0.00,1.98,0.00,0.000,6,0.000,0.035,2466,1522,3527,0,0,0,0,0,0
$GC,1693,-0.81,-155.7,380.8,-18.0,238,1696,0.00,2.05,0.00,0.000,4,0.000,0.047,2478,195,3526,0,0,0,0,0,0
$GC,1785,-0.81,-155.7,398.2,-18.1,246,1788,0.00,1.95,0.00,0.000,6,0.000,0.037,2471,1499,3525,0,0,0,0,0,0
$GC,2116,-0.81,-155.7,454.1,-16.6,277,2120,0.00,2.00,0.00,0.000,4,0.000,0.048,2473,202,3524,0,0,0,0,0,0
$GC,2143,-0.81,-155.7,458.9,-16.4,279,2150,0.00,1.95,0.00,0.000,6,0.000,0.037,2464,1503,3523,0,0,0,0,0,0
$GC,2471,-0.81,-155.7,511.8,-16.3,310,2474,0.00,2.03,0.00,0.000,4,0.000,0.050,2463,204,3521,0,0,0,0,0,0
$GC,2576,-0.81,-155.7,530.9,-17.7,319,2584,0.08,1.98,0.00,0.000,6,0.168,0.037,2476,1496,3521,0,0,0,0,0,0
$GC,2903,-0.81,-155.7,579.0,-15.1,350,2907,0.00,2.03,0.00,0.000,4,0.000,0.049,2478,192,3518,0,0,0,0,0,0
$GC,2949,-0.81,-155.7,586.5,-15.9,354,2953,0.00,2.00,0.00,0.000,6,0.000,0.037,2471,1515,3518,0,0,0,0,0,0
$GC,3273,-0.81,-155.7,633.1,-14.1,374,3276,0.00,2.05,0.00,0.000,4,0.000,0.050,2472,196,3515,0,0,0,0,0,0
$GC,3435,-0.81,-155.7,656.4,-14.7,381,3439,0.00,2.00,0.00,0.000,6,0.000,0.040,2463,1496,3514,0,0,0,0,0,0
$GC,3767,-0.81,-155.7,703.1,-13.7,397,3771,0.00,2.15,0.00,0.000,4,0.000,0.052,2447,2911,3511,0,0,0,0,0,0
$GC,3813,-0.81,-155.7,709.5,-13.7,399,3818,0.15,2.15,0.00,0.000,6,0.167,0.042,2486,1501,3509,0,0,0,0,0,0
$GC,4134,-0.81,-155.7,749.2,-12.4,415,4138,0.00,2.03,0.00,0.000,4,0.000,0.054,2489,198,3507,0,0,0,0,0,0
$GC,4217,-0.81,-155.7,760.3,-13.4,418,4224,0.00,2.00,0.00,0.000,6,0.000,0.040,2480,1496,3505,0,0,0,0,0,0
$GC,4535,-0.81,-155.7,799.7,-12.4,434,4539,0.00,2.03,0.00,0.000,4,0.000,0.057,2482,202,3503,0,0,0,0,0,0
$GC,4649,-0.81,-155.7,814.9,-13.2,439,4652,0.00,2.00,0.00,0.000,6,0.000,0.041,2473,1506,3502,0,0,0,0,0,0
$GC,4983,-0.81,-155.7,855.5,-12.1,455,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1506,3499,0,0,0,0,0,0
$GC,5291,-0.81,-155.7,892.4,-12.0,470,5295,0.00,2.03,0.00,0.000,4,0.000,0.057,2473,206,3497,0,0,0,0,0,0
$GC,5338,-0.81,-155.7,898.4,-13.5,472,5341,0.00,2.00,0.00,0.000,6,0.000,0.044,2464,1506,3496,0,0,0,0,0,0
$GC,5672,-0.81,-155.7,938.7,-11.9,488,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1506,3494,0,0,0,0,0,0
$GC,5980,-0.81,-155.7,977.5,-12.8,503,5984,0.00,2.17,0.00,0.000,4,0.000,0.057,2458,2903,3492,0,0,0,0,0,0
$GC,6007,-0.81,-155.7,981.3,-12.9,504,6011,0.00,2.15,0.00,0.000,6,0.000,0.044,2458,1505,3492,0,0,0,0,0,0
$STATE,6084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6085,begin apogee
$GC,6092,-0.18,0.0,992.1,13.9,508,6226,0.73,0.00,127.43,1.452,6,0.142,0.000,2679,1857,2884,0,0,0,0,0,0
$STATE,6227,end apogee,CONTROL_FINISHED_OK
$STATE,6227,begin climb
$GC,6231,0.81,155.7,997.9,0.0,514,6381,0.93,2.38,140.88,1.394,4,0.077,0.060,3000,3250,2247,0,0,0,0,0,0
$GC,6433,0.81,155.7,975.7,17.4,524,6437,0.00,2.28,0.00,0.000,6,0.000,0.045,3007,1852,2243,0,0,0,0,0,0
$GC,6761,0.81,155.7,916.2,18.8,540,6765,0.00,2.22,0.00,0.000,4,0.000,0.060,2998,3250,2238,0,0,0,0,0,0
$GC,6878,0.81,155.7,893.0,19.3,545,6882,0.00,2.17,0.00,0.000,6,0.000,0.044,3007,1847,2238,0,0,0,0,0,0
$GC,7207,0.81,155.7,830.8,19.1,561,7211,0.00,2.22,0.00,0.000,4,0.000,0.057,2998,3261,2236,0,0,0,0,0,0
$GC,7275,0.81,155.7,817.5,19.1,564,7279,0.00,2.17,0.00,0.000,6,0.000,0.044,3007,1849,2235,0,0,0,0,0,0
$GC,7603,0.81,155.7,757.3,18.9,580,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1849,2234,0,0,0,0,0,0
$GC,7913,0.81,155.7,700.6,18.2,595,7917,0.00,2.20,0.00,0.000,4,0.000,0.056,2996,3251,2233,0,0,0,0,0,0
$GC,7998,0.81,155.7,684.9,18.0,599,8002,0.00,2.15,0.00,0.000,6,0.000,0.042,3006,1842,2232,0,0,0,0,0,0
$GC,8326,0.81,155.7,626.3,18.0,615,8330,0.00,2.20,0.00,0.000,4,0.000,0.056,2996,3252,2231,0,0,0,0,0,0
$GC,8418,0.81,155.7,609.9,17.1,619,8422,0.00,2.15,0.00,0.000,6,0.000,0.041,3007,1841,2231,0,0,0,0,0,0
$GC,8743,0.81,155.7,554.9,16.8,647,8747,0.00,2.20,0.00,0.000,4,0.000,0.054,2998,3257,2231,0,0,0,0,0,0
$GC,8844,0.81,155.7,537.9,16.2,656,8848,0.00,2.15,0.00,0.000,6,0.000,0.041,3008,1845,2230,0,0,0,0,0,0
$GC,9169,0.81,155.7,486.0,15.5,686,9173,0.00,2.20,0.00,0.000,4,0.000,0.054,2998,3255,2229,0,0,0,0,0,0
$GC,9279,0.81,155.7,468.1,14.6,695,9286,0.00,2.15,0.00,0.000,6,0.000,0.041,3010,1841,2229,0,0,0,0,0,0
$GC,9605,0.81,155.7,421.3,13.9,726,9609,0.00,2.20,0.00,0.000,4,0.000,0.052,3000,3254,2228,0,0,0,0,0,0
$GC,9727,0.81,155.7,402.8,14.0,736,9735,0.00,2.12,0.00,0.000,6,0.000,0.039,3011,1849,2228,0,0,0,0,0,0
$GC,10053,0.81,155.7,357.7,13.4,767,10057,0.00,2.17,0.00,0.000,4,0.000,0.049,3003,3260,2228,0,0,0,0,0,0
$GC,10141,0.81,155.7,344.3,14.2,774,10148,0.00,2.12,0.00,0.000,6,0.000,0.037,3012,1845,2228,0,0,0,0,0,0
$GC,10467,0.81,155.7,302.0,13.4,805,10471,0.00,2.17,0.00,0.000,4,0.000,0.048,3004,3260,2228,0,0,0,0,0,0
$GC,10543,0.81,155.7,291.7,12.9,811,10550,0.00,2.12,0.00,0.000,6,0.000,0.037,3010,1849,2228,0,0,0,0,0,0
$GC,10868,0.81,155.7,258.1,9.8,842,10872,0.00,2.15,0.00,0.000,4,0.000,0.046,3023,442,2228,0,0,0,0,0,0
$GC,10897,0.81,155.7,255.0,10.6,844,10901,0.00,2.12,0.00,0.000,6,0.000,0.035,3016,1865,2228,0,0,0,0,0,0
$GC,11222,0.81,155.7,217.1,11.9,900,11231,0.00,2.12,0.00,0.000,4,0.000,0.049,3007,3245,2228,0,0,0,0,0,0
$GC,11389,0.81,155.7,197.3,11.8,930,11397,0.00,2.12,0.00,0.000,6,0.000,0.036,3014,1848,2229,0,0,0,0,0,0
$GC,11712,0.81,155.7,160.3,11.2,991,11720,0.00,2.17,0.00,0.000,4,0.000,0.047,3006,3246,2228,0,0,0,0,0,0
$GC,11808,0.81,155.7,149.5,11.8,1008,11817,0.00,2.12,0.00,0.000,6,0.000,0.036,3014,1847,2228,0,0,0,0,0,0
$GC,12135,0.82,164.5,117.1,9.3,1069,12151,0.00,2.17,5.95,0.581,4,0.000,0.045,3026,438,2213,0,0,0,0,0,0
$GC,12335,0.82,164.5,98.1,10.4,1105,12343,0.00,2.12,0.00,0.000,6,0.000,0.034,3018,1838,2213,0,0,0,0,0,0
$GC,12661,0.97,290.2,69.5,4.4,1166,12776,0.12,2.22,105.43,0.707,4,0.091,0.042,3094,444,1699,0,0,0,0,0,0
$GC,12874,1.03,335.7,53.7,7.8,1199,12921,0.00,2.17,38.17,0.669,6,0.000,0.033,3087,1850,1514,0,0,0,0,0,0
$GC,13241,1.03,335.7,6.3,15.8,1265,13249,0.00,2.15,0.00,0.000,4,0.000,0.044,3087,3249,1510,0,0,0,0,0,0
$STATE,13267,end climb,SURFACE_DEPTH_REACHED
$STATE,13268,begin surface coast
$FINISH,0.9,1.021461
$STATE,13290,end surface coast,CONTROL_FINISHED_OK
$STATE,13290,begin surface
$SM_CCo,13310,50.25,0.466,1,0,1252,400.08
$SM_GC,1.67,0.00,0.00,50.25,0.000,0.000,0.466,153,1489,1252,-8.10,-0.31,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2239.35,12349.83,280811,050535
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.44
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,25.50
$XPDR_PINGS,88
$24V_AH,23.3,32.560
$10V_AH,10.2,22.296
$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,18.900,127.575,417.850,50.250,0.000,24.658,52.392,159.547,22.000,0.000,53.352,3179.047,6408.203,545.115,3265.095,391.240,0.000,1773.571,0.000,2986.394,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,59.670,1451.970,465.885,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.957,1303.612,1602.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73615,1273
$CAP_FILE_SIZE,143290,0
$CFSIZE,260165632,135852032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135,324.4,1
$GPS,280811,130556,2246.349,12352.866,55,99.0,74,-3.1