version: 66.09
glider: 166
mission: 6
dive: 131
start: 8 28 111 13 13 58
data:
$ID,166
$MISSION,6
$DIVE,131
$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,-24557.549
$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,43
$R_STBD_OVSHOOT,43
$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
$GPS1,280811,130556,2246.349,12352.866,55,99.0,74,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-62.7
$GPS2,280811,131334,2246.440,12352.890,33,99.0,52,-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,163.1,142096,-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,16,-0.81,-155.7,0.0,0.0,0,98,0.00,0.00,-79.53,0.000,2,0.000,0.000,140,1489,3229,0,0,0,0,0,0
$GC,103,-0.81,-155.7,6.4,-11.2,11,127,9.07,2.20,-5.28,0.000,4,0.221,0.053,2461,2908,3519,0,0,0,0,0,0
$GC,135,-0.81,-155.7,26.0,-46.0,15,143,0.00,2.15,0.00,0.000,6,0.000,0.034,2462,1507,3520,0,0,0,0,0,0
$GC,461,-0.81,-155.7,135.5,-25.2,76,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1503,3524,0,0,0,0,0,0
$GC,790,-0.81,-155.7,219.8,-24.3,137,799,0.00,2.03,0.00,0.000,4,0.000,0.046,2460,203,3524,0,0,0,0,0,0
$GC,997,-0.81,-155.7,270.4,-24.3,168,1002,0.12,1.95,0.00,0.000,6,0.186,0.037,2484,1509,3524,0,0,0,0,0,0
$GC,1323,-0.81,-155.7,332.5,-16.9,198,1326,0.00,2.03,0.00,0.000,4,0.000,0.046,2485,205,3524,0,0,0,0,0,0
$GC,1383,-0.81,-155.7,344.0,-18.1,203,1390,0.00,1.98,0.00,0.000,6,0.000,0.036,2480,1500,3524,0,0,0,0,0,0
$GC,1710,-0.81,-155.7,399.2,-16.9,234,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1500,3524,0,0,0,0,0,0
$GC,2031,-0.81,-155.7,453.5,-16.0,264,2035,0.00,2.05,0.00,0.000,4,0.000,0.048,2496,199,3522,0,0,0,0,0,0
$GC,2114,-0.81,-155.7,468.4,-17.2,271,2122,0.00,1.98,0.00,0.000,6,0.000,0.037,2487,1494,3521,0,0,0,0,0,0
$GC,2442,-0.81,-155.7,514.1,-12.8,302,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1494,3519,0,0,0,0,0,0
$GC,2759,-0.81,-155.7,557.3,-14.1,332,2763,0.00,2.03,0.00,0.000,4,0.000,0.049,2487,208,3517,0,0,0,0,0,0
$GC,2890,-0.81,-155.7,578.0,-15.7,343,2896,0.00,1.98,0.00,0.000,6,0.000,0.038,2477,1503,3516,0,0,0,0,0,0
$GC,3210,-0.81,-155.7,626.5,-15.2,366,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1504,3514,0,0,0,0,0,0
$GC,3519,-0.81,-155.7,673.1,-15.5,381,3523,0.00,2.05,0.00,0.000,4,0.000,0.052,2474,199,3511,0,0,0,0,0,0
$GC,3634,-0.81,-155.7,691.5,-16.7,386,3638,0.00,2.00,0.00,0.000,6,0.000,0.040,2462,1499,3509,0,0,0,0,0,0
$GC,3967,-0.81,-155.7,740.4,-13.8,402,3971,0.00,2.17,0.00,0.000,4,0.000,0.053,2454,2904,3506,0,0,0,0,0,0
$GC,4039,-0.81,-155.7,750.0,-12.6,405,4044,0.12,2.10,0.00,0.000,6,0.171,0.041,2487,1504,3505,0,0,0,0,0,0
$GC,4360,-0.81,-155.7,786.0,-11.3,421,4364,0.00,2.03,0.00,0.000,4,0.000,0.054,2491,186,3503,0,0,0,0,0,0
$GC,4410,-0.81,-155.7,792.2,-12.3,423,4414,0.00,2.03,0.00,0.000,6,0.000,0.041,2482,1511,3502,0,0,0,0,0,0
$GC,4739,-0.81,-155.7,832.2,-12.2,439,4743,0.00,2.05,0.00,0.000,4,0.000,0.054,2484,198,3500,0,0,0,0,0,0
$GC,4867,-0.81,-155.7,850.1,-13.7,444,4874,0.00,2.03,0.00,0.000,6,0.000,0.043,2472,1500,3498,0,0,0,0,0,0
$GC,5185,-0.81,-155.7,891.5,-13.2,460,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1501,3496,0,0,0,0,0,0
$GC,5493,-0.81,-155.7,929.8,-12.2,475,5496,0.00,2.05,0.00,0.000,4,0.000,0.056,2469,195,3493,0,0,0,0,0,0
$GC,5531,-0.81,-155.7,935.3,-13.7,476,5538,0.00,2.03,0.00,0.000,6,0.000,0.044,2459,1496,3492,0,0,0,0,0,0
$GC,5849,-0.81,-155.7,977.8,-13.8,492,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1496,3491,0,0,0,0,0,0
$STATE,5948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5948,begin apogee
$GC,5954,-0.18,0.0,992.1,13.9,497,6089,0.70,0.00,126.90,1.444,6,0.138,0.000,2678,1862,2884,0,0,0,0,0,0
$STATE,6090,end apogee,CONTROL_FINISHED_OK
$STATE,6090,begin climb
$GC,6092,0.81,155.7,998.0,0.0,503,6240,0.93,2.40,139.88,1.392,4,0.075,0.061,3004,3254,2248,0,0,0,0,0,0
$GC,6275,0.81,155.7,979.7,16.4,511,6283,0.00,2.28,0.00,0.000,6,0.000,0.044,3012,1849,2246,0,0,0,0,0,0
$GC,6591,0.81,155.7,926.3,17.5,527,6595,0.00,2.22,0.00,0.000,4,0.000,0.059,3004,3248,2240,0,0,0,0,0,0
$GC,6663,0.81,155.7,912.6,18.8,530,6667,0.00,2.17,0.00,0.000,6,0.000,0.045,3012,1836,2238,0,0,0,0,0,0
$GC,6992,0.81,155.7,851.8,18.5,546,6996,0.00,2.25,0.00,0.000,4,0.000,0.059,3004,3254,2237,0,0,0,0,0,0
$GC,7063,0.81,155.7,837.5,19.1,549,7068,0.00,2.17,0.00,0.000,6,0.000,0.044,3014,1857,2236,0,0,0,0,0,0
$GC,7387,0.81,155.7,774.9,20.8,565,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1856,2235,0,0,0,0,0,0
$GC,7695,0.81,155.7,712.6,19.7,580,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1856,2233,0,0,0,0,0,0
$GC,8003,0.81,155.7,655.6,18.5,595,8007,0.00,2.20,0.00,0.000,4,0.000,0.056,3005,3255,2232,0,0,0,0,0,0
$GC,8178,0.81,155.7,624.2,17.7,603,8182,0.00,2.15,0.00,0.000,6,0.000,0.043,3014,1835,2231,0,0,0,0,0,0
$GC,8500,0.81,155.7,570.6,17.4,626,8504,0.00,2.22,0.00,0.000,4,0.000,0.056,3012,3252,2231,0,0,0,0,0,0
$GC,8656,0.81,155.7,542.5,17.2,639,8660,0.00,2.15,0.00,0.000,6,0.000,0.041,3021,1840,2231,0,0,0,0,0,0
$GC,8983,0.81,155.7,484.8,18.4,669,8987,0.00,2.20,0.00,0.000,4,0.000,0.054,3012,3263,2230,0,0,0,0,0,0
$GC,9157,0.81,155.7,453.3,18.1,684,9164,0.00,2.12,0.00,0.000,6,0.000,0.041,3021,1844,2229,0,0,0,0,0,0
$GC,9482,0.81,155.7,397.4,17.3,715,9486,0.00,2.20,0.00,0.000,4,0.000,0.052,3014,3261,2229,0,0,0,0,0,0
$GC,9514,0.81,155.7,391.3,18.2,717,9521,0.00,2.12,0.00,0.000,6,0.000,0.039,3022,1841,2229,0,0,0,0,0,0
$GC,9842,0.81,155.7,338.1,13.6,748,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1841,2229,0,0,0,0,0,0
$GC,10159,0.81,155.7,293.6,14.5,778,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1841,2229,0,0,0,0,0,0
$GC,10481,0.81,155.7,244.9,14.5,811,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1841,2229,0,0,0,0,0,0
$GC,10807,0.81,155.7,204.1,11.1,872,10815,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,3261,2228,0,0,0,0,0,0
$GC,10885,0.81,155.7,194.7,11.5,886,10893,0.00,2.15,0.00,0.000,6,0.000,0.037,3033,1852,2229,0,0,0,0,0,0
$GC,11211,0.81,155.7,159.3,9.7,947,11220,0.00,2.17,0.00,0.000,4,0.000,0.046,3043,442,2229,0,0,0,0,0,0
$GC,11249,0.81,162.6,155.4,9.4,953,11257,0.00,2.15,0.00,0.000,6,0.000,0.036,3035,1862,2229,0,0,0,0,0,0
$GC,11575,0.81,162.6,117.1,11.6,1014,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1862,2228,0,0,0,0,0,0
$GC,11900,0.89,226.9,88.2,7.0,1075,11967,0.00,2.17,57.17,0.735,4,0.000,0.046,3025,3243,1957,0,0,0,0,0,0
$GC,12073,0.92,248.2,72.4,8.8,1103,12097,0.00,2.15,18.62,0.679,6,0.000,0.035,3034,1852,1871,0,0,0,0,0,0
$GC,12419,0.98,294.0,50.2,7.8,1166,12466,0.00,2.22,39.28,0.675,4,0.000,0.043,3044,434,1684,0,0,0,0,0,0
$GC,12484,1.05,350.3,44.9,7.3,1175,12538,0.08,2.17,47.65,0.668,6,0.055,0.031,3105,1854,1454,0,0,0,0,0,0
$STATE,12789,end climb,SURFACE_DEPTH_REACHED
$STATE,12789,begin surface coast
$FINISH,0.9,1.021674
$STATE,12811,end surface coast,CONTROL_FINISHED_OK
$STATE,12811,begin surface
$SM_CCo,12831,43.58,0.438,1,0,1252,400.08
$SM_GC,1.52,0.00,0.00,43.58,0.000,0.000,0.438,130,1492,1252,-8.17,-0.23,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2239.35,12349.83,280811,131314
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.28
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,26.00
$XPDR_PINGS,78
$24V_AH,23.3,32.712
$10V_AH,10.2,22.441
$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,18.850,90.275,429.500,43.575,0.000,49.028,110.297,0.159,19.500,0.000,54.693,3038.892,6297.699,524.182,3108.751,356.342,0.000,1687.936,0.000,2853.175,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,61.200,1443.555,438.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.086,1262.905,1562.091,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330412
$DATA_FILE_SIZE,70147,1233
$CAP_FILE_SIZE,129088,0
$CFSIZE,260165632,135745536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104,287.5,1
$GPS,280811,165001,2245.073,12353.118,44,1.9,44,-3.1