version: 66.09
glider: 166
mission: 6
dive: 132
start: 8 28 111 17 0 26
data:
$ID,166
$MISSION,6
$DIVE,132
$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,-24558.809
$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,41
$R_STBD_OVSHOOT,51
$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
$GPS1,280811,165001,2245.073,12353.118,44,1.9,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.6
$GPS2,280811,170003,2245.105,12353.143,35,1.7,36,-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,157.2,139595,-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,-155.7,0.0,0.0,0,100,0.00,0.00,-81.38,0.000,2,0.000,0.000,121,1493,3278,0,0,0,0,0,0
$GC,103,-0.81,-155.7,6.2,-9.9,11,127,9.23,2.03,-4.47,0.000,4,0.225,0.056,2482,203,3521,0,0,0,0,0,0
$GC,369,-0.81,-155.7,104.4,-25.2,59,377,0.00,1.98,0.00,0.000,6,0.000,0.035,2473,1489,3523,0,0,0,0,0,0
$GC,697,-0.81,-155.7,178.1,-21.6,120,705,0.00,2.17,0.00,0.000,4,0.000,0.047,2461,2900,3526,0,0,0,0,0,0
$GC,886,-0.81,-155.7,213.8,-19.4,154,894,0.00,2.15,0.00,0.000,6,0.000,0.039,2463,1510,3526,0,0,0,0,0,0
$GC,1216,-0.81,-155.7,281.9,-18.6,200,1219,0.00,2.03,0.00,0.000,4,0.000,0.046,2463,190,3526,0,0,0,0,0,0
$GC,1306,-0.81,-155.7,299.3,-19.4,208,1310,0.00,2.00,0.00,0.000,6,0.000,0.037,2457,1530,3526,0,0,0,0,0,0
$GC,1636,-0.81,-155.7,360.7,-19.1,239,1640,0.00,2.03,0.00,0.000,4,0.000,0.046,2470,198,3525,0,0,0,0,0,0
$GC,1710,-0.81,-155.7,374.7,-19.3,245,1718,0.00,1.92,0.00,0.000,6,0.000,0.034,2465,1502,3525,0,0,0,0,0,0
$GC,2035,-0.81,-155.7,435.7,-18.3,276,2039,0.00,2.03,0.00,0.000,4,0.000,0.047,2466,192,3522,0,0,0,0,0,0
$GC,2161,-0.81,-155.7,460.1,-19.0,287,2165,0.00,1.95,0.00,0.000,6,0.000,0.036,2456,1508,3522,0,0,0,0,0,0
$GC,2492,-0.81,-155.7,514.4,-15.8,318,2494,0.12,0.00,0.00,0.000,6,0.186,0.000,2486,1509,3519,0,0,0,0,0,0
$GC,2810,-0.81,-155.7,557.8,-13.2,348,2814,0.00,2.05,0.00,0.000,4,0.000,0.049,2492,202,3517,0,0,0,0,0,0
$GC,2893,-0.81,-155.7,570.1,-14.7,355,2900,0.00,2.00,0.00,0.000,6,0.000,0.038,2486,1502,3517,0,0,0,0,0,0
$GC,3219,-0.81,-155.7,614.3,-13.1,381,3223,0.00,2.12,0.00,0.000,4,0.000,0.052,2474,2908,3513,0,0,0,0,0,0
$GC,3240,-0.81,-155.7,617.7,-12.8,382,3244,0.00,2.15,0.00,0.000,6,0.000,0.041,2474,1490,3513,0,0,0,0,0,0
$GC,3569,-0.81,-155.7,660.0,-12.7,398,3573,0.00,2.00,0.00,0.000,4,0.000,0.052,2472,186,3510,0,0,0,0,0,0
$GC,3640,-0.81,-155.7,670.9,-15.2,401,3645,0.00,2.03,0.00,0.000,6,0.000,0.040,2460,1502,3509,0,0,0,0,0,0
$GC,3968,-0.81,-155.7,716.3,-14.1,417,3972,0.00,2.03,0.00,0.000,4,0.000,0.052,2462,201,3506,0,0,0,0,0,0
$GC,4064,-0.81,-155.7,731.1,-15.7,421,4068,0.12,1.98,0.00,0.000,6,0.185,0.039,2484,1513,3505,0,0,0,0,0,0
$GC,4384,-0.81,-155.7,774.1,-14.0,437,4388,0.00,2.12,0.00,0.000,4,0.000,0.052,2475,2911,3502,0,0,0,0,0,0
$GC,4419,-0.81,-155.7,778.9,-13.8,438,4426,0.00,2.15,0.00,0.000,6,0.000,0.041,2477,1495,3501,0,0,0,0,0,0
$GC,4736,-0.81,-155.7,821.8,-12.9,454,4739,0.00,2.00,0.00,0.000,4,0.000,0.054,2478,202,3499,0,0,0,0,0,0
$GC,4875,-0.81,-155.7,841.9,-14.2,460,4879,0.00,2.00,0.00,0.000,6,0.000,0.041,2469,1496,3498,0,0,0,0,0,0
$GC,5204,-0.81,-155.7,882.2,-11.8,476,5208,0.00,2.17,0.00,0.000,4,0.000,0.054,2458,2907,3495,0,0,0,0,0,0
$GC,5237,-0.81,-155.7,886.6,-11.9,477,5245,0.00,2.15,0.00,0.000,6,0.000,0.043,2458,1491,3494,0,0,0,0,0,0
$GC,5555,-0.81,-155.7,926.3,-12.9,493,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1491,3492,0,0,0,0,0,0
$GC,5863,-0.81,-155.7,966.6,-13.2,508,5867,0.00,2.03,0.00,0.000,4,0.000,0.057,2458,188,3490,0,0,0,0,0,0
$STATE,6023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6024,begin apogee
$GC,6034,-0.18,0.0,990.7,14.8,515,6168,0.75,0.00,126.57,1.454,6,0.145,0.000,2678,1848,2884,0,0,0,0,0,0
$STATE,6169,end apogee,CONTROL_FINISHED_OK
$STATE,6169,begin climb
$GC,6171,0.81,155.7,996.3,0.0,521,6320,0.93,2.40,140.30,1.395,4,0.081,0.060,2998,3263,2248,0,0,0,0,0,0
$GC,6341,0.81,155.7,978.2,15.9,529,6346,0.00,2.30,0.00,0.000,6,0.000,0.044,3007,1849,2246,0,0,0,0,0,0
$GC,6665,0.81,155.7,923.0,17.1,545,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1848,2240,0,0,0,0,0,0
$GC,6973,0.81,155.7,869.2,16.9,560,6977,0.00,2.22,0.00,0.000,4,0.000,0.058,2999,3266,2237,0,0,0,0,0,0
$GC,7125,0.81,155.7,843.7,16.5,566,7131,0.00,2.20,0.00,0.000,6,0.000,0.041,3006,1838,2236,0,0,0,0,0,0
$GC,7443,0.81,155.7,788.9,17.9,582,7447,0.00,2.15,0.00,0.000,4,0.000,0.051,3011,441,2235,0,0,0,0,0,0
$GC,7505,0.81,155.7,776.8,18.9,585,7509,0.00,2.17,0.00,0.000,6,0.000,0.041,3005,1857,2234,0,0,0,0,0,0
$GC,7833,0.81,155.7,717.6,18.1,601,7837,0.00,2.15,0.00,0.000,4,0.000,0.054,3004,3251,2233,0,0,0,0,0,0
$GC,8037,0.81,155.7,680.4,17.4,610,8041,0.00,2.12,0.00,0.000,6,0.000,0.041,3013,1838,2232,0,0,0,0,0,0
$GC,8366,0.81,155.7,622.4,17.6,626,8370,0.00,2.20,0.00,0.000,4,0.000,0.054,3005,3254,2231,0,0,0,0,0,0
$GC,8433,0.81,155.7,610.6,16.5,629,8437,0.00,2.12,0.00,0.000,6,0.000,0.040,3013,1838,2231,0,0,0,0,0,0
$GC,8759,0.81,155.7,557.4,17.2,656,8763,0.00,2.20,0.00,0.000,4,0.000,0.052,3005,3266,2230,0,0,0,0,0,0
$GC,8872,0.81,155.7,537.1,16.3,666,8876,0.00,2.15,0.00,0.000,6,0.000,0.040,3016,1847,2230,0,0,0,0,0,0
$GC,9199,0.81,155.7,482.2,17.4,696,9203,0.00,2.15,0.00,0.000,4,0.000,0.051,3008,3254,2229,0,0,0,0,0,0
$GC,9352,0.81,155.7,456.2,16.1,709,9356,0.00,2.10,0.00,0.000,6,0.000,0.039,3017,1849,2228,0,0,0,0,0,0
$GC,9677,0.81,155.7,406.9,14.5,739,9681,0.00,2.17,0.00,0.000,4,0.000,0.050,3011,3255,2228,0,0,0,0,0,0
$GC,9763,0.81,155.7,394.9,13.5,746,9767,0.00,2.10,0.00,0.000,6,0.000,0.038,3021,1848,2228,0,0,0,0,0,0
$GC,10088,0.81,155.7,348.3,15.1,776,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1848,2227,0,0,0,0,0,0
$GC,10410,0.81,155.7,303.4,13.9,806,10414,0.00,2.17,0.00,0.000,4,0.000,0.049,3014,3263,2228,0,0,0,0,0,0
$GC,10577,0.81,155.7,279.4,13.9,820,10585,0.00,2.15,0.00,0.000,6,0.000,0.037,3022,1850,2227,0,0,0,0,0,0
$GC,10907,0.81,155.7,237.1,13.3,860,10915,0.00,2.17,0.00,0.000,4,0.000,0.047,3014,3254,2228,0,0,0,0,0,0
$GC,10975,0.81,155.7,228.1,12.4,872,10983,0.00,2.12,0.00,0.000,6,0.000,0.037,3022,1852,2228,0,0,0,0,0,0
$GC,11302,0.81,155.7,187.7,12.4,933,11311,0.00,2.17,0.00,0.000,4,0.000,0.046,3014,3249,2228,0,0,0,0,0,0
$GC,11429,0.81,155.7,172.0,11.6,956,11437,0.00,2.12,0.00,0.000,6,0.000,0.035,3022,1848,2228,0,0,0,0,0,0
$GC,11752,0.81,155.7,138.7,9.8,1017,11761,0.00,2.20,0.00,0.000,4,0.000,0.044,3014,3257,2228,0,0,0,0,0,0
$GC,11802,0.81,155.7,133.8,10.3,1025,11811,0.00,2.15,0.00,0.000,6,0.000,0.034,3021,1842,2228,0,0,0,0,0,0
$GC,12131,0.81,158.4,99.5,9.6,1086,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1842,2228,0,0,0,0,0,0
$GC,12461,0.92,245.0,75.7,6.1,1147,12544,0.00,2.25,71.72,0.726,4,0.000,0.044,3033,440,1883,0,0,0,0,0,0
$GC,12689,1.00,315.4,58.0,6.8,1185,12758,0.10,2.17,59.58,0.691,6,0.054,0.031,3094,1859,1597,0,0,0,0,0,0
$GC,13081,1.00,315.4,13.0,13.4,1254,13089,0.00,2.15,0.00,0.000,4,0.000,0.044,3089,3242,1593,0,0,0,0,0,0
$GC,13123,1.00,315.4,5.5,17.0,1261,13132,0.00,2.12,0.00,0.000,6,0.000,0.032,3097,1850,1593,0,0,0,0,0,0
$STATE,13137,end climb,SURFACE_DEPTH_REACHED
$STATE,13138,begin surface coast
$FINISH,0.9,1.021517
$STATE,13155,end surface coast,CONTROL_FINISHED_OK
$STATE,13155,begin surface
$SM_CCo,13175,56.45,0.489,1,0,1252,400.08
$SM_GC,1.86,0.00,0.00,56.45,0.000,0.000,0.489,127,1483,1252,-8.10,-0.48,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2239.35,12351.13,280811,131327
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.03
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.50
$XPDR_PINGS,72
$24V_AH,23.3,32.879
$10V_AH,10.2,22.594
$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,18.950,115.275,398.175,56.450,0.000,34.838,25.665,361.693,18.000,0.000,37.761,3156.527,6280.565,530.816,3465.908,395.648,0.000,1763.480,0.000,3017.332,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,59.670,1453.500,488.835,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.463,1295.761,1620.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330224
$DATA_FILE_SIZE,73594,1266
$CAP_FILE_SIZE,140632,0
$CFSIZE,260165632,135696384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,297.3,1
$GPS,280811,204224,2243.836,12353.903,42,1.8,42,-3.1