version: 66.09
glider: 166
mission: 6
dive: 133
start: 8 28 111 20 49 48
data:
$ID,166
$MISSION,6
$DIVE,133
$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,-24560.164
$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,57
$R_STBD_OVSHOOT,46
$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
$GPS1,280811,204224,2243.836,12353.903,42,1.8,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.8
$GPS2,280811,204922,2243.811,12353.896,16,99.0,35,-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,172.9,137101,-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,-74.10,0.000,2,0.000,0.000,113,1484,3036,0,0,0,0,0,0
$GC,96,-0.81,-155.7,5.3,-7.8,10,119,9.12,0.00,-9.62,0.000,6,0.220,0.000,2477,1481,3521,0,0,0,0,0,0
$GC,437,-0.81,-155.7,121.8,-22.2,73,446,0.00,1.98,0.00,0.000,4,0.000,0.045,2473,225,3525,0,0,0,0,0,0
$GC,587,-0.81,-155.7,157.5,-24.6,100,596,0.00,1.95,0.00,0.000,6,0.000,0.036,2465,1495,3526,0,0,0,0,0,0
$GC,916,-0.81,-155.7,229.1,-21.1,161,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1496,3527,0,0,0,0,0,0
$GC,1245,-0.81,-155.7,295.0,-19.7,201,1248,0.00,1.98,0.00,0.000,4,0.000,0.047,2465,222,3527,0,0,0,0,0,0
$GC,1340,-0.81,-155.7,315.5,-20.6,209,1348,0.00,1.90,0.00,0.000,6,0.000,0.035,2456,1503,3527,0,0,0,0,0,0
$GC,1665,-0.81,-155.7,378.1,-19.0,240,1669,0.00,2.00,0.00,0.000,4,0.000,0.047,2469,217,3527,0,0,0,0,0,0
$GC,1700,-0.81,-155.7,384.6,-18.9,243,1704,0.00,1.90,0.00,0.000,6,0.000,0.036,2461,1500,3527,0,0,0,0,0,0
$GC,2031,-0.81,-155.7,446.0,-18.9,274,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1501,3525,0,0,0,0,0,0
$GC,2353,-0.81,-155.7,499.7,-17.2,304,2356,0.00,2.00,0.00,0.000,4,0.000,0.049,2468,217,3523,0,0,0,0,0,0
$GC,2443,-0.81,-155.7,515.7,-16.9,312,2447,0.00,1.90,0.00,0.000,6,0.000,0.036,2458,1503,3523,0,0,0,0,0,0
$GC,2774,-0.81,-155.7,571.8,-16.4,343,2778,0.00,1.98,0.00,0.000,4,0.000,0.050,2458,227,3520,0,0,0,0,0,0
$GC,2834,-0.81,-155.7,583.3,-18.4,348,2842,0.10,1.92,0.00,0.000,6,0.158,0.038,2480,1488,3520,0,0,0,0,0,0
$GC,3155,-0.81,-155.7,630.8,-14.2,369,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1488,3517,0,0,0,0,0,0
$GC,3465,-0.81,-155.7,672.6,-13.6,384,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1490,3514,0,0,0,0,0,0
$GC,3772,-0.81,-155.7,712.6,-12.2,399,3776,0.00,2.00,0.00,0.000,4,0.000,0.056,2477,228,3511,0,0,0,0,0,0
$GC,3891,-0.81,-155.7,728.3,-13.0,404,3894,0.00,1.92,0.00,0.000,6,0.000,0.041,2467,1502,3510,0,0,0,0,0,0
$GC,4218,-0.81,-155.7,767.6,-12.3,420,4222,0.00,2.15,0.00,0.000,4,0.000,0.054,2462,2904,3507,0,0,0,0,0,0
$GC,4245,-0.81,-155.7,771.1,-12.5,421,4249,0.00,2.12,0.00,0.000,6,0.000,0.041,2462,1520,3506,0,0,0,0,0,0
$GC,4568,-0.81,-155.7,813.3,-13.5,437,4571,0.00,2.05,0.00,0.000,4,0.000,0.054,2462,196,3503,0,0,0,0,0,0
$GC,4668,-0.81,-155.7,829.0,-15.4,441,4673,0.08,2.03,0.00,0.000,6,0.165,0.042,2485,1500,3503,0,0,0,0,0,0
$GC,4992,-0.81,-155.7,868.2,-11.9,457,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1500,3500,0,0,0,0,0,0
$GC,5299,-0.81,-155.7,902.2,-10.5,472,5303,0.00,2.20,0.00,0.000,4,0.000,0.057,2476,2915,3498,0,0,0,0,0,0
$GC,5365,-0.81,-155.7,909.1,-10.0,475,5369,0.00,2.15,0.00,0.000,6,0.000,0.045,2476,1495,3497,0,0,0,0,0,0
$GC,5694,-0.81,-155.7,942.5,-10.2,491,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1496,3495,0,0,0,0,0,0
$GC,6002,-0.81,-155.7,977.2,-11.7,506,6006,0.00,2.03,0.00,0.000,4,0.000,0.057,2476,198,3493,0,0,0,0,0,0
$STATE,6096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6096,begin apogee
$GC,6106,-0.18,0.0,990.4,13.9,510,6240,0.70,0.00,127.75,1.455,6,0.142,0.000,2681,1847,2884,0,0,0,0,0,0
$STATE,6241,end apogee,CONTROL_FINISHED_OK
$STATE,6241,begin climb
$GC,6243,0.81,155.7,995.0,0.0,516,6392,0.93,0.00,141.02,1.394,6,0.079,0.000,3001,1848,2249,0,0,0,0,0,0
$GC,6688,0.81,155.7,925.3,19.0,538,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1848,2240,0,0,0,0,0,0
$GC,6997,0.81,155.7,866.8,18.5,553,7001,0.00,2.22,0.00,0.000,4,0.000,0.060,2994,3263,2238,0,0,0,0,0,0
$GC,7134,0.81,155.7,841.8,19.1,559,7138,0.00,2.17,0.00,0.000,6,0.000,0.044,3001,1844,2236,0,0,0,0,0,0
$GC,7466,0.81,155.7,779.9,18.7,575,7470,0.00,2.17,0.00,0.000,4,0.000,0.054,3011,438,2235,0,0,0,0,0,0
$GC,7511,0.81,155.7,771.4,19.3,577,7515,0.00,2.17,0.00,0.000,6,0.000,0.045,3001,1857,2235,0,0,0,0,0,0
$GC,7833,0.81,155.7,714.0,17.6,593,7837,0.00,2.17,0.00,0.000,4,0.000,0.059,2996,3267,2233,0,0,0,0,0,0
$GC,7968,0.81,155.7,690.5,17.0,599,7972,0.00,2.17,0.00,0.000,6,0.000,0.043,3009,1849,2233,0,0,0,0,0,0
$GC,8290,0.81,155.7,639.1,16.0,615,8294,0.00,2.20,0.00,0.000,4,0.000,0.056,2999,3263,2232,0,0,0,0,0,0
$GC,8367,0.81,155.7,626.1,16.1,618,8371,0.00,2.17,0.00,0.000,6,0.000,0.041,3009,1848,2232,0,0,0,0,0,0
$GC,8695,0.81,155.7,574.5,15.8,641,8699,0.00,2.22,0.00,0.000,4,0.000,0.055,2998,3267,2231,0,0,0,0,0,0
$GC,8759,0.81,155.7,563.1,17.9,646,8763,0.00,2.15,0.00,0.000,6,0.000,0.041,3010,1844,2231,0,0,0,0,0,0
$GC,9084,0.81,155.7,509.9,17.0,676,9088,0.00,2.22,0.00,0.000,4,0.000,0.054,3000,3269,2230,0,0,0,0,0,0
$GC,9191,0.81,155.7,493.1,15.1,685,9195,0.00,2.15,0.00,0.000,6,0.000,0.041,3011,1836,2230,0,0,0,0,0,0
$GC,9516,0.81,155.7,443.4,13.9,715,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1836,2230,0,0,0,0,0,0
$GC,9836,0.81,155.7,400.9,12.4,745,9840,0.00,2.25,0.00,0.000,4,0.000,0.053,3003,3267,2229,0,0,0,0,0,0
$GC,9881,0.81,155.7,395.1,12.1,748,9888,0.00,2.15,0.00,0.000,6,0.000,0.038,3011,1850,2229,0,0,0,0,0,0
$GC,10206,0.81,155.7,356.6,12.7,779,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1850,2229,0,0,0,0,0,0
$GC,10528,0.81,155.7,314.0,12.4,809,10532,0.00,2.22,0.00,0.000,4,0.000,0.051,3005,3268,2229,0,0,0,0,0,0
$GC,10591,0.81,155.7,305.7,12.8,814,10595,0.00,2.15,0.00,0.000,6,0.000,0.037,3014,1836,2229,0,0,0,0,0,0
$GC,10923,0.81,155.7,264.4,13.1,845,10927,0.00,2.22,0.00,0.000,4,0.000,0.050,3005,3267,2229,0,0,0,0,0,0
$GC,10984,0.81,155.7,256.3,12.8,850,10988,0.00,2.12,0.00,0.000,6,0.000,0.037,3014,1844,2229,0,0,0,0,0,0
$GC,11307,0.81,155.7,218.5,10.7,906,11315,0.00,2.22,0.00,0.000,4,0.000,0.050,3005,3267,2229,0,0,0,0,0,0
$GC,11398,0.81,155.7,208.5,11.0,922,11406,0.00,2.15,0.00,0.000,6,0.000,0.037,3013,1851,2229,0,0,0,0,0,0
$GC,11722,0.81,157.0,174.2,9.7,983,11730,0.00,2.20,0.00,0.000,4,0.000,0.048,3004,3262,2229,0,0,0,0,0,0
$GC,11812,0.83,172.5,165.8,9.1,999,11836,0.00,2.15,12.82,0.741,6,0.000,0.036,3012,1846,2180,0,0,0,0,0,0
$GC,12156,0.83,172.5,131.9,11.2,1062,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1846,2179,0,0,0,0,0,0
$GC,12481,0.89,221.2,99.9,7.7,1123,12535,0.00,2.28,41.83,0.734,4,0.000,0.046,3005,3260,1981,0,0,0,0,0,0
$GC,12564,0.89,221.2,91.8,10.1,1135,12572,0.00,2.20,0.00,0.000,6,0.000,0.035,3014,1849,1981,0,0,0,0,0,0
$GC,12892,0.98,299.9,64.9,6.4,1196,12970,0.12,2.28,66.30,0.696,4,0.090,0.044,3098,436,1660,0,0,0,0,0,0
$GC,13007,0.98,299.9,54.1,11.2,1212,13016,0.10,2.20,0.00,0.000,6,0.140,0.032,3062,1856,1658,0,0,0,0,0,0
$GC,13334,1.02,332.8,23.9,8.3,1273,13365,0.00,0.00,27.88,0.636,6,0.000,0.000,3062,1859,1526,0,0,0,0,0,0
$STATE,13534,end climb,SURFACE_DEPTH_REACHED
$STATE,13534,begin surface coast
$FINISH,1.2,1.021498
$STATE,13557,end surface coast,CONTROL_FINISHED_OK
$STATE,13557,begin surface
$SM_CCo,13574,48.55,0.454,1,0,1252,400.08
$SM_GC,1.83,0.00,0.00,48.55,0.000,0.000,0.454,126,1489,1252,-8.18,-0.31,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2239.35,12353.07,280811,161619
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.77
$INTERNAL_PRESSURE,9.46784
$TCM_TEMP,26.30
$XPDR_PINGS,66
$24V_AH,23.3,33.038
$10V_AH,10.2,22.748
$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,18.675,98.325,417.600,48.550,0.000,28.381,21.169,194.807,16.500,0.000,37.577,3254.502,6588.151,523.124,3285.525,387.823,0.000,1729.951,0.000,3024.274,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,60.435,1455.030,454.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.688,1343.967,1696.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330232
$DATA_FILE_SIZE,73504,1313
$CAP_FILE_SIZE,138438,0
$CFSIZE,260165632,135618560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,227.8,1
$GPS,290811,003838,2241.331,12353.827,63,1.6,63,-3.1