version: 66.09
glider: 166
mission: 6
dive: 135
start: 8 29 111 4 59 29
data:
$ID,166
$MISSION,6
$DIVE,135
$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,-24564.145
$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,51
$R_STBD_OVSHOOT,55
$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
$GPS1,290811,043937,2239.361,12353.497,33,1.4,33,-3.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.5
$GPS2,290811,045906,2239.402,12353.161,52,1.5,62,-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,132.9,129072,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.81,-155.7,0.0,0.0,0,98,0.00,0.00,-77.55,0.000,2,0.000,0.000,125,1483,3179,0,0,0,0,0,0
$GC,101,-0.81,-155.7,6.0,-9.3,11,126,9.20,2.15,-6.60,0.000,4,0.224,0.050,2465,2904,3520,0,0,0,0,0,0
$GC,199,-0.81,-155.7,45.6,-28.3,27,207,0.00,2.15,0.00,0.000,6,0.000,0.037,2464,1518,3521,0,0,0,0,0,0
$GC,526,-0.81,-155.7,127.8,-22.4,88,534,0.00,2.05,0.00,0.000,4,0.000,0.047,2462,207,3523,0,0,0,0,0,0
$GC,726,-0.81,-155.7,175.8,-24.6,124,734,0.08,1.95,0.00,0.000,6,0.168,0.037,2478,1478,3523,0,0,0,0,0,0
$GC,1054,-0.81,-155.7,242.4,-18.3,185,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1480,3523,0,0,0,0,0,0
$GC,1386,-0.81,-155.7,301.4,-17.6,220,1390,0.00,1.98,0.00,0.000,4,0.000,0.047,2479,204,3523,0,0,0,0,0,0
$GC,1481,-0.81,-155.7,318.4,-16.9,228,1488,0.00,1.98,0.00,0.000,6,0.000,0.037,2473,1501,3522,0,0,0,0,0,0
$GC,1808,-0.81,-155.7,371.6,-14.5,259,1812,0.00,2.03,0.00,0.000,4,0.000,0.047,2482,198,3521,0,0,0,0,0,0
$GC,1846,-0.81,-155.7,378.0,-16.0,262,1853,0.00,1.98,0.00,0.000,6,0.000,0.036,2473,1499,3520,0,0,0,0,0,0
$GC,2171,-0.81,-155.7,429.3,-15.1,293,2175,0.00,2.03,0.00,0.000,4,0.000,0.047,2479,197,3518,0,0,0,0,0,0
$GC,2262,-0.81,-155.7,445.4,-18.3,301,2266,0.00,1.98,0.00,0.000,6,0.000,0.037,2470,1503,3517,0,0,0,0,0,0
$GC,2593,-0.81,-155.7,498.5,-15.6,332,2596,0.00,2.03,0.00,0.000,4,0.000,0.048,2472,196,3515,0,0,0,0,0,0
$GC,2651,-0.81,-155.7,508.1,-17.3,337,2655,0.00,1.98,0.00,0.000,6,0.000,0.037,2462,1506,3514,0,0,0,0,0,0
$GC,2981,-0.81,-155.7,560.0,-14.3,368,2985,0.00,2.00,0.00,0.000,4,0.000,0.049,2463,199,3511,0,0,0,0,0,0
$GC,3131,-0.81,-155.7,584.3,-15.5,381,3140,0.08,1.98,0.00,0.000,6,0.164,0.038,2478,1490,3509,0,0,0,0,0,0
$GC,3465,-0.81,-155.7,627.6,-12.8,403,3468,0.00,2.00,0.00,0.000,4,0.000,0.050,2477,202,3506,0,0,0,0,0,0
$GC,3559,-0.81,-155.7,642.1,-14.8,407,3564,0.00,2.00,0.00,0.000,6,0.000,0.040,2469,1502,3505,0,0,0,0,0,0
$GC,3889,-0.81,-155.7,687.4,-13.6,423,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1503,3502,0,0,0,0,0,0
$GC,4197,-0.81,-155.7,730.8,-14.0,438,4201,0.00,2.03,0.00,0.000,4,0.000,0.054,2470,206,3499,0,0,0,0,0,0
$GC,4246,-0.81,-155.7,738.4,-14.8,440,4251,0.00,2.00,0.00,0.000,6,0.000,0.041,2460,1499,3498,0,0,0,0,0,0
$GC,4576,-0.81,-155.7,786.7,-14.7,456,4579,0.00,2.03,0.00,0.000,4,0.000,0.052,2460,199,3496,0,0,0,0,0,0
$GC,4608,-0.81,-155.7,792.4,-16.2,457,4613,0.08,2.00,0.00,0.000,6,0.161,0.041,2490,1492,3495,0,0,0,0,0,0
$GC,4930,-0.81,-155.7,832.0,-12.0,473,4934,0.00,2.20,0.00,0.000,4,0.000,0.055,2481,2913,3492,0,0,0,0,0,0
$GC,4970,-0.81,-155.7,836.5,-11.2,474,4977,0.00,2.15,0.00,0.000,6,0.000,0.042,2481,1501,3492,0,0,0,0,0,0
$GC,5286,-0.81,-155.7,872.7,-11.6,490,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1501,3490,0,0,0,0,0,0
$GC,5595,-0.81,-155.7,907.7,-11.1,505,5598,0.00,2.03,0.00,0.000,4,0.000,0.057,2481,199,3488,0,0,0,0,0,0
$GC,5808,-0.81,-155.7,933.0,-11.7,514,5813,0.00,2.03,0.00,0.000,6,0.000,0.044,2471,1505,3486,0,0,0,0,0,0
$GC,6133,-0.81,-155.7,967.4,-10.6,530,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1506,3483,0,0,0,0,0,0
$STATE,6355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6355,begin apogee
$GC,6361,-0.18,0.0,991.6,10.6,541,6492,0.68,0.00,124.95,1.455,6,0.138,0.000,2678,1856,2884,0,0,0,0,0,0
$STATE,6493,end apogee,CONTROL_FINISHED_OK
$STATE,6493,begin climb
$GC,6497,0.81,155.7,993.6,0.0,547,6647,0.93,2.35,139.62,1.393,4,0.076,0.060,2998,3246,2248,0,0,0,0,0,0
$GC,6741,0.81,155.7,958.5,19.2,558,6745,0.00,2.20,0.00,0.000,6,0.000,0.044,3007,1854,2242,0,0,0,0,0,0
$GC,7074,0.81,155.7,896.9,17.5,574,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1854,2238,0,0,0,0,0,0
$GC,7382,0.81,155.7,842.4,17.8,589,7386,0.00,2.22,0.00,0.000,4,0.000,0.060,3000,3254,2237,0,0,0,0,0,0
$GC,7428,0.81,155.7,834.0,18.5,591,7432,0.00,2.17,0.00,0.000,6,0.000,0.044,3008,1842,2236,0,0,0,0,0,0
$GC,7754,0.81,155.7,774.7,18.6,607,7759,0.00,2.22,0.00,0.000,4,0.000,0.058,3000,3251,2234,0,0,0,0,0,0
$GC,7868,0.81,155.7,753.8,17.5,612,7872,0.00,2.15,0.00,0.000,6,0.000,0.043,3010,1851,2233,0,0,0,0,0,0
$GC,8189,0.81,155.7,695.9,17.6,628,8193,0.00,2.20,0.00,0.000,4,0.000,0.057,3003,3251,2232,0,0,0,0,0,0
$GC,8244,0.81,155.7,686.0,17.5,630,8251,0.00,2.15,0.00,0.000,6,0.000,0.042,3012,1842,2232,0,0,0,0,0,0
$GC,8562,0.81,155.7,633.1,16.6,646,8566,0.00,2.22,0.00,0.000,4,0.000,0.057,3008,3258,2231,0,0,0,0,0,0
$GC,8584,0.81,155.7,628.8,16.5,647,8588,0.00,2.17,0.00,0.000,6,0.000,0.042,3017,1850,2231,0,0,0,0,0,0
$GC,8907,0.81,155.7,572.4,17.9,669,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1850,2231,0,0,0,0,0,0
$GC,9226,0.81,155.7,515.4,16.7,699,9230,0.00,2.17,0.00,0.000,4,0.000,0.050,3029,436,2230,0,0,0,0,0,0
$GC,9254,0.81,155.7,510.3,16.9,701,9258,0.00,2.17,0.00,0.000,6,0.000,0.041,3023,1861,2229,0,0,0,0,0,0
$GC,9579,0.81,155.7,457.5,15.2,731,9583,0.00,2.15,0.00,0.000,4,0.000,0.054,3015,3257,2229,0,0,0,0,0,0
$GC,9688,0.81,155.7,441.9,14.3,740,9692,0.00,2.15,0.00,0.000,6,0.000,0.040,3024,1833,2228,0,0,0,0,0,0
$GC,10013,0.81,155.7,391.3,16.6,770,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1832,2228,0,0,0,0,0,0
$GC,10333,0.81,155.7,339.6,15.7,800,10337,0.00,2.20,0.00,0.000,4,0.000,0.053,3021,3251,2228,0,0,0,0,0,0
$GC,10400,0.81,155.7,329.5,15.1,805,10408,0.00,2.12,0.00,0.000,6,0.000,0.038,3029,1845,2228,0,0,0,0,0,0
$GC,10725,0.81,155.7,283.8,12.7,836,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1845,2228,0,0,0,0,0,0
$GC,11047,0.81,155.7,240.7,14.8,871,11055,0.00,2.17,0.00,0.000,4,0.000,0.047,3040,434,2228,0,0,0,0,0,0
$GC,11110,0.81,155.7,231.8,14.6,882,11118,0.00,2.17,0.00,0.000,6,0.000,0.038,3032,1861,2228,0,0,0,0,0,0
$GC,11436,0.81,155.7,188.1,13.1,943,11444,0.00,2.15,0.00,0.000,4,0.000,0.050,3022,3249,2228,0,0,0,0,0,0
$GC,11551,0.81,155.7,173.5,12.4,964,11559,0.00,2.12,0.00,0.000,6,0.000,0.037,3030,1852,2228,0,0,0,0,0,0
$GC,11878,0.81,155.7,136.4,11.0,1025,11887,0.00,2.17,0.00,0.000,4,0.000,0.045,3041,441,2228,0,0,0,0,0,0
$GC,11986,0.81,155.7,124.1,12.1,1044,11994,0.08,2.15,0.00,0.000,6,0.163,0.036,3009,1854,2228,0,0,0,0,0,0
$GC,12315,0.93,256.3,94.6,5.5,1105,12405,0.10,2.20,80.90,0.748,4,0.104,0.045,3055,3252,1839,0,0,0,0,0,0
$GC,12427,0.93,256.3,85.3,10.2,1120,12435,0.00,2.20,0.00,0.000,6,0.000,0.034,3063,1849,1838,0,0,0,0,0,0
$GC,12753,0.93,256.3,55.4,9.9,1181,12761,0.00,2.22,0.00,0.000,4,0.000,0.045,3055,3256,1834,0,0,0,0,0,0
$GC,13002,1.01,317.9,31.9,7.1,1227,13062,0.00,2.15,51.92,0.668,6,0.000,0.034,3063,1846,1587,0,0,0,0,0,0
$STATE,13288,end climb,SURFACE_DEPTH_REACHED
$STATE,13288,begin surface coast
$FINISH,1.0,0.998726
$STATE,13313,end surface coast,CONTROL_FINISHED_OK
$STATE,13313,begin surface
$SM_CCo,13330,54.47,0.483,1,0,1251,400.08
$SM_GC,1.88,0.00,0.00,54.47,0.000,0.000,0.483,138,1486,1251,-8.15,-0.40,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2227.67,12352.41,290811,040440
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.76
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.90
$XPDR_PINGS,83
$24V_AH,23.4,33.398
$10V_AH,10.2,23.057
$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,18.625,106.475,397.400,54.475,0.000,123.406,120.679,478.438,20.750,0.000,62.878,3172.408,6677.761,523.197,3774.508,400.574,0.000,1714.666,0.000,2956.370,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,59.670,1455.030,482.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.824,1312.968,1638.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73529,1282
$CAP_FILE_SIZE,142479,0
$CFSIZE,260165632,135458816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.184,280.5,1
$GPS,290811,084401,2238.799,12353.555,42,1.7,42,-3.1