version: 66.09
glider: 166
mission: 6
dive: 121
start: 8 26 111 22 44 29
data:
$ID,166
$MISSION,6
$DIVE,121
$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,-24542.25
$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,56
$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
$GPS1,260811,222207,2254.760,12349.718,27,1.8,27,-3.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-65.8
$GPS2,260811,224406,2254.931,12349.355,35,1.5,45,-3.2
$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,159.1,158358,-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,19,-0.81,-155.7,0.0,0.0,0,131,0.00,0.00,-109.47,0.000,2,0.000,0.000,152,1473,3111,0,0,0,0,0,0
$GC,136,-0.81,-155.7,5.5,-8.4,15,161,9.10,1.92,-7.80,0.000,4,0.222,0.054,2471,208,3521,0,0,0,0,0,0
$GC,243,-0.81,-155.7,54.3,-39.6,33,252,0.00,1.98,0.00,0.000,6,0.000,0.037,2461,1493,3522,0,0,0,0,0,0
$GC,570,-0.81,-155.7,142.8,-26.9,94,578,0.00,2.00,0.00,0.000,4,0.000,0.045,2465,218,3523,0,0,0,0,0,0
$GC,782,-0.81,-155.7,195.1,-22.7,132,790,0.00,1.95,0.00,0.000,6,0.000,0.034,2457,1501,3523,0,0,0,0,0,0
$GC,1110,-0.81,-155.7,265.4,-19.4,186,1113,0.00,1.98,0.00,0.000,4,0.000,0.044,2466,222,3523,0,0,0,0,0,0
$GC,1145,-0.81,-155.7,272.3,-19.4,189,1149,0.00,1.92,0.00,0.000,6,0.000,0.035,2458,1507,3522,0,0,0,0,0,0
$GC,1476,-0.81,-155.7,338.2,-21.1,220,1479,0.00,2.00,0.00,0.000,4,0.000,0.047,2466,215,3521,0,0,0,0,0,0
$GC,1596,-0.81,-155.7,363.6,-21.2,230,1602,0.00,1.90,0.00,0.000,6,0.000,0.035,2458,1502,3520,0,0,0,0,0,0
$GC,1921,-0.81,-155.7,421.5,-17.0,261,1924,0.00,1.98,0.00,0.000,4,0.000,0.048,2475,223,3518,0,0,0,0,0,0
$GC,2001,-0.81,-155.7,435.4,-17.8,268,2005,0.00,1.90,0.00,0.000,6,0.000,0.036,2465,1507,3517,0,0,0,0,0,0
$GC,2332,-0.81,-155.7,497.2,-18.7,299,2336,0.00,2.00,0.00,0.000,4,0.000,0.048,2466,214,3514,0,0,0,0,0,0
$GC,2383,-0.81,-155.7,507.3,-19.3,303,2389,0.00,1.92,0.00,0.000,6,0.000,0.037,2456,1514,3513,0,0,0,0,0,0
$GC,2708,-0.81,-155.7,563.7,-15.3,334,2713,0.12,2.00,0.00,0.000,4,0.187,0.049,2498,217,3510,0,0,0,0,0,0
$GC,2826,-0.81,-155.7,579.4,-12.2,344,2833,0.00,1.92,0.00,0.000,6,0.000,0.037,2489,1499,3510,0,0,0,0,0,0
$GC,3162,-0.81,-155.7,612.5,-9.6,370,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1500,3506,0,0,0,0,0,0
$GC,3469,-0.81,-155.7,645.0,-11.5,385,3473,0.00,2.03,0.00,0.000,4,0.000,0.053,2486,217,3503,0,0,0,0,0,0
$GC,3537,-0.81,-155.7,654.0,-13.4,388,3541,0.00,1.95,0.00,0.000,6,0.000,0.040,2475,1490,3502,0,0,0,0,0,0
$GC,3870,-0.81,-155.7,701.5,-14.8,404,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1491,3498,0,0,0,0,0,0
$GC,4181,-0.81,-155.7,744.8,-12.8,419,4185,0.00,2.17,0.00,0.000,4,0.000,0.060,2463,2910,3495,0,0,0,0,0,0
$GC,4219,-0.81,-155.7,749.6,-12.0,420,4226,0.00,2.12,0.00,0.000,6,0.000,0.041,2462,1508,3495,0,0,0,0,0,0
$GC,4535,-0.81,-155.7,785.6,-11.6,436,4539,0.00,2.03,0.00,0.000,4,0.000,0.055,2460,196,3491,0,0,0,0,0,0
$GC,4719,-0.81,-155.7,809.0,-12.8,444,4724,0.08,2.03,0.00,0.000,6,0.170,0.042,2478,1503,3490,0,0,0,0,0,0
$GC,5048,-0.81,-155.7,844.6,-11.3,460,5052,0.00,2.03,0.00,0.000,4,0.000,0.054,2487,203,3487,0,0,0,0,0,0
$GC,5109,-0.81,-155.7,852.7,-13.3,462,5116,0.00,2.00,0.00,0.000,6,0.000,0.043,2480,1496,3486,0,0,0,0,0,0
$GC,5425,-0.81,-155.7,894.4,-13.2,478,5429,0.00,2.03,0.00,0.000,4,0.000,0.054,2480,195,3483,0,0,0,0,0,0
$GC,5449,-0.81,-155.7,897.7,-12.6,479,5452,0.00,1.98,0.00,0.000,6,0.000,0.043,2470,1502,3483,0,0,0,0,0,0
$GC,5783,-0.81,-155.7,944.1,-13.7,495,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1504,3480,0,0,0,0,0,0
$GC,6091,-0.81,-155.7,983.6,-12.3,510,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1504,3478,0,0,0,0,0,0
$STATE,6150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6150,begin apogee
$GC,6158,-0.18,0.0,990.9,11.9,513,6289,0.68,0.00,124.05,1.449,6,0.141,0.000,2680,1853,2883,0,0,0,0,0,0
$STATE,6290,end apogee,CONTROL_FINISHED_OK
$STATE,6290,begin climb
$GC,6292,0.81,155.7,993.8,0.0,519,6445,0.93,2.40,140.45,1.387,4,0.080,0.061,2995,3240,2248,0,0,0,0,0,0
$GC,6456,0.81,155.7,973.1,17.9,526,6460,0.00,2.25,0.00,0.000,6,0.000,0.045,3003,1856,2246,0,0,0,0,0,0
$GC,6780,0.81,155.7,911.7,19.6,542,6784,0.00,2.22,0.00,0.000,4,0.000,0.060,2996,3261,2240,0,0,0,0,0,0
$GC,6893,0.81,155.7,888.5,19.7,547,6898,0.00,2.17,0.00,0.000,6,0.000,0.045,3003,1840,2238,0,0,0,0,0,0
$GC,7220,0.81,155.7,827.1,18.2,563,7224,0.00,2.22,0.00,0.000,4,0.000,0.058,2989,3263,2236,0,0,0,0,0,0
$GC,7245,0.81,155.7,822.9,18.2,564,7249,0.00,2.15,0.00,0.000,6,0.000,0.044,2999,1849,2236,0,0,0,0,0,0
$GC,7572,0.81,155.7,768.4,15.8,580,7577,0.00,2.17,0.00,0.000,4,0.000,0.053,3008,431,2234,0,0,0,0,0,0
$GC,7613,0.81,155.7,761.6,17.3,582,7617,0.00,2.20,0.00,0.000,6,0.000,0.044,3000,1851,2233,0,0,0,0,0,0
$GC,7942,0.81,155.7,708.2,16.5,598,7946,0.00,2.17,0.00,0.000,4,0.000,0.057,2997,3260,2232,0,0,0,0,0,0
$GC,8002,0.81,155.7,697.2,17.0,600,8009,0.00,2.12,0.00,0.000,6,0.000,0.043,3006,1847,2231,0,0,0,0,0,0
$GC,8320,0.81,155.7,639.2,19.5,616,8324,0.00,2.20,0.00,0.000,4,0.000,0.056,2997,3263,2231,0,0,0,0,0,0
$GC,8489,0.81,155.7,603.9,20.3,623,8493,0.00,2.12,0.00,0.000,6,0.000,0.041,3007,1842,2230,0,0,0,0,0,0
$GC,8814,0.81,155.7,540.6,18.9,652,8818,0.00,2.20,0.00,0.000,4,0.000,0.053,2998,3264,2229,0,0,0,0,0,0
$GC,8909,0.81,155.7,522.9,17.2,660,8913,0.00,2.15,0.00,0.000,6,0.000,0.040,3009,1839,2229,0,0,0,0,0,0
$GC,9235,0.81,155.7,479.5,11.2,690,9239,0.00,2.20,0.00,0.000,4,0.000,0.051,3002,3264,2228,0,0,0,0,0,0
$GC,9333,0.81,155.7,467.6,12.9,698,9337,0.00,2.15,0.00,0.000,6,0.000,0.039,3011,1840,2228,0,0,0,0,0,0
$GC,9659,0.81,155.7,424.7,14.6,728,9663,0.00,2.10,0.00,0.000,4,0.000,0.049,3024,443,2228,0,0,0,0,0,0
$GC,9676,0.81,155.7,421.9,14.8,729,9680,0.00,2.15,0.00,0.000,6,0.000,0.037,3015,1860,2228,0,0,0,0,0,0
$GC,10003,0.81,155.7,371.2,15.6,759,10007,0.00,2.15,0.00,0.000,4,0.000,0.050,3008,3272,2227,0,0,0,0,0,0
$GC,10124,0.81,155.7,351.8,15.7,769,10132,0.00,2.15,0.00,0.000,6,0.000,0.037,3017,1850,2227,0,0,0,0,0,0
$GC,10450,0.81,155.7,307.8,13.6,800,10454,0.00,2.12,0.00,0.000,4,0.000,0.046,3028,436,2227,0,0,0,0,0,0
$GC,10482,0.81,155.7,302.9,14.6,802,10489,0.00,2.17,0.00,0.000,6,0.000,0.037,3019,1859,2227,0,0,0,0,0,0
$GC,10811,0.81,155.7,256.4,13.9,833,10815,0.00,2.12,0.00,0.000,4,0.000,0.050,3009,3257,2227,0,0,0,0,0,0
$GC,11011,0.81,155.7,228.7,13.0,865,11020,0.00,2.12,0.00,0.000,6,0.000,0.037,3018,1852,2227,0,0,0,0,0,0
$GC,11339,0.81,155.7,188.6,12.4,926,11347,0.00,2.15,0.00,0.000,4,0.000,0.047,3029,445,2227,0,0,0,0,0,0
$GC,11477,0.81,155.7,171.2,13.2,951,11485,0.00,2.15,0.00,0.000,6,0.000,0.036,3021,1857,2227,0,0,0,0,0,0
$GC,11802,0.84,180.6,137.9,8.7,1012,11826,0.00,2.20,19.12,0.757,4,0.000,0.047,3021,3267,2147,0,0,0,0,0,0
$GC,11860,0.86,201.5,132.6,8.8,1021,11885,0.00,2.15,19.27,0.744,6,0.000,0.034,3029,1849,2061,0,0,0,0,0,0
$GC,12205,0.86,201.5,91.3,10.3,1084,12213,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1848,2059,0,0,0,0,0,0
$GC,12534,0.98,298.7,62.9,5.6,1145,12623,0.00,2.28,79.47,0.705,4,0.000,0.045,3040,444,1664,0,0,0,0,0,0
$GC,12687,1.04,349.9,52.3,7.6,1168,12740,0.08,2.20,42.58,0.673,6,0.055,0.034,3104,1860,1456,0,0,0,0,0,0
$STATE,13038,end climb,SURFACE_DEPTH_REACHED
$STATE,13038,begin surface coast
$FINISH,1.2,1.021152
$STATE,13055,end surface coast,CONTROL_FINISHED_OK
$STATE,13055,begin surface
$SM_CCo,13073,41.78,0.427,1,0,1252,400.08
$SM_GC,1.77,0.00,0.00,41.78,0.000,0.000,0.427,150,1465,1252,-8.11,-0.99,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2244.02,12349.19,260811,222224
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.87
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.60
$XPDR_PINGS,69
$24V_AH,23.4,31.097
$10V_AH,10.2,20.945
$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,18.675,114.175,424.950,41.775,0.000,140.746,175.454,495.574,17.250,0.000,46.474,3060.305,6638.542,544.760,3736.879,440.986,0.000,1743.630,0.000,2871.389,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,61.200,1448.910,426.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.437,1262.305,1534.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330168
$DATA_FILE_SIZE,70174,1234
$CAP_FILE_SIZE,147763,0
$CFSIZE,260165632,136556544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181,265.5,1
$GPS,270811,022456,2253.238,12349.181,46,99.0,65,-3.2