version: 66.09
glider: 166
mission: 6
dive: 122
start: 8 27 111 2 33 31
data:
$ID,166
$MISSION,6
$DIVE,122
$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,-24543.512
$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,55
$R_STBD_OVSHOOT,44
$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
$GPS1,270811,022456,2253.238,12349.181,46,99.0,65,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-66.0
$GPS2,270811,023306,2253.289,12349.104,15,1.4,31,-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,133.4,155389,-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,-155.7,0.0,0.0,0,92,0.00,0.00,-72.82,0.000,2,0.000,0.000,140,1465,3006,0,0,0,0,0,0
$GC,95,-0.81,-155.7,5.1,-5.7,10,120,9.10,1.98,-10.30,0.000,4,0.221,0.055,2481,209,3521,0,0,0,0,0,0
$GC,235,-0.81,-155.7,66.9,-36.7,34,243,0.00,1.98,0.00,0.000,6,0.000,0.034,2469,1497,3523,0,0,0,0,0,0
$GC,561,-0.81,-155.7,155.8,-25.4,95,569,0.00,2.00,0.00,0.000,4,0.000,0.047,2471,224,3525,0,0,0,0,0,0
$GC,684,-0.81,-155.7,186.3,-22.9,117,692,0.00,1.95,0.00,0.000,6,0.000,0.036,2464,1499,3526,0,0,0,0,0,0
$GC,1010,-0.81,-155.7,255.6,-21.9,176,1014,0.00,1.98,0.00,0.000,4,0.000,0.046,2465,213,3526,0,0,0,0,0,0
$GC,1091,-0.81,-155.7,273.0,-21.9,183,1095,0.00,1.95,0.00,0.000,6,0.000,0.036,2457,1513,3527,0,0,0,0,0,0
$GC,1421,-0.81,-155.7,337.4,-18.3,214,1425,0.00,1.98,0.00,0.000,4,0.000,0.045,2458,218,3526,0,0,0,0,0,0
$GC,1482,-0.81,-155.7,349.9,-19.0,219,1490,0.12,1.92,0.00,0.000,6,0.187,0.035,2482,1510,3526,0,0,0,0,0,0
$GC,1808,-0.81,-155.7,397.6,-14.3,250,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1511,3525,0,0,0,0,0,0
$GC,2128,-0.81,-155.7,446.3,-15.0,280,2131,0.00,2.00,0.00,0.000,4,0.000,0.047,2497,216,3524,0,0,0,0,0,0
$GC,2281,-0.81,-155.7,471.6,-17.4,293,2287,0.00,1.95,0.00,0.000,6,0.000,0.037,2491,1510,3522,0,0,0,0,0,0
$GC,2608,-0.81,-155.7,527.0,-17.1,324,2611,0.00,2.03,0.00,0.000,4,0.000,0.050,2490,214,3520,0,0,0,0,0,0
$GC,2676,-0.81,-155.7,539.3,-17.5,330,2680,0.00,1.95,0.00,0.000,6,0.000,0.037,2480,1509,3519,0,0,0,0,0,0
$GC,3007,-0.81,-155.7,591.4,-15.3,361,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1509,3517,0,0,0,0,0,0
$GC,3320,-0.81,-155.7,634.7,-13.5,379,3323,0.00,2.00,0.00,0.000,4,0.000,0.050,2482,223,3514,0,0,0,0,0,0
$GC,3358,-0.81,-155.7,640.6,-14.4,380,3366,0.00,1.95,0.00,0.000,6,0.000,0.038,2471,1496,3513,0,0,0,0,0,0
$GC,3676,-0.81,-155.7,683.4,-14.1,396,3680,0.00,2.17,0.00,0.000,4,0.000,0.052,2458,2909,3511,0,0,0,0,0,0
$GC,3736,-0.81,-155.7,692.9,-14.6,398,3743,0.00,2.10,0.00,0.000,6,0.000,0.041,2457,1518,3510,0,0,0,0,0,0
$GC,4052,-0.81,-155.7,741.2,-14.8,414,4056,0.00,2.03,0.00,0.000,4,0.000,0.053,2455,205,3508,0,0,0,0,0,0
$GC,4266,-0.81,-155.7,775.7,-15.5,423,4271,0.10,2.00,0.00,0.000,6,0.165,0.041,2478,1502,3505,0,0,0,0,0,0
$GC,4588,-0.81,-155.7,813.3,-11.0,439,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1502,3502,0,0,0,0,0,0
$GC,4899,-0.81,-155.7,845.4,-10.3,454,4903,0.00,2.03,0.00,0.000,4,0.000,0.057,2483,207,3500,0,0,0,0,0,0
$GC,4976,-0.81,-155.7,854.6,-11.3,457,4980,0.00,2.00,0.00,0.000,6,0.000,0.043,2475,1499,3499,0,0,0,0,0,0
$GC,5298,-0.81,-155.7,887.8,-10.4,473,5302,0.00,2.00,0.00,0.000,4,0.000,0.054,2475,201,3496,0,0,0,0,0,0
$GC,5423,-0.81,-155.7,902.1,-11.7,478,5427,0.00,2.00,0.00,0.000,6,0.000,0.049,2466,1497,3495,0,0,0,0,0,0
$GC,5744,-0.81,-155.7,936.0,-10.6,494,5748,0.00,2.20,0.00,0.000,4,0.000,0.057,2455,2917,3493,0,0,0,0,0,0
$GC,5839,-0.81,-155.7,946.3,-10.8,498,5844,0.12,2.17,0.00,0.000,6,0.171,0.044,2487,1493,3492,0,0,0,0,0,0
$GC,6156,-0.81,-155.7,979.9,-10.8,513,6160,0.00,1.98,0.00,0.000,4,0.000,0.057,2491,205,3490,0,0,0,0,0,0
$GC,6213,-0.81,-155.7,986.6,-11.9,515,6216,0.00,2.00,0.00,0.000,6,0.000,0.046,2484,1506,3490,0,0,0,0,0,0
$STATE,6244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6244,begin apogee
$GC,6250,-0.18,0.0,990.4,11.7,517,6384,0.62,0.00,127.03,1.449,6,0.135,0.000,2680,1860,2883,0,0,0,0,0,0
$STATE,6385,end apogee,CONTROL_FINISHED_OK
$STATE,6385,begin climb
$GC,6389,0.81,155.7,994.3,0.0,523,6537,0.93,2.35,140.35,1.392,4,0.076,0.060,2996,3248,2249,0,0,0,0,0,0
$GC,6578,0.81,155.7,973.2,17.0,532,6582,0.00,2.25,0.00,0.000,6,0.000,0.044,3004,1853,2246,0,0,0,0,0,0
$GC,6904,0.81,155.7,919.4,16.5,548,6908,0.00,2.22,0.00,0.000,4,0.000,0.060,2995,3248,2240,0,0,0,0,0,0
$GC,7016,0.81,155.7,900.1,16.7,553,7020,0.00,2.20,0.00,0.000,6,0.000,0.044,3003,1824,2238,0,0,0,0,0,0
$GC,7345,0.81,155.7,841.9,17.7,569,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1824,2237,0,0,0,0,0,0
$GC,7652,0.81,155.7,786.6,18.0,584,7656,0.00,2.15,0.00,0.000,4,0.000,0.053,3009,434,2235,0,0,0,0,0,0
$GC,7690,0.81,155.7,779.3,18.7,585,7697,0.00,2.17,0.00,0.000,6,0.000,0.044,2999,1841,2235,0,0,0,0,0,0
$GC,8008,0.81,155.7,722.2,18.4,601,8012,0.00,2.17,0.00,0.000,4,0.000,0.057,2998,3260,2233,0,0,0,0,0,0
$GC,8119,0.81,155.7,699.6,19.2,606,8124,0.00,2.17,0.00,0.000,6,0.000,0.043,3008,1849,2233,0,0,0,0,0,0
$GC,8448,0.81,155.7,640.6,17.5,622,8452,0.00,2.20,0.00,0.000,4,0.000,0.056,2999,3272,2232,0,0,0,0,0,0
$GC,8595,0.81,155.7,614.2,17.3,628,8602,0.00,2.17,0.00,0.000,6,0.000,0.040,3007,1838,2232,0,0,0,0,0,0
$GC,8921,0.81,155.7,560.2,17.1,655,8925,0.00,2.20,0.00,0.000,4,0.000,0.053,2998,3269,2232,0,0,0,0,0,0
$GC,8977,0.81,155.7,550.2,16.4,659,8983,0.00,2.15,0.00,0.000,6,0.000,0.041,3008,1851,2231,0,0,0,0,0,0
$GC,9302,0.81,155.7,496.2,16.3,690,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1851,2231,0,0,0,0,0,0
$GC,9622,0.81,155.7,448.0,14.9,720,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1851,2230,0,0,0,0,0,0
$GC,9942,0.81,155.7,401.0,13.6,750,9946,0.00,2.15,0.00,0.000,4,0.000,0.050,3025,439,2229,0,0,0,0,0,0
$GC,9971,0.81,155.7,396.3,14.5,752,9975,0.00,2.17,0.00,0.000,6,0.000,0.039,3017,1865,2229,0,0,0,0,0,0
$GC,10296,0.81,155.7,349.3,15.0,782,10300,0.00,2.15,0.00,0.000,4,0.000,0.052,3008,3262,2228,0,0,0,0,0,0
$GC,10418,0.81,155.7,329.7,15.4,792,10426,0.00,2.15,0.00,0.000,6,0.000,0.039,3015,1828,2228,0,0,0,0,0,0
$GC,10745,0.81,155.7,277.5,15.8,823,10749,0.00,2.20,0.00,0.000,4,0.000,0.049,3008,3260,2228,0,0,0,0,0,0
$GC,10866,0.81,155.7,258.8,14.2,833,10874,0.00,2.15,0.00,0.000,6,0.000,0.037,3017,1852,2228,0,0,0,0,0,0
$GC,11193,0.81,155.7,217.3,11.3,888,11201,0.00,2.20,0.00,0.000,4,0.000,0.048,3009,3266,2229,0,0,0,0,0,0
$GC,11246,0.81,155.7,211.2,11.5,897,11254,0.00,2.15,0.00,0.000,6,0.000,0.036,3017,1850,2229,0,0,0,0,0,0
$GC,11575,0.81,155.7,169.6,12.9,958,11583,0.00,2.17,0.00,0.000,4,0.000,0.047,3008,3254,2228,0,0,0,0,0,0
$GC,11629,0.81,155.7,163.1,12.2,967,11637,0.00,2.12,0.00,0.000,6,0.000,0.036,3017,1850,2228,0,0,0,0,0,0
$GC,11955,0.82,169.4,129.8,9.1,1028,11972,0.00,2.12,10.05,0.702,4,0.000,0.043,3027,440,2192,0,0,0,0,0,0
$GC,12055,0.82,169.4,118.7,11.5,1045,12063,0.00,2.15,0.00,0.000,6,0.000,0.034,3019,1856,2192,0,0,0,0,0,0
$GC,12382,0.85,194.0,84.9,8.7,1106,12413,0.00,2.17,22.52,0.718,4,0.000,0.047,3013,3257,2092,0,0,0,0,0,0
$GC,12533,0.88,218.5,72.5,8.7,1132,12563,0.00,2.15,21.55,0.696,6,0.000,0.035,3021,1849,1992,0,0,0,0,0,0
$GC,12885,1.06,364.7,50.6,3.6,1196,13012,0.17,0.00,118.88,0.689,6,0.073,0.000,3115,1849,1397,0,0,0,0,0,0
$STATE,13220,end climb,SURFACE_DEPTH_REACHED
$STATE,13220,begin surface coast
$FINISH,1.3,1.021458
$STATE,13238,end surface coast,CONTROL_FINISHED_OK
$STATE,13238,begin surface
$SM_CCo,13255,36.80,0.399,1,0,1253,400.08
$SM_GC,1.72,0.00,0.00,36.80,0.000,0.000,0.399,149,1487,1253,-8.11,-0.37,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2246.36,12347.25,260811,222257
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.90
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,25.40
$XPDR_PINGS,71
$24V_AH,23.4,31.262
$10V_AH,10.2,21.094
$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,19.050,109.975,440.375,36.800,0.000,29.738,53.214,231.970,17.750,0.000,34.372,3117.240,6457.863,528.510,3292.133,384.678,0.000,1752.301,0.000,2952.209,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,60.435,1448.910,399.330,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.512,1284.298,1559.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330212
$DATA_FILE_SIZE,70370,1255
$CAP_FILE_SIZE,139895,0
$CFSIZE,260165632,136486912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.206,290.5,1
$GPS,270811,061657,2252.829,12349.457,47,99.0,66,-3.2