version: 66.09
glider: 166
mission: 6
dive: 126
start: 8 27 111 18 8 15
data:
$ID,166
$MISSION,6
$DIVE,126
$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,-24551.25
$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,45
$R_STBD_OVSHOOT,49
$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
$GPS1,270811,175656,2251.088,12350.970,37,1.6,38,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-65.3
$GPS2,270811,180752,2251.178,12350.831,16,99.0,35,-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,155.1,151170,-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,-155.7,0.0,0.0,0,101,0.00,0.00,-81.18,0.000,2,0.000,0.000,137,1485,3194,0,0,0,0,0,0
$GC,105,-0.81,-155.7,6.1,-10.5,11,129,9.12,1.98,-6.15,0.000,4,0.220,0.053,2476,199,3519,0,0,0,0,0,0
$GC,174,-0.81,-155.7,41.3,-46.3,22,182,0.00,2.00,0.00,0.000,6,0.000,0.037,2467,1492,3520,0,0,0,0,0,0
$GC,499,-0.81,-155.7,139.7,-25.6,83,507,0.00,2.03,0.00,0.000,4,0.000,0.045,2470,209,3523,0,0,0,0,0,0
$GC,708,-0.81,-155.7,186.3,-21.3,121,717,0.00,1.98,0.00,0.000,6,0.000,0.035,2463,1497,3523,0,0,0,0,0,0
$GC,1038,-0.81,-155.7,258.2,-21.4,179,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1499,3524,0,0,0,0,0,0
$GC,1365,-0.81,-155.7,324.3,-18.9,210,1369,0.00,2.05,0.00,0.000,4,0.000,0.047,2465,186,3523,0,0,0,0,0,0
$GC,1531,-0.81,-155.7,356.3,-19.6,224,1538,0.00,2.00,0.00,0.000,6,0.000,0.036,2460,1516,3523,0,0,0,0,0,0
$GC,1856,-0.81,-155.7,415.3,-16.4,255,1859,0.00,2.03,0.00,0.000,4,0.000,0.047,2462,208,3522,0,0,0,0,0,0
$GC,1906,-0.81,-155.7,424.8,-19.8,259,1913,0.00,1.92,0.00,0.000,6,0.000,0.036,2468,1504,3521,0,0,0,0,0,0
$GC,2234,-0.81,-155.7,478.6,-16.8,290,2238,0.00,2.12,0.00,0.000,4,0.000,0.048,2457,2910,3519,0,0,0,0,0,0
$GC,2274,-0.81,-155.7,486.1,-18.0,293,2278,0.00,2.15,0.00,0.000,6,0.000,0.039,2457,1504,3519,0,0,0,0,0,0
$GC,2599,-0.81,-155.7,542.3,-17.0,323,2604,0.10,2.03,0.00,0.000,4,0.188,0.050,2483,204,3517,0,0,0,0,0,0
$GC,2788,-0.81,-155.7,573.5,-16.3,339,2795,0.00,1.98,0.00,0.000,6,0.000,0.037,2474,1494,3516,0,0,0,0,0,0
$GC,3121,-0.81,-155.7,621.6,-14.5,364,3125,0.00,2.03,0.00,0.000,4,0.000,0.050,2474,196,3512,0,0,0,0,0,0
$GC,3156,-0.81,-155.7,627.0,-15.9,365,3159,0.00,1.98,0.00,0.000,6,0.000,0.037,2465,1505,3512,0,0,0,0,0,0
$GC,3477,-0.81,-155.7,672.0,-13.8,381,3481,0.00,2.03,0.00,0.000,4,0.000,0.050,2461,199,3509,0,0,0,0,0,0
$GC,3509,-0.81,-155.7,676.9,-15.0,382,3514,0.08,2.00,0.00,0.000,6,0.167,0.039,2491,1497,3508,0,0,0,0,0,0
$GC,3833,-0.81,-155.7,714.1,-11.5,398,3837,0.00,2.03,0.00,0.000,4,0.000,0.051,2489,192,3505,0,0,0,0,0,0
$GC,3888,-0.81,-155.7,721.7,-12.9,400,3892,0.00,2.00,0.00,0.000,6,0.000,0.040,2480,1494,3505,0,0,0,0,0,0
$GC,4210,-0.81,-155.7,762.9,-13.5,416,4214,0.00,2.15,0.00,0.000,4,0.000,0.053,2467,2910,3502,0,0,0,0,0,0
$GC,4230,-0.81,-155.7,765.4,-13.8,417,4234,0.00,2.15,0.00,0.000,6,0.000,0.046,2469,1496,3501,0,0,0,0,0,0
$GC,4562,-0.81,-155.7,812.6,-14.1,433,4566,0.00,1.98,0.00,0.000,4,0.000,0.055,2474,202,3499,0,0,0,0,0,0
$GC,4678,-0.81,-155.7,829.6,-14.9,438,4682,0.00,1.98,0.00,0.000,6,0.000,0.042,2467,1508,3497,0,0,0,0,0,0
$GC,5011,-0.81,-155.7,873.1,-12.6,454,5015,0.00,2.15,0.00,0.000,4,0.000,0.062,2458,2904,3494,0,0,0,0,0,0
$GC,5049,-0.81,-155.7,878.4,-13.5,455,5056,0.00,2.15,0.00,0.000,6,0.000,0.046,2458,1494,3494,0,0,0,0,0,0
$GC,5367,-0.81,-155.7,921.3,-13.7,471,5371,0.00,2.00,0.00,0.000,4,0.000,0.056,2458,200,3491,0,0,0,0,0,0
$GC,5573,-0.81,-155.7,952.1,-14.4,480,5578,0.10,2.03,0.00,0.000,6,0.159,0.044,2479,1500,3490,0,0,0,0,0,0
$GC,5902,-0.81,-155.7,988.4,-10.5,496,5906,0.00,2.03,0.00,0.000,4,0.000,0.055,2479,202,3488,0,0,0,0,0,0
$STATE,5916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5916,begin apogee
$GC,5924,-0.18,0.0,990.4,10.3,496,6063,0.68,0.00,126.18,1.450,6,0.140,0.000,2680,1850,2882,0,0,0,0,0,0
$STATE,6064,end apogee,CONTROL_FINISHED_OK
$STATE,6064,begin climb
$GC,6066,0.81,155.7,992.3,0.0,503,6216,0.93,2.38,139.43,1.392,4,0.077,0.060,3000,3255,2248,0,0,0,0,0,0
$GC,6251,0.81,155.7,967.8,19.4,511,6255,0.00,2.28,0.00,0.000,6,0.000,0.044,3008,1840,2245,0,0,0,0,0,0
$GC,6567,0.81,155.7,907.3,18.5,526,6571,0.00,2.20,0.00,0.000,4,0.000,0.055,3017,436,2239,0,0,0,0,0,0
$GC,6600,0.81,155.7,900.8,18.3,527,6604,0.00,2.22,0.00,0.000,6,0.000,0.046,3011,1853,2239,0,0,0,0,0,0
$GC,6924,0.81,155.7,842.3,18.5,543,6928,0.00,2.20,0.00,0.000,4,0.000,0.059,3001,3259,2237,0,0,0,0,0,0
$GC,7087,0.81,155.7,812.8,18.0,550,7091,0.00,2.15,0.00,0.000,6,0.000,0.044,3010,1847,2235,0,0,0,0,0,0
$GC,7410,0.81,155.7,756.7,17.5,566,7414,0.00,2.22,0.00,0.000,4,0.000,0.057,2998,3265,2234,0,0,0,0,0,0
$GC,7482,0.81,155.7,743.0,17.9,569,7487,0.00,2.15,0.00,0.000,6,0.000,0.042,3008,1840,2233,0,0,0,0,0,0
$GC,7806,0.81,155.7,687.9,17.3,585,7810,0.00,2.22,0.00,0.000,4,0.000,0.056,2997,3265,2232,0,0,0,0,0,0
$GC,7844,0.81,155.7,680.6,17.6,586,7851,0.00,2.12,0.00,0.000,6,0.000,0.041,3007,1848,2232,0,0,0,0,0,0
$GC,8161,0.81,155.7,624.6,18.5,602,8165,0.00,2.20,0.00,0.000,4,0.000,0.053,2997,3265,2231,0,0,0,0,0,0
$GC,8203,0.81,155.7,617.1,18.2,604,8207,0.00,2.12,0.00,0.000,6,0.000,0.040,3008,1848,2231,0,0,0,0,0,0
$GC,8529,0.81,155.7,561.2,16.1,630,8533,0.00,2.17,0.00,0.000,4,0.000,0.051,2998,3267,2230,0,0,0,0,0,0
$GC,8544,0.81,155.7,557.9,16.3,631,8554,0.00,2.17,0.00,0.000,6,0.000,0.039,3007,1844,2230,0,0,0,0,0,0
$GC,8870,0.81,155.7,504.1,17.2,662,8874,0.00,2.20,0.00,0.000,4,0.000,0.051,2999,3264,2229,0,0,0,0,0,0
$GC,8991,0.81,155.7,483.3,15.9,672,8998,0.00,2.15,0.00,0.000,6,0.000,0.039,3010,1826,2228,0,0,0,0,0,0
$GC,9317,0.81,155.7,437.5,14.2,703,9321,0.00,2.20,0.00,0.000,4,0.000,0.050,3004,3263,2228,0,0,0,0,0,0
$GC,9462,0.81,155.7,418.2,14.8,715,9467,0.00,2.12,0.00,0.000,6,0.000,0.038,3011,1849,2227,0,0,0,0,0,0
$GC,9787,0.81,155.7,368.6,16.1,745,9791,0.00,2.20,0.00,0.000,4,0.000,0.049,3005,3270,2227,0,0,0,0,0,0
$GC,9828,0.81,155.7,362.2,16.0,748,9832,0.00,2.12,0.00,0.000,6,0.000,0.036,3014,1841,2227,0,0,0,0,0,0
$GC,10153,0.81,155.7,313.2,14.6,778,10157,0.00,2.20,0.00,0.000,4,0.000,0.049,3006,3270,2227,0,0,0,0,0,0
$GC,10208,0.81,155.7,304.6,15.0,782,10215,0.00,2.12,0.00,0.000,6,0.000,0.037,3014,1844,2228,0,0,0,0,0,0
$GC,10534,0.81,155.7,266.1,10.8,813,10538,0.00,2.10,0.00,0.000,4,0.000,0.047,3026,446,2227,0,0,0,0,0,0
$GC,10566,0.81,155.7,262.3,11.0,815,10574,0.00,2.12,0.00,0.000,6,0.000,0.035,3020,1863,2228,0,0,0,0,0,0
$GC,10894,0.81,155.7,225.5,12.4,865,10903,0.00,2.12,0.00,0.000,4,0.000,0.050,3011,3243,2227,0,0,0,0,0,0
$GC,11040,0.81,155.7,206.3,14.1,891,11048,0.00,2.12,0.00,0.000,6,0.000,0.037,3017,1847,2227,0,0,0,0,0,0
$GC,11368,0.81,155.7,163.3,11.9,952,11376,0.00,2.15,0.00,0.000,4,0.000,0.045,3027,443,2227,0,0,0,0,0,0
$GC,11401,0.81,155.7,159.5,11.2,957,11410,0.00,2.12,0.00,0.000,6,0.000,0.035,3021,1839,2228,0,0,0,0,0,0
$GC,11728,0.85,188.7,129.9,8.3,1018,11759,0.00,2.22,26.00,0.761,4,0.000,0.048,3013,3258,2114,0,0,0,0,0,0
$GC,11863,0.85,188.7,115.9,10.5,1041,11872,0.00,2.15,0.00,0.000,6,0.000,0.035,3021,1852,2112,0,0,0,0,0,0
$GC,12194,0.87,206.2,84.8,9.0,1102,12217,0.00,2.15,16.20,0.689,4,0.000,0.043,3033,436,2042,0,0,0,0,0,0
$GC,12372,0.88,218.7,66.0,9.2,1134,12395,0.00,2.17,11.73,0.643,6,0.000,0.035,3033,1864,1991,0,0,0,0,0,0
$GC,12718,1.01,318.0,46.9,5.6,1197,12810,0.10,2.22,82.47,0.680,4,0.102,0.044,3090,3245,1586,0,0,0,0,0,0
$GC,13020,1.01,318.0,9.9,15.2,1248,13029,0.08,2.15,0.00,0.000,6,0.159,0.034,3075,1850,1585,0,0,0,0,0,0
$STATE,13067,end climb,SURFACE_DEPTH_REACHED
$STATE,13067,begin surface coast
$FINISH,1.1,1.021473
$STATE,13089,end surface coast,CONTROL_FINISHED_OK
$STATE,13089,begin surface
$SM_CCo,13109,60.50,0.498,1,0,1251,400.08
$SM_GC,1.80,0.00,0.00,60.50,0.000,0.000,0.498,152,1485,1251,-8.10,-0.42,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2244.02,12352.43,270811,171706
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.13
$INTERNAL_PRESSURE,9.46784
$TCM_TEMP,26.00
$XPDR_PINGS,81
$24V_AH,23.4,31.917
$10V_AH,10.2,21.696
$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,18.850,132.000,402.000,60.500,0.000,46.840,94.287,256.905,20.250,0.000,37.259,3153.724,6278.944,554.269,3415.377,418.689,0.000,1786.309,0.000,2986.260,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,61.965,1450.440,498.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.403,1289.607,1630.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330192
$DATA_FILE_SIZE,70187,1260
$CAP_FILE_SIZE,146593,0
$CFSIZE,260165632,136167424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,283.2,1
$GPS,270811,214927,2249.905,12351.763,38,99.0,57,-3.2