version: 66.09
glider: 166
mission: 6
dive: 134
start: 8 29 111 0 57 31
data:
$ID,166
$MISSION,6
$DIVE,134
$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,-24562.889
$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,44
$R_STBD_OVSHOOT,41
$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
$GPS1,290811,003838,2241.331,12353.827,63,1.6,63,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-62.2
$GPS2,290811,005706,2241.263,12353.729,35,1.9,35,-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,157.3,132421,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.81,-155.7,0.0,0.0,0,93,0.00,0.00,-74.50,0.000,2,0.000,0.000,113,1489,3068,0,0,0,0,0,0
$GC,97,-0.81,-155.7,5.2,-7.9,10,121,9.35,2.03,-8.52,0.000,4,0.229,0.054,2482,201,3521,0,0,0,0,0,0
$GC,145,-0.81,-155.7,30.2,-50.3,17,154,0.00,2.00,0.00,0.000,6,0.000,0.037,2474,1496,3522,0,0,0,0,0,0
$GC,471,-0.81,-155.7,131.6,-24.9,78,479,0.00,2.05,0.00,0.000,4,0.000,0.047,2479,206,3523,0,0,0,0,0,0
$GC,605,-0.81,-155.7,163.6,-22.6,102,613,0.00,1.98,0.00,0.000,6,0.000,0.036,2471,1495,3524,0,0,0,0,0,0
$GC,933,-0.81,-155.7,234.6,-21.0,163,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1497,3524,0,0,0,0,0,0
$GC,1266,-0.81,-155.7,298.4,-18.6,201,1270,0.00,2.00,0.00,0.000,4,0.000,0.047,2476,205,3524,0,0,0,0,0,0
$GC,1368,-0.81,-155.7,317.5,-18.0,210,1372,0.00,1.92,0.00,0.000,6,0.000,0.035,2469,1505,3524,0,0,0,0,0,0
$GC,1699,-0.81,-155.7,374.3,-16.7,241,1703,0.00,2.00,0.00,0.000,4,0.000,0.047,2479,208,3523,0,0,0,0,0,0
$GC,1794,-0.81,-155.7,391.1,-17.8,249,1802,0.00,1.95,0.00,0.000,6,0.000,0.036,2472,1493,3522,0,0,0,0,0,0
$GC,2119,-0.81,-155.7,443.8,-15.6,280,2123,0.00,1.98,0.00,0.000,4,0.000,0.047,2475,201,3519,0,0,0,0,0,0
$GC,2187,-0.81,-155.7,455.7,-17.8,286,2191,0.00,1.92,0.00,0.000,6,0.000,0.036,2468,1503,3519,0,0,0,0,0,0
$GC,2518,-0.81,-155.7,510.4,-16.7,317,2522,0.00,2.00,0.00,0.000,4,0.000,0.047,2471,206,3516,0,0,0,0,0,0
$GC,2609,-0.81,-155.7,526.5,-18.7,325,2613,0.00,1.92,0.00,0.000,6,0.000,0.037,2462,1497,3516,0,0,0,0,0,0
$GC,2940,-0.81,-155.7,582.2,-15.0,356,2944,0.00,2.00,0.00,0.000,4,0.000,0.049,2462,202,3512,0,0,0,0,0,0
$GC,2967,-0.81,-155.7,586.7,-15.6,358,2975,0.12,1.95,0.00,0.000,6,0.184,0.038,2484,1506,3512,0,0,0,0,0,0
$GC,3300,-0.81,-155.7,630.1,-12.6,379,3303,0.00,2.00,0.00,0.000,4,0.000,0.051,2483,214,3508,0,0,0,0,0,0
$GC,3383,-0.81,-155.7,642.3,-13.7,382,3390,0.00,1.98,0.00,0.000,6,0.000,0.039,2474,1501,3507,0,0,0,0,0,0
$GC,3700,-0.81,-155.7,683.1,-12.8,398,3704,0.00,2.03,0.00,0.000,4,0.000,0.057,2472,193,3504,0,0,0,0,0,0
$GC,3749,-0.81,-155.7,689.4,-14.2,400,3753,0.00,1.98,0.00,0.000,6,0.000,0.039,2461,1510,3504,0,0,0,0,0,0
$GC,4081,-0.81,-155.7,732.9,-12.9,416,4085,0.00,2.03,0.00,0.000,4,0.000,0.050,2459,204,3500,0,0,0,0,0,0
$GC,4128,-0.81,-155.7,739.5,-15.1,418,4133,0.12,1.95,0.00,0.000,6,0.181,0.041,2483,1499,3499,0,0,0,0,0,0
$GC,4457,-0.81,-155.7,781.4,-12.9,434,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1499,3497,0,0,0,0,0,0
$GC,4764,-0.81,-155.7,819.8,-12.2,449,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1499,3494,0,0,0,0,0,0
$GC,5075,-0.81,-155.7,857.5,-12.5,464,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1500,3491,0,0,0,0,0,0
$GC,5382,-0.81,-155.7,893.4,-11.2,479,5386,0.00,2.20,0.00,0.000,4,0.000,0.057,2477,2913,3489,0,0,0,0,0,0
$GC,5454,-0.81,-155.7,901.7,-11.0,482,5459,0.00,2.15,0.00,0.000,6,0.000,0.044,2479,1503,3488,0,0,0,0,0,0
$GC,5779,-0.81,-155.7,939.0,-11.9,498,5783,0.00,2.03,0.00,0.000,4,0.000,0.058,2479,195,3486,0,0,0,0,0,0
$GC,5826,-0.81,-155.7,945.3,-13.6,500,5830,0.00,1.98,0.00,0.000,6,0.000,0.044,2470,1499,3485,0,0,0,0,0,0
$GC,6161,-0.81,-155.7,988.4,-12.8,516,6165,0.00,2.03,0.00,0.000,4,0.000,0.057,2470,201,3483,0,0,0,0,0,0
$STATE,6169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6169,begin apogee
$GC,6177,-0.18,0.0,990.3,12.8,516,6310,0.70,0.00,125.75,1.454,6,0.144,0.000,2676,1847,2884,0,0,0,0,0,0
$STATE,6311,end apogee,CONTROL_FINISHED_OK
$STATE,6311,begin climb
$GC,6315,0.81,155.7,994.9,0.0,522,6464,0.95,2.42,139.62,1.399,4,0.079,0.061,3000,3246,2248,0,0,0,0,0,0
$GC,6533,0.81,155.7,966.4,18.3,532,6539,0.00,2.22,0.00,0.000,6,0.000,0.044,3011,1849,2243,0,0,0,0,0,0
$GC,6848,0.81,155.7,905.6,19.3,548,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1849,2239,0,0,0,0,0,0
$GC,7158,0.81,155.7,847.9,18.4,563,7162,0.00,2.22,0.00,0.000,4,0.000,0.059,3001,3255,2237,0,0,0,0,0,0
$GC,7242,0.81,155.7,832.6,18.0,566,7249,0.00,2.15,0.00,0.000,6,0.000,0.043,3014,1844,2236,0,0,0,0,0,0
$GC,7558,0.81,155.7,777.3,17.4,582,7562,0.00,2.22,0.00,0.000,4,0.000,0.057,3003,3258,2235,0,0,0,0,0,0
$GC,7621,0.81,155.7,765.8,18.0,585,7625,0.00,2.12,0.00,0.000,6,0.000,0.041,3011,1851,2234,0,0,0,0,0,0
$GC,7949,0.81,155.7,708.5,17.8,601,7953,0.00,2.20,0.00,0.000,4,0.000,0.053,3001,3263,2233,0,0,0,0,0,0
$GC,7989,0.81,155.7,700.9,18.1,603,7993,0.00,2.12,0.00,0.000,6,0.000,0.041,3010,1851,2232,0,0,0,0,0,0
$GC,8318,0.81,155.7,643.2,17.7,619,8322,0.00,2.20,0.00,0.000,4,0.000,0.053,3001,3269,2232,0,0,0,0,0,0
$GC,8366,0.81,155.7,634.8,17.9,621,8370,0.00,2.15,0.00,0.000,6,0.000,0.041,3011,1836,2231,0,0,0,0,0,0
$GC,8688,0.81,155.7,579.2,16.2,642,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1836,2231,0,0,0,0,0,0
$GC,9008,0.81,155.7,529.6,14.8,672,9012,0.00,2.22,0.00,0.000,4,0.000,0.052,3002,3269,2230,0,0,0,0,0,0
$GC,9059,0.81,155.7,521.7,14.5,676,9063,0.00,2.12,0.00,0.000,6,0.000,0.039,3012,1848,2230,0,0,0,0,0,0
$GC,9389,0.81,155.7,472.1,15.5,707,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1848,2230,0,0,0,0,0,0
$GC,9710,0.81,155.7,420.8,16.0,737,9714,0.00,2.20,0.00,0.000,4,0.000,0.050,3002,3271,2229,0,0,0,0,0,0
$GC,9800,0.81,155.7,406.1,16.0,744,9807,0.00,2.12,0.00,0.000,6,0.000,0.037,3012,1850,2228,0,0,0,0,0,0
$GC,10125,0.81,155.7,355.8,16.2,775,10129,0.00,2.12,0.00,0.000,4,0.000,0.047,3024,445,2228,0,0,0,0,0,0
$GC,10188,0.81,155.7,345.9,15.9,780,10195,0.00,2.15,0.00,0.000,6,0.000,0.037,3015,1870,2228,0,0,0,0,0,0
$GC,10513,0.81,155.7,301.0,13.7,811,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1870,2228,0,0,0,0,0,0
$GC,10836,0.81,155.7,260.0,12.6,841,10840,0.00,2.12,0.00,0.000,4,0.000,0.051,3010,3248,2228,0,0,0,0,0,0
$GC,10866,0.81,155.7,255.7,12.9,843,10871,0.00,2.10,0.00,0.000,6,0.000,0.037,3018,1839,2228,0,0,0,0,0,0
$GC,11192,0.81,155.7,213.0,12.4,899,11200,0.00,2.20,0.00,0.000,4,0.000,0.050,3010,3242,2228,0,0,0,0,0,0
$GC,11281,0.81,155.7,201.6,12.7,915,11289,0.00,2.12,0.00,0.000,6,0.000,0.037,3017,1847,2228,0,0,0,0,0,0
$GC,11608,0.81,155.7,163.2,11.7,976,11616,0.00,2.17,0.00,0.000,4,0.000,0.045,3027,437,2228,0,0,0,0,0,0
$GC,11652,0.81,155.7,158.2,12.0,983,11660,0.00,2.15,0.00,0.000,6,0.000,0.035,3020,1847,2228,0,0,0,0,0,0
$GC,11980,0.83,176.7,122.6,8.8,1044,12004,0.00,2.17,16.02,0.739,4,0.000,0.047,3010,3252,2162,0,0,0,0,0,0
$GC,12055,0.86,198.3,115.9,8.8,1056,12085,0.00,2.15,19.80,0.741,6,0.000,0.035,3018,1845,2075,0,0,0,0,0,0
$GC,12407,0.86,198.3,76.6,12.0,1120,12415,0.00,2.20,0.00,0.000,4,0.000,0.047,3011,3249,2072,0,0,0,0,0,0
$GC,12524,0.86,198.3,63.7,9.7,1141,12534,0.00,2.15,0.00,0.000,6,0.000,0.034,3020,1838,2072,0,0,0,0,0,0
$GC,12855,1.07,369.2,48.6,2.6,1202,13010,0.20,2.25,140.45,0.689,4,0.067,0.044,3137,449,1376,0,0,0,0,0,0
$GC,13145,1.07,369.2,8.7,18.7,1247,13154,0.10,2.17,0.00,0.000,6,0.154,0.031,3095,1875,1373,0,0,0,0,0,0
$STATE,13178,end climb,SURFACE_DEPTH_REACHED
$STATE,13178,begin surface coast
$FINISH,1.0,1.021623
$STATE,13195,end surface coast,CONTROL_FINISHED_OK
$STATE,13195,begin surface
$SM_CCo,13213,33.25,0.371,1,0,1253,400.08
$SM_GC,1.72,0.00,0.00,33.25,0.000,0.000,0.371,134,1483,1253,-8.15,-0.48,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2232.34,12351.77,290811,000010
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.23
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,25.30
$XPDR_PINGS,63
$24V_AH,23.4,33.217
$10V_AH,10.2,22.900
$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,19.375,114.175,441.650,33.250,0.000,145.289,161.035,326.053,15.750,0.000,37.663,3104.548,6765.910,528.649,3539.555,411.500,0.000,1720.706,0.000,2854.959,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,61.200,1453.500,371.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.338,1285.359,1562.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330272
$DATA_FILE_SIZE,70396,1255
$CAP_FILE_SIZE,144144,0
$CFSIZE,260165632,135528448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190,256.6,1
$GPS,290811,043937,2239.361,12353.497,33,1.4,33,-3.1