version: 66.09
glider: 166
mission: 6
dive: 136
start: 8 29 111 8 55 9
data:
$ID,166
$MISSION,6
$DIVE,136
$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,-24565.404
$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,53
$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
$GPS1,290811,084401,2238.799,12353.555,42,1.7,42,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-63.9
$GPS2,290811,085444,2238.961,12353.452,13,1.8,13,-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,136.0,128214,-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,16,-0.81,-155.7,0.0,0.0,0,92,0.00,0.00,-73.00,0.000,2,0.000,0.000,132,1486,3018,0,0,0,0,0,0
$GC,96,-0.81,-155.7,5.7,-10.5,10,121,9.30,2.25,-9.52,0.000,4,0.229,0.056,2466,2914,3521,0,0,0,0,0,0
$GC,214,-0.81,-155.7,54.1,-35.3,30,222,0.00,2.15,0.00,0.000,6,0.000,0.034,2466,1509,3523,0,0,0,0,0,0
$GC,539,-0.81,-155.7,140.2,-22.2,91,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1510,3525,0,0,0,0,0,0
$GC,867,-0.81,-155.7,208.6,-21.5,152,876,0.00,2.03,0.00,0.000,4,0.000,0.047,2465,205,3526,0,0,0,0,0,0
$GC,1009,-0.81,-155.7,240.1,-20.9,178,1017,0.00,1.98,0.00,0.000,6,0.000,0.037,2457,1496,3526,0,0,0,0,0,0
$GC,1337,-0.81,-155.7,306.2,-20.6,213,1341,0.00,2.00,0.00,0.000,4,0.000,0.046,2457,202,3526,0,0,0,0,0,0
$GC,1416,-0.81,-155.7,323.4,-21.1,220,1421,0.12,1.95,0.00,0.000,6,0.180,0.035,2481,1501,3525,0,0,0,0,0,0
$GC,1741,-0.81,-155.7,378.7,-16.0,250,1745,0.00,2.00,0.00,0.000,4,0.000,0.048,2489,210,3525,0,0,0,0,0,0
$GC,1814,-0.81,-155.7,391.4,-16.6,256,1822,0.00,1.95,0.00,0.000,6,0.000,0.037,2489,1509,3524,0,0,0,0,0,0
$GC,2139,-0.81,-155.7,444.3,-16.3,287,2143,0.00,2.12,0.00,0.000,4,0.000,0.048,2481,2911,3522,0,0,0,0,0,0
$GC,2160,-0.81,-155.7,448.0,-16.2,288,2170,0.00,2.15,0.00,0.000,6,0.000,0.038,2481,1508,3522,0,0,0,0,0,0
$GC,2486,-0.81,-155.7,502.6,-15.6,319,2490,0.00,2.03,0.00,0.000,4,0.000,0.050,2482,190,3520,0,0,0,0,0,0
$GC,2660,-0.81,-155.7,532.3,-16.1,334,2667,0.00,1.98,0.00,0.000,6,0.000,0.037,2471,1502,3518,0,0,0,0,0,0
$GC,2986,-0.81,-155.7,578.4,-13.6,365,2990,0.00,2.03,0.00,0.000,4,0.000,0.050,2472,196,3516,0,0,0,0,0,0
$GC,3146,-0.81,-155.7,601.7,-14.4,379,3149,0.00,1.98,0.00,0.000,6,0.000,0.038,2463,1502,3515,0,0,0,0,0,0
$GC,3480,-0.81,-155.7,648.5,-13.9,395,3484,0.00,2.00,0.00,0.000,4,0.000,0.051,2459,199,3511,0,0,0,0,0,0
$GC,3602,-0.81,-155.7,667.4,-14.8,400,3607,0.10,2.00,0.00,0.000,6,0.158,0.039,2488,1503,3509,0,0,0,0,0,0
$GC,3926,-0.81,-155.7,707.9,-12.9,416,3930,0.00,2.00,0.00,0.000,4,0.000,0.052,2485,200,3506,0,0,0,0,0,0
$GC,3981,-0.81,-155.7,715.9,-13.8,418,3985,0.00,2.00,0.00,0.000,6,0.000,0.040,2475,1502,3506,0,0,0,0,0,0
$GC,4305,-0.81,-155.7,760.3,-14.0,434,4309,0.00,2.03,0.00,0.000,4,0.000,0.054,2481,201,3503,0,0,0,0,0,0
$GC,4378,-0.81,-155.7,771.2,-14.3,437,4382,0.00,1.95,0.00,0.000,6,0.000,0.040,2472,1500,3502,0,0,0,0,0,0
$GC,4706,-0.81,-155.7,815.8,-13.4,453,4710,0.00,2.05,0.00,0.000,4,0.000,0.054,2473,196,3499,0,0,0,0,0,0
$GC,4741,-0.81,-155.7,820.8,-14.9,454,4744,0.00,2.00,0.00,0.000,6,0.000,0.043,2465,1498,3499,0,0,0,0,0,0
$GC,5062,-0.81,-155.7,866.1,-14.0,470,5066,0.00,2.15,0.00,0.000,4,0.000,0.056,2454,2904,3496,0,0,0,0,0,0
$GC,5100,-0.81,-155.7,871.5,-13.9,471,5107,0.12,2.12,0.00,0.000,6,0.172,0.043,2487,1501,3496,0,0,0,0,0,0
$GC,5418,-0.81,-155.7,912.2,-12.6,487,5421,0.00,2.03,0.00,0.000,4,0.000,0.057,2490,198,3493,0,0,0,0,0,0
$GC,5557,-0.81,-155.7,931.7,-13.8,493,5561,0.00,2.03,0.00,0.000,6,0.000,0.043,2482,1505,3492,0,0,0,0,0,0
$GC,5887,-0.81,-155.7,973.1,-12.9,509,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1506,3490,0,0,0,0,0,0
$STATE,6026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6026,begin apogee
$GC,6032,-0.18,0.0,991.5,12.6,516,6166,0.62,0.00,126.78,1.450,6,0.138,0.000,2678,1856,2884,0,0,0,0,0,0
$STATE,6166,end apogee,CONTROL_FINISHED_OK
$STATE,6167,begin climb
$GC,6169,0.81,155.7,996.5,0.0,522,6319,0.95,2.45,139.93,1.391,4,0.080,0.061,3003,3255,2248,0,0,0,0,0,0
$GC,6367,0.81,155.7,974.6,16.8,531,6371,0.00,2.28,0.00,0.000,6,0.000,0.045,3012,1851,2244,0,0,0,0,0,0
$GC,6699,0.81,155.7,915.7,17.5,547,6703,0.00,2.20,0.00,0.000,4,0.000,0.055,3023,441,2239,0,0,0,0,0,0
$GC,6731,0.81,155.7,909.8,17.8,548,6739,0.00,2.20,0.00,0.000,6,0.000,0.047,3021,1845,2238,0,0,0,0,0,0
$GC,7049,0.81,155.7,853.1,18.2,564,7053,0.00,2.20,0.00,0.000,4,0.000,0.059,3012,3257,2236,0,0,0,0,0,0
$GC,7166,0.81,155.7,831.2,18.3,569,7170,0.00,2.20,0.00,0.000,6,0.000,0.044,3020,1824,2236,0,0,0,0,0,0
$GC,7496,0.81,155.7,768.7,19.6,585,7500,0.00,2.22,0.00,0.000,4,0.000,0.057,3011,3257,2234,0,0,0,0,0,0
$GC,7558,0.81,155.7,756.4,18.8,588,7562,0.00,2.15,0.00,0.000,6,0.000,0.042,3019,1848,2233,0,0,0,0,0,0
$GC,7885,0.81,155.7,695.6,18.6,604,7889,0.00,2.20,0.00,0.000,4,0.000,0.054,3009,3263,2233,0,0,0,0,0,0
$GC,7936,0.81,155.7,685.7,19.5,606,7940,0.00,2.15,0.00,0.000,6,0.000,0.041,3018,1850,2231,0,0,0,0,0,0
$GC,8252,0.81,155.7,625.4,18.7,621,8256,0.00,2.15,0.00,0.000,4,0.000,0.050,3028,443,2231,0,0,0,0,0,0
$GC,8296,0.81,155.7,616.7,19.3,623,8300,0.00,2.17,0.00,0.000,6,0.000,0.040,3019,1869,2231,0,0,0,0,0,0
$GC,8625,0.81,155.7,561.7,16.4,649,8629,0.00,2.12,0.00,0.000,4,0.000,0.052,3009,3254,2230,0,0,0,0,0,0
$GC,8703,0.81,155.7,547.6,16.7,655,8710,0.00,2.12,0.00,0.000,6,0.000,0.040,3020,1849,2230,0,0,0,0,0,0
$GC,9029,0.81,155.7,492.6,18.0,686,9033,0.00,2.20,0.00,0.000,4,0.000,0.051,3012,3266,2229,0,0,0,0,0,0
$GC,9059,0.81,155.7,487.3,18.3,688,9063,0.00,2.15,0.00,0.000,6,0.000,0.038,3021,1848,2229,0,0,0,0,0,0
$GC,9386,0.81,155.7,434.9,15.7,718,9390,0.00,2.20,0.00,0.000,4,0.000,0.050,3013,3263,2229,0,0,0,0,0,0
$GC,9486,0.81,155.7,419.7,14.9,726,9493,0.00,2.15,0.00,0.000,6,0.000,0.038,3022,1840,2228,0,0,0,0,0,0
$GC,9812,0.81,155.7,374.0,14.8,757,9816,0.00,2.20,0.00,0.000,4,0.000,0.050,3014,3260,2228,0,0,0,0,0,0
$GC,9897,0.81,155.7,361.0,15.1,764,9901,0.00,2.12,0.00,0.000,6,0.000,0.037,3022,1851,2227,0,0,0,0,0,0
$GC,10222,0.81,155.7,311.6,14.1,794,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1850,2228,0,0,0,0,0,0
$GC,10542,0.81,155.7,269.2,13.7,824,10546,0.00,2.17,0.00,0.000,4,0.000,0.047,3015,3267,2227,0,0,0,0,0,0
$GC,10565,0.81,155.7,265.8,14.0,825,10571,0.00,2.15,0.00,0.000,6,0.000,0.035,3023,1838,2227,0,0,0,0,0,0
$GC,10889,0.81,155.7,225.6,11.8,875,10897,0.00,2.20,0.00,0.000,4,0.000,0.047,3014,3252,2227,0,0,0,0,0,0
$GC,10922,0.81,155.7,221.5,12.9,880,10931,0.00,2.12,0.00,0.000,6,0.000,0.035,3023,1852,2228,0,0,0,0,0,0
$GC,11250,0.81,155.7,185.9,10.9,941,11258,0.00,2.17,0.00,0.000,4,0.000,0.046,3014,3252,2228,0,0,0,0,0,0
$GC,11308,0.81,155.7,179.5,10.5,951,11316,0.00,2.12,0.00,0.000,6,0.000,0.035,3022,1850,2227,0,0,0,0,0,0
$GC,11632,0.81,155.7,143.1,12.6,1012,11641,0.00,2.15,0.00,0.000,4,0.000,0.044,3032,448,2228,0,0,0,0,0,0
$GC,11675,0.81,155.7,137.8,12.4,1019,11683,0.00,2.12,0.00,0.000,6,0.000,0.034,3024,1854,2228,0,0,0,0,0,0
$GC,12001,0.84,187.5,109.0,8.4,1080,12032,0.00,2.20,25.02,0.737,4,0.000,0.047,3016,3257,2119,0,0,0,0,0,0
$GC,12075,0.86,196.1,102.3,9.3,1091,12092,0.00,2.15,8.88,0.640,6,0.000,0.035,3024,1852,2084,0,0,0,0,0,0
$GC,12414,0.96,280.4,71.6,6.2,1153,12490,0.00,2.30,70.72,0.710,4,0.000,0.045,3017,3261,1739,0,0,0,0,0,0
$GC,12662,1.07,371.5,54.3,5.9,1195,12747,0.15,2.17,75.80,0.681,6,0.044,0.035,3118,1853,1369,0,0,0,0,0,0
$STATE,12986,end climb,SURFACE_DEPTH_REACHED
$STATE,12987,begin surface coast
$FINISH,0.9,1.021580
$STATE,12999,end surface coast,CONTROL_FINISHED_OK
$STATE,12999,begin surface
$SM_CCo,13017,34.17,0.382,1,0,1253,400.08
$SM_GC,1.81,0.00,0.00,34.17,0.000,0.000,0.382,146,1481,1253,-8.12,-0.51,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2232.34,12353.71,290811,080803
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.43
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,25.40
$XPDR_PINGS,73
$24V_AH,23.3,33.564
$10V_AH,10.2,23.206
$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,19.275,123.875,447.125,34.175,0.000,92.192,90.807,174.699,18.250,0.000,14.453,3116.463,6328.479,539.644,3311.388,392.173,0.000,1760.181,0.000,2946.231,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,61.200,1450.440,381.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.993,1282.081,1607.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70238,1253
$CAP_FILE_SIZE,142771,0
$CFSIZE,260165632,135372800
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.155,316.5,1
$GPS,290811,123446,2238.736,12354.463,62,2.2,81,-3.1