version: 66.09
glider: 166
mission: 6
dive: 137
start: 8 29 111 12 52 23
data:
$ID,166
$MISSION,6
$DIVE,137
$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,-24566.664
$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,42
$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
$GPS1,290811,123446,2238.736,12354.463,62,2.2,81,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.6
$GPS2,290811,125157,2239.001,12354.527,33,2.6,52,-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,157.2,128138,-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,-155.7,0.0,0.0,0,97,0.00,0.00,-77.80,0.000,2,0.000,0.000,136,1482,3204,0,0,0,0,0,0
$GC,99,-0.81,-155.7,6.5,-12.1,11,124,9.07,2.17,-5.82,0.000,4,0.220,0.049,2467,2913,3519,0,0,0,0,0,0
$GC,181,-0.81,-155.7,44.0,-38.2,24,189,0.00,2.17,0.00,0.000,6,0.000,0.037,2467,1511,3520,0,0,0,0,0,0
$GC,508,-0.81,-155.7,139.4,-23.7,85,517,0.00,2.15,0.00,0.000,4,0.000,0.045,2458,2901,3523,0,0,0,0,0,0
$GC,584,-0.81,-155.7,156.1,-21.0,98,592,0.00,2.17,0.00,0.000,6,0.000,0.038,2455,1492,3522,0,0,0,0,0,0
$GC,912,-0.81,-155.7,228.8,-22.4,159,921,0.10,2.03,0.00,0.000,4,0.190,0.048,2489,202,3524,0,0,0,0,0,0
$GC,1027,-0.81,-155.7,254.5,-20.8,178,1036,0.00,1.98,0.00,0.000,6,0.000,0.037,2482,1499,3523,0,0,0,0,0,0
$GC,1353,-0.81,-155.7,316.1,-18.6,209,1357,0.00,2.00,0.00,0.000,4,0.000,0.047,2482,200,3524,0,0,0,0,0,0
$GC,1413,-0.81,-155.7,327.5,-18.7,214,1420,0.00,1.92,0.00,0.000,6,0.000,0.036,2472,1502,3523,0,0,0,0,0,0
$GC,1738,-0.81,-155.7,380.9,-16.1,245,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1502,3522,0,0,0,0,0,0
$GC,2058,-0.81,-155.7,431.4,-15.9,275,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1503,3519,0,0,0,0,0,0
$GC,2379,-0.81,-155.7,480.7,-15.4,305,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1504,3517,0,0,0,0,0,0
$GC,2706,-0.81,-155.7,527.3,-13.5,336,2709,0.00,2.05,0.00,0.000,4,0.000,0.049,2494,202,3514,0,0,0,0,0,0
$GC,2768,-0.81,-155.7,536.7,-14.6,341,2776,0.00,1.98,0.00,0.000,6,0.000,0.037,2483,1508,3514,0,0,0,0,0,0
$GC,3093,-0.81,-155.7,581.4,-14.0,372,3097,0.00,2.05,0.00,0.000,4,0.000,0.050,2484,198,3511,0,0,0,0,0,0
$GC,3168,-0.81,-155.7,592.6,-15.3,378,3174,0.00,1.95,0.00,0.000,6,0.000,0.037,2474,1502,3510,0,0,0,0,0,0
$GC,3485,-0.81,-155.7,637.5,-13.3,396,3489,0.00,2.03,0.00,0.000,4,0.000,0.050,2472,202,3507,0,0,0,0,0,0
$GC,3534,-0.81,-155.7,644.7,-14.1,398,3538,0.00,1.95,0.00,0.000,6,0.000,0.038,2461,1500,3507,0,0,0,0,0,0
$GC,3864,-0.81,-155.7,688.0,-13.0,414,3867,0.00,2.00,0.00,0.000,4,0.000,0.051,2460,205,3503,0,0,0,0,0,0
$GC,3913,-0.81,-155.7,695.6,-14.8,416,3918,0.12,1.95,0.00,0.000,6,0.180,0.040,2481,1501,3503,0,0,0,0,0,0
$GC,4242,-0.81,-155.7,735.2,-12.3,432,4246,0.00,2.03,0.00,0.000,4,0.000,0.052,2480,193,3500,0,0,0,0,0,0
$GC,4274,-0.81,-155.7,740.1,-13.9,433,4278,0.00,2.00,0.00,0.000,6,0.000,0.041,2470,1496,3500,0,0,0,0,0,0
$GC,4596,-0.81,-155.7,782.6,-13.3,449,4599,0.00,2.03,0.00,0.000,4,0.000,0.054,2469,199,3496,0,0,0,0,0,0
$GC,4647,-0.81,-155.7,790.1,-14.7,451,4651,0.00,1.98,0.00,0.000,6,0.000,0.041,2460,1508,3496,0,0,0,0,0,0
$GC,4974,-0.81,-155.7,834.8,-13.9,467,4978,0.00,2.03,0.00,0.000,4,0.000,0.054,2468,206,3493,0,0,0,0,0,0
$GC,5079,-0.81,-155.7,850.5,-14.6,471,5087,0.00,2.00,0.00,0.000,6,0.000,0.043,2460,1492,3492,0,0,0,0,0,0
$GC,5398,-0.81,-155.7,891.1,-12.2,487,5401,0.00,2.00,0.00,0.000,4,0.000,0.054,2459,195,3489,0,0,0,0,0,0
$GC,5550,-0.81,-155.7,912.0,-13.4,493,5558,0.12,2.00,0.00,0.000,6,0.184,0.044,2481,1506,3488,0,0,0,0,0,0
$GC,5868,-0.81,-155.7,946.2,-10.9,509,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1507,3486,0,0,0,0,0,0
$GC,6175,-0.81,-155.7,981.4,-11.5,524,6179,0.00,2.05,0.00,0.000,4,0.000,0.058,2481,199,3484,0,0,0,0,0,0
$GC,6207,-0.81,-155.7,985.7,-12.6,525,6211,0.00,2.03,0.00,0.000,6,0.000,0.043,2474,1502,3484,0,0,0,0,0,0
$STATE,6259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6259,begin apogee
$GC,6267,-0.18,0.0,992.0,12.0,528,6398,0.68,0.00,125.55,1.447,6,0.139,0.000,2683,1859,2884,0,0,0,0,0,0
$STATE,6399,end apogee,CONTROL_FINISHED_OK
$STATE,6399,begin climb
$GC,6401,0.81,155.7,995.6,0.0,534,6551,0.93,2.35,139.98,1.392,4,0.076,0.059,3003,3251,2248,0,0,0,0,0,0
$GC,6579,0.81,155.7,974.4,17.7,542,6583,0.00,2.25,0.00,0.000,6,0.000,0.044,3012,1851,2246,0,0,0,0,0,0
$GC,6909,0.81,155.7,911.8,19.3,558,6913,0.00,2.22,0.00,0.000,4,0.000,0.059,3012,3248,2239,0,0,0,0,0,0
$GC,6958,0.81,155.7,901.3,19.5,560,6962,0.00,2.15,0.00,0.000,6,0.000,0.044,3020,1842,2239,0,0,0,0,0,0
$GC,7282,0.81,155.7,841.8,18.3,576,7286,0.00,2.17,0.00,0.000,4,0.000,0.057,3030,443,2237,0,0,0,0,0,0
$GC,7304,0.81,155.7,837.4,18.1,577,7309,0.00,2.17,0.00,0.000,6,0.000,0.044,3022,1847,2237,0,0,0,0,0,0
$GC,7631,0.81,155.7,778.1,18.3,593,7635,0.00,2.17,0.00,0.000,4,0.000,0.057,3021,3255,2234,0,0,0,0,0,0
$GC,7745,0.81,155.7,756.5,18.6,598,7749,0.00,2.15,0.00,0.000,6,0.000,0.043,3031,1842,2234,0,0,0,0,0,0
$GC,8072,0.81,155.7,696.8,18.0,614,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1842,2233,0,0,0,0,0,0
$GC,8381,0.81,155.7,638.4,18.4,629,8385,0.00,2.20,0.00,0.000,4,0.000,0.055,3021,3267,2232,0,0,0,0,0,0
$GC,8538,0.81,155.7,610.1,17.8,636,8542,0.00,2.15,0.00,0.000,6,0.000,0.041,3031,1836,2231,0,0,0,0,0,0
$GC,8865,0.81,155.7,550.1,18.7,664,8869,0.00,2.20,0.00,0.000,4,0.000,0.054,3021,3258,2231,0,0,0,0,0,0
$GC,8904,0.81,155.7,542.1,18.6,667,8911,0.00,2.15,0.00,0.000,6,0.000,0.041,3031,1841,2231,0,0,0,0,0,0
$GC,9230,0.81,155.7,484.4,17.2,698,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1840,2230,0,0,0,0,0,0
$GC,9551,0.81,155.7,433.2,16.4,728,9555,0.00,2.22,0.00,0.000,4,0.000,0.054,3024,3264,2229,0,0,0,0,0,0
$GC,9677,0.81,155.7,413.4,15.3,739,9681,0.00,2.15,0.00,0.000,6,0.000,0.039,3030,1840,2228,0,0,0,0,0,0
$GC,10002,0.81,155.7,361.0,16.2,769,10006,0.00,2.20,0.00,0.000,4,0.000,0.052,3021,3261,2228,0,0,0,0,0,0
$GC,10042,0.81,155.7,354.5,15.7,772,10046,0.00,2.10,0.00,0.000,6,0.000,0.038,3031,1850,2228,0,0,0,0,0,0
$GC,10368,0.81,155.7,303.8,14.7,802,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1851,2228,0,0,0,0,0,0
$GC,10688,0.81,155.7,259.2,12.6,832,10689,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1850,2228,0,0,0,0,0,0
$GC,11007,0.81,155.7,220.3,12.4,884,11015,0.00,2.20,0.00,0.000,4,0.000,0.048,3027,3264,2228,0,0,0,0,0,0
$GC,11179,0.81,155.7,198.4,12.5,915,11187,0.00,2.15,0.00,0.000,6,0.000,0.037,3033,1851,2228,0,0,0,0,0,0
$GC,11506,0.81,155.7,155.2,11.2,976,11514,0.00,2.17,0.00,0.000,4,0.000,0.047,3025,3257,2228,0,0,0,0,0,0
$GC,11621,0.81,155.7,142.3,11.5,997,11631,0.08,2.15,0.00,0.000,6,0.170,0.036,3010,1845,2228,0,0,0,0,0,0
$GC,11952,0.84,183.7,112.3,8.5,1058,11982,0.00,0.00,21.80,0.732,6,0.000,0.000,3012,1845,2135,0,0,0,0,0,0
$GC,12304,0.87,210.3,83.8,8.6,1122,12336,0.00,2.15,23.98,0.699,4,0.000,0.042,3022,440,2025,0,0,0,0,0,0
$GC,12414,0.98,293.4,76.3,6.2,1140,12493,0.10,2.17,70.30,0.707,6,0.050,0.034,3079,1862,1686,0,0,0,0,0,0
$GC,12813,0.98,293.4,38.6,11.6,1210,12821,0.00,2.17,0.00,0.000,4,0.000,0.046,3076,3255,1682,0,0,0,0,0,0
$GC,12936,0.98,293.4,23.0,13.3,1232,12944,0.00,2.17,0.00,0.000,6,0.000,0.034,3084,1839,1682,0,0,0,0,0,0
$STATE,13112,end climb,SURFACE_DEPTH_REACHED
$STATE,13112,begin surface coast
$FINISH,1.1,1.021572
$STATE,13135,end surface coast,CONTROL_FINISHED_OK
$STATE,13135,begin surface
$SM_CCo,13154,64.40,0.504,1,0,1253,400.08
$SM_GC,1.60,0.00,0.00,64.40,0.000,0.000,0.504,143,1488,1253,-8.13,-0.34,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2232.34,12356.95,290811,121247
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.36
$INTERNAL_PRESSURE,9.46784
$TCM_TEMP,26.00
$XPDR_PINGS,75
$24V_AH,23.3,33.731
$10V_AH,10.2,23.360
$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,18.800,106.075,381.600,64.400,0.000,149.828,118.063,280.379,18.750,0.000,55.966,3152.902,6630.661,519.863,3541.006,400.874,0.000,1703.320,0.000,2918.629,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,58.905,1447.380,504.135,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.355,1298.802,1612.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330248
$DATA_FILE_SIZE,73526,1269
$CAP_FILE_SIZE,141217,0
$CFSIZE,260165632,135290880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078,288.9,1
$GPS,290811,163427,2237.554,12355.171,41,99.0,60,-3.1