version: 66.09
glider: 166
mission: 6
dive: 138
start: 8 29 111 16 42 21
data:
$ID,166
$MISSION,6
$DIVE,138
$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,-24568.02
$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,47
$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
$GPS1,290811,163427,2237.554,12355.171,41,99.0,60,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-64.7
$GPS2,290811,164155,2237.569,12355.286,33,1.5,44,-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,163.6,125401,-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,-155.7,0.0,0.0,0,93,0.00,0.00,-74.05,0.000,2,0.000,0.000,131,1488,3011,0,0,0,0,0,0
$GC,96,-0.81,-155.7,5.0,-7.2,10,121,9.10,2.22,-10.38,0.000,4,0.219,0.052,2469,2916,3521,0,0,0,0,0,0
$GC,141,-0.81,-155.7,24.9,-45.7,16,150,0.00,2.17,0.00,0.000,6,0.000,0.036,2467,1510,3522,0,0,0,0,0,0
$GC,464,-0.81,-155.7,132.8,-27.0,77,472,0.00,2.15,0.00,0.000,4,0.000,0.044,2458,2904,3524,0,0,0,0,0,0
$GC,537,-0.81,-155.7,148.3,-20.6,89,545,0.08,2.15,0.00,0.000,6,0.161,0.036,2478,1500,3525,0,0,0,0,0,0
$GC,868,-0.81,-155.7,218.8,-18.8,150,876,0.00,2.05,0.00,0.000,4,0.000,0.048,2487,202,3526,0,0,0,0,0,0
$GC,902,-0.81,-155.7,225.5,-19.0,155,910,0.00,1.98,0.00,0.000,6,0.000,0.037,2481,1492,3527,0,0,0,0,0,0
$GC,1232,-0.81,-155.7,289.3,-18.7,197,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1493,3526,0,0,0,0,0,0
$GC,1550,-0.81,-155.7,349.8,-17.6,227,1554,0.00,2.00,0.00,0.000,4,0.000,0.047,2480,205,3526,0,0,0,0,0,0
$GC,1654,-0.81,-155.7,368.9,-17.4,236,1658,0.00,1.98,0.00,0.000,6,0.000,0.036,2476,1527,3526,0,0,0,0,0,0
$GC,1984,-0.81,-155.7,422.7,-16.1,267,1988,0.00,2.05,0.00,0.000,4,0.000,0.047,2489,198,3525,0,0,0,0,0,0
$GC,2103,-0.81,-155.7,441.3,-15.8,277,2110,0.00,1.95,0.00,0.000,6,0.000,0.036,2478,1508,3524,0,0,0,0,0,0
$GC,2428,-0.81,-155.7,489.2,-14.7,308,2432,0.00,2.03,0.00,0.000,4,0.000,0.048,2482,195,3522,0,0,0,0,0,0
$GC,2555,-0.81,-155.7,509.2,-16.4,319,2559,0.00,1.95,0.00,0.000,6,0.000,0.037,2471,1505,3521,0,0,0,0,0,0
$GC,2885,-0.81,-155.7,559.1,-15.1,350,2889,0.00,2.03,0.00,0.000,4,0.000,0.050,2472,202,3519,0,0,0,0,0,0
$GC,2967,-0.81,-155.7,572.4,-16.7,357,2971,0.00,1.95,0.00,0.000,6,0.000,0.039,2463,1509,3518,0,0,0,0,0,0
$GC,3294,-0.81,-155.7,622.4,-14.5,381,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1509,3515,0,0,0,0,0,0
$GC,3605,-0.81,-155.7,665.1,-13.4,396,3608,0.00,2.03,0.00,0.000,4,0.000,0.051,2463,206,3511,0,0,0,0,0,0
$GC,3654,-0.81,-155.7,672.7,-14.1,398,3659,0.10,1.98,0.00,0.000,6,0.161,0.039,2482,1493,3511,0,0,0,0,0,0
$GC,3981,-0.81,-155.7,711.5,-12.2,414,3985,0.00,2.00,0.00,0.000,4,0.000,0.051,2480,202,3508,0,0,0,0,0,0
$GC,4105,-0.81,-155.7,728.8,-13.7,419,4109,0.00,2.00,0.00,0.000,6,0.000,0.041,2468,1524,3507,0,0,0,0,0,0
$GC,4426,-0.81,-155.7,771.5,-13.7,435,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1525,3504,0,0,0,0,0,0
$GC,4737,-0.81,-155.7,815.4,-14.3,450,4741,0.00,2.08,0.00,0.000,4,0.000,0.055,2476,197,3501,0,0,0,0,0,0
$GC,4809,-0.81,-155.7,826.9,-15.9,453,4813,0.00,2.03,0.00,0.000,6,0.000,0.041,2466,1506,3501,0,0,0,0,0,0
$GC,5137,-0.81,-155.7,870.1,-12.6,469,5140,0.00,2.05,0.00,0.000,4,0.000,0.055,2466,194,3498,0,0,0,0,0,0
$GC,5222,-0.81,-155.7,881.4,-13.4,472,5230,0.12,2.00,0.00,0.000,6,0.181,0.043,2486,1510,3497,0,0,0,0,0,0
$GC,5538,-0.81,-155.7,914.7,-10.6,488,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1509,3495,0,0,0,0,0,0
$GC,5847,-0.81,-155.7,948.9,-11.3,503,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1509,3493,0,0,0,0,0,0
$GC,6158,-0.81,-155.7,985.4,-11.9,518,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1510,3490,0,0,0,0,0,0
$STATE,6195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6195,begin apogee
$GC,6201,-0.18,0.0,990.2,11.7,520,6337,0.62,0.00,127.28,1.447,6,0.135,0.000,2679,1856,2884,0,0,0,0,0,0
$STATE,6337,end apogee,CONTROL_FINISHED_OK
$STATE,6337,begin climb
$GC,6340,0.81,155.7,993.9,0.0,526,6490,0.93,2.45,140.00,1.394,4,0.075,0.060,3002,3254,2248,0,0,0,0,0,0
$GC,6538,0.81,155.7,968.0,20.3,535,6542,0.00,2.28,0.00,0.000,6,0.000,0.047,3013,1856,2244,0,0,0,0,0,0
$GC,6870,0.81,155.7,900.3,20.2,551,6874,0.00,2.25,0.00,0.000,4,0.000,0.060,3012,3259,2239,0,0,0,0,0,0
$GC,6910,0.81,155.7,892.3,19.8,553,6914,0.00,2.17,0.00,0.000,6,0.000,0.044,3021,1844,2237,0,0,0,0,0,0
$GC,7239,0.81,155.7,827.4,19.3,569,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1844,2236,0,0,0,0,0,0
$GC,7546,0.81,155.7,770.4,18.4,584,7550,0.00,2.22,0.00,0.000,4,0.000,0.057,3019,3254,2235,0,0,0,0,0,0
$GC,7625,0.81,155.7,755.6,19.1,587,7632,0.00,2.15,0.00,0.000,6,0.000,0.042,3028,1837,2234,0,0,0,0,0,0
$GC,7940,0.81,155.7,699.7,17.1,603,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1837,2233,0,0,0,0,0,0
$GC,8250,0.81,155.7,643.1,18.7,618,8254,0.00,2.22,0.00,0.000,4,0.000,0.057,3025,3258,2232,0,0,0,0,0,0
$GC,8403,0.81,155.7,613.6,19.9,624,8411,0.00,2.12,0.00,0.000,6,0.000,0.041,3034,1849,2231,0,0,0,0,0,0
$GC,8727,0.81,155.7,554.3,17.0,651,8731,0.00,2.20,0.00,0.000,4,0.000,0.054,3030,3261,2231,0,0,0,0,0,0
$GC,8761,0.81,155.7,548.0,17.7,653,8768,0.12,2.12,0.00,0.000,6,0.213,0.041,3010,1850,2230,0,0,0,0,0,0
$GC,9085,0.81,155.7,497.4,15.0,684,9089,0.00,2.20,0.00,0.000,4,0.000,0.052,2999,3267,2230,0,0,0,0,0,0
$GC,9172,0.81,155.7,483.1,16.8,691,9176,0.00,2.15,0.00,0.000,6,0.000,0.045,3009,1849,2229,0,0,0,0,0,0
$GC,9503,0.81,155.7,428.8,15.8,722,9507,0.00,2.17,0.00,0.000,4,0.000,0.050,3002,3269,2229,0,0,0,0,0,0
$GC,9584,0.81,155.7,415.2,17.1,729,9588,0.00,2.15,0.00,0.000,6,0.000,0.044,3012,1843,2228,0,0,0,0,0,0
$GC,9914,0.81,155.7,367.1,14.4,760,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1843,2228,0,0,0,0,0,0
$GC,10236,0.81,155.7,324.0,13.6,790,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1842,2228,0,0,0,0,0,0
$GC,10565,0.81,155.7,279.3,13.5,821,10569,0.00,2.20,0.00,0.000,4,0.000,0.050,3011,3266,2228,0,0,0,0,0,0
$GC,10673,0.81,155.7,263.9,14.3,830,10677,0.00,2.12,0.00,0.000,6,0.000,0.037,3019,1839,2228,0,0,0,0,0,0
$GC,11000,0.81,155.7,222.6,12.6,880,11009,0.00,2.20,0.00,0.000,4,0.000,0.047,3013,3255,2228,0,0,0,0,0,0
$GC,11110,0.81,155.7,208.2,12.9,900,11118,0.00,2.12,0.00,0.000,6,0.000,0.036,3022,1853,2228,0,0,0,0,0,0
$GC,11437,0.81,156.9,171.9,9.7,961,11444,0.00,2.17,0.00,0.000,4,0.000,0.044,3032,439,2228,0,0,0,0,0,0
$GC,11489,0.81,159.8,166.9,9.6,970,11497,0.00,2.15,0.00,0.000,6,0.000,0.034,3031,1854,2228,0,0,0,0,0,0
$GC,11814,0.85,189.4,137.8,8.5,1031,11847,0.00,2.15,26.65,0.767,4,0.000,0.047,3028,3269,2110,0,0,0,0,0,0
$GC,12060,0.85,189.4,110.7,11.8,1075,12068,0.00,2.15,0.00,0.000,6,0.000,0.034,3036,1852,2109,0,0,0,0,0,0
$GC,12387,0.86,202.3,79.9,9.2,1136,12403,0.00,0.00,12.35,0.659,6,0.000,0.000,3036,1852,2059,0,0,0,0,0,0
$GC,12723,1.02,325.9,55.4,4.5,1198,12839,0.10,2.28,102.65,0.688,4,0.102,0.044,3105,446,1553,0,0,0,0,0,0
$GC,12866,1.02,325.9,43.2,11.2,1217,12875,0.08,2.20,0.00,0.000,6,0.138,0.032,3076,1859,1552,0,0,0,0,0,0
$GC,13194,1.02,325.9,3.9,10.9,1278,13202,0.00,2.15,0.00,0.000,4,0.000,0.044,3074,3251,1550,0,0,0,0,0,0
$STATE,13208,end climb,SURFACE_DEPTH_REACHED
$STATE,13208,begin surface coast
$FINISH,0.9,1.021654
$STATE,13230,end surface coast,CONTROL_FINISHED_OK
$STATE,13230,begin surface
$SM_CCo,13252,49.47,0.463,1,0,1252,400.08
$SM_GC,1.68,0.00,0.00,49.47,0.000,0.000,0.463,145,1496,1252,-8.11,-0.11,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2232.34,12356.95,290811,121247
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.46
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,25.90
$XPDR_PINGS,68
$24V_AH,23.3,33.889
$10V_AH,10.2,23.512
$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,18.875,102.800,408.925,49.475,0.000,24.140,42.501,192.051,17.000,0.000,45.516,3177.656,6419.145,520.534,3245.888,384.355,0.000,1712.629,0.000,2954.260,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,60.435,1447.380,462.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.453,1314.765,1653.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330196
$DATA_FILE_SIZE,73464,1284
$CAP_FILE_SIZE,136690,0
$CFSIZE,260165632,135221248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078,235.9,1
$GPS,290811,202533,2235.483,12355.713,37,2.0,46,-3.1