version: 66.09
glider: 166
mission: 6
dive: 139
start: 8 29 111 20 32 42
data:
$ID,166
$MISSION,6
$DIVE,139
$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,-24569.373
$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,35
$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,39
$R_STBD_OVSHOOT,43
$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
$GPS1,290811,202533,2235.483,12355.713,37,2.0,46,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.3
$GPS2,290811,203216,2235.393,12355.771,13,2.2,32,-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,164.9,121327,-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,-0.68,-155.7,0.0,0.0,0,94,0.00,0.00,-74.60,0.000,2,0.000,0.000,137,1496,3048,0,0,0,0,0,0
$GC,97,-0.68,-155.7,5.4,-8.0,10,122,9.40,2.25,-9.55,0.000,4,0.226,0.057,2504,2910,3520,0,0,0,0,0,0
$GC,252,-0.68,-155.7,64.5,-29.2,37,260,0.00,2.20,0.00,0.000,6,0.000,0.037,2501,1503,3522,0,0,0,0,0,0
$GC,580,-0.68,-155.7,143.7,-20.6,98,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1503,3524,0,0,0,0,0,0
$GC,909,-0.68,-155.7,206.1,-18.8,159,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1503,3525,0,0,0,0,0,0
$GC,1240,-0.68,-155.7,269.7,-17.7,211,1244,0.00,2.15,0.00,0.000,4,0.000,0.047,2489,2903,3525,0,0,0,0,0,0
$GC,1264,-0.68,-155.7,274.1,-17.4,212,1273,0.08,2.17,0.00,0.000,6,0.145,0.039,2517,1498,3525,0,0,0,0,0,0
$GC,1588,-0.68,-155.7,323.4,-15.3,243,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1498,3525,0,0,0,0,0,0
$GC,1911,-0.68,-155.7,367.7,-13.0,273,1915,0.00,2.00,0.00,0.000,4,0.000,0.050,2522,203,3524,0,0,0,0,0,0
$GC,1949,-0.68,-155.7,373.8,-13.8,276,1957,0.00,1.98,0.00,0.000,6,0.000,0.037,2517,1494,3524,0,0,0,0,0,0
$GC,2275,-0.68,-155.7,416.0,-13.9,307,2278,0.00,2.00,0.00,0.000,4,0.000,0.048,2519,204,3523,0,0,0,0,0,0
$GC,2309,-0.68,-155.7,421.0,-14.8,310,2313,0.00,1.95,0.00,0.000,6,0.000,0.037,2520,1512,3522,0,0,0,0,0,0
$GC,2640,-0.68,-155.7,465.2,-13.5,341,2643,0.00,2.05,0.00,0.000,4,0.000,0.049,2520,203,3520,0,0,0,0,0,0
$GC,2702,-0.68,-155.7,473.8,-13.5,346,2709,0.00,1.95,0.00,0.000,6,0.000,0.037,2513,1508,3519,0,0,0,0,0,0
$GC,3028,-0.68,-155.7,514.8,-13.2,377,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1508,3518,0,0,0,0,0,0
$GC,3349,-0.68,-155.7,556.5,-13.6,407,3353,0.00,2.12,0.00,0.000,4,0.000,0.051,2502,2905,3515,0,0,0,0,0,0
$GC,3376,-0.68,-155.7,561.0,-13.7,409,3384,0.00,2.17,0.00,0.000,6,0.000,0.040,2502,1496,3515,0,0,0,0,0,0
$GC,3711,-0.68,-155.7,609.4,-14.5,438,3714,0.00,2.00,0.00,0.000,4,0.000,0.051,2502,204,3513,0,0,0,0,0,0
$GC,3828,-0.68,-155.7,626.7,-14.2,443,3832,0.08,2.00,0.00,0.000,6,0.148,0.040,2518,1499,3512,0,0,0,0,0,0
$GC,4157,-0.68,-155.7,662.9,-10.1,459,4161,0.00,2.15,0.00,0.000,4,0.000,0.053,2507,2908,3508,0,0,0,0,0,0
$GC,4195,-0.68,-155.7,666.8,-9.4,460,4203,0.00,2.12,0.00,0.000,6,0.000,0.041,2508,1494,3508,0,0,0,0,0,0
$GC,4511,-0.68,-155.7,699.5,-10.8,476,4515,0.00,2.00,0.00,0.000,4,0.000,0.053,2506,199,3506,0,0,0,0,0,0
$GC,4607,-0.68,-155.7,710.9,-12.2,480,4611,0.00,1.98,0.00,0.000,6,0.000,0.041,2496,1507,3505,0,0,0,0,0,0
$GC,4934,-0.68,-155.7,748.3,-11.4,496,4937,0.00,2.03,0.00,0.000,4,0.000,0.053,2494,205,3502,0,0,0,0,0,0
$GC,4996,-0.68,-155.7,755.9,-12.7,498,5004,0.12,2.00,0.00,0.000,6,0.171,0.042,2520,1510,3501,0,0,0,0,0,0
$GC,5313,-0.68,-155.7,786.2,-9.5,514,5317,0.00,2.17,0.00,0.000,4,0.000,0.059,2511,2910,3499,0,0,0,0,0,0
$GC,5368,-0.68,-155.7,791.6,-9.5,516,5372,0.00,2.12,0.00,0.000,6,0.000,0.042,2509,1495,3498,0,0,0,0,0,0
$GC,5692,-0.68,-155.7,823.9,-10.2,532,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1494,3496,0,0,0,0,0,0
$GC,5999,-0.68,-155.7,855.6,-10.4,547,6003,0.00,2.20,0.00,0.000,4,0.000,0.058,2501,2909,3494,0,0,0,0,0,0
$GC,6025,-0.68,-155.7,858.6,-10.3,548,6030,0.00,2.15,0.00,0.000,6,0.000,0.044,2502,1504,3494,0,0,0,0,0,0
$GC,6355,-0.68,-155.7,892.8,-10.3,564,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1504,3492,0,0,0,0,0,0
$GC,6662,-0.68,-155.7,924.6,-10.5,579,6666,0.00,2.03,0.00,0.000,4,0.000,0.059,2504,204,3490,0,0,0,0,0,0
$GC,6709,-0.68,-155.7,930.0,-12.1,581,6712,0.00,1.98,0.00,0.000,6,0.000,0.045,2495,1496,3489,0,0,0,0,0,0
$GC,7044,-0.68,-155.7,968.4,-11.6,597,7045,0.10,0.00,0.00,0.000,6,0.190,0.000,2519,1498,3488,0,0,0,0,0,0
$STATE,7266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7266,begin apogee
$GC,7272,-0.14,0.0,990.9,9.7,608,7408,0.52,0.00,127.12,1.455,6,0.129,0.000,2689,1862,2884,0,0,0,0,0,0
$STATE,7409,end apogee,CONTROL_FINISHED_OK
$STATE,7409,begin climb
$GC,7411,0.68,155.7,994.6,0.0,614,7556,0.77,0.00,141.73,1.398,6,0.076,0.000,2962,1862,2249,0,0,0,0,0,0
$GC,7857,0.68,155.7,938.4,14.3,636,7861,0.00,2.20,0.00,0.000,4,0.000,0.063,2962,3248,2241,0,0,0,0,0,0
$GC,7889,0.68,155.7,933.5,14.3,637,7893,0.00,2.17,0.00,0.000,6,0.000,0.044,2971,1850,2240,0,0,0,0,0,0
$GC,8211,0.68,155.7,885.9,15.0,653,8215,0.00,2.25,0.00,0.000,4,0.000,0.060,2971,3252,2238,0,0,0,0,0,0
$GC,8240,0.68,155.7,881.6,15.0,654,8245,0.00,2.17,0.00,0.000,6,0.000,0.044,2980,1839,2237,0,0,0,0,0,0
$GC,8556,0.68,155.7,832.2,16.0,669,8560,0.00,2.17,0.00,0.000,4,0.000,0.055,2990,435,2236,0,0,0,0,0,0
$GC,8574,0.68,155.7,829.2,16.1,670,8579,0.00,2.17,0.00,0.000,6,0.000,0.047,2984,1845,2236,0,0,0,0,0,0
$GC,8905,0.68,155.7,776.7,15.4,686,8909,0.00,2.20,0.00,0.000,4,0.000,0.060,2984,3268,2235,0,0,0,0,0,0
$GC,9040,0.68,155.7,753.6,16.7,692,9044,0.00,2.17,0.00,0.000,6,0.000,0.044,2992,1836,2233,0,0,0,0,0,0
$GC,9369,0.68,155.7,701.4,15.6,708,9373,0.00,2.25,0.00,0.000,4,0.000,0.057,2991,3263,2233,0,0,0,0,0,0
$GC,9432,0.68,155.7,691.2,16.0,711,9437,0.12,2.15,0.00,0.000,6,0.203,0.043,2971,1848,2232,0,0,0,0,0,0
$GC,9759,0.68,155.7,647.6,12.9,727,9763,0.00,2.17,0.00,0.000,4,0.000,0.051,2981,440,2231,0,0,0,0,0,0
$GC,9804,0.68,155.7,641.4,13.8,729,9808,0.00,2.15,0.00,0.000,6,0.000,0.041,2972,1856,2231,0,0,0,0,0,0
$GC,10126,0.68,155.7,601.5,12.5,745,10130,0.00,2.15,0.00,0.000,4,0.000,0.055,2962,3252,2231,0,0,0,0,0,0
$GC,10244,0.68,155.7,587.2,11.9,754,10251,0.00,2.15,0.00,0.000,6,0.000,0.041,2969,1835,2230,0,0,0,0,0,0
$GC,10569,0.68,155.7,548.1,13.1,785,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1835,2230,0,0,0,0,0,0
$GC,10891,0.68,155.7,504.4,13.5,815,10895,0.00,2.22,0.00,0.000,4,0.000,0.055,2964,3254,2231,0,0,0,0,0,0
$GC,10932,0.68,155.7,498.5,13.9,818,10936,0.00,2.12,0.00,0.000,6,0.000,0.041,2972,1836,2230,0,0,0,0,0,0
$GC,11257,0.68,155.7,453.5,12.4,848,11261,0.00,2.15,0.00,0.000,4,0.000,0.050,2983,437,2230,0,0,0,0,0,0
$GC,11300,0.68,155.7,447.8,12.9,851,11308,0.00,2.17,0.00,0.000,6,0.000,0.038,2976,1857,2230,0,0,0,0,0,0
$GC,11627,0.69,157.8,413.4,9.6,882,11631,0.00,2.15,0.00,0.000,4,0.000,0.054,2965,3257,2229,0,0,0,0,0,0
$GC,11648,0.69,157.8,411.1,9.8,883,11655,0.00,2.15,0.00,0.000,6,0.000,0.039,2974,1833,2229,0,0,0,0,0,0
$GC,11976,0.69,157.8,379.2,10.5,914,11980,0.00,2.20,0.00,0.000,4,0.000,0.050,2966,3250,2229,0,0,0,0,0,0
$GC,12015,0.69,157.8,374.7,10.7,917,12019,0.00,2.10,0.00,0.000,6,0.000,0.037,2975,1841,2229,0,0,0,0,0,0
$GC,12340,0.69,157.8,338.1,11.5,947,12344,0.00,2.12,0.00,0.000,4,0.000,0.047,2986,442,2229,0,0,0,0,0,0
$GC,12364,0.69,157.8,335.5,11.2,948,12371,0.00,2.10,0.00,0.000,6,0.000,0.037,2977,1854,2229,0,0,0,0,0,0
$GC,12689,0.69,157.8,301.2,10.1,979,12693,0.00,2.15,0.00,0.000,4,0.000,0.051,2967,3252,2229,0,0,0,0,0,0
$GC,12808,0.69,157.8,289.6,10.3,989,12812,0.00,2.10,0.00,0.000,6,0.000,0.037,2976,1840,2229,0,0,0,0,0,0
$GC,13135,0.69,157.8,256.2,10.5,1019,13139,0.00,2.17,0.00,0.000,4,0.000,0.047,2968,3257,2229,0,0,0,0,0,0
$GC,13167,0.69,157.8,252.9,10.7,1021,13171,0.00,2.10,0.00,0.000,6,0.000,0.036,2976,1851,2229,0,0,0,0,0,0
$GC,13491,0.72,189.8,222.1,8.4,1079,13522,0.00,0.00,27.20,0.838,6,0.000,0.000,2976,1851,2110,0,0,0,0,0,0
$GC,13844,0.76,219.4,191.6,8.5,1143,13875,0.00,0.00,26.30,0.799,6,0.000,0.000,2976,1851,1988,0,0,0,0,0,0
$GC,14196,0.76,219.4,154.9,11.6,1207,14204,0.00,2.22,0.00,0.000,4,0.000,0.045,2966,3254,1986,0,0,0,0,0,0
$GC,14272,0.76,219.4,145.1,12.1,1220,14280,0.00,2.15,0.00,0.000,6,0.000,0.034,2976,1849,1986,0,0,0,0,0,0
$GC,14598,0.77,229.0,111.3,9.3,1281,14615,0.00,2.15,9.80,0.658,4,0.000,0.043,2968,3258,1949,0,0,0,0,0,0
$GC,14682,0.79,244.4,103.6,9.1,1295,14706,0.00,2.15,14.50,0.686,6,0.000,0.034,2977,1852,1887,0,0,0,0,0,0
$GC,15029,0.87,308.0,73.8,7.0,1358,15091,0.15,2.28,54.62,0.701,4,0.076,0.043,3073,446,1628,0,0,0,0,0,0
$GC,15244,0.94,364.7,53.6,7.3,1394,15304,0.00,2.15,47.62,0.674,6,0.000,0.031,3073,1854,1396,0,0,0,0,0,0
$GC,15625,0.94,364.7,7.8,13.8,1462,15633,0.00,2.15,0.00,0.000,4,0.000,0.046,3073,3246,1393,0,0,0,0,0,0
$STATE,15660,end climb,SURFACE_DEPTH_REACHED
$STATE,15660,begin surface coast
$FINISH,1.0,1.021605
$STATE,15682,end surface coast,CONTROL_FINISHED_OK
$STATE,15683,begin surface
$SM_CCo,15702,35.78,0.389,1,0,1253,400.08
$SM_GC,1.67,0.00,0.00,35.78,0.000,0.000,0.389,138,1504,1253,-8.15,0.08,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2230.01,12356.95,290811,161638
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.44
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,25.90
$XPDR_PINGS,88
$24V_AH,23.2,34.053
$10V_AH,10.2,23.678
$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,18.975,133.025,448.900,35.775,0.000,27.884,21.709,177.811,22.000,0.000,34.653,3658.445,7945.306,579.005,3512.164,444.827,0.000,1909.083,0.000,3267.219,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,62.730,1455.030,389.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.098,1508.137,1739.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83543,1472
$CAP_FILE_SIZE,160493,0
$CFSIZE,260165632,135102464
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.126,244.1,1
$GPS,300811,005638,2232.781,12355.649,50,1.5,50,-3.1