version: 66.09
glider: 166
mission: 6
dive: 30
start: 8 9 111 16 59 4
data:
$ID,166
$MISSION,6
$DIVE,30
$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,260
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,275
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,285
$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,450
$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,-24415.443
$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,0.015
$PITCH_ADJ_DBAND,1
$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,38
$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,100
$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
$GPS1,090811,164920,2229.229,12126.244,60,2.3,79,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.1
$GPS2,090811,165843,2229.551,12126.354,17,1.7,34,-2.9
$SPEED_LIMITS,0.220,0.369
$TGT_NAME,HEADING
$TGT_LATLONG,2232.346,12115.061
$TGT_RADIUS,1852.000
$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,287.9,20000,-16.3,-12.692
$D_GRID,1315
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.91,-267.6,0.0,0.0,0,125,0.00,0.00,-103.72,0.000,2,0.000,0.000,154,1492,2964,0,0,0,0,0,0
$GC,129,-0.91,-267.6,5.1,-7.9,15,167,9.05,2.00,-18.83,0.000,4,0.234,0.057,2450,202,3965,0,0,0,0,0,0
$GC,402,-0.71,-267.6,121.8,-32.5,65,411,0.22,2.00,0.00,0.000,6,0.158,0.035,2510,1509,3967,0,0,0,0,0,0
$GC,724,-0.59,-267.6,199.6,-20.7,126,733,0.15,2.03,0.00,0.000,4,0.169,0.044,2554,207,3968,0,0,0,0,0,0
$GC,874,-0.57,-267.6,223.5,-16.3,153,882,0.00,1.98,0.00,0.000,6,0.000,0.036,2543,1505,3968,0,0,0,0,0,0
$GC,1206,-0.54,-267.6,269.3,-14.8,202,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1506,3968,0,0,0,0,0,0
$GC,1526,-0.54,-267.6,314.6,-13.4,232,1531,0.10,2.12,0.00,0.000,4,0.176,0.050,2558,2902,3967,0,0,0,0,0,0
$GC,1581,-0.62,-267.6,319.9,-9.3,236,1585,0.00,2.10,0.00,0.000,6,0.000,0.036,2558,1495,3967,0,0,0,0,0,0
$GC,1907,-0.67,-267.6,347.9,-8.5,266,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1495,3965,0,0,0,0,0,0
$GC,2228,-0.74,-267.6,378.2,-8.6,296,2235,0.17,0.00,0.00,0.000,6,0.068,0.000,2477,1495,3962,0,0,0,0,0,0
$GC,2554,-0.64,-267.6,436.2,-19.4,327,2556,0.22,0.00,0.00,0.000,6,0.158,0.000,2537,1495,3960,0,0,0,0,0,0
$GC,2872,-0.67,-267.6,477.5,-12.4,357,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1495,3958,0,0,0,0,0,0
$GC,3196,-0.71,-267.6,514.5,-10.7,387,3200,0.00,2.17,0.00,0.000,4,0.000,0.055,2522,2903,3954,0,0,0,0,0,0
$GC,3259,-0.77,-267.6,521.3,-9.8,392,3263,0.00,2.12,0.00,0.000,6,0.000,0.040,2524,1500,3954,0,0,0,0,0,0
$GC,3584,-0.80,-267.6,560.0,-13.5,422,3588,0.00,2.20,0.00,0.000,4,0.000,0.056,2511,2907,3951,0,0,0,0,0,0
$GC,3617,-0.83,-267.6,564.3,-12.7,424,3623,0.00,2.15,0.00,0.000,6,0.000,0.041,2511,1492,3950,0,0,0,0,0,0
$GC,3944,-0.83,-267.6,604.9,-11.6,453,3948,0.00,1.95,0.00,0.000,4,0.000,0.053,2510,207,3948,0,0,0,0,0,0
$GC,3983,-0.85,-267.6,610.0,-11.7,454,3990,0.00,1.95,0.00,0.000,6,0.000,0.041,2500,1496,3947,0,0,0,0,0,0
$GC,4301,-0.85,-267.6,645.3,-10.7,470,4305,0.00,2.12,0.00,0.000,4,0.000,0.055,2489,2903,3944,0,0,0,0,0,0
$GC,4347,-0.87,-267.6,650.1,-10.0,472,4351,0.00,2.12,0.00,0.000,6,0.000,0.041,2489,1494,3944,0,0,0,0,0,0
$GC,4674,-0.87,-267.6,685.5,-11.0,488,4678,0.00,2.17,0.00,0.000,4,0.000,0.056,2478,2904,3942,0,0,0,0,0,0
$GC,4708,-0.87,-267.6,689.2,-10.9,489,4715,0.00,2.12,0.00,0.000,6,0.000,0.041,2478,1497,3941,0,0,0,0,0,0
$GC,5024,-0.84,-267.6,730.0,-13.6,505,5028,0.00,2.00,0.00,0.000,4,0.000,0.055,2478,202,3939,0,0,0,0,0,0
$GC,5072,-0.83,-267.6,736.8,-14.6,507,5076,0.00,1.98,0.00,0.000,6,0.000,0.043,2468,1504,3938,0,0,0,0,0,0
$GC,5407,-0.79,-267.6,786.0,-15.0,523,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1503,3936,0,0,0,0,0,0
$GC,5714,-0.76,-267.6,828.9,-13.5,538,5719,0.12,2.17,0.00,0.000,4,0.183,0.060,2493,2912,3934,0,0,0,0,0,0
$GC,5749,-0.77,-267.6,833.0,-11.9,539,5753,0.00,2.12,0.00,0.000,6,0.000,0.044,2493,1503,3933,0,0,0,0,0,0
$GC,6070,-0.77,-267.6,871.1,-11.9,555,6074,0.00,2.00,0.00,0.000,4,0.000,0.057,2492,198,3931,0,0,0,0,0,0
$GC,6109,-0.79,-267.6,876.5,-13.5,556,6116,0.00,1.98,0.00,0.000,6,0.000,0.044,2483,1501,3931,0,0,0,0,0,0
$GC,6427,-0.79,-267.6,915.9,-12.3,572,6431,0.00,2.15,0.00,0.000,4,0.000,0.059,2472,2911,3929,0,0,0,0,0,0
$GC,6512,-0.82,-267.6,925.8,-11.0,576,6516,0.00,2.15,0.00,0.000,6,0.000,0.043,2472,1490,3928,0,0,0,0,0,0
$GC,6840,-0.82,-267.6,963.8,-11.4,592,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1490,3927,0,0,0,0,0,0
$STATE,7064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7064,begin apogee
$GC,7070,-0.18,0.0,990.1,11.8,603,7293,0.62,0.00,215.88,1.443,6,0.132,0.000,2677,1858,2884,0,0,0,0,0,0
$STATE,7295,end apogee,CONTROL_FINISHED_OK
$STATE,7295,begin climb
$GC,7298,0.91,267.6,1001.3,0.0,613,7544,1.00,0.00,240.98,1.375,6,0.063,0.000,3040,1858,1792,0,0,0,0,0,0
$GC,7846,0.68,267.6,876.6,27.4,640,7851,0.25,2.25,0.00,0.000,4,0.200,0.061,2961,3262,1785,0,0,0,0,0,0
$GC,7941,0.58,267.6,857.4,16.3,644,7945,0.15,2.22,0.00,0.000,6,0.200,0.044,2935,1841,1783,0,0,0,0,0,0
$GC,8257,0.49,267.6,804.4,17.7,659,8261,0.00,2.20,0.00,0.000,4,0.000,0.055,2943,442,1782,0,0,0,0,0,0
$GC,8280,0.40,267.6,799.8,18.5,660,8285,0.22,2.20,0.00,0.000,6,0.161,0.045,2877,1857,1781,0,0,0,0,0,0
$GC,8602,0.41,273.8,758.2,12.5,676,8611,0.00,2.20,4.95,0.913,4,0.000,0.060,2877,3255,1767,0,0,0,0,0,0
$GC,8669,0.43,273.8,749.8,12.7,679,8673,0.00,2.17,0.00,0.000,6,0.000,0.042,2885,1836,1767,0,0,0,0,0,0
$GC,8990,0.45,288.0,708.2,12.2,695,9012,0.00,2.20,15.00,1.201,4,0.000,0.054,2896,438,1709,0,0,0,0,0,0
$GC,9065,0.48,301.5,698.8,12.3,698,9085,0.00,2.20,13.62,1.168,6,0.000,0.043,2896,1854,1654,0,0,0,0,0,0
$GC,9415,0.48,301.5,650.5,13.8,715,9419,0.00,2.20,0.00,0.000,4,0.000,0.057,2896,3258,1651,0,0,0,0,0,0
$GC,9448,0.48,301.5,645.1,14.7,716,9455,0.00,2.17,0.00,0.000,6,0.000,0.040,2906,1837,1651,0,0,0,0,0,0
$GC,9767,0.46,301.5,598.5,15.6,732,9771,0.00,2.22,0.00,0.000,4,0.000,0.054,2905,3265,1651,0,0,0,0,0,0
$GC,9799,0.46,301.5,592.8,15.5,734,9806,0.00,2.15,0.00,0.000,6,0.000,0.040,2916,1847,1651,0,0,0,0,0,0
$GC,10125,0.42,301.5,544.8,14.6,765,10130,0.12,2.17,0.00,0.000,4,0.187,0.052,2894,443,1650,0,0,0,0,0,0
$GC,10165,0.45,310.7,539.8,12.4,768,10180,0.00,2.15,9.43,1.034,6,0.000,0.041,2894,1850,1616,0,0,0,0,0,0
$GC,10508,0.55,379.0,501.4,10.5,800,10574,0.00,2.35,60.47,1.132,4,0.000,0.057,2894,3255,1337,0,0,0,0,0,0
$GC,10634,0.74,469.8,488.7,9.8,811,10725,0.22,2.20,79.05,1.083,6,0.063,0.038,3007,1850,966,0,0,0,0,0,0
$GC,11044,0.62,469.8,379.7,27.6,849,11049,0.22,2.25,0.00,0.000,4,0.174,0.053,2938,3261,962,0,0,0,0,0,0
$GC,11118,0.66,469.8,364.0,15.5,855,11122,0.00,2.20,0.00,0.000,6,0.000,0.039,2945,1834,961,0,0,0,0,0,0
$GC,11443,0.63,469.8,310.5,17.3,885,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1834,960,0,0,0,0,0,0
$GC,11764,0.63,469.8,256.5,15.9,915,11768,0.00,2.22,0.00,0.000,4,0.000,0.051,2946,3266,960,0,0,0,0,0,0
$GC,11844,0.69,474.9,245.5,12.5,924,11853,0.00,2.17,4.55,0.629,6,0.000,0.037,2955,1851,947,0,0,0,0,0,0
$GC,12174,0.69,474.9,199.4,14.3,985,12182,0.00,2.17,0.00,0.000,4,0.000,0.048,2966,444,946,0,0,0,0,0,0
$GC,12215,0.71,474.9,193.0,14.4,992,12223,0.00,2.15,0.00,0.000,6,0.000,0.037,2966,1848,945,0,0,0,0,0,0
$GC,12540,0.71,474.9,139.5,17.3,1053,12548,0.00,2.17,0.00,0.000,4,0.000,0.051,2965,3258,945,0,0,0,0,0,0
$GC,12572,0.73,474.9,134.0,17.5,1058,12579,0.00,2.15,0.00,0.000,6,0.000,0.036,2973,1846,945,0,0,0,0,0,0
$GC,12894,0.76,474.9,87.0,12.8,1119,12902,0.00,2.15,0.00,0.000,4,0.000,0.047,2984,444,945,0,0,0,0,0,0
$GC,12937,0.82,487.5,81.7,12.3,1126,12961,0.00,2.15,11.90,0.694,6,0.000,0.036,2984,1862,894,0,0,0,0,0,0
$GC,13278,1.11,642.5,47.4,7.8,1189,13373,0.28,2.33,88.45,0.704,4,0.055,0.044,3140,440,453,0,0,0,0,0,0
$STATE,13503,end climb,SURFACE_DEPTH_REACHED
$STATE,13503,begin surface coast
$FINISH,1.1,1.021461
$STATE,13520,end surface coast,CONTROL_FINISHED_OK
$STATE,13520,begin surface
$SM_CCo,13600,0.00,0.000,0,0,444,598.53
$SM_GC,1.80,8.00,0.00,0.00,0.041,0.000,0.000,142,1521,444,-8.03,0.59,598.53,0,0,0,0,0,0
$IRIDIUM_FIX,2218.34,12126.22,090811,161636
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.36
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,23.80
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,890.3,999.0
$24V_AH,23.3,9.481
$10V_AH,10.3,6.270
$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,21.150,111.500,744.275,0.000,0.000,52.206,72.050,207.248,18.000,0.000,35.336,2864.249,7066.693,738.462,3097.781,378.656,0.000,1971.512,0.000,2736.212,0.000,2.997,0.000
$DEVICE_MAMPS,234.090,61.200,1442.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.633,1257.345,1346.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324484
$DATA_FILE_SIZE,70178,1229
$CAP_FILE_SIZE,150324,0
$CFSIZE,260165632,144613376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090811,204701,2231.967,12125.182,41,1.6,41,-2.9