version: 66.09
glider: 166
mission: 6
dive: 315
start: 10 3 111 18 45 1
data:
$ID,166
$MISSION,6
$DIVE,315
$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,250
$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,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,-24795.762
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,20
$C_ROLL_DIVE,1610
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,49
$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
$GPS1,031011,183136,2257.183,12140.194,43,1.7,54,-3.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-61.0
$GPS2,031011,184437,2257.381,12140.138,34,2.0,39,-3.0
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,266.7,26949,-17.2,-12.692
$D_GRID,2976
$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,18,-0.68,-243.3,0.0,0.0,0,137,0.00,0.00,-116.15,0.000,2,0.000,0.000,114,1598,3290,0,0,0,0,0,0
$GC,140,-0.68,-243.3,6.8,-11.3,16,165,9.57,1.10,-10.48,0.000,4,0.225,0.067,2514,2313,3879,0,0,0,0,0,0
$GC,339,-0.55,-243.3,84.5,-32.8,51,348,0.17,1.05,0.00,0.000,6,0.155,0.038,2564,1604,3881,0,0,0,0,0,0
$GC,669,-0.58,-243.3,134.7,-11.4,112,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1604,3883,0,0,0,0,0,0
$GC,1001,-0.60,-243.3,175.1,-11.5,173,1009,0.00,1.05,0.00,0.000,4,0.000,0.047,2561,2298,3883,0,0,0,0,0,0
$GC,1126,-0.64,-243.3,186.9,-8.7,195,1134,0.00,1.02,0.00,0.000,6,0.000,0.041,2561,1617,3883,0,0,0,0,0,0
$GC,1455,-0.67,-243.3,224.0,-10.2,256,1464,0.00,1.05,0.00,0.000,4,0.000,0.047,2556,2304,3882,0,0,0,0,0,0
$GC,1511,-0.72,-243.3,229.1,-9.3,265,1520,0.10,1.05,0.00,0.000,6,0.044,0.042,2472,1609,3882,0,0,0,0,0,0
$GC,1845,-0.67,-243.3,287.6,-17.6,308,1849,0.17,1.08,0.00,0.000,4,0.158,0.047,2525,908,3880,0,0,0,0,0,0
$GC,1918,-0.68,-243.3,297.0,-11.6,314,1928,0.00,1.05,0.00,0.000,6,0.000,0.041,2524,1602,3880,0,0,0,0,0,0
$GC,2244,-0.68,-243.3,334.9,-11.0,345,2247,0.00,1.05,0.00,0.000,4,0.000,0.049,2523,2308,3878,0,0,0,0,0,0
$GC,2330,-0.70,-243.3,343.5,-10.1,352,2337,0.00,1.05,0.00,0.000,6,0.000,0.042,2527,1614,3877,0,0,0,0,0,0
$GC,2656,-0.70,-243.3,384.1,-12.6,383,2659,0.00,1.08,0.00,0.000,4,0.000,0.047,2535,905,3875,0,0,0,0,0,0
$GC,2796,-0.71,-243.3,402.4,-14.2,395,2800,0.00,1.08,0.00,0.000,6,0.000,0.043,2530,1610,3874,0,0,0,0,0,0
$GC,3129,-0.73,-243.3,448.3,-13.9,426,3133,0.00,1.08,0.00,0.000,4,0.000,0.050,2525,2308,3871,0,0,0,0,0,0
$GC,3178,-0.75,-243.3,455.5,-13.3,430,3186,0.00,1.05,0.00,0.000,6,0.000,0.044,2525,1618,3871,0,0,0,0,0,0
$GC,3506,-0.77,-243.3,495.4,-11.0,461,3510,0.00,1.08,0.00,0.000,4,0.000,0.050,2525,911,3868,0,0,0,0,0,0
$GC,3564,-0.78,-243.3,501.6,-10.3,466,3568,0.00,1.08,0.00,0.000,6,0.000,0.046,2519,1612,3867,0,0,0,0,0,0
$GC,3897,-0.79,-243.3,535.6,-10.5,497,3901,0.00,1.05,0.00,0.000,4,0.000,0.054,2515,2307,3864,0,0,0,0,0,0
$GC,3999,-0.81,-243.3,545.9,-9.3,506,4003,0.00,1.08,0.00,0.000,6,0.000,0.046,2514,1604,3864,0,0,0,0,0,0
$GC,4333,-0.81,-243.3,582.5,-11.5,537,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1604,3861,0,0,0,0,0,0
$GC,4653,-0.82,-243.3,621.9,-12.9,560,4658,0.10,1.12,0.00,0.000,4,0.100,0.055,2453,2312,3858,0,0,0,0,0,0
$GC,4750,-0.79,-243.3,637.1,-16.3,564,4754,0.10,1.08,0.00,0.000,6,0.146,0.047,2488,1611,3857,0,0,0,0,0,0
$GC,5076,-0.79,-243.3,683.4,-13.2,580,5080,0.00,1.08,0.00,0.000,4,0.000,0.054,2490,916,3855,0,0,0,0,0,0
$GC,5132,-0.79,-243.3,690.5,-12.8,582,5136,0.00,1.08,0.00,0.000,6,0.000,0.047,2487,1610,3854,0,0,0,0,0,0
$GC,5454,-0.79,-243.3,730.3,-12.4,598,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1610,3852,0,0,0,0,0,0
$GC,5763,-0.79,-243.3,767.0,-12.0,613,5767,0.00,1.12,0.00,0.000,4,0.000,0.054,2487,906,3850,0,0,0,0,0,0
$GC,5812,-0.79,-243.3,772.7,-12.5,615,5816,0.00,1.10,0.00,0.000,6,0.000,0.047,2482,1614,3849,0,0,0,0,0,0
$GC,6145,-0.79,-243.3,816.1,-12.7,631,6149,0.00,1.05,0.00,0.000,4,0.000,0.057,2476,2301,3847,0,0,0,0,0,0
$GC,6206,-0.79,-243.3,823.7,-11.7,633,6213,0.00,1.05,0.00,0.000,6,0.000,0.048,2476,1617,3847,0,0,0,0,0,0
$GC,6524,-0.79,-243.3,864.2,-13.6,649,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1617,3844,0,0,0,0,0,0
$GC,6832,-0.79,-243.3,901.9,-11.9,664,6835,0.00,1.10,0.00,0.000,4,0.000,0.056,2477,904,3843,0,0,0,0,0,0
$GC,6878,-0.79,-243.3,907.6,-12.1,666,6882,0.00,1.10,0.00,0.000,6,0.000,0.049,2471,1610,3842,0,0,0,0,0,0
$GC,7213,-0.79,-243.3,947.4,-12.3,682,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1611,3840,0,0,0,0,0,0
$GC,7520,-0.79,-243.3,985.0,-12.0,697,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1610,3838,0,0,0,0,0,0
$STATE,7579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7579,begin apogee
$GC,7587,-0.11,0.0,992.4,11.8,700,7802,0.73,0.00,208.45,1.445,6,0.126,0.000,2704,1784,2883,0,0,0,0,0,0
$STATE,7803,end apogee,CONTROL_FINISHED_OK
$STATE,7803,begin climb
$GC,7807,0.68,243.3,1001.1,0.0,710,8046,0.70,1.20,226.15,1.380,4,0.052,0.060,2969,2474,1892,0,0,0,0,0,0
$GC,8147,0.64,243.3,955.5,17.9,725,8151,0.00,1.10,0.00,0.000,6,0.000,0.051,2973,1788,1886,0,0,0,0,0,0
$GC,8468,0.60,243.3,897.6,18.1,741,8473,0.12,1.08,0.00,0.000,4,0.184,0.060,2939,2480,1883,0,0,0,0,0,0
$GC,8525,0.60,243.3,888.3,15.0,743,8529,0.00,1.10,0.00,0.000,6,0.000,0.050,2942,1774,1882,0,0,0,0,0,0
$GC,8848,0.62,263.0,847.0,12.0,759,8868,0.00,0.00,18.52,1.269,6,0.000,0.000,2942,1774,1811,0,0,0,0,0,0
$GC,9179,0.63,271.0,807.9,12.4,775,9189,0.00,0.00,8.75,1.125,6,0.000,0.000,2942,1774,1779,0,0,0,0,0,0
$GC,9487,0.63,271.0,764.4,14.2,790,9491,0.00,1.10,0.00,0.000,4,0.000,0.056,2940,2475,1776,0,0,0,0,0,0
$GC,9536,0.63,271.0,757.4,13.5,792,9540,0.00,1.08,0.00,0.000,6,0.000,0.047,2943,1771,1776,0,0,0,0,0,0
$GC,9866,0.64,279.9,715.3,12.4,808,9881,0.00,1.08,9.98,1.128,4,0.000,0.054,2949,1078,1742,0,0,0,0,0,0
$GC,9911,0.65,289.1,709.2,12.4,810,9925,0.00,1.10,10.45,1.123,6,0.000,0.046,2948,1788,1704,0,0,0,0,0,0
$GC,10245,0.65,289.1,667.1,13.8,826,10249,0.00,1.05,0.00,0.000,4,0.000,0.054,2948,2478,1702,0,0,0,0,0,0
$GC,10283,0.65,289.1,661.2,13.5,827,10292,0.00,1.08,0.00,0.000,6,0.000,0.044,2951,1779,1702,0,0,0,0,0,0
$GC,10600,0.65,289.1,617.3,13.7,843,10604,0.00,1.08,0.00,0.000,4,0.000,0.050,2955,1066,1701,0,0,0,0,0,0
$GC,10629,0.65,289.1,613.4,13.5,844,10633,0.00,1.10,0.00,0.000,6,0.000,0.045,2956,1782,1701,0,0,0,0,0,0
$GC,10953,0.65,291.9,571.9,12.6,869,10957,0.00,1.05,0.00,0.000,4,0.000,0.055,2956,2480,1701,0,0,0,0,0,0
$GC,11001,0.65,291.9,565.8,12.7,873,11005,0.00,1.08,0.00,0.000,6,0.000,0.047,2960,1781,1701,0,0,0,0,0,0
$GC,11332,0.65,291.9,520.6,13.8,904,11333,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1781,1701,0,0,0,0,0,0
$GC,11653,0.65,291.9,475.6,14.0,934,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1781,1700,0,0,0,0,0,0
$GC,11980,0.65,291.9,427.9,14.8,965,11984,0.00,1.08,0.00,0.000,4,0.000,0.048,2965,1063,1700,0,0,0,0,0,0
$GC,12007,0.65,291.9,423.5,14.6,967,12015,0.00,1.10,0.00,0.000,6,0.000,0.043,2965,1790,1699,0,0,0,0,0,0
$GC,12332,0.65,291.9,379.0,12.9,998,12336,0.00,1.10,0.00,0.000,4,0.000,0.047,2970,1071,1699,0,0,0,0,0,0
$GC,12401,0.65,291.9,369.9,13.1,1004,12405,0.00,1.08,0.00,0.000,6,0.000,0.044,2969,1776,1699,0,0,0,0,0,0
$GC,12732,0.65,291.9,325.0,13.5,1035,12736,0.00,1.08,0.00,0.000,4,0.000,0.048,2973,1075,1699,0,0,0,0,0,0
$GC,12778,0.65,291.9,319.0,12.8,1039,12781,0.00,1.08,0.00,0.000,6,0.000,0.041,2973,1789,1699,0,0,0,0,0,0
$GC,13108,0.65,291.9,277.0,12.8,1070,13112,0.00,1.10,0.00,0.000,4,0.000,0.047,2978,1066,1699,0,0,0,0,0,0
$GC,13157,0.65,291.9,270.3,13.5,1074,13165,0.00,1.08,0.00,0.000,6,0.000,0.040,2978,1782,1699,0,0,0,0,0,0
$GC,13486,0.69,324.9,227.7,11.5,1121,13523,0.00,0.00,32.62,0.877,6,0.000,0.000,2978,1786,1559,0,0,0,0,0,0
$GC,13848,0.85,443.3,190.1,8.5,1186,13965,0.12,1.15,101.93,0.838,4,0.088,0.045,3054,1068,1074,0,0,0,0,0,0
$GC,14056,0.82,443.3,152.1,20.6,1218,14064,0.12,1.08,0.00,0.000,6,0.132,0.039,3013,1777,1071,0,0,0,0,0,0
$GC,14389,0.96,524.8,107.0,9.8,1279,14466,0.12,1.12,67.72,0.751,4,0.088,0.042,3086,1063,741,0,0,0,0,0,0
$GC,14560,0.96,524.8,82.6,14.9,1306,14569,0.08,1.08,0.00,0.000,6,0.132,0.037,3060,1783,737,0,0,0,0,0,0
$GC,14893,1.13,620.5,45.0,9.3,1367,14962,0.15,1.15,63.33,0.679,4,0.074,0.044,3153,1062,454,0,0,0,0,0,0
$GC,15046,1.10,620.5,13.3,21.8,1391,15056,0.15,1.08,0.00,0.000,6,0.138,0.036,3104,1782,444,0,0,0,0,0,0
$STATE,15106,end climb,SURFACE_DEPTH_REACHED
$STATE,15107,begin surface coast
$FINISH,1.3,1.007157
$STATE,15131,end surface coast,CONTROL_FINISHED_OK
$STATE,15131,begin surface
$SM_CCo,15209,0.00,0.000,0,0,439,599.76
$SM_GC,2.09,7.72,0.00,0.00,0.034,0.000,0.000,154,1590,439,-8.04,-0.57,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2225.34,12144.25,031011,141447
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.54
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.90
$XPDR_PINGS,103
$24V_AH,22.5,75.550
$10V_AH,9.9,53.694
$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,20.250,61.075,747.900,0.000,0.000,131.131,65.385,202.103,25.750,0.000,40.463,3438.457,7753.933,730.707,3579.273,469.784,0.000,2120.641,0.000,3153.967,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,71.910,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.308,1438.480,1619.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,80288,1405
$CAP_FILE_SIZE,164104,0
$CFSIZE,260165632,119005184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.221, 33.3,1
$GPS,031011,230051,2258.748,12138.361,80,2.3,99,-3.0