version: 66.09
glider: 166
mission: 6
dive: 312
start: 10 3 111 5 21 21
data:
$ID,166
$MISSION,6
$DIVE,312
$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,-24791.982
$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,41
$R_STBD_OVSHOOT,56
$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
$GPS1,031011,050551,2253.419,12147.133,88,99.0,107,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-58.5
$GPS2,031011,052057,2253.547,12147.268,57,99.0,76,-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,255.0,40986,-17.2,-12.692
$D_GRID,3913
$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,-243.3,0.0,0.0,0,110,0.00,0.00,-91.15,0.000,2,0.000,0.000,153,1609,3300,0,0,0,0,0,0
$GC,115,-0.68,-243.3,6.4,-10.9,12,139,9.50,1.08,-10.00,0.000,4,0.224,0.070,2512,2305,3878,0,0,0,0,0,0
$GC,300,-0.61,-243.3,68.2,-24.8,45,309,0.15,1.05,0.00,0.000,6,0.140,0.040,2544,1603,3881,0,0,0,0,0,0
$GC,626,-0.58,-243.3,132.7,-17.8,106,635,0.00,1.05,0.00,0.000,4,0.000,0.044,2544,905,3882,0,0,0,0,0,0
$GC,716,-0.58,-243.3,146.2,-14.3,121,724,0.00,1.05,0.00,0.000,6,0.000,0.041,2541,1596,3882,0,0,0,0,0,0
$GC,1046,-0.56,-243.3,193.4,-17.3,182,1056,0.00,1.08,0.00,0.000,4,0.000,0.049,2536,2313,3882,0,0,0,0,0,0
$GC,1126,-0.56,-243.3,207.0,-15.2,196,1134,0.00,1.05,0.00,0.000,6,0.000,0.042,2536,1618,3882,0,0,0,0,0,0
$GC,1459,-0.56,-243.3,254.8,-13.4,255,1463,0.00,1.08,0.00,0.000,4,0.000,0.046,2536,904,3881,0,0,0,0,0,0
$GC,1567,-0.56,-243.3,267.8,-12.1,264,1575,0.08,1.08,0.00,0.000,6,0.138,0.040,2557,1613,3880,0,0,0,0,0,0
$GC,1895,-0.60,-243.3,299.8,-10.1,295,1898,0.00,1.02,0.00,0.000,4,0.000,0.048,2555,2303,3880,0,0,0,0,0,0
$GC,2068,-0.65,-243.3,317.9,-10.7,310,2072,0.00,1.05,0.00,0.000,6,0.000,0.043,2557,1610,3878,0,0,0,0,0,0
$GC,2402,-0.69,-243.3,355.1,-10.9,341,2408,0.15,0.00,0.00,0.000,6,0.070,0.000,2485,1610,3876,0,0,0,0,0,0
$GC,2727,-0.65,-243.3,411.4,-16.5,372,2729,0.17,0.00,0.00,0.000,6,0.151,0.000,2535,1609,3875,0,0,0,0,0,0
$GC,3046,-0.66,-243.3,444.9,-10.2,402,3050,0.00,1.08,0.00,0.000,4,0.000,0.050,2532,2310,3873,0,0,0,0,0,0
$GC,3119,-0.69,-243.3,452.4,-10.2,408,3126,0.00,1.05,0.00,0.000,6,0.000,0.043,2532,1618,3872,0,0,0,0,0,0
$GC,3445,-0.71,-243.3,490.8,-12.1,439,3449,0.00,1.05,0.00,0.000,4,0.000,0.051,2528,2301,3870,0,0,0,0,0,0
$GC,3475,-0.73,-243.3,494.2,-11.7,441,3482,0.00,1.05,0.00,0.000,6,0.000,0.044,2528,1609,3869,0,0,0,0,0,0
$GC,3801,-0.75,-243.3,532.7,-12.1,472,3804,0.00,1.08,0.00,0.000,4,0.000,0.054,2522,2304,3867,0,0,0,0,0,0
$GC,3829,-0.77,-243.3,535.9,-11.2,474,3837,0.00,1.05,0.00,0.000,6,0.000,0.045,2522,1615,3867,0,0,0,0,0,0
$GC,4155,-0.79,-243.3,574.3,-11.8,505,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1615,3864,0,0,0,0,0,0
$GC,4473,-0.81,-243.3,608.9,-10.4,531,4475,0.10,0.00,0.00,0.000,6,0.099,0.000,2463,1615,3861,0,0,0,0,0,0
$GC,4782,-0.77,-243.3,654.1,-15.2,546,4784,0.12,0.00,0.00,0.000,6,0.169,0.000,2496,1615,3859,0,0,0,0,0,0
$GC,5089,-0.77,-243.3,692.7,-12.3,561,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1615,3855,0,0,0,0,0,0
$GC,5398,-0.77,-243.3,731.8,-12.3,576,5402,0.00,1.10,0.00,0.000,4,0.000,0.053,2497,911,3853,0,0,0,0,0,0
$GC,5433,-0.77,-243.3,736.2,-12.7,577,5437,0.00,1.08,0.00,0.000,6,0.000,0.047,2494,1604,3853,0,0,0,0,0,0
$GC,5754,-0.77,-243.3,776.3,-12.3,593,5758,0.00,1.08,0.00,0.000,4,0.000,0.052,2494,915,3850,0,0,0,0,0,0
$GC,5782,-0.77,-243.3,780.1,-12.4,594,5786,0.00,1.08,0.00,0.000,6,0.000,0.049,2489,1605,3850,0,0,0,0,0,0
$GC,6111,-0.77,-243.3,821.6,-12.9,610,6115,0.00,1.08,0.00,0.000,4,0.000,0.054,2485,918,3848,0,0,0,0,0,0
$GC,6206,-0.77,-243.3,834.3,-12.5,614,6210,0.00,1.08,0.00,0.000,6,0.000,0.050,2478,1607,3847,0,0,0,0,0,0
$GC,6536,-0.77,-243.3,876.1,-12.4,630,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1607,3844,0,0,0,0,0,0
$GC,6843,-0.77,-243.3,914.6,-12.3,645,6847,0.00,1.08,0.00,0.000,4,0.000,0.055,2476,919,3842,0,0,0,0,0,0
$GC,6937,-0.77,-243.3,926.0,-12.4,649,6940,0.00,1.08,0.00,0.000,6,0.000,0.050,2466,1608,3842,0,0,0,0,0,0
$GC,7270,-0.77,-243.3,966.0,-11.9,665,7271,0.10,0.00,0.00,0.000,6,0.182,0.000,2492,1608,3840,0,0,0,0,0,0
$STATE,7535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7535,begin apogee
$GC,7543,-0.11,0.0,991.9,9.5,678,7759,0.62,0.00,208.10,1.436,6,0.116,0.000,2701,1780,2883,0,0,0,0,0,0
$STATE,7760,end apogee,CONTROL_FINISHED_OK
$STATE,7760,begin climb
$GC,7764,0.68,243.3,999.2,0.0,688,8002,0.70,1.17,223.88,1.375,4,0.049,0.054,2977,1086,1890,0,0,0,0,0,0
$GC,8053,0.63,243.3,959.8,18.7,701,8057,0.00,1.12,0.00,0.000,6,0.000,0.051,2976,1768,1886,0,0,0,0,0,0
$GC,8380,0.58,243.3,897.8,19.0,717,8385,0.17,1.10,0.00,0.000,4,0.171,0.058,2926,2490,1882,0,0,0,0,0,0
$GC,8421,0.58,243.3,891.2,15.3,718,8428,0.00,1.10,0.00,0.000,6,0.000,0.049,2928,1786,1881,0,0,0,0,0,0
$GC,8736,0.58,243.3,844.6,14.4,734,8740,0.00,1.08,0.00,0.000,4,0.000,0.054,2933,1078,1880,0,0,0,0,0,0
$GC,8768,0.58,243.3,839.9,13.9,735,8773,0.00,1.10,0.00,0.000,6,0.000,0.047,2931,1794,1880,0,0,0,0,0,0
$GC,9093,0.58,243.3,796.2,13.8,751,9096,0.00,1.05,0.00,0.000,4,0.000,0.057,2930,2491,1878,0,0,0,0,0,0
$GC,9131,0.58,243.3,790.1,14.0,752,9138,0.00,1.10,0.00,0.000,6,0.000,0.047,2933,1771,1878,0,0,0,0,0,0
$GC,9448,0.56,243.3,747.4,13.0,768,9452,0.00,1.05,0.00,0.000,4,0.000,0.054,2938,1074,1878,0,0,0,0,0,0
$GC,9477,0.55,243.3,743.7,13.2,769,9481,0.00,1.10,0.00,0.000,6,0.000,0.046,2938,1789,1877,0,0,0,0,0,0
$GC,9805,0.54,246.3,701.0,12.6,785,9809,0.00,1.10,0.00,0.000,4,0.000,0.051,2943,1073,1877,0,0,0,0,0,0
$GC,9840,0.55,260.0,696.7,12.2,786,9860,0.00,1.08,14.52,1.177,6,0.000,0.045,2943,1775,1824,0,0,0,0,0,0
$GC,10187,0.56,276.5,654.0,12.1,803,10210,0.00,1.12,17.33,1.171,4,0.000,0.056,2943,2484,1756,0,0,0,0,0,0
$GC,10273,0.56,279.9,642.5,12.6,806,10282,0.00,1.10,4.97,0.855,6,0.000,0.046,2946,1774,1742,0,0,0,0,0,0
$GC,10589,0.56,279.9,598.0,14.6,822,10593,0.00,1.08,0.00,0.000,4,0.000,0.053,2946,2475,1738,0,0,0,0,0,0
$GC,10627,0.56,279.9,592.2,14.8,825,10634,0.00,1.08,0.00,0.000,6,0.000,0.044,2950,1778,1739,0,0,0,0,0,0
$GC,10953,0.55,280.8,549.5,12.7,856,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1778,1738,0,0,0,0,0,0
$GC,11273,0.55,280.8,505.6,14.6,886,11277,0.00,1.08,0.00,0.000,4,0.000,0.052,2949,2480,1738,0,0,0,0,0,0
$GC,11369,0.55,280.8,491.4,14.0,894,11377,0.00,1.08,0.00,0.000,6,0.000,0.044,2952,1775,1739,0,0,0,0,0,0
$GC,11694,0.55,280.8,446.6,13.7,925,11698,0.00,1.05,0.00,0.000,4,0.000,0.050,2959,1075,1739,0,0,0,0,0,0
$GC,11746,0.55,280.8,439.3,14.3,929,11754,0.08,1.08,0.00,0.000,6,0.154,0.042,2930,1790,1738,0,0,0,0,0,0
$GC,12074,0.67,359.5,404.2,9.9,960,12153,0.00,1.10,72.53,1.037,4,0.000,0.050,2934,2473,1418,0,0,0,0,0,0
$GC,12200,0.83,450.9,392.4,9.5,971,12294,0.17,1.08,80.85,0.998,6,0.041,0.041,3034,1773,1045,0,0,0,0,0,0
$GC,12611,0.79,450.9,307.0,20.5,1009,12613,0.12,0.00,0.00,0.000,6,0.166,0.000,3002,1773,1040,0,0,0,0,0,0
$GC,12930,0.79,450.9,257.6,14.9,1039,12933,0.00,1.02,0.00,0.000,4,0.000,0.048,3012,1087,1039,0,0,0,0,0,0
$GC,13101,0.80,450.9,231.9,15.2,1065,13109,0.00,1.02,0.00,0.000,6,0.000,0.041,3010,1773,1038,0,0,0,0,0,0
$GC,13429,0.80,450.9,179.9,16.8,1126,13437,0.00,1.05,0.00,0.000,4,0.000,0.047,3013,1081,1038,0,0,0,0,0,0
$GC,13468,0.80,450.9,173.5,17.1,1132,13476,0.00,1.05,0.00,0.000,6,0.000,0.040,3010,1787,1037,0,0,0,0,0,0
$GC,13798,0.81,450.9,122.7,13.6,1193,13806,0.00,1.02,0.00,0.000,4,0.000,0.047,3010,2481,1038,0,0,0,0,0,0
$GC,13842,0.87,474.7,117.0,11.9,1200,13866,0.00,1.05,20.55,0.736,6,0.000,0.041,3013,1784,948,0,0,0,0,0,0
$GC,14188,0.94,505.1,80.5,11.6,1263,14221,0.10,1.10,26.52,0.702,4,0.099,0.044,3081,1074,823,0,0,0,0,0,0
$GC,14305,0.92,505.1,58.0,20.6,1282,14315,0.10,1.08,0.00,0.000,6,0.135,0.037,3046,1792,819,0,0,0,0,0,0
$GC,14639,1.03,542.5,15.6,11.4,1343,14677,0.00,1.08,32.10,0.648,4,0.000,0.042,3050,1073,669,0,0,0,0,0,0
$GC,14697,1.28,675.4,11.0,8.0,1351,14750,0.25,1.05,46.83,0.642,6,0.032,0.035,3194,1778,454,0,0,0,0,0,0
$STATE,14756,end climb,SURFACE_DEPTH_REACHED
$STATE,14756,begin surface coast
$FINISH,1.3,1.022082
$STATE,14779,end surface coast,CONTROL_FINISHED_OK
$STATE,14779,begin surface
$SM_CCo,14857,0.00,0.000,0,0,445,598.29
$SM_GC,2.05,8.07,0.00,0.00,0.036,0.000,0.000,154,1582,445,-8.04,-0.79,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2223.01,12147.46,031011,050539
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.62
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.80
$XPDR_PINGS,100
$24V_AH,22.7,74.721
$10V_AH,9.9,53.203
$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,20.775,60.575,748.175,0.000,0.000,87.656,153.078,270.418,25.000,0.000,79.297,3351.834,7531.503,741.702,3640.289,468.303,0.000,2068.517,0.000,3048.693,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,72.675,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,931.057,1394.714,1541.921,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,76911,1362
$CAP_FILE_SIZE,162683,0
$CFSIZE,260165632,119279616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248, 32.1,1
$GPS,031011,093027,2254.557,12145.576,30,99.0,49,-3.0