version: 66.09
glider: 166
mission: 6
dive: 34
start: 8 10 111 8 19 29
data:
$ID,166
$MISSION,6
$DIVE,34
$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,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,595.83368
$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,-24423.141
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,100811,080926,2241.629,12122.347,61,2.1,80,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.5
$GPS2,100811,081906,2242.059,12122.440,33,1.8,49,-2.9
$SPEED_LIMITS,0.220,0.369
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,66.9,287448,-16.3,-12.692
$D_GRID,1129
$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,16,-0.91,-267.6,0.0,0.0,0,124,0.00,0.00,-105.35,0.000,2,0.000,0.000,161,1489,2989,0,0,0,0,0,0
$GC,129,-0.91,-267.6,5.2,-8.2,14,167,9.05,2.20,-18.25,0.000,4,0.234,0.053,2428,2914,3964,0,0,0,0,0,0
$GC,240,-0.64,-267.6,54.3,-43.2,32,249,0.35,2.17,0.00,0.000,6,0.167,0.037,2532,1507,3965,0,0,0,0,0,0
$GC,568,-0.51,-267.6,146.5,-26.5,93,577,0.17,2.00,0.00,0.000,4,0.164,0.044,2588,202,3966,0,0,0,0,0,0
$GC,588,-0.39,-267.6,151.0,-24.8,95,597,0.10,1.98,0.00,0.000,6,0.137,0.033,2613,1509,3967,0,0,0,0,0,0
$GC,917,-0.48,-267.6,184.1,-9.1,156,926,0.00,2.12,0.00,0.000,4,0.000,0.043,2602,2898,3968,0,0,0,0,0,0
$GC,982,-0.61,-267.6,189.0,-6.9,167,991,0.12,2.12,0.00,0.000,6,0.047,0.032,2525,1489,3967,0,0,0,0,0,0
$GC,1311,-0.55,-267.6,241.9,-18.4,228,1321,0.15,1.95,0.00,0.000,4,0.161,0.043,2570,208,3968,0,0,0,0,0,0
$GC,1365,-0.61,-267.6,250.8,-13.0,236,1374,0.00,1.95,0.00,0.000,6,0.000,0.035,2560,1501,3968,0,0,0,0,0,0
$GC,1692,-0.66,-267.6,284.8,-9.5,267,1696,0.00,2.10,0.00,0.000,4,0.000,0.045,2549,2903,3966,0,0,0,0,0,0
$GC,1822,-0.73,-267.6,296.3,-8.7,278,1831,0.10,2.10,0.00,0.000,6,0.045,0.034,2478,1503,3965,0,0,0,0,0,0
$GC,2147,-0.64,-267.6,353.6,-18.2,309,2152,0.20,2.12,0.00,0.000,4,0.158,0.044,2527,2902,3964,0,0,0,0,0,0
$GC,2213,-0.69,-267.6,362.1,-11.1,314,2217,0.00,2.10,0.00,0.000,6,0.000,0.035,2528,1488,3963,0,0,0,0,0,0
$GC,2538,-0.69,-267.6,399.8,-11.5,344,2542,0.00,2.12,0.00,0.000,4,0.000,0.047,2519,2902,3961,0,0,0,0,0,0
$GC,2567,-0.71,-267.6,402.9,-11.0,346,2574,0.00,2.08,0.00,0.000,6,0.000,0.036,2521,1498,3960,0,0,0,0,0,0
$GC,2893,-0.71,-267.6,442.8,-12.9,377,2896,0.00,1.95,0.00,0.000,4,0.000,0.048,2522,201,3958,0,0,0,0,0,0
$GC,2931,-0.72,-267.6,448.4,-13.7,380,2939,0.00,1.95,0.00,0.000,6,0.000,0.038,2511,1497,3958,0,0,0,0,0,0
$GC,3256,-0.72,-267.6,490.8,-13.6,411,3260,0.00,2.12,0.00,0.000,4,0.000,0.051,2499,2916,3955,0,0,0,0,0,0
$GC,3278,-0.72,-267.6,494.1,-13.7,412,3286,0.00,2.12,0.00,0.000,6,0.000,0.037,2498,1507,3954,0,0,0,0,0,0
$GC,3604,-0.70,-267.6,544.0,-14.7,443,3608,0.00,2.15,0.00,0.000,4,0.000,0.053,2488,2903,3951,0,0,0,0,0,0
$GC,3633,-0.70,-267.6,547.9,-13.8,445,3637,0.10,2.12,0.00,0.000,6,0.171,0.039,2514,1495,3950,0,0,0,0,0,0
$GC,3958,-0.70,-267.6,583.5,-11.3,475,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1494,3948,0,0,0,0,0,0
$GC,4272,-0.70,-267.6,620.6,-11.9,497,4276,0.00,1.98,0.00,0.000,4,0.000,0.053,2511,198,3945,0,0,0,0,0,0
$GC,4301,-0.70,-267.6,624.3,-12.3,498,4305,0.00,1.98,0.00,0.000,6,0.000,0.041,2503,1499,3945,0,0,0,0,0,0
$GC,4629,-0.70,-267.6,663.1,-11.7,514,4633,0.00,2.12,0.00,0.000,4,0.000,0.055,2492,2904,3942,0,0,0,0,0,0
$GC,4685,-0.73,-267.6,669.7,-11.4,516,4689,0.00,2.12,0.00,0.000,6,0.000,0.041,2492,1498,3941,0,0,0,0,0,0
$GC,5002,-0.73,-267.6,710.7,-13.5,531,5006,0.00,2.17,0.00,0.000,4,0.000,0.056,2481,2904,3939,0,0,0,0,0,0
$GC,5023,-0.73,-267.6,714.0,-13.8,532,5027,0.00,2.15,0.00,0.000,6,0.000,0.041,2481,1505,3938,0,0,0,0,0,0
$GC,5351,-0.71,-267.6,758.2,-13.3,548,5356,0.12,2.00,0.00,0.000,4,0.171,0.056,2516,202,3937,0,0,0,0,0,0
$GC,5414,-0.77,-267.6,765.7,-11.1,550,5420,0.00,1.95,0.00,0.000,6,0.000,0.044,2509,1496,3936,0,0,0,0,0,0
$GC,5730,-0.79,-267.6,797.2,-10.0,566,5734,0.00,2.15,0.00,0.000,4,0.000,0.056,2498,2909,3934,0,0,0,0,0,0
$GC,5802,-0.85,-267.6,804.0,-9.7,569,5806,0.00,2.12,0.00,0.000,6,0.000,0.041,2498,1498,3933,0,0,0,0,0,0
$GC,6132,-0.87,-267.6,839.2,-10.7,585,6136,0.00,2.20,0.00,0.000,4,0.000,0.057,2487,2914,3931,0,0,0,0,0,0
$GC,6167,-0.89,-267.6,843.2,-10.3,586,6174,0.00,2.15,0.00,0.000,6,0.000,0.043,2487,1494,3930,0,0,0,0,0,0
$GC,6483,-0.89,-267.6,881.5,-13.2,602,6487,0.00,2.17,0.00,0.000,4,0.000,0.059,2480,2905,3929,0,0,0,0,0,0
$GC,6510,-0.89,-267.6,885.2,-13.2,603,6514,0.00,2.12,0.00,0.000,6,0.000,0.043,2480,1500,3929,0,0,0,0,0,0
$GC,6833,-0.89,-267.6,930.7,-13.6,619,6837,0.00,2.00,0.00,0.000,4,0.000,0.057,2479,195,3927,0,0,0,0,0,0
$GC,6866,-0.89,-267.6,935.7,-14.8,620,6870,0.00,2.03,0.00,0.000,6,0.000,0.044,2469,1507,3927,0,0,0,0,0,0
$GC,7188,-0.87,-267.6,982.0,-14.1,636,7192,0.00,2.17,0.00,0.000,4,0.000,0.060,2458,2915,3925,0,0,0,0,0,0
$GC,7239,-0.87,-267.6,988.5,-12.1,638,7243,0.00,2.12,0.00,0.000,6,0.000,0.044,2458,1500,3925,0,0,0,0,0,0
$STATE,7269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7269,begin apogee
$GC,7275,-0.18,0.0,992.6,12.6,640,7496,0.70,0.00,214.82,1.443,6,0.138,0.000,2684,1860,2884,0,0,0,0,0,0
$STATE,7496,end apogee,CONTROL_FINISHED_OK
$STATE,7497,begin climb
$GC,7500,0.91,267.6,1004.5,0.0,650,7750,0.98,2.35,241.07,1.377,4,0.052,0.057,3046,3245,1791,0,0,0,0,0,0
$GC,7805,0.68,267.6,944.9,28.5,665,7811,0.35,2.25,0.00,0.000,6,0.191,0.044,2966,1848,1788,0,0,0,0,0,0
$GC,8136,0.54,267.6,876.3,20.8,681,8141,0.17,2.22,0.00,0.000,4,0.187,0.056,2910,3258,1784,0,0,0,0,0,0
$GC,8185,0.50,267.6,866.5,16.1,683,8190,0.00,2.20,0.00,0.000,6,0.000,0.042,2918,1842,1783,0,0,0,0,0,0
$GC,8504,0.43,267.6,814.8,17.3,698,8506,0.12,0.00,0.00,0.000,6,0.188,0.000,2887,1841,1782,0,0,0,0,0,0
$GC,8811,0.43,267.6,770.6,14.0,713,8815,0.00,2.15,0.00,0.000,4,0.000,0.053,2896,435,1781,0,0,0,0,0,0
$GC,8838,0.43,267.6,766.6,13.9,714,8842,0.00,2.17,0.00,0.000,6,0.000,0.041,2896,1847,1780,0,0,0,0,0,0
$GC,9162,0.41,267.6,720.7,13.9,730,9166,0.00,2.17,0.00,0.000,4,0.000,0.057,2896,3261,1780,0,0,0,0,0,0
$GC,9233,0.41,267.6,710.5,12.9,733,9238,0.00,2.17,0.00,0.000,6,0.000,0.041,2905,1849,1780,0,0,0,0,0,0
$GC,9564,0.39,270.2,666.7,12.6,749,9568,0.12,2.17,0.00,0.000,4,0.180,0.052,2882,441,1780,0,0,0,0,0,0
$GC,9603,0.44,311.3,661.8,11.4,751,9647,0.00,2.17,38.55,1.240,6,0.000,0.041,2882,1874,1614,0,0,0,0,0,0
$GC,9957,0.47,311.3,618.4,12.7,768,9961,0.00,2.12,0.00,0.000,4,0.000,0.055,2882,3247,1609,0,0,0,0,0,0
$GC,10020,0.52,311.3,610.0,13.6,771,10025,0.00,2.15,0.00,0.000,6,0.000,0.040,2891,1848,1609,0,0,0,0,0,0
$GC,10347,0.59,352.6,569.3,11.4,798,10394,0.12,2.28,36.42,1.171,4,0.089,0.052,2961,443,1446,0,0,0,0,0,0
$GC,10444,0.53,352.6,553.9,18.3,806,10449,0.15,2.22,0.00,0.000,6,0.164,0.041,2919,1853,1443,0,0,0,0,0,0
$GC,10769,0.50,352.6,504.1,15.4,836,10773,0.00,2.17,0.00,0.000,4,0.000,0.054,2918,3262,1443,0,0,0,0,0,0
$GC,10824,0.50,352.6,494.6,16.0,840,10832,0.00,2.15,0.00,0.000,6,0.000,0.040,2926,1849,1442,0,0,0,0,0,0
$GC,11150,0.47,352.6,442.6,15.7,871,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1848,1442,0,0,0,0,0,0
$GC,11471,0.43,352.6,390.6,16.5,901,11475,0.15,2.17,0.00,0.000,4,0.174,0.052,2880,3255,1441,0,0,0,0,0,0
$GC,11505,0.46,352.6,385.4,14.7,903,11512,0.00,2.15,0.00,0.000,6,0.000,0.038,2888,1838,1441,0,0,0,0,0,0
$GC,11831,0.60,408.8,349.5,10.9,934,11888,0.15,2.25,47.95,1.011,4,0.083,0.052,2980,449,1215,0,0,0,0,0,0
$GC,11928,0.53,408.8,331.8,19.6,942,11936,0.22,2.20,0.00,0.000,6,0.155,0.041,2917,1856,1215,0,0,0,0,0,0
$GC,12258,0.60,434.1,289.2,11.9,973,12286,0.00,2.25,21.80,0.925,4,0.000,0.053,2916,3247,1114,0,0,0,0,0,0
$GC,12319,0.73,489.6,281.6,10.9,978,12376,0.12,2.20,47.65,0.931,6,0.044,0.037,3001,1850,887,0,0,0,0,0,0
$GC,12689,0.64,489.6,203.2,25.3,1032,12698,0.17,2.25,0.00,0.000,4,0.165,0.050,2950,3250,883,0,0,0,0,0,0
$GC,12763,0.68,489.6,188.3,18.1,1044,12770,0.00,2.17,0.00,0.000,6,0.000,0.037,2959,1852,881,0,0,0,0,0,0
$GC,13090,0.71,489.6,135.7,13.8,1105,13099,0.00,2.20,0.00,0.000,4,0.000,0.048,2971,445,881,0,0,0,0,0,0
$GC,13125,0.75,489.6,131.0,13.5,1110,13133,0.00,2.17,0.00,0.000,6,0.000,0.035,2971,1860,880,0,0,0,0,0,0
$GC,13453,0.88,562.2,86.1,10.4,1171,13521,0.15,2.22,59.25,0.764,4,0.078,0.047,3050,3245,587,0,0,0,0,0,0
$GC,13564,0.88,562.2,65.3,19.1,1187,13572,0.00,2.20,0.00,0.000,6,0.000,0.035,3055,1847,584,0,0,0,0,0,0
$GC,13892,0.92,562.2,10.3,13.5,1248,13900,0.00,2.20,0.00,0.000,4,0.000,0.048,3067,443,582,0,0,0,0,0,0
$GC,13935,0.98,562.2,4.6,12.8,1255,13943,0.00,2.17,0.00,0.000,6,0.000,0.035,3069,1857,582,0,0,0,0,0,0
$STATE,13949,end climb,SURFACE_DEPTH_REACHED
$STATE,13949,begin surface coast
$FINISH,1.1,0.997708
$STATE,13976,end surface coast,CONTROL_FINISHED_OK
$STATE,13977,begin surface
$SM_CCo,13994,41.20,0.454,1,0,455,595.83
$SM_GC,1.82,0.00,0.00,41.20,0.000,0.000,0.454,153,1478,455,-8.10,-0.62,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2227.67,12123.45,100811,040435
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.43
$INTERNAL_PRESSURE,9.29205
$TCM_TEMP,23.00
$XPDR_PINGS,79
$ALTIM_BOTTOM_PING,892.5,999.0
$24V_AH,23.3,10.582
$10V_AH,10.3,6.834
$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,21.900,146.375,707.525,41.200,0.000,27.534,54.146,310.939,20.000,0.000,50.106,3145.248,6968.007,823.361,3239.969,434.620,0.000,2105.573,0.000,2830.287,0.000,2.995,0.000
$DEVICE_MAMPS,234.090,60.435,1442.790,454.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.355,1290.370,1375.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324504
$DATA_FILE_SIZE,70183,1262
$CAP_FILE_SIZE,164870,0
$CFSIZE,260165632,144269312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.271, 13.7,1
$GPS,100811,121507,2245.235,12125.572,55,1.2,55,-2.9