version: 66.09
glider: 166
mission: 6
dive: 308
start: 10 2 111 6 34 18
data:
$ID,166
$MISSION,6
$DIVE,308
$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,350
$T_MISSION,380
$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,200
$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,-24786.932
$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,79
$R_STBD_OVSHOOT,65
$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
$GPS1,021011,061821,2243.011,12154.484,150,99.0,169,-3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.9
$GPS2,021011,063355,2243.124,12154.342,37,1.8,55,-3.0
$SPEED_LIMITS,0.163,0.290
$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,299.0,61619,-14.9,-9.429
$D_GRID,4321
$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,-0.57,-194.6,0.0,0.0,0,109,0.00,0.00,-89.07,0.000,2,0.000,0.000,124,1561,3103,0,0,0,0,0,0
$GC,112,-0.57,-194.6,5.0,-4.4,12,143,9.70,1.15,-11.35,0.000,4,0.223,0.068,2543,2297,3680,0,0,0,0,0,0
$GC,383,-0.49,-194.6,72.3,-20.0,61,391,0.12,0.98,0.00,0.000,6,0.138,0.041,2579,1651,3682,0,0,0,0,0,0
$GC,713,-0.46,-194.6,126.4,-12.7,122,721,0.00,0.95,0.00,0.000,4,0.000,0.047,2576,2279,3682,0,0,0,0,0,0
$GC,774,-0.45,-194.6,134.9,-13.1,132,782,0.00,1.02,0.00,0.000,6,0.000,0.042,2576,1602,3682,0,0,0,0,0,0
$GC,1102,-0.44,-194.6,175.2,-11.1,193,1110,0.00,1.05,0.00,0.000,4,0.000,0.046,2571,2291,3682,0,0,0,0,0,0
$GC,1167,-0.44,-194.6,181.4,-9.6,204,1176,0.08,1.02,0.00,0.000,6,0.126,0.043,2599,1611,3682,0,0,0,0,0,0
$GC,1497,-0.47,-194.6,207.1,-7.7,265,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1611,3682,0,0,0,0,0,0
$GC,1824,-0.51,-194.6,234.2,-8.3,326,1832,0.00,1.02,0.00,0.000,4,0.000,0.047,2596,2283,3682,0,0,0,0,0,0
$GC,1953,-0.56,-194.6,244.6,-7.9,349,1961,0.00,1.02,0.00,0.000,6,0.000,0.044,2597,1609,3681,0,0,0,0,0,0
$GC,2282,-0.60,-194.6,271.2,-6.8,385,2286,0.15,1.05,0.00,0.000,4,0.070,0.047,2497,2285,3680,0,0,0,0,0,0
$GC,2350,-0.55,-194.6,279.2,-13.2,391,2354,0.20,1.02,0.00,0.000,6,0.125,0.044,2562,1608,3679,0,0,0,0,0,0
$GC,2680,-0.55,-194.6,311.3,-9.5,422,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1608,3679,0,0,0,0,0,0
$GC,3001,-0.56,-194.6,341.5,-9.7,452,3005,0.00,1.02,0.00,0.000,4,0.000,0.049,2578,2280,3675,0,0,0,0,0,0
$GC,3042,-0.58,-194.6,345.6,-9.7,455,3050,0.00,1.02,0.00,0.000,6,0.000,0.044,2578,1605,3675,0,0,0,0,0,0
$GC,3367,-0.60,-194.6,381.9,-11.7,486,3371,0.00,1.02,0.00,0.000,4,0.000,0.050,2573,2279,3674,0,0,0,0,0,0
$GC,3429,-0.63,-194.6,388.3,-10.9,491,3432,0.00,1.02,0.00,0.000,6,0.000,0.045,2573,1602,3674,0,0,0,0,0,0
$GC,3760,-0.65,-194.6,419.8,-8.1,522,3764,0.10,1.05,0.00,0.000,4,0.096,0.050,2498,2278,3672,0,0,0,0,0,0
$GC,3853,-0.60,-194.6,431.2,-13.6,530,3857,0.15,1.02,0.00,0.000,6,0.129,0.046,2549,1604,3670,0,0,0,0,0,0
$GC,4185,-0.60,-194.6,462.7,-8.9,561,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1604,3669,0,0,0,0,0,0
$GC,4513,-0.60,-194.6,490.9,-8.5,592,4516,0.00,1.05,0.00,0.000,4,0.000,0.051,2546,2281,3666,0,0,0,0,0,0
$GC,4629,-0.61,-194.6,500.8,-8.9,602,4633,0.00,1.02,0.00,0.000,6,0.000,0.047,2547,1614,3665,0,0,0,0,0,0
$GC,4960,-0.61,-194.6,533.4,-9.5,633,4963,0.00,1.08,0.00,0.000,4,0.000,0.053,2546,911,3663,0,0,0,0,0,0
$GC,5165,-0.61,-194.6,552.1,-8.9,651,5169,0.00,1.02,0.00,0.000,6,0.000,0.046,2542,1583,3662,0,0,0,0,0,0
$GC,5496,-0.61,-194.6,579.3,-8.6,682,5500,0.00,1.10,0.00,0.000,4,0.000,0.051,2536,2311,3659,0,0,0,0,0,0
$GC,5615,-0.61,-194.6,590.1,-9.6,692,5622,0.00,1.08,0.00,0.000,6,0.000,0.047,2536,1610,3658,0,0,0,0,0,0
$GC,5944,-0.61,-194.6,628.8,-12.6,713,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1610,3656,0,0,0,0,0,0
$GC,6256,-0.61,-194.6,660.3,-8.7,728,6260,0.00,1.10,0.00,0.000,4,0.000,0.055,2536,911,3653,0,0,0,0,0,0
$GC,6317,-0.61,-194.6,665.5,-7.8,730,6323,0.00,1.08,0.00,0.000,6,0.000,0.046,2531,1611,3653,0,0,0,0,0,0
$GC,6635,-0.61,-194.6,686.6,-6.9,746,6639,0.00,1.08,0.00,0.000,4,0.000,0.050,2531,916,3651,0,0,0,0,0,0
$GC,6673,-0.61,-194.6,690.1,-7.7,747,6681,0.00,1.08,0.00,0.000,6,0.000,0.047,2526,1614,3650,0,0,0,0,0,0
$GC,6989,-0.61,-194.6,717.9,-9.1,763,6993,0.00,1.05,0.00,0.000,4,0.000,0.055,2521,2306,3648,0,0,0,0,0,0
$GC,7052,-0.61,-194.6,723.6,-9.0,765,7059,0.00,1.08,0.00,0.000,6,0.000,0.047,2521,1605,3648,0,0,0,0,0,0
$GC,7370,-0.61,-194.6,755.0,-9.9,781,7374,0.00,1.05,0.00,0.000,4,0.000,0.054,2521,915,3647,0,0,0,0,0,0
$GC,7460,-0.61,-194.6,763.6,-9.5,785,7465,0.08,1.08,0.00,0.000,6,0.139,0.048,2542,1609,3646,0,0,0,0,0,0
$GC,7797,-0.63,-194.6,786.0,-6.4,801,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1610,3643,0,0,0,0,0,0
$GC,8104,-0.64,-194.6,807.3,-7.4,816,8108,0.00,1.10,0.00,0.000,4,0.000,0.058,2539,2311,3642,0,0,0,0,0,0
$GC,8184,-0.67,-194.6,813.3,-7.3,819,8188,0.00,1.08,0.00,0.000,6,0.000,0.049,2539,1612,3641,0,0,0,0,0,0
$GC,8506,-0.68,-194.6,841.6,-9.4,835,8510,0.00,1.08,0.00,0.000,4,0.000,0.056,2538,913,3640,0,0,0,0,0,0
$GC,8569,-0.70,-194.6,847.9,-10.3,837,8575,0.00,1.08,0.00,0.000,6,0.000,0.049,2532,1605,3639,0,0,0,0,0,0
$GC,8885,-0.71,-194.6,881.1,-10.6,853,8889,0.00,1.08,0.00,0.000,4,0.000,0.057,2524,2306,3637,0,0,0,0,0,0
$GC,8924,-0.72,-194.6,885.4,-10.5,854,8931,0.00,1.08,0.00,0.000,6,0.000,0.050,2524,1610,3637,0,0,0,0,0,0
$GC,9242,-0.72,-194.6,916.0,-9.6,870,9246,0.00,1.10,0.00,0.000,4,0.000,0.059,2525,914,3636,0,0,0,0,0,0
$GC,9292,-0.72,-194.6,921.1,-9.7,872,9296,0.00,1.08,0.00,0.000,6,0.000,0.050,2518,1607,3636,0,0,0,0,0,0
$GC,9619,-0.72,-194.6,951.8,-9.8,888,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1607,3635,0,0,0,0,0,0
$GC,9928,-0.72,-194.6,984.3,-10.6,903,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1607,3633,0,0,0,0,0,0
$STATE,9987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9988,begin apogee
$GC,9993,-0.11,0.0,990.7,10.4,906,10168,0.57,0.00,164.90,1.447,6,0.117,0.000,2700,1794,2883,0,0,0,0,0,0
$STATE,10169,end apogee,CONTROL_FINISHED_OK
$STATE,10169,begin climb
$GC,10171,0.57,194.6,999.6,0.0,914,10364,0.65,1.17,182.27,1.393,4,0.049,0.063,2949,2477,2090,0,0,0,0,0,0
$GC,10421,0.51,194.6,978.2,13.2,926,10426,0.12,1.12,0.00,0.000,6,0.148,0.051,2915,1785,2085,0,0,0,0,0,0
$GC,10755,0.47,194.6,941.5,11.1,942,10759,0.00,1.10,0.00,0.000,4,0.000,0.060,2915,2478,2080,0,0,0,0,0,0
$GC,10785,0.44,194.6,938.1,11.1,943,10789,0.08,1.10,0.00,0.000,6,0.146,0.050,2893,1776,2081,0,0,0,0,0,0
$GC,11116,0.43,196.4,907.8,9.4,959,11120,0.00,1.10,0.00,0.000,4,0.000,0.060,2891,2478,2079,0,0,0,0,0,0
$GC,11144,0.41,196.4,904.5,9.8,960,11147,0.00,1.10,0.00,0.000,6,0.000,0.049,2895,1770,2079,0,0,0,0,0,0
$GC,11474,0.40,196.4,870.5,10.8,976,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1770,2077,0,0,0,0,0,0
$GC,11780,0.38,196.4,835.4,11.4,991,11784,0.00,1.10,0.00,0.000,4,0.000,0.060,2895,2478,2076,0,0,0,0,0,0
$GC,11821,0.37,196.4,830.7,11.5,992,11828,0.10,1.08,0.00,0.000,6,0.138,0.048,2868,1780,2076,0,0,0,0,0,0
$GC,12138,0.42,232.1,802.5,8.3,1008,12177,0.00,0.00,33.83,1.311,6,0.000,0.000,2868,1779,1936,0,0,0,0,0,0
$GC,12489,0.46,244.1,771.4,9.0,1025,12506,0.00,0.00,12.02,1.184,6,0.000,0.000,2868,1780,1887,0,0,0,0,0,0
$GC,12816,0.56,296.9,744.4,7.7,1041,12870,0.17,0.00,50.75,1.276,6,0.070,0.000,2953,1779,1673,0,0,0,0,0,0
$GC,13169,0.51,296.9,694.5,14.7,1058,13174,0.15,1.12,0.00,0.000,4,0.160,0.056,2907,2489,1667,0,0,0,0,0,0
$GC,13196,0.50,296.9,689.9,14.9,1059,13200,0.00,1.10,0.00,0.000,6,0.000,0.046,2910,1779,1666,0,0,0,0,0,0
$GC,13523,0.50,296.9,653.7,11.2,1075,13527,0.00,1.08,0.00,0.000,4,0.000,0.051,2915,1068,1665,0,0,0,0,0,0
$GC,13575,0.50,296.9,647.8,11.6,1077,13579,0.00,1.10,0.00,0.000,6,0.000,0.044,2916,1785,1665,0,0,0,0,0,0
$GC,13902,0.50,296.9,610.6,11.3,1093,13903,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1786,1664,0,0,0,0,0,0
$GC,14220,0.50,296.9,572.6,12.1,1118,14223,0.00,1.05,0.00,0.000,4,0.000,0.054,2916,2482,1664,0,0,0,0,0,0
$GC,14265,0.50,296.9,566.8,11.8,1122,14269,0.00,1.08,0.00,0.000,6,0.000,0.044,2921,1773,1664,0,0,0,0,0,0
$GC,14596,0.50,301.1,532.3,9.3,1153,14597,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1773,1663,0,0,0,0,0,0
$GC,14916,0.50,301.1,499.7,10.9,1183,14920,0.00,1.05,0.00,0.000,4,0.000,0.050,2932,1077,1662,0,0,0,0,0,0
$GC,15011,0.50,301.1,488.7,10.4,1191,15019,0.00,1.08,0.00,0.000,6,0.000,0.043,2933,1785,1663,0,0,0,0,0,0
$GC,15337,0.51,306.7,455.4,9.2,1222,15348,0.00,0.00,8.90,0.927,6,0.000,0.000,2932,1785,1632,0,0,0,0,0,0
$GC,15665,0.51,306.7,423.0,9.9,1253,15669,0.00,1.08,0.00,0.000,4,0.000,0.047,2941,1080,1632,0,0,0,0,0,0
$GC,15721,0.51,306.7,417.2,10.4,1258,15726,0.08,1.05,0.00,0.000,6,0.122,0.041,2914,1781,1631,0,0,0,0,0,0
$GC,16052,0.55,306.7,385.8,9.4,1289,16056,0.00,1.08,0.00,0.000,4,0.000,0.047,2917,1076,1631,0,0,0,0,0,0
$GC,16090,0.61,325.9,382.2,8.8,1292,16113,0.00,1.05,18.65,0.959,6,0.000,0.040,2917,1780,1555,0,0,0,0,0,0
$GC,16434,0.72,385.0,357.0,7.5,1324,16494,0.17,1.12,53.72,0.969,4,0.068,0.048,3013,1078,1314,0,0,0,0,0,0
$GC,16559,0.69,385.0,338.4,15.5,1335,16563,0.12,1.08,0.00,0.000,6,0.132,0.041,2973,1782,1311,0,0,0,0,0,0
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$STATE,19545,end climb,SURFACE_DEPTH_REACHED
$STATE,19546,begin surface coast
$FINISH,1.3,1.007511
$STATE,19584,end surface coast,CONTROL_FINISHED_OK
$STATE,19584,begin surface
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$IRIDIUM_FIX,2244.02,12025.32,021011,000049
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.63
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.40
$XPDR_PINGS,124
$24V_AH,22.6,73.730
$10V_AH,9.9,52.427
$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
$DEVICE_SECS,20.375,79.300,619.650,86.000,0.000,156.763,67.898,223.619,31.000,0.000,56.736,4520.525,10200.472,822.669,4476.339,581.966,0.000,2447.582,0.000,3988.442,0.000,0.541,0.000
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$SENSOR_SECS,1243.082,1858.009,2067.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,100332,1813
$CAP_FILE_SIZE,207688,0
$CFSIZE,260165632,119619584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034, 37.0,1
$GPS,021011,120415,2245.059,12151.898,43,2.4,62,-3.0