version: 66.09
glider: 166
mission: 6
dive: 340
start: 10 8 111 0 48 28
data:
$ID,166
$MISSION,6
$DIVE,340
$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,280
$T_MISSION,310
$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,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,-24827.309
$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,39
$R_STBD_OVSHOOT,67
$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,5
$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
$GPS1,081011,003500,2324.967,12220.786,40,1.5,40,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-66.4
$GPS2,081011,004802,2325.152,12220.783,17,1.8,17,-3.2
$SPEED_LIMITS,0.204,0.313
$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,121.4,166111,-18.1,-11.786
$D_GRID,4399
$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,-0.64,-194.6,0.0,0.0,0,113,0.00,0.00,-94.40,0.000,2,0.000,0.000,133,1635,3125,0,0,0,0,0,0
$GC,116,-0.64,-194.6,5.2,-6.3,13,142,9.45,1.17,-11.18,0.000,4,0.219,0.064,2531,885,3680,0,0,0,0,0,0
$GC,227,-0.54,-194.6,42.2,-26.6,31,235,0.12,1.05,0.00,0.000,6,0.156,0.034,2564,1598,3682,0,0,0,0,0,0
$GC,553,-0.52,-194.6,109.4,-16.0,92,561,0.00,1.02,0.00,0.000,4,0.000,0.040,2559,2308,3683,0,0,0,0,0,0
$GC,603,-0.50,-194.6,118.0,-16.4,100,611,0.00,1.05,0.00,0.000,6,0.000,0.037,2561,1600,3683,0,0,0,0,0,0
$GC,931,-0.50,-194.6,165.7,-14.3,161,939,0.00,1.02,0.00,0.000,4,0.000,0.039,2557,2300,3683,0,0,0,0,0,0
$GC,1109,-0.53,-194.6,185.6,-10.6,193,1118,0.00,1.02,0.00,0.000,6,0.000,0.037,2557,1601,3683,0,0,0,0,0,0
$GC,1437,-0.54,-194.6,226.7,-13.3,254,1446,0.00,1.02,0.00,0.000,4,0.000,0.039,2552,2297,3683,0,0,0,0,0,0
$GC,1522,-0.57,-194.6,236.7,-10.7,269,1530,0.00,1.00,0.00,0.000,6,0.000,0.035,2552,1612,3683,0,0,0,0,0,0
$GC,1852,-0.59,-194.6,275.3,-11.7,310,1855,0.00,1.02,0.00,0.000,4,0.000,0.041,2548,2302,3683,0,0,0,0,0,0
$GC,1942,-0.62,-194.6,285.0,-10.1,318,1946,0.00,1.02,0.00,0.000,6,0.000,0.036,2548,1606,3682,0,0,0,0,0,0
$GC,2274,-0.64,-194.6,321.8,-11.5,349,2278,0.00,1.02,0.00,0.000,4,0.000,0.041,2544,2296,3681,0,0,0,0,0,0
$GC,2358,-0.67,-194.6,331.2,-10.5,356,2365,0.00,1.00,0.00,0.000,6,0.000,0.035,2544,1612,3681,0,0,0,0,0,0
$GC,2684,-0.69,-194.6,364.5,-10.6,387,2688,0.00,1.02,0.00,0.000,4,0.000,0.043,2540,2294,3679,0,0,0,0,0,0
$GC,2757,-0.72,-194.6,372.0,-9.6,393,2764,0.00,1.00,0.00,0.000,6,0.000,0.038,2540,1619,3678,0,0,0,0,0,0
$GC,3083,-0.75,-194.6,407.1,-11.2,424,3085,0.12,0.00,0.00,0.000,6,0.085,0.000,2471,1619,3677,0,0,0,0,0,0
$GC,3403,-0.70,-194.6,459.1,-16.1,454,3408,0.12,1.08,0.00,0.000,4,0.164,0.041,2518,905,3676,0,0,0,0,0,0
$GC,3448,-0.70,-194.6,465.7,-13.4,458,3451,0.00,1.02,0.00,0.000,6,0.000,0.037,2515,1599,3676,0,0,0,0,0,0
$GC,3780,-0.70,-194.6,508.9,-13.0,489,3784,0.00,1.05,0.00,0.000,4,0.000,0.046,2510,2303,3673,0,0,0,0,0,0
$GC,3875,-0.70,-194.6,520.7,-12.0,497,3882,0.00,1.05,0.00,0.000,6,0.000,0.040,2510,1607,3673,0,0,0,0,0,0
$GC,4203,-0.70,-194.6,561.9,-12.8,528,4207,0.00,1.05,0.00,0.000,4,0.000,0.044,2510,907,3671,0,0,0,0,0,0
$GC,4241,-0.70,-194.6,567.3,-13.1,531,4248,0.00,1.05,0.00,0.000,6,0.000,0.041,2505,1605,3670,0,0,0,0,0,0
$GC,4576,-0.70,-194.6,610.2,-12.2,559,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1605,3668,0,0,0,0,0,0
$GC,4886,-0.70,-194.6,647.1,-11.9,574,4890,0.00,1.05,0.00,0.000,4,0.000,0.048,2505,915,3666,0,0,0,0,0,0
$GC,4935,-0.70,-194.6,653.6,-12.1,576,4940,0.00,1.05,0.00,0.000,6,0.000,0.044,2500,1604,3665,0,0,0,0,0,0
$GC,5262,-0.70,-194.6,691.2,-11.8,592,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1604,3662,0,0,0,0,0,0
$GC,5575,-0.70,-194.6,726.1,-10.9,607,5578,0.00,1.08,0.00,0.000,4,0.000,0.055,2495,2312,3659,0,0,0,0,0,0
$GC,5630,-0.70,-194.6,732.2,-10.2,609,5634,0.00,1.08,0.00,0.000,6,0.000,0.047,2495,1610,3659,0,0,0,0,0,0
$GC,5954,-0.70,-194.6,769.1,-11.6,625,5958,0.00,1.10,0.00,0.000,4,0.000,0.055,2494,917,3656,0,0,0,0,0,0
$GC,6107,-0.70,-194.6,788.0,-12.4,631,6113,0.00,1.08,0.00,0.000,6,0.000,0.050,2490,1605,3655,0,0,0,0,0,0
$GC,6423,-0.70,-194.6,827.0,-12.6,647,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1605,3653,0,0,0,0,0,0
$GC,6734,-0.70,-194.6,862.7,-11.1,662,6738,0.00,1.08,0.00,0.000,4,0.000,0.054,2490,920,3651,0,0,0,0,0,0
$GC,6870,-0.70,-194.6,878.3,-11.6,668,6874,0.08,1.08,0.00,0.000,6,0.149,0.050,2510,1610,3651,0,0,0,0,0,0
$GC,7206,-0.73,-194.6,908.9,-8.7,684,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1610,3647,0,0,0,0,0,0
$GC,7512,-0.75,-194.6,935.4,-8.7,699,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1610,3646,0,0,0,0,0,0
$GC,7824,-0.77,-194.6,964.5,-9.7,714,7828,0.00,1.12,0.00,0.000,4,0.000,0.057,2510,918,3644,0,0,0,0,0,0
$GC,7874,-0.80,-194.6,970.2,-10.6,716,7878,0.00,1.10,0.00,0.000,6,0.000,0.050,2507,1618,3643,0,0,0,0,0,0
$STATE,8075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8075,begin apogee
$GC,8083,-0.11,0.0,991.9,10.9,726,8256,0.60,0.00,166.30,1.445,6,0.119,0.000,2703,1790,2883,0,0,0,0,0,0
$STATE,8257,end apogee,CONTROL_FINISHED_OK
$STATE,8257,begin climb
$GC,8260,0.64,194.6,999.3,0.0,734,8448,0.70,1.17,181.02,1.388,4,0.067,0.062,2957,2480,2089,0,0,0,0,0,0
$GC,8470,0.60,194.6,982.2,11.8,744,8474,0.00,1.15,0.00,0.000,6,0.000,0.050,2962,1786,2086,0,0,0,0,0,0
$GC,8805,0.56,194.6,938.1,13.2,760,8807,0.12,0.00,0.00,0.000,6,0.178,0.000,2931,1786,2081,0,0,0,0,0,0
$GC,9113,0.58,216.8,904.1,10.9,775,9139,0.00,1.12,19.85,1.296,4,0.000,0.059,2931,2480,1999,0,0,0,0,0,0
$GC,9251,0.60,236.3,889.1,11.0,781,9276,0.00,1.10,19.38,1.284,6,0.000,0.048,2933,1780,1919,0,0,0,0,0,0
$GC,9607,0.61,246.8,848.5,11.4,798,9619,0.00,0.00,10.60,1.183,6,0.000,0.000,2933,1780,1878,0,0,0,0,0,0
$GC,9914,0.61,246.8,811.7,12.0,813,9918,0.00,1.10,0.00,0.000,4,0.000,0.054,2939,1074,1874,0,0,0,0,0,0
$GC,9972,0.61,246.8,804.9,12.0,815,9975,0.00,1.10,0.00,0.000,6,0.000,0.048,2939,1779,1874,0,0,0,0,0,0
$GC,10294,0.61,246.8,765.3,12.7,831,10298,0.00,1.10,0.00,0.000,4,0.000,0.058,2938,2487,1873,0,0,0,0,0,0
$GC,10396,0.61,246.8,751.7,13.7,835,10399,0.00,1.10,0.00,0.000,6,0.000,0.047,2943,1774,1873,0,0,0,0,0,0
$GC,10718,0.61,246.8,706.3,14.5,851,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1774,1873,0,0,0,0,0,0
$GC,11026,0.61,246.8,663.4,13.5,866,11030,0.00,1.10,0.00,0.000,4,0.000,0.057,2943,2486,1871,0,0,0,0,0,0
$GC,11084,0.61,246.8,656.0,12.7,868,11088,0.00,1.10,0.00,0.000,6,0.000,0.047,2947,1774,1871,0,0,0,0,0,0
$GC,11405,0.61,246.8,616.3,12.3,884,11409,0.00,1.10,0.00,0.000,4,0.000,0.055,2947,2489,1870,0,0,0,0,0,0
$GC,11475,0.61,246.8,608.2,12.1,887,11479,0.00,1.10,0.00,0.000,6,0.000,0.047,2950,1776,1870,0,0,0,0,0,0
$GC,11804,0.61,246.8,568.3,12.1,914,11808,0.00,1.05,0.00,0.000,4,0.000,0.051,2955,1078,1870,0,0,0,0,0,0
$GC,11831,0.61,246.8,564.5,12.5,916,11838,0.00,1.08,0.00,0.000,6,0.000,0.045,2956,1783,1870,0,0,0,0,0,0
$GC,12157,0.61,246.8,524.0,12.5,947,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1783,1870,0,0,0,0,0,0
$GC,12479,0.62,252.1,487.1,11.6,977,12486,0.00,0.00,5.12,0.803,6,0.000,0.000,2955,1783,1856,0,0,0,0,0,0
$GC,12804,0.62,252.1,448.7,11.8,1008,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1784,1856,0,0,0,0,0,0
$GC,13127,0.64,269.8,410.7,11.1,1038,13151,0.00,1.08,18.00,0.995,4,0.000,0.050,2955,2495,1785,0,0,0,0,0,0
$GC,13257,0.70,296.2,396.2,10.7,1049,13287,0.00,1.12,26.08,0.995,6,0.000,0.044,2960,1770,1676,0,0,0,0,0,0
$GC,13605,0.73,305.4,357.8,11.4,1082,13619,0.00,1.10,9.62,0.864,4,0.000,0.048,2965,1075,1638,0,0,0,0,0,0
$GC,13694,0.76,317.5,347.9,11.3,1089,13713,0.00,1.08,12.65,0.889,6,0.000,0.041,2965,1782,1588,0,0,0,0,0,0
$GC,14031,0.79,319.5,309.3,11.7,1121,14035,0.10,1.08,0.00,0.000,4,0.101,0.050,3024,2486,1586,0,0,0,0,0,0
$GC,14070,0.76,319.5,303.2,16.2,1124,14078,0.10,1.08,0.00,0.000,6,0.145,0.042,2995,1787,1586,0,0,0,0,0,0
$GC,14397,0.76,319.5,255.6,13.2,1155,14401,0.00,1.08,0.00,0.000,4,0.000,0.046,2999,1075,1586,0,0,0,0,0,0
$GC,14415,0.76,319.5,253.0,13.2,1156,14423,0.00,1.08,0.00,0.000,6,0.000,0.039,2996,1787,1585,0,0,0,0,0,0
$GC,14742,0.78,337.0,212.1,11.1,1215,14766,0.00,1.08,18.65,0.804,4,0.000,0.047,2991,2477,1508,0,0,0,0,0,0
$GC,14907,0.83,359.3,193.4,10.9,1244,14938,0.00,1.08,20.85,0.788,6,0.000,0.040,2995,1772,1418,0,0,0,0,0,0
$GC,15257,0.85,359.6,152.2,11.8,1308,15264,0.00,1.08,0.00,0.000,4,0.000,0.046,2991,2482,1416,0,0,0,0,0,0
$GC,15302,0.89,359.6,146.9,12.1,1315,15311,0.08,1.08,0.00,0.000,6,0.054,0.041,3053,1768,1416,0,0,0,0,0,0
$GC,15634,0.87,359.6,93.0,15.6,1376,15642,0.00,1.02,0.00,0.000,4,0.000,0.044,3059,1077,1416,0,0,0,0,0,0
$GC,15666,0.84,359.6,87.4,15.2,1381,15675,0.10,1.05,0.00,0.000,6,0.136,0.037,3024,1789,1416,0,0,0,0,0,0
$GC,15997,1.00,447.7,55.5,8.2,1442,16080,0.12,1.08,75.35,0.689,4,0.085,0.040,3099,1078,1056,0,0,0,0,0,0
$GC,16205,1.00,447.7,26.3,14.5,1475,16213,0.10,1.05,0.00,0.000,6,0.131,0.036,3066,1786,1053,0,0,0,0,0,0
$STATE,16394,end climb,SURFACE_DEPTH_REACHED
$STATE,16394,begin surface coast
$FINISH,1.4,1.022186
$STATE,16417,end surface coast,CONTROL_FINISHED_OK
$STATE,16417,begin surface
$SM_CCo,16435,0.00,0.000,0,0,1049,450.13
$SM_GC,2.38,0.00,0.00,0.00,0.000,0.000,0.000,137,1593,1049,-8.15,-0.48,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12221.24,081011,000027
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.06
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.30
$XPDR_PINGS,116
$24V_AH,22.8,82.069
$10V_AH,9.8,57.630
$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,19.450,64.750,583.475,0.000,0.000,51.136,67.685,395.087,29.000,0.000,18.084,3760.491,8377.500,655.335,3895.860,512.711,0.000,2048.630,0.000,3371.891,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,72.675,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.666,1549.814,1732.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,83575,1514
$CAP_FILE_SIZE,175034,0
$CFSIZE,260165632,116916224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240, 18.3,1
$GPS,081011,052357,2325.975,12224.025,33,2.7,52,-3.2