version: 66.09
glider: 166
mission: 6
dive: 342
start: 10 8 111 10 20 30
data:
$ID,166
$MISSION,6
$DIVE,342
$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,-24829.826
$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,40
$R_STBD_OVSHOOT,57
$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
$GPS1,081011,101227,2327.371,12227.310,27,2.3,46,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-64.9
$GPS2,081011,102007,2327.415,12227.240,31,1.1,32,-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,121.8,154443,-18.1,-11.786
$D_GRID,3640
$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,-0.64,-194.6,0.0,0.0,0,103,0.00,0.00,-84.22,0.000,2,0.000,0.000,123,1609,3055,0,0,0,0,0,0
$GC,107,-0.64,-194.6,5.3,-7.5,11,138,9.35,1.08,-12.80,0.000,4,0.216,0.066,2528,898,3680,0,0,0,0,0,0
$GC,202,-0.54,-194.6,35.1,-27.0,26,211,0.12,1.05,0.00,0.000,6,0.154,0.034,2562,1608,3681,0,0,0,0,0,0
$GC,527,-0.51,-194.6,105.0,-18.2,87,535,0.00,1.05,0.00,0.000,4,0.000,0.038,2561,896,3682,0,0,0,0,0,0
$GC,640,-0.49,-194.6,124.8,-15.0,107,648,0.00,1.05,0.00,0.000,6,0.000,0.033,2557,1615,3682,0,0,0,0,0,0
$GC,967,-0.49,-194.6,174.0,-14.4,168,975,0.00,1.00,0.00,0.000,4,0.000,0.041,2552,2305,3683,0,0,0,0,0,0
$GC,1040,-0.51,-194.6,183.1,-12.8,180,1048,0.00,1.05,0.00,0.000,6,0.000,0.037,2552,1594,3684,0,0,0,0,0,0
$GC,1369,-0.51,-194.6,229.9,-14.2,241,1377,0.00,1.05,0.00,0.000,4,0.000,0.041,2547,2299,3683,0,0,0,0,0,0
$GC,1491,-0.52,-194.6,244.5,-10.9,263,1499,0.00,1.02,0.00,0.000,6,0.000,0.037,2547,1604,3684,0,0,0,0,0,0
$GC,1827,-0.52,-194.6,283.0,-11.7,298,1830,0.00,1.02,0.00,0.000,4,0.000,0.042,2543,2294,3684,0,0,0,0,0,0
$GC,1961,-0.55,-194.6,297.4,-10.6,310,1965,0.00,1.00,0.00,0.000,6,0.000,0.038,2542,1616,3684,0,0,0,0,0,0
$GC,2293,-0.57,-194.6,335.7,-11.3,341,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1616,3683,0,0,0,0,0,0
$GC,2615,-0.59,-194.6,370.6,-11.7,371,2619,0.00,1.02,0.00,0.000,4,0.000,0.047,2538,2289,3682,0,0,0,0,0,0
$GC,2729,-0.62,-194.6,383.5,-10.5,381,2733,0.00,1.02,0.00,0.000,6,0.000,0.043,2539,1611,3682,0,0,0,0,0,0
$GC,3061,-0.65,-194.6,416.4,-9.6,412,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1610,3680,0,0,0,0,0,0
$GC,3381,-0.67,-194.6,447.0,-10.7,442,3385,0.00,1.08,0.00,0.000,4,0.000,0.051,2546,2295,3678,0,0,0,0,0,0
$GC,3537,-0.72,-194.6,462.8,-9.9,455,3544,0.08,1.05,0.00,0.000,6,0.050,0.044,2487,1605,3678,0,0,0,0,0,0
$GC,3863,-0.68,-194.6,512.3,-14.8,486,3867,0.15,1.08,0.00,0.000,4,0.158,0.050,2529,908,3677,0,0,0,0,0,0
$GC,3921,-0.68,-194.6,519.6,-12.1,491,3925,0.00,1.05,0.00,0.000,6,0.000,0.044,2526,1599,3676,0,0,0,0,0,0
$GC,4253,-0.68,-194.6,556.9,-11.0,522,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1599,3674,0,0,0,0,0,0
$GC,4575,-0.69,-194.6,592.8,-11.2,552,4579,0.00,1.05,0.00,0.000,4,0.000,0.050,2526,918,3671,0,0,0,0,0,0
$GC,4668,-0.71,-194.6,603.8,-11.5,559,4672,0.00,1.05,0.00,0.000,6,0.000,0.044,2521,1607,3671,0,0,0,0,0,0
$GC,5002,-0.72,-194.6,641.4,-10.7,575,5005,0.00,1.08,0.00,0.000,4,0.000,0.054,2515,2314,3668,0,0,0,0,0,0
$GC,5058,-0.74,-194.6,647.4,-10.0,577,5061,0.00,1.08,0.00,0.000,6,0.000,0.047,2516,1614,3668,0,0,0,0,0,0
$GC,5382,-0.76,-194.6,681.4,-10.8,593,5386,0.00,1.08,0.00,0.000,4,0.000,0.053,2516,909,3664,0,0,0,0,0,0
$GC,5429,-0.77,-194.6,686.8,-11.0,595,5433,0.00,1.10,0.00,0.000,6,0.000,0.048,2510,1613,3664,0,0,0,0,0,0
$GC,5764,-0.77,-194.6,726.1,-12.4,611,5767,0.00,1.10,0.00,0.000,4,0.000,0.054,2510,911,3662,0,0,0,0,0,0
$GC,5836,-0.77,-194.6,735.9,-12.8,614,5840,0.00,1.10,0.00,0.000,6,0.000,0.050,2505,1612,3662,0,0,0,0,0,0
$GC,6164,-0.77,-194.6,776.1,-12.2,630,6167,0.00,1.08,0.00,0.000,4,0.000,0.057,2500,2313,3658,0,0,0,0,0,0
$GC,6191,-0.77,-194.6,778.9,-11.8,631,6194,0.00,1.08,0.00,0.000,6,0.000,0.048,2500,1618,3658,0,0,0,0,0,0
$GC,6523,-0.77,-194.6,819.6,-12.0,647,6527,0.00,1.10,0.00,0.000,4,0.000,0.057,2500,908,3655,0,0,0,0,0,0
$GC,6584,-0.77,-194.6,827.2,-12.2,649,6592,0.00,1.10,0.00,0.000,6,0.000,0.050,2495,1611,3655,0,0,0,0,0,0
$GC,6903,-0.77,-194.6,863.6,-11.3,665,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1611,3653,0,0,0,0,0,0
$GC,7210,-0.77,-194.6,895.2,-10.3,680,7214,0.00,1.10,0.00,0.000,4,0.000,0.054,2495,908,3651,0,0,0,0,0,0
$GC,7262,-0.77,-194.6,900.9,-10.8,682,7266,0.00,1.10,0.00,0.000,6,0.000,0.051,2490,1607,3651,0,0,0,0,0,0
$GC,7589,-0.77,-194.6,936.8,-11.0,698,7593,0.00,1.10,0.00,0.000,4,0.000,0.054,2490,904,3648,0,0,0,0,0,0
$GC,7668,-0.77,-194.6,946.1,-11.8,701,7671,0.00,1.12,0.00,0.000,6,0.000,0.052,2485,1614,3648,0,0,0,0,0,0
$GC,7992,-0.77,-194.6,983.8,-11.6,717,7995,0.00,1.10,0.00,0.000,4,0.000,0.057,2485,914,3646,0,0,0,0,0,0
$STATE,8039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8039,begin apogee
$GC,8046,-0.11,0.0,990.1,11.8,719,8217,0.70,0.00,166.20,1.440,6,0.124,0.000,2704,1775,2884,0,0,0,0,0,0
$STATE,8218,end apogee,CONTROL_FINISHED_OK
$STATE,8218,begin climb
$GC,8221,0.64,194.6,995.1,0.0,727,8407,0.68,1.17,179.32,1.384,4,0.066,0.059,2952,2494,2089,0,0,0,0,0,0
$GC,8453,0.62,194.6,972.1,14.0,738,8457,0.00,1.15,0.00,0.000,6,0.000,0.050,2956,1788,2085,0,0,0,0,0,0
$GC,8778,0.59,194.6,926.8,14.1,754,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1788,2081,0,0,0,0,0,0
$GC,9084,0.56,194.6,885.3,13.5,769,9086,0.12,0.00,0.00,0.000,6,0.175,0.000,2925,1788,2080,0,0,0,0,0,0
$GC,9393,0.58,215.8,851.1,10.9,784,9416,0.00,1.15,18.62,1.276,4,0.000,0.059,2922,2487,2004,0,0,0,0,0,0
$GC,9488,0.63,238.0,841.1,10.9,788,9514,0.00,1.12,22.10,1.278,6,0.000,0.050,2926,1766,1913,0,0,0,0,0,0
$GC,9838,0.64,238.0,798.9,12.4,805,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1766,1907,0,0,0,0,0,0
$GC,10145,0.65,238.0,759.7,12.7,820,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1766,1906,0,0,0,0,0,0
$GC,10455,0.67,238.0,721.2,12.1,835,10459,0.10,1.15,0.00,0.000,4,0.103,0.057,2980,2494,1905,0,0,0,0,0,0
$GC,10512,0.64,238.0,712.9,15.5,837,10517,0.10,1.10,0.00,0.000,6,0.158,0.047,2955,1785,1905,0,0,0,0,0,0
$GC,10833,0.64,238.0,668.5,13.8,853,10836,0.00,1.08,0.00,0.000,4,0.000,0.051,2958,1081,1904,0,0,0,0,0,0
$GC,10871,0.64,238.0,663.0,13.8,854,10878,0.00,1.10,0.00,0.000,6,0.000,0.044,2957,1797,1904,0,0,0,0,0,0
$GC,11190,0.64,238.0,620.4,13.4,870,11194,0.00,1.02,0.00,0.000,4,0.000,0.056,2957,2478,1903,0,0,0,0,0,0
$GC,11244,0.64,238.0,612.7,13.1,872,11249,0.00,1.08,0.00,0.000,6,0.000,0.045,2959,1782,1903,0,0,0,0,0,0
$GC,11577,0.64,238.0,568.4,14.3,898,11580,0.00,1.08,0.00,0.000,4,0.000,0.052,2965,1071,1903,0,0,0,0,0,0
$GC,11615,0.64,238.0,562.0,14.4,901,11623,0.00,1.08,0.00,0.000,6,0.000,0.044,2965,1775,1903,0,0,0,0,0,0
$GC,11941,0.64,238.0,518.7,12.4,932,11944,0.00,1.08,0.00,0.000,4,0.000,0.055,2965,2490,1902,0,0,0,0,0,0
$GC,12002,0.64,238.0,511.1,11.8,937,12009,0.00,1.10,0.00,0.000,6,0.000,0.045,2970,1771,1903,0,0,0,0,0,0
$GC,12328,0.66,264.4,475.8,10.7,968,12357,0.00,0.00,24.10,1.069,6,0.000,0.000,2969,1771,1804,0,0,0,0,0,0
$GC,12676,0.66,267.1,435.6,11.7,1001,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1771,1802,0,0,0,0,0,0
$GC,12998,0.66,267.1,393.8,13.7,1031,13001,0.00,1.10,0.00,0.000,4,0.000,0.051,2969,2481,1801,0,0,0,0,0,0
$GC,13147,0.68,267.1,373.1,13.1,1044,13150,0.00,1.08,0.00,0.000,6,0.000,0.043,2972,1778,1801,0,0,0,0,0,0
$GC,13478,0.69,281.5,331.9,11.2,1075,13501,0.00,1.08,16.48,0.906,4,0.000,0.046,2972,2492,1736,0,0,0,0,0,0
$GC,13531,0.73,297.6,325.9,11.1,1079,13552,0.00,1.10,16.42,0.894,6,0.000,0.042,2975,1780,1671,0,0,0,0,0,0
$GC,13878,0.77,322.5,286.4,10.8,1112,13906,0.00,1.10,23.48,0.882,4,0.000,0.049,2974,2477,1568,0,0,0,0,0,0
$GC,13963,0.82,332.4,277.3,11.4,1119,13978,0.00,1.08,10.82,0.798,6,0.000,0.041,2977,1775,1527,0,0,0,0,0,0
$GC,14301,0.85,332.4,235.7,12.0,1161,14310,0.12,1.08,0.00,0.000,4,0.087,0.046,3057,1069,1525,0,0,0,0,0,0
$GC,14369,0.80,332.4,224.1,17.7,1172,14378,0.15,1.08,0.00,0.000,6,0.142,0.039,3008,1790,1525,0,0,0,0,0,0
$GC,14699,0.80,332.4,179.2,13.7,1233,14708,0.00,1.00,0.00,0.000,4,0.000,0.047,3004,2462,1524,0,0,0,0,0,0
$GC,14771,0.82,332.4,169.7,13.1,1245,14780,0.00,1.02,0.00,0.000,6,0.000,0.041,3008,1785,1525,0,0,0,0,0,0
$GC,15100,0.83,332.4,127.3,13.3,1306,15108,0.00,1.02,0.00,0.000,4,0.000,0.045,3005,2468,1525,0,0,0,0,0,0
$GC,15134,0.84,332.4,122.4,13.3,1311,15142,0.00,1.05,0.00,0.000,6,0.000,0.040,3008,1772,1525,0,0,0,0,0,0
$GC,15464,0.90,355.9,85.2,10.8,1372,15488,0.00,0.00,21.67,0.695,6,0.000,0.000,3008,1772,1432,0,0,0,0,0,0
$GC,15810,1.10,470.3,56.6,7.1,1435,15914,0.25,1.10,96.18,0.684,4,0.054,0.043,3152,1077,965,0,0,0,0,0,0
$STATE,16076,end climb,SURFACE_DEPTH_REACHED
$STATE,16076,begin surface coast
$FINISH,1.7,1.022088
$STATE,16091,end surface coast,CONTROL_FINISHED_OK
$STATE,16091,begin surface
$SM_CCo,16169,0.00,0.000,0,0,959,472.20
$SM_GC,2.15,7.90,0.00,0.00,0.036,0.000,0.000,158,1635,959,-8.06,0.71,472.20,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12157.83,081011,050553
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.72
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.30
$XPDR_PINGS,107
$24V_AH,22.8,82.515
$10V_AH,9.8,57.970
$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,19.825,66.650,595.400,0.000,0.000,23.398,16.881,236.372,26.750,0.000,33.020,3685.338,8221.901,613.117,3597.198,487.816,0.000,2021.536,0.000,3314.422,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,65.790,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.395,1517.166,1653.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83530,1481
$CAP_FILE_SIZE,171461,0
$CFSIZE,260165632,116736000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 11.1,1
$GPS,081011,145127,2328.240,12230.183,29,99.0,48,-3.2