version: 66.09
glider: 166
mission: 6
dive: 350
start: 10 9 111 23 25 15
data:
$ID,166
$MISSION,6
$DIVE,350
$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,-24839.889
$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,44
$R_STBD_OVSHOOT,53
$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
$GPS1,091011,231730,2332.852,12252.498,37,2.0,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-70.0
$GPS2,091011,232452,2332.803,12252.401,16,2.3,35,-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,73.1,110725,-18.1,-11.786
$D_GRID,2644
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-80.93,0.000,2,0.000,0.000,121,1592,3039,0,0,0,0,0,0
$GC,104,-0.64,-194.6,6.1,-9.5,11,135,9.45,1.08,-12.45,0.000,4,0.219,0.064,2525,2313,3681,0,0,0,0,0,0
$GC,146,-0.30,-194.6,22.6,-35.9,16,155,0.38,1.08,0.00,0.000,6,0.149,0.037,2637,1594,3682,0,0,0,0,0,0
$GC,474,-0.35,-194.6,65.9,-8.8,77,483,0.00,1.05,0.00,0.000,4,0.000,0.040,2634,2304,3683,0,0,0,0,0,0
$GC,552,-0.43,-194.6,73.4,-9.1,90,560,0.00,1.02,0.00,0.000,6,0.000,0.037,2633,1609,3683,0,0,0,0,0,0
$GC,882,-0.49,-194.6,105.0,-8.8,151,890,0.15,1.05,0.00,0.000,4,0.070,0.041,2533,2301,3684,0,0,0,0,0,0
$GC,1006,-0.47,-194.6,124.4,-16.5,173,1015,0.17,1.02,0.00,0.000,6,0.128,0.037,2590,1604,3684,0,0,0,0,0,0
$GC,1337,-0.50,-194.6,163.6,-11.6,234,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1604,3684,0,0,0,0,0,0
$GC,1665,-0.54,-194.6,199.4,-10.4,295,1673,0.00,1.08,0.00,0.000,4,0.000,0.042,2587,2304,3684,0,0,0,0,0,0
$GC,1741,-0.60,-194.6,206.5,-8.8,308,1750,0.08,1.02,0.00,0.000,6,0.049,0.038,2509,1612,3684,0,0,0,0,0,0
$GC,2070,-0.57,-194.6,261.0,-16.4,363,2074,0.17,1.05,0.00,0.000,4,0.149,0.043,2557,2301,3684,0,0,0,0,0,0
$GC,2125,-0.60,-194.6,268.6,-11.9,368,2129,0.00,1.02,0.00,0.000,6,0.000,0.039,2557,1610,3684,0,0,0,0,0,0
$GC,2458,-0.63,-194.6,313.4,-13.2,399,2462,0.00,1.05,0.00,0.000,4,0.000,0.045,2552,2294,3684,0,0,0,0,0,0
$GC,2538,-0.66,-194.6,323.6,-12.5,406,2541,0.00,1.02,0.00,0.000,6,0.000,0.039,2553,1606,3684,0,0,0,0,0,0
$GC,2869,-0.69,-194.6,360.9,-10.1,437,2873,0.00,1.08,0.00,0.000,4,0.000,0.046,2548,2294,3684,0,0,0,0,0,0
$GC,2928,-0.72,-194.6,366.5,-9.4,442,2932,0.08,1.02,0.00,0.000,6,0.047,0.041,2475,1614,3684,0,0,0,0,0,0
$GC,3258,-0.68,-194.6,419.9,-16.5,473,3263,0.17,1.08,0.00,0.000,4,0.154,0.048,2526,918,3683,0,0,0,0,0,0
$GC,3292,-0.68,-194.6,425.2,-15.0,476,3296,0.00,1.02,0.00,0.000,6,0.000,0.042,2524,1596,3683,0,0,0,0,0,0
$GC,3625,-0.69,-194.6,464.5,-10.7,507,3629,0.00,1.08,0.00,0.000,4,0.000,0.049,2523,2315,3682,0,0,0,0,0,0
$GC,3662,-0.71,-194.6,468.5,-11.0,510,3665,0.00,1.08,0.00,0.000,6,0.000,0.042,2521,1604,3681,0,0,0,0,0,0
$GC,3993,-0.72,-194.6,502.9,-10.3,541,3997,0.00,1.05,0.00,0.000,4,0.000,0.049,2523,913,3679,0,0,0,0,0,0
$GC,4056,-0.74,-194.6,510.0,-11.6,546,4063,0.00,1.08,0.00,0.000,6,0.000,0.044,2527,1613,3678,0,0,0,0,0,0
$GC,4383,-0.75,-194.6,549.1,-13.2,577,4387,0.00,1.08,0.00,0.000,4,0.000,0.051,2526,2312,3677,0,0,0,0,0,0
$GC,4452,-0.78,-194.6,557.8,-12.0,583,4456,0.00,1.08,0.00,0.000,6,0.000,0.045,2525,1609,3677,0,0,0,0,0,0
$GC,4784,-0.80,-194.6,597.7,-12.6,614,4791,0.10,0.00,0.00,0.000,6,0.099,0.000,2467,1609,3675,0,0,0,0,0,0
$GC,5114,-0.76,-194.6,647.0,-14.5,631,5118,0.12,1.10,0.00,0.000,4,0.168,0.054,2498,2304,3671,0,0,0,0,0,0
$GC,5151,-0.76,-194.6,652.3,-12.2,632,5158,0.00,1.08,0.00,0.000,6,0.000,0.047,2498,1603,3671,0,0,0,0,0,0
$GC,5468,-0.76,-194.6,688.4,-11.3,648,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1603,3669,0,0,0,0,0,0
$GC,5779,-0.76,-194.6,720.9,-9.9,663,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1602,3666,0,0,0,0,0,0
$GC,6087,-0.76,-194.6,751.4,-9.9,678,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1602,3664,0,0,0,0,0,0
$GC,6396,-0.76,-194.6,784.5,-11.2,693,6400,0.00,1.05,0.00,0.000,4,0.000,0.052,2498,916,3661,0,0,0,0,0,0
$GC,6469,-0.76,-194.6,793.2,-12.1,696,6473,0.00,1.08,0.00,0.000,6,0.000,0.047,2493,1608,3661,0,0,0,0,0,0
$GC,6796,-0.76,-194.6,830.1,-10.5,712,6800,0.00,1.10,0.00,0.000,4,0.000,0.052,2493,904,3658,0,0,0,0,0,0
$GC,6846,-0.76,-194.6,835.4,-10.6,714,6850,0.00,1.10,0.00,0.000,6,0.000,0.048,2488,1610,3658,0,0,0,0,0,0
$GC,7176,-0.76,-194.6,868.4,-10.2,730,7180,0.00,1.12,0.00,0.000,4,0.000,0.054,2488,906,3655,0,0,0,0,0,0
$GC,7215,-0.76,-194.6,873.0,-11.0,731,7222,0.00,1.10,0.00,0.000,6,0.000,0.049,2483,1609,3655,0,0,0,0,0,0
$GC,7534,-0.76,-194.6,908.6,-11.6,747,7537,0.00,1.12,0.00,0.000,4,0.000,0.055,2482,911,3653,0,0,0,0,0,0
$GC,7656,-0.76,-194.6,924.0,-13.1,752,7660,0.00,1.10,0.00,0.000,6,0.000,0.049,2477,1616,3652,0,0,0,0,0,0
$GC,7978,-0.76,-194.6,964.4,-13.1,768,7982,0.00,1.10,0.00,0.000,4,0.000,0.054,2477,913,3651,0,0,0,0,0,0
$GC,8013,-0.74,-194.6,969.1,-13.7,769,8018,0.08,1.10,0.00,0.000,6,0.153,0.051,2497,1611,3650,0,0,0,0,0,0
$STATE,8189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8189,begin apogee
$GC,8195,-0.11,0.0,990.7,11.8,778,8369,0.62,0.00,167.20,1.442,6,0.122,0.000,2702,1789,2884,0,0,0,0,0,0
$STATE,8370,end apogee,CONTROL_FINISHED_OK
$STATE,8370,begin climb
$GC,8372,0.64,194.6,998.8,0.0,786,8562,0.70,1.15,179.20,1.385,4,0.068,0.061,2956,2474,2089,0,0,0,0,0,0
$GC,8594,0.61,194.6,979.0,13.4,796,8598,0.00,1.10,0.00,0.000,6,0.000,0.050,2960,1794,2086,0,0,0,0,0,0
$GC,8924,0.60,220.9,936.3,10.7,812,8954,0.00,1.17,24.08,1.309,4,0.000,0.057,2966,1069,1982,0,0,0,0,0,0
$GC,9134,0.57,220.9,904.5,14.6,821,9138,0.10,1.10,0.00,0.000,6,0.154,0.050,2935,1770,1978,0,0,0,0,0,0
$GC,9457,0.57,220.9,862.9,13.1,837,9460,0.00,1.08,0.00,0.000,4,0.000,0.057,2934,2478,1976,0,0,0,0,0,0
$GC,9512,0.57,220.9,855.7,12.2,839,9516,0.00,1.08,0.00,0.000,6,0.000,0.047,2937,1780,1975,0,0,0,0,0,0
$GC,9836,0.57,220.9,817.2,11.9,855,9840,0.00,1.08,0.00,0.000,4,0.000,0.054,2942,1072,1975,0,0,0,0,0,0
$GC,9908,0.57,221.5,808.1,11.8,858,9913,0.00,1.10,0.00,0.000,6,0.000,0.047,2942,1788,1974,0,0,0,0,0,0
$GC,10236,0.57,221.5,769.0,12.1,874,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1788,1973,0,0,0,0,0,0
$GC,10547,0.57,221.5,731.6,11.9,889,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1788,1973,0,0,0,0,0,0
$GC,10854,0.58,224.3,694.9,11.7,904,10856,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1788,1972,0,0,0,0,0,0
$GC,11164,0.59,235.0,659.2,11.3,919,11178,0.00,0.00,12.68,1.141,6,0.000,0.000,2942,1789,1925,0,0,0,0,0,0
$GC,11492,0.59,237.4,622.6,11.7,934,11496,0.00,1.10,0.00,0.000,4,0.000,0.050,2945,1073,1922,0,0,0,0,0,0
$GC,11516,0.59,237.4,619.5,11.9,935,11519,0.00,1.10,0.00,0.000,6,0.000,0.044,2945,1791,1921,0,0,0,0,0,0
$GC,11847,0.59,237.4,578.8,12.2,958,11850,0.00,1.02,0.00,0.000,4,0.000,0.054,2945,2478,1921,0,0,0,0,0,0
$GC,11974,0.59,237.4,562.9,12.2,969,11983,0.00,1.08,0.00,0.000,6,0.000,0.044,2948,1767,1921,0,0,0,0,0,0
$GC,12300,0.61,249.8,523.8,11.3,1000,12324,0.00,1.05,14.90,1.068,4,0.000,0.051,2953,1087,1864,0,0,0,0,0,0
$GC,12381,0.63,269.3,514.8,11.0,1007,12405,0.00,1.05,19.50,1.075,6,0.000,0.043,2953,1776,1786,0,0,0,0,0,0
$GC,12722,0.68,307.0,478.4,10.3,1039,12767,0.00,1.15,35.88,1.076,4,0.000,0.049,2956,1071,1632,0,0,0,0,0,0
$GC,12848,0.70,311.0,464.1,11.6,1050,12860,0.00,1.10,5.20,0.767,6,0.000,0.042,2956,1787,1615,0,0,0,0,0,0
$GC,13179,0.74,328.0,425.8,11.1,1081,13202,0.00,0.00,16.92,0.984,6,0.000,0.000,2957,1788,1545,0,0,0,0,0,0
$GC,13521,0.77,328.0,385.2,12.3,1113,13525,0.10,1.10,0.00,0.000,4,0.102,0.049,3022,1078,1542,0,0,0,0,0,0
$GC,13555,0.75,328.0,380.2,15.5,1116,13559,0.10,1.08,0.00,0.000,6,0.143,0.041,2988,1796,1541,0,0,0,0,0,0
$GC,13885,0.75,328.0,334.8,12.6,1147,13888,0.00,1.08,0.00,0.000,4,0.000,0.046,2992,1083,1541,0,0,0,0,0,0
$GC,13920,0.75,328.0,330.5,12.4,1150,13924,0.00,1.02,0.00,0.000,6,0.000,0.041,2989,1772,1541,0,0,0,0,0,0
$GC,14252,0.75,328.0,290.2,12.5,1181,14256,0.00,1.05,0.00,0.000,4,0.000,0.046,2992,1078,1541,0,0,0,0,0,0
$GC,14286,0.75,328.0,285.6,12.7,1184,14290,0.00,1.05,0.00,0.000,6,0.000,0.040,2989,1782,1541,0,0,0,0,0,0
$GC,14616,0.75,328.0,243.1,13.0,1219,14623,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1781,1541,0,0,0,0,0,0
$GC,14944,0.77,328.0,200.0,13.2,1280,14952,0.00,1.02,0.00,0.000,4,0.000,0.047,2985,2480,1541,0,0,0,0,0,0
$GC,14973,0.79,328.0,196.2,12.9,1284,14981,0.00,1.05,0.00,0.000,6,0.000,0.041,2988,1779,1541,0,0,0,0,0,0
$GC,15301,0.86,360.5,159.7,10.5,1345,15335,0.10,1.10,29.62,0.767,4,0.102,0.044,3059,1066,1413,0,0,0,0,0,0
$GC,15395,0.83,360.5,146.1,16.5,1359,15404,0.12,1.08,0.00,0.000,6,0.136,0.037,3017,1790,1411,0,0,0,0,0,0
$GC,15724,0.84,360.5,103.8,13.2,1420,15732,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1790,1411,0,0,0,0,0,0
$GC,16053,0.93,396.0,65.1,10.3,1481,16091,0.00,1.15,31.75,0.680,4,0.000,0.044,3020,1067,1268,0,0,0,0,0,0
$GC,16143,1.07,471.6,56.5,8.7,1495,16212,0.15,1.05,63.70,0.679,6,0.042,0.034,3117,1776,961,0,0,0,0,0,0
$STATE,16474,end climb,SURFACE_DEPTH_REACHED
$STATE,16474,begin surface coast
$FINISH,1.2,1.008604
$STATE,16497,end surface coast,CONTROL_FINISHED_OK
$STATE,16497,begin surface
$SM_CCo,16577,0.00,0.000,0,0,955,473.18
$SM_GC,2.07,7.72,0.00,0.00,0.037,0.000,0.000,152,1608,955,-8.05,-0.06,473.18,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12247.93,091011,181832
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.27
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.40
$XPDR_PINGS,111
$24V_AH,22.9,84.301
$10V_AH,9.8,59.328
$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,20.675,67.150,600.625,0.000,0.000,26.124,41.958,189.922,27.750,0.000,37.075,3868.434,8213.316,621.749,3789.503,505.930,0.000,2089.356,0.000,3521.383,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,69.615,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.026,1593.985,1874.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,86705,1557
$CAP_FILE_SIZE,177519,0
$CFSIZE,260165632,116006912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048, 86.7,1
$GPS,101011,040236,2333.641,12255.704,25,1.3,25,-3.3