version: 66.09
glider: 166
mission: 6
dive: 351
start: 10 10 111 4 10 12
data:
$ID,166
$MISSION,6
$DIVE,351
$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,-24841.148
$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,56
$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
$GPS1,101011,040236,2333.641,12255.704,25,1.3,25,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.0
$GPS2,101011,040949,2333.690,12255.668,12,1.3,17,-3.3
$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,74.5,104953,-18.1,-11.786
$D_GRID,2492
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.64,-194.6,0.0,0.0,0,102,0.00,0.00,-81.82,0.000,2,0.000,0.000,143,1607,2916,0,0,0,0,0,0
$GC,106,-0.64,-194.6,5.4,-7.1,11,138,9.50,1.02,-15.68,0.000,4,0.221,0.062,2524,2319,3679,0,0,0,0,0,0
$GC,218,-0.56,-194.6,36.8,-23.3,29,228,0.12,1.08,0.00,0.000,6,0.143,0.037,2560,1601,3680,0,0,0,0,0,0
$GC,547,-0.53,-194.6,99.6,-17.4,90,555,0.00,1.02,0.00,0.000,4,0.000,0.037,2555,2302,3681,0,0,0,0,0,0
$GC,622,-0.53,-194.6,112.3,-14.8,103,630,0.00,1.02,0.00,0.000,6,0.000,0.037,2552,1610,3681,0,0,0,0,0,0
$GC,952,-0.52,-194.6,161.9,-15.0,164,960,0.00,1.02,0.00,0.000,4,0.000,0.040,2552,911,3682,0,0,0,0,0,0
$GC,1016,-0.52,-194.6,171.5,-15.2,175,1024,0.00,1.02,0.00,0.000,6,0.000,0.033,2547,1619,3682,0,0,0,0,0,0
$GC,1344,-0.52,-194.6,211.8,-10.3,236,1353,0.10,1.00,0.00,0.000,4,0.172,0.039,2571,2301,3682,0,0,0,0,0,0
$GC,1400,-0.55,-194.6,216.8,-8.1,245,1410,0.00,1.02,0.00,0.000,6,0.000,0.035,2571,1603,3682,0,0,0,0,0,0
$GC,1730,-0.59,-194.6,249.0,-9.4,306,1738,0.00,1.02,0.00,0.000,4,0.000,0.039,2567,2296,3682,0,0,0,0,0,0
$GC,1801,-0.64,-194.6,255.4,-8.6,313,1805,0.00,1.00,0.00,0.000,6,0.000,0.034,2567,1607,3682,0,0,0,0,0,0
$GC,2132,-0.67,-194.6,286.1,-10.2,344,2137,0.12,1.05,0.00,0.000,4,0.082,0.039,2481,2302,3682,0,0,0,0,0,0
$GC,2159,-0.66,-194.6,289.8,-12.6,346,2167,0.12,1.02,0.00,0.000,6,0.129,0.036,2525,1605,3682,0,0,0,0,0,0
$GC,2484,-0.66,-194.6,336.4,-13.6,377,2488,0.00,1.02,0.00,0.000,4,0.000,0.040,2525,908,3682,0,0,0,0,0,0
$GC,2533,-0.66,-194.6,343.9,-14.9,381,2541,0.00,1.02,0.00,0.000,6,0.000,0.034,2522,1609,3682,0,0,0,0,0,0
$GC,2859,-0.66,-194.6,388.3,-12.5,412,2863,0.00,1.00,0.00,0.000,4,0.000,0.040,2518,2301,3681,0,0,0,0,0,0
$GC,2886,-0.67,-194.6,391.7,-12.4,414,2893,0.00,1.02,0.00,0.000,6,0.000,0.037,2518,1607,3681,0,0,0,0,0,0
$GC,3212,-0.67,-194.6,428.7,-11.3,445,3215,0.00,1.02,0.00,0.000,4,0.000,0.041,2520,914,3679,0,0,0,0,0,0
$GC,3247,-0.67,-194.6,432.8,-11.7,448,3250,0.00,1.02,0.00,0.000,6,0.000,0.036,2516,1608,3679,0,0,0,0,0,0
$GC,3577,-0.67,-194.6,471.2,-12.4,479,3581,0.00,1.02,0.00,0.000,4,0.000,0.041,2513,2313,3677,0,0,0,0,0,0
$GC,3646,-0.69,-194.6,479.7,-12.8,485,3650,0.00,1.02,0.00,0.000,6,0.000,0.037,2515,1614,3677,0,0,0,0,0,0
$GC,3977,-0.70,-194.6,523.5,-12.4,516,3981,0.00,1.05,0.00,0.000,4,0.000,0.043,2526,905,3676,0,0,0,0,0,0
$GC,4060,-0.72,-194.6,534.5,-12.8,523,4067,0.00,1.05,0.00,0.000,6,0.000,0.037,2521,1614,3676,0,0,0,0,0,0
$GC,4386,-0.73,-194.6,574.0,-12.2,554,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1615,3673,0,0,0,0,0,0
$GC,4714,-0.74,-194.6,612.1,-11.6,580,4717,0.00,1.02,0.00,0.000,4,0.000,0.047,2516,2304,3671,0,0,0,0,0,0
$GC,4846,-0.76,-194.6,626.3,-10.0,585,4854,0.00,1.05,0.00,0.000,6,0.000,0.042,2516,1604,3669,0,0,0,0,0,0
$GC,5163,-0.78,-194.6,660.5,-10.6,601,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1604,3667,0,0,0,0,0,0
$GC,5474,-0.80,-194.6,695.4,-11.5,616,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1604,3665,0,0,0,0,0,0
$GC,5781,-0.81,-194.6,728.9,-10.9,631,5785,0.00,1.05,0.00,0.000,4,0.000,0.050,2516,914,3662,0,0,0,0,0,0
$GC,5837,-0.83,-194.6,735.5,-11.5,633,5842,0.08,1.05,0.00,0.000,6,0.058,0.045,2458,1597,3662,0,0,0,0,0,0
$GC,6161,-0.80,-194.6,781.5,-14.1,649,6165,0.12,1.08,0.00,0.000,4,0.172,0.052,2491,919,3659,0,0,0,0,0,0
$GC,6243,-0.80,-194.6,792.3,-11.4,652,6250,0.00,1.08,0.00,0.000,6,0.000,0.047,2488,1612,3658,0,0,0,0,0,0
$GC,6561,-0.80,-194.6,830.1,-12.3,668,6565,0.00,1.08,0.00,0.000,4,0.000,0.053,2488,920,3657,0,0,0,0,0,0
$GC,6644,-0.80,-194.6,841.0,-12.7,671,6651,0.00,1.08,0.00,0.000,6,0.000,0.048,2483,1610,3656,0,0,0,0,0,0
$GC,6960,-0.80,-194.6,880.7,-12.4,687,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1610,3654,0,0,0,0,0,0
$GC,7272,-0.80,-194.6,917.3,-11.7,702,7276,0.00,1.10,0.00,0.000,4,0.000,0.055,2483,923,3652,0,0,0,0,0,0
$GC,7378,-0.80,-194.6,930.0,-11.1,706,7385,0.00,1.08,0.00,0.000,6,0.000,0.050,2478,1613,3651,0,0,0,0,0,0
$GC,7697,-0.80,-194.6,964.6,-11.0,722,7701,0.00,1.08,0.00,0.000,4,0.000,0.055,2477,924,3649,0,0,0,0,0,0
$GC,7759,-0.80,-194.6,972.3,-11.6,724,7766,0.00,1.08,0.00,0.000,6,0.000,0.050,2472,1610,3649,0,0,0,0,0,0
$STATE,7907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7908,begin apogee
$GC,7914,-0.11,0.0,990.1,11.9,732,8085,0.73,0.00,166.85,1.434,6,0.126,0.000,2704,1787,2884,0,0,0,0,0,0
$STATE,8086,end apogee,CONTROL_FINISHED_OK
$STATE,8086,begin climb
$GC,8089,0.64,194.6,996.0,0.0,740,8276,0.73,0.00,179.75,1.379,6,0.065,0.000,2962,1787,2090,0,0,0,0,0,0
$GC,8579,0.61,194.6,937.4,13.9,764,8583,0.00,1.05,0.00,0.000,4,0.000,0.060,2962,2475,2081,0,0,0,0,0,0
$GC,8637,0.58,194.6,929.5,13.6,766,8641,0.10,1.08,0.00,0.000,6,0.155,0.050,2935,1786,2080,0,0,0,0,0,0
$GC,8958,0.59,203.1,892.9,11.4,782,8968,0.00,0.00,7.62,1.102,6,0.000,0.000,2935,1786,2055,0,0,0,0,0,0
$GC,9267,0.59,203.1,855.1,12.3,797,9271,0.00,1.08,0.00,0.000,4,0.000,0.058,2934,2477,2052,0,0,0,0,0,0
$GC,9296,0.59,203.1,851.4,12.6,798,9300,0.00,1.08,0.00,0.000,6,0.000,0.047,2937,1780,2052,0,0,0,0,0,0
$GC,9623,0.59,203.1,809.3,12.8,814,9627,0.00,1.12,0.00,0.000,4,0.000,0.058,2937,2488,2050,0,0,0,0,0,0
$GC,9695,0.59,203.1,799.7,12.7,817,9699,0.00,1.10,0.00,0.000,6,0.000,0.047,2941,1773,2050,0,0,0,0,0,0
$GC,10025,0.59,203.1,758.7,12.6,833,10029,0.00,1.05,0.00,0.000,4,0.000,0.051,2946,1078,2049,0,0,0,0,0,0
$GC,10052,0.59,203.1,754.7,12.7,834,10056,0.00,1.08,0.00,0.000,6,0.000,0.046,2945,1775,2049,0,0,0,0,0,0
$GC,10382,0.59,203.1,711.3,14.3,850,10386,0.00,1.08,0.00,0.000,4,0.000,0.056,2945,2488,2049,0,0,0,0,0,0
$GC,10415,0.59,203.1,705.8,14.7,851,10419,0.00,1.08,0.00,0.000,6,0.000,0.046,2948,1782,2048,0,0,0,0,0,0
$GC,10737,0.59,203.1,660.6,13.8,867,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1782,2047,0,0,0,0,0,0
$GC,11049,0.59,203.1,622.5,11.8,882,11053,0.00,1.08,0.00,0.000,4,0.000,0.053,2947,2488,2047,0,0,0,0,0,0
$GC,11109,0.59,203.1,614.6,12.3,884,11117,0.00,1.08,0.00,0.000,6,0.000,0.044,2950,1784,2046,0,0,0,0,0,0
$GC,11433,0.59,203.1,576.8,12.1,909,11436,0.00,1.08,0.00,0.000,4,0.000,0.054,2948,2479,2046,0,0,0,0,0,0
$GC,11559,0.59,203.1,561.1,12.6,920,11563,0.00,1.08,0.00,0.000,6,0.000,0.044,2951,1772,2046,0,0,0,0,0,0
$GC,11892,0.59,203.1,520.2,12.7,951,11896,0.00,1.10,0.00,0.000,4,0.000,0.052,2948,2483,2046,0,0,0,0,0,0
$GC,11919,0.59,203.1,516.1,12.9,953,11927,0.00,1.08,0.00,0.000,6,0.000,0.043,2951,1779,2046,0,0,0,0,0,0
$GC,12245,0.59,203.1,475.1,12.3,984,12248,0.00,1.05,0.00,0.000,4,0.000,0.048,2956,1076,2046,0,0,0,0,0,0
$GC,12364,0.64,242.2,462.8,10.2,994,12406,0.00,1.08,35.15,1.064,6,0.000,0.042,2953,1786,1895,0,0,0,0,0,0
$GC,12724,0.66,251.6,423.4,11.4,1028,12735,0.00,0.00,9.32,0.900,6,0.000,0.000,2953,1785,1857,0,0,0,0,0,0
$GC,13051,0.72,282.4,386.3,10.5,1059,13086,0.00,1.10,29.35,0.978,4,0.000,0.050,2949,2476,1732,0,0,0,0,0,0
$GC,13138,0.84,349.7,378.6,9.1,1066,13207,0.15,1.08,61.42,0.972,6,0.044,0.041,3038,1777,1458,0,0,0,0,0,0
$GC,13527,0.80,349.7,310.5,18.2,1102,13533,0.12,0.00,0.00,0.000,6,0.168,0.000,3005,1777,1452,0,0,0,0,0,0
$GC,13854,0.80,349.7,262.7,14.1,1133,13857,0.00,1.08,0.00,0.000,4,0.000,0.047,3001,2482,1451,0,0,0,0,0,0
$GC,13881,0.80,349.7,259.0,14.7,1135,13884,0.00,1.08,0.00,0.000,6,0.000,0.041,3004,1773,1452,0,0,0,0,0,0
$GC,14208,0.82,354.4,217.5,11.6,1190,14216,0.00,0.00,4.55,0.564,6,0.000,0.000,3004,1773,1439,0,0,0,0,0,0
$GC,14535,0.84,354.4,175.4,13.2,1251,14543,0.00,1.05,0.00,0.000,4,0.000,0.045,3010,1071,1439,0,0,0,0,0,0
$GC,14557,0.86,354.4,172.3,13.4,1254,14565,0.00,1.08,0.00,0.000,6,0.000,0.037,3006,1791,1439,0,0,0,0,0,0
$GC,14885,0.88,354.4,131.4,12.2,1315,14892,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1791,1439,0,0,0,0,0,0
$GC,15212,1.01,428.6,97.2,8.8,1376,15288,0.17,1.12,65.05,0.716,4,0.070,0.041,3101,1075,1135,0,0,0,0,0,0
$GC,15326,0.98,428.6,79.0,17.9,1392,15335,0.10,1.08,0.00,0.000,6,0.136,0.036,3068,1793,1133,0,0,0,0,0,0
$GC,15657,1.04,454.8,41.9,10.7,1453,15688,0.00,1.02,22.75,0.639,4,0.000,0.041,3063,2478,1028,0,0,0,0,0,0
$GC,15730,1.13,491.8,33.8,10.3,1464,15769,0.08,1.05,31.77,0.639,6,0.054,0.038,3130,1777,878,0,0,0,0,0,0
$STATE,15907,end climb,SURFACE_DEPTH_REACHED
$STATE,15908,begin surface coast
$FINISH,1.4,1.021749
$STATE,15925,end surface coast,CONTROL_FINISHED_OK
$STATE,15925,begin surface
$SM_CCo,16003,0.00,0.000,0,0,872,493.30
$SM_GC,2.14,7.72,0.00,0.00,0.033,0.000,0.000,134,1603,872,-8.06,-0.20,493.30,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12253.15,091011,232358
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.17
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.70
$XPDR_PINGS,105
$24V_AH,22.9,84.518
$10V_AH,9.8,59.498
$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,20.075,65.975,613.600,0.000,0.000,26.245,21.906,208.388,26.250,0.000,17.959,3690.514,7935.678,672.570,3611.575,503.976,0.000,2077.572,0.000,3369.117,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,70.380,1433.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1023.118,1535.571,1788.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324632
$DATA_FILE_SIZE,83452,1498
$CAP_FILE_SIZE,170872,0
$CFSIZE,260165632,115924992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,119.2,1
$GPS,101011,083806,2334.481,12258.870,32,0.9,32,-3.3