version: 66.09
glider: 166
mission: 6
dive: 352
start: 10 10 111 8 45 31
data:
$ID,166
$MISSION,6
$DIVE,352
$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,-24842.41
$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,49
$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
$GPS1,101011,083806,2334.481,12258.870,32,0.9,32,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.0
$GPS2,101011,084508,2334.562,12258.913,15,0.9,15,-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,69.5,99223,-18.1,-11.786
$D_GRID,2525
$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,-194.6,0.0,0.0,0,107,0.00,0.00,-88.12,0.000,2,0.000,0.000,131,1601,2995,0,0,0,0,0,0
$GC,110,-0.64,-194.6,5.5,-7.9,12,141,9.45,1.08,-13.40,0.000,4,0.219,0.066,2526,2306,3680,0,0,0,0,0,0
$GC,188,-0.54,-194.6,32.9,-28.7,24,197,0.12,1.05,0.00,0.000,6,0.147,0.037,2563,1602,3681,0,0,0,0,0,0
$GC,515,-0.51,-194.6,104.5,-16.7,85,523,0.00,1.02,0.00,0.000,4,0.000,0.038,2559,2299,3682,0,0,0,0,0,0
$GC,680,-0.51,-194.6,128.4,-13.3,115,688,0.00,1.00,0.00,0.000,6,0.000,0.035,2556,1612,3682,0,0,0,0,0,0
$GC,1007,-0.51,-194.6,174.8,-14.3,176,1015,0.00,1.02,0.00,0.000,4,0.000,0.039,2551,2309,3683,0,0,0,0,0,0
$GC,1039,-0.51,-194.6,179.0,-14.2,180,1046,0.00,1.02,0.00,0.000,6,0.000,0.035,2550,1607,3683,0,0,0,0,0,0
$GC,1365,-0.51,-194.6,232.4,-15.4,241,1373,0.00,1.00,0.00,0.000,4,0.000,0.038,2550,916,3683,0,0,0,0,0,0
$GC,1396,-0.51,-194.6,237.0,-15.0,245,1404,0.08,1.00,0.00,0.000,6,0.139,0.033,2572,1610,3683,0,0,0,0,0,0
$GC,1725,-0.56,-194.6,272.7,-10.7,286,1729,0.00,1.02,0.00,0.000,4,0.000,0.039,2569,2307,3683,0,0,0,0,0,0
$GC,1784,-0.61,-194.6,278.8,-10.2,291,1787,0.00,1.02,0.00,0.000,6,0.000,0.036,2569,1606,3682,0,0,0,0,0,0
$GC,2118,-0.65,-194.6,312.0,-8.4,322,2122,0.10,1.02,0.00,0.000,4,0.097,0.039,2490,2295,3683,0,0,0,0,0,0
$GC,2144,-0.65,-194.6,315.3,-9.4,324,2152,0.12,1.00,0.00,0.000,6,0.127,0.036,2533,1604,3682,0,0,0,0,0,0
$GC,2473,-0.66,-194.6,350.3,-11.1,355,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1604,3682,0,0,0,0,0,0
$GC,2800,-0.68,-194.6,388.4,-12.0,386,2804,0.00,1.02,0.00,0.000,4,0.000,0.042,2532,2291,3680,0,0,0,0,0,0
$GC,2850,-0.71,-194.6,394.5,-11.2,390,2858,0.00,1.00,0.00,0.000,6,0.000,0.037,2532,1610,3681,0,0,0,0,0,0
$GC,3176,-0.73,-194.6,434.9,-12.8,421,3180,0.00,1.05,0.00,0.000,4,0.000,0.044,2531,2298,3679,0,0,0,0,0,0
$GC,3245,-0.76,-194.6,442.9,-11.4,427,3249,0.00,1.00,0.00,0.000,6,0.000,0.039,2532,1622,3678,0,0,0,0,0,0
$GC,3576,-0.78,-194.6,478.1,-9.0,458,3581,0.12,1.08,0.00,0.000,4,0.084,0.042,2467,911,3677,0,0,0,0,0,0
$GC,3684,-0.74,-194.6,492.5,-14.1,467,3692,0.10,1.02,0.00,0.000,6,0.148,0.037,2500,1603,3676,0,0,0,0,0,0
$GC,4010,-0.73,-194.6,530.6,-12.4,498,4013,0.00,1.02,0.00,0.000,4,0.000,0.044,2497,2297,3676,0,0,0,0,0,0
$GC,4073,-0.73,-194.6,538.0,-12.0,503,4080,0.00,1.02,0.00,0.000,6,0.000,0.039,2497,1611,3675,0,0,0,0,0,0
$GC,4401,-0.72,-194.6,580.0,-13.1,534,4405,0.00,1.05,0.00,0.000,4,0.000,0.047,2493,2296,3673,0,0,0,0,0,0
$GC,4447,-0.72,-194.6,586.6,-14.0,538,4450,0.00,1.02,0.00,0.000,6,0.000,0.041,2492,1616,3672,0,0,0,0,0,0
$GC,4786,-0.70,-194.6,632.1,-13.0,559,4790,0.00,1.08,0.00,0.000,4,0.000,0.047,2493,905,3669,0,0,0,0,0,0
$GC,4981,-0.69,-194.6,659.2,-13.4,567,4989,0.08,1.05,0.00,0.000,6,0.148,0.044,2513,1593,3668,0,0,0,0,0,0
$GC,5300,-0.71,-194.6,694.8,-11.5,583,5304,0.00,1.05,0.00,0.000,4,0.000,0.050,2513,917,3666,0,0,0,0,0,0
$GC,5403,-0.72,-194.6,706.8,-11.6,587,5407,0.00,1.08,0.00,0.000,6,0.000,0.045,2510,1613,3666,0,0,0,0,0,0
$GC,5725,-0.74,-194.6,744.8,-12.2,603,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1613,3662,0,0,0,0,0,0
$GC,6034,-0.75,-194.6,781.6,-12.0,618,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1613,3660,0,0,0,0,0,0
$GC,6345,-0.77,-194.6,815.7,-10.6,633,6349,0.00,1.10,0.00,0.000,4,0.000,0.054,2510,916,3657,0,0,0,0,0,0
$GC,6430,-0.78,-194.6,825.4,-11.0,636,6436,0.00,1.08,0.00,0.000,6,0.000,0.048,2505,1605,3656,0,0,0,0,0,0
$GC,6748,-0.80,-194.6,859.3,-10.4,652,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1605,3654,0,0,0,0,0,0
$GC,7056,-0.81,-194.6,891.5,-10.4,667,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1605,3652,0,0,0,0,0,0
$GC,7367,-0.83,-194.6,924.1,-10.5,682,7371,0.00,1.08,0.00,0.000,4,0.000,0.058,2500,2303,3650,0,0,0,0,0,0
$GC,7413,-0.86,-194.6,929.2,-10.6,684,7417,0.00,1.08,0.00,0.000,6,0.000,0.051,2500,1612,3650,0,0,0,0,0,0
$GC,7747,-0.87,-194.6,964.1,-10.1,700,7749,0.10,0.00,0.00,0.000,6,0.105,0.000,2447,1612,3648,0,0,0,0,0,0
$STATE,7950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7950,begin apogee
$GC,7958,-0.11,0.0,991.5,13.4,710,8131,0.80,0.00,166.68,1.436,6,0.134,0.000,2698,1788,2884,0,0,0,0,0,0
$STATE,8132,end apogee,CONTROL_FINISHED_OK
$STATE,8132,begin climb
$GC,8136,0.64,194.6,996.7,0.0,718,8327,0.70,1.20,178.55,1.379,4,0.070,0.060,2950,2487,2089,0,0,0,0,0,0
$GC,8470,0.62,194.6,957.0,14.7,733,8474,0.00,1.10,0.00,0.000,6,0.000,0.050,2954,1789,2084,0,0,0,0,0,0
$GC,8798,0.59,194.6,909.7,14.5,749,8801,0.00,1.08,0.00,0.000,4,0.000,0.060,2954,2474,2081,0,0,0,0,0,0
$GC,8917,0.57,194.6,892.4,14.1,754,8920,0.00,1.08,0.00,0.000,6,0.000,0.050,2956,1781,2080,0,0,0,0,0,0
$GC,9247,0.54,194.6,844.7,14.3,770,9251,0.15,1.08,0.00,0.000,4,0.172,0.056,2913,2484,2078,0,0,0,0,0,0
$GC,9300,0.57,207.7,838.1,11.3,772,9318,0.00,1.10,11.30,1.192,6,0.000,0.047,2915,1770,2037,0,0,0,0,0,0
$GC,9628,0.62,232.0,802.7,10.8,788,9655,0.00,1.17,23.50,1.275,4,0.000,0.057,2915,2486,1937,0,0,0,0,0,0
$GC,9717,0.66,246.2,793.1,11.2,792,9741,0.08,1.10,14.75,1.202,6,0.057,0.046,2972,1782,1879,0,0,0,0,0,0
$GC,10052,0.64,246.2,741.8,15.7,808,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1782,1874,0,0,0,0,0,0
$GC,10360,0.61,246.2,695.7,14.7,823,10363,0.00,1.08,0.00,0.000,4,0.000,0.055,2972,2481,1874,0,0,0,0,0,0
$GC,10399,0.60,246.2,689.5,14.1,824,10407,0.10,1.08,0.00,0.000,6,0.153,0.045,2945,1776,1874,0,0,0,0,0,0
$GC,10717,0.60,246.2,651.3,12.1,840,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1776,1873,0,0,0,0,0,0
$GC,11024,0.60,246.2,613.4,12.3,855,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1776,1871,0,0,0,0,0,0
$GC,11339,0.60,246.2,574.3,12.1,879,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1776,1871,0,0,0,0,0,0
$GC,11662,0.67,298.4,540.4,9.7,909,11718,0.00,1.15,48.10,1.138,4,0.000,0.054,2942,2484,1667,0,0,0,0,0,0
$GC,11801,0.74,330.8,526.0,10.5,921,11838,0.08,1.10,31.17,1.091,6,0.055,0.044,3002,1771,1534,0,0,0,0,0,0
$GC,12164,0.73,330.8,467.3,16.3,955,12168,0.00,1.10,0.00,0.000,4,0.000,0.052,3001,2490,1529,0,0,0,0,0,0
$GC,12223,0.73,330.8,458.3,15.6,960,12226,0.00,1.08,0.00,0.000,6,0.000,0.043,3004,1784,1528,0,0,0,0,0,0
$GC,12554,0.71,330.8,404.6,16.6,991,12558,0.12,1.10,0.00,0.000,4,0.174,0.051,2968,2490,1527,0,0,0,0,0,0
$GC,12681,0.74,330.8,387.5,12.5,1002,12685,0.00,1.08,0.00,0.000,6,0.000,0.042,2971,1783,1527,0,0,0,0,0,0
$GC,13015,0.79,359.5,346.3,10.6,1033,13049,0.00,1.10,25.83,0.941,4,0.000,0.049,2977,1073,1417,0,0,0,0,0,0
$GC,13089,0.89,416.7,338.3,9.5,1039,13146,0.12,1.10,51.75,0.942,6,0.052,0.040,3055,1797,1185,0,0,0,0,0,0
$GC,13464,0.85,416.7,269.3,18.2,1074,13469,0.12,1.02,0.00,0.000,4,0.169,0.050,3018,2475,1181,0,0,0,0,0,0
$GC,13618,0.87,416.7,247.7,13.3,1088,13627,0.00,1.05,0.00,0.000,6,0.000,0.041,3021,1777,1180,0,0,0,0,0,0
$GC,13946,0.87,416.7,195.8,16.0,1149,13954,0.00,1.05,0.00,0.000,4,0.000,0.048,3018,2478,1180,0,0,0,0,0,0
$GC,13999,0.89,416.7,186.8,15.5,1158,14007,0.00,1.05,0.00,0.000,6,0.000,0.040,3022,1778,1180,0,0,0,0,0,0
$GC,14330,0.90,416.7,134.1,14.2,1219,14338,0.00,1.05,0.00,0.000,4,0.000,0.044,3027,1069,1180,0,0,0,0,0,0
$GC,14377,0.91,416.7,127.8,13.0,1226,14385,0.00,1.05,0.00,0.000,6,0.000,0.037,3024,1781,1179,0,0,0,0,0,0
$GC,14706,0.94,416.7,86.3,14.9,1287,14714,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1781,1179,0,0,0,0,0,0
$GC,15035,1.22,578.3,53.0,5.2,1348,15178,0.28,0.00,134.48,0.682,6,0.050,0.000,3172,1783,524,0,0,0,0,0,0
$STATE,15289,end climb,SURFACE_DEPTH_REACHED
$STATE,15289,begin surface coast
$FINISH,1.4,1.021749
$STATE,15301,end surface coast,CONTROL_FINISHED_OK
$STATE,15301,begin surface
$SM_CCo,15381,0.00,0.000,0,0,515,581.12
$SM_GC,2.12,7.85,0.00,0.00,0.031,0.000,0.000,145,1594,515,-8.05,-0.45,581.12,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12258.38,101011,040414
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.99
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.10
$XPDR_PINGS,118
$24V_AH,23.0,84.760
$10V_AH,9.8,59.654
$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,20.675,57.825,686.100,0.000,0.000,27.962,20.477,206.078,29.500,0.000,16.571,3428.901,7788.993,693.479,3399.014,472.402,0.000,2064.105,0.000,3149.763,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,67.320,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,948.780,1424.477,1536.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76856,1390
$CAP_FILE_SIZE,164440,0
$CFSIZE,260165632,115847168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,133.0,1
$GPS,101011,130306,2335.688,12301.543,35,1.0,35,-3.3