version: 66.09
glider: 166
mission: 6
dive: 354
start: 10 10 111 17 45 25
data:
$ID,166
$MISSION,6
$DIVE,354
$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,-9
$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,-24844.924
$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,48
$R_STBD_OVSHOOT,45
$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
$GPS1,101011,173807,2336.471,12305.181,39,1.0,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.6
$GPS2,101011,174502,2336.462,12305.274,15,1.5,15,-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,58.4,87890,-18.1,-11.786
$D_GRID,3226
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-83.32,0.000,2,0.000,0.000,137,1601,3072,0,0,0,0,0,0
$GC,105,-0.64,-194.6,5.5,-6.0,11,137,9.52,1.10,-11.90,0.000,4,0.221,0.070,2524,2314,3680,0,0,0,0,0,0
$GC,211,-0.54,-194.6,42.9,-29.5,28,220,0.15,1.05,0.00,0.000,6,0.148,0.038,2564,1607,3682,0,0,0,0,0,0
$GC,537,-0.54,-194.6,107.6,-14.5,89,545,0.00,1.02,0.00,0.000,4,0.000,0.040,2561,906,3682,0,0,0,0,0,0
$GC,634,-0.54,-194.6,122.3,-15.0,106,642,0.00,1.05,0.00,0.000,6,0.000,0.033,2558,1630,3682,0,0,0,0,0,0
$GC,964,-0.54,-194.6,163.8,-11.7,167,972,0.00,0.95,0.00,0.000,4,0.000,0.039,2553,2298,3683,0,0,0,0,0,0
$GC,1038,-0.55,-194.6,172.2,-11.3,179,1046,0.00,1.00,0.00,0.000,6,0.000,0.036,2552,1608,3683,0,0,0,0,0,0
$GC,1362,-0.55,-194.6,214.7,-14.0,240,1370,0.00,1.00,0.00,0.000,4,0.000,0.038,2548,2297,3683,0,0,0,0,0,0
$GC,1393,-0.55,-194.6,218.5,-13.3,244,1401,0.00,1.00,0.00,0.000,6,0.000,0.035,2548,1607,3684,0,0,0,0,0,0
$GC,1719,-0.55,-194.6,263.4,-13.5,296,1723,0.00,1.00,0.00,0.000,4,0.000,0.038,2547,916,3683,0,0,0,0,0,0
$GC,1768,-0.55,-194.6,270.6,-13.6,300,1776,0.00,1.00,0.00,0.000,6,0.000,0.033,2543,1610,3683,0,0,0,0,0,0
$GC,2093,-0.55,-194.6,315.0,-14.2,331,2097,0.00,1.00,0.00,0.000,4,0.000,0.040,2538,2307,3683,0,0,0,0,0,0
$GC,2202,-0.57,-194.6,329.4,-12.5,340,2208,0.00,1.02,0.00,0.000,6,0.000,0.035,2538,1604,3683,0,0,0,0,0,0
$GC,2530,-0.59,-194.6,367.9,-10.3,371,2533,0.00,1.02,0.00,0.000,4,0.000,0.040,2533,2299,3683,0,0,0,0,0,0
$GC,2602,-0.62,-194.6,374.9,-9.0,377,2610,0.00,1.00,0.00,0.000,6,0.000,0.035,2534,1611,3683,0,0,0,0,0,0
$GC,2930,-0.64,-194.6,408.6,-10.0,408,2934,0.00,1.02,0.00,0.000,4,0.000,0.041,2535,912,3682,0,0,0,0,0,0
$GC,2980,-0.67,-194.6,414.6,-11.6,412,2987,0.00,1.02,0.00,0.000,6,0.000,0.035,2530,1610,3682,0,0,0,0,0,0
$GC,3308,-0.69,-194.6,454.3,-11.7,443,3312,0.00,1.02,0.00,0.000,4,0.000,0.042,2526,2297,3680,0,0,0,0,0,0
$GC,3370,-0.73,-194.6,461.1,-10.0,448,3377,0.00,1.00,0.00,0.000,6,0.000,0.037,2527,1618,3680,0,0,0,0,0,0
$GC,3696,-0.75,-194.6,494.7,-10.2,479,3699,0.00,1.05,0.00,0.000,4,0.000,0.042,2536,911,3678,0,0,0,0,0,0
$GC,3720,-0.77,-194.6,497.3,-10.3,481,3724,0.08,1.02,0.00,0.000,6,0.057,0.037,2481,1608,3678,0,0,0,0,0,0
$GC,4053,-0.74,-194.6,546.4,-15.7,512,4057,0.00,1.00,0.00,0.000,4,0.000,0.044,2476,2299,3676,0,0,0,0,0,0
$GC,4114,-0.71,-194.6,556.4,-15.2,517,4122,0.10,1.02,0.00,0.000,6,0.137,0.038,2510,1604,3676,0,0,0,0,0,0
$GC,4441,-0.71,-194.6,598.4,-12.7,548,4445,0.00,1.02,0.00,0.000,4,0.000,0.044,2510,911,3674,0,0,0,0,0,0
$GC,4558,-0.71,-194.6,613.6,-12.4,554,4563,0.00,1.02,0.00,0.000,6,0.000,0.039,2507,1601,3674,0,0,0,0,0,0
$GC,4886,-0.71,-194.6,653.0,-12.5,570,4890,0.00,1.02,0.00,0.000,4,0.000,0.044,2507,919,3670,0,0,0,0,0,0
$GC,4934,-0.71,-194.6,658.8,-12.8,572,4938,0.00,1.02,0.00,0.000,6,0.000,0.038,2502,1611,3670,0,0,0,0,0,0
$GC,5267,-0.71,-194.6,700.5,-11.6,588,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1611,3668,0,0,0,0,0,0
$GC,5576,-0.71,-194.6,737.9,-11.9,603,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1611,3665,0,0,0,0,0,0
$GC,5888,-0.71,-194.6,775.3,-12.3,618,5892,0.00,1.05,0.00,0.000,4,0.000,0.048,2502,922,3663,0,0,0,0,0,0
$GC,5934,-0.71,-194.6,781.3,-12.2,620,5938,0.00,1.02,0.00,0.000,6,0.000,0.044,2497,1598,3663,0,0,0,0,0,0
$GC,6269,-0.71,-194.6,820.8,-11.3,636,6272,0.00,1.05,0.00,0.000,4,0.000,0.050,2497,923,3660,0,0,0,0,0,0
$GC,6352,-0.71,-194.6,830.5,-10.8,639,6359,0.00,1.08,0.00,0.000,6,0.000,0.046,2492,1619,3659,0,0,0,0,0,0
$GC,6672,-0.71,-194.6,864.1,-10.8,655,6676,0.00,1.10,0.00,0.000,4,0.000,0.052,2492,916,3657,0,0,0,0,0,0
$GC,6751,-0.71,-194.6,874.3,-12.5,658,6756,0.00,1.08,0.00,0.000,6,0.000,0.047,2487,1608,3656,0,0,0,0,0,0
$GC,7074,-0.71,-194.6,913.0,-11.6,674,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1608,3655,0,0,0,0,0,0
$GC,7385,-0.71,-194.6,947.0,-11.0,689,7388,0.00,1.08,0.00,0.000,4,0.000,0.054,2487,923,3652,0,0,0,0,0,0
$GC,7480,-0.71,-194.6,958.1,-11.2,693,7484,0.08,1.08,0.00,0.000,6,0.151,0.050,2506,1616,3652,0,0,0,0,0,0
$GC,7811,-0.73,-194.6,990.0,-9.8,709,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1616,3650,0,0,0,0,0,0
$STATE,7825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7825,begin apogee
$GC,7831,-0.11,0.0,992.0,9.9,710,8004,0.60,0.00,167.23,1.444,6,0.121,0.000,2704,1788,2883,0,0,0,0,0,0
$STATE,8005,end apogee,CONTROL_FINISHED_OK
$STATE,8005,begin climb
$GC,8010,0.64,194.6,998.2,0.0,718,8197,0.68,1.17,179.85,1.388,4,0.067,0.060,2951,2480,2090,0,0,0,0,0,0
$GC,8235,0.61,194.6,978.7,12.0,729,8239,0.00,1.10,0.00,0.000,6,0.000,0.050,2955,1800,2086,0,0,0,0,0,0
$GC,8568,0.58,194.6,935.6,12.6,745,8572,0.00,1.12,0.00,0.000,4,0.000,0.053,2960,1071,2081,0,0,0,0,0,0
$GC,8618,0.55,194.6,929.0,12.9,747,8623,0.10,1.12,0.00,0.000,6,0.147,0.050,2929,1782,2080,0,0,0,0,0,0
$GC,8947,0.56,199.9,892.5,11.6,763,8957,0.00,1.10,4.03,0.813,4,0.000,0.059,2928,2484,2069,0,0,0,0,0,0
$GC,9024,0.56,199.9,882.8,12.1,766,9029,0.00,1.10,0.00,0.000,6,0.000,0.048,2931,1773,2069,0,0,0,0,0,0
$GC,9349,0.56,199.9,841.6,13.1,782,9353,0.00,1.10,0.00,0.000,4,0.000,0.057,2931,2486,2068,0,0,0,0,0,0
$GC,9371,0.56,199.9,838.2,13.1,783,9375,0.00,1.10,0.00,0.000,6,0.000,0.048,2935,1774,2068,0,0,0,0,0,0
$GC,9704,0.56,199.9,795.4,12.5,799,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1774,2067,0,0,0,0,0,0
$GC,10016,0.56,201.5,758.4,11.7,814,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1774,2066,0,0,0,0,0,0
$GC,10323,0.62,248.1,726.6,9.9,829,10373,0.00,1.12,45.67,1.276,4,0.000,0.053,2934,2491,1872,0,0,0,0,0,0
$GC,10478,0.67,279.2,710.4,10.5,836,10514,0.00,1.12,30.15,1.226,6,0.000,0.045,2937,1777,1744,0,0,0,0,0,0
$GC,10831,0.70,285.9,672.1,11.5,853,10842,0.00,1.17,6.95,0.989,4,0.000,0.054,2937,2496,1717,0,0,0,0,0,0
$GC,10897,0.74,295.4,665.0,11.4,856,10912,0.08,1.12,10.73,1.089,6,0.057,0.044,2994,1769,1679,0,0,0,0,0,0
$GC,11225,0.71,295.4,611.9,16.5,871,11228,0.00,1.12,0.00,0.000,4,0.000,0.055,2992,2494,1675,0,0,0,0,0,0
$GC,11267,0.69,295.4,605.1,15.9,872,11274,0.00,1.10,0.00,0.000,6,0.000,0.045,2995,1784,1675,0,0,0,0,0,0
$GC,11592,0.66,295.4,555.9,15.0,901,11596,0.12,1.10,0.00,0.000,4,0.175,0.054,2958,2485,1674,0,0,0,0,0,0
$GC,11655,0.68,298.2,548.1,11.7,906,11661,0.00,1.08,0.00,0.000,6,0.000,0.044,2961,1781,1673,0,0,0,0,0,0
$GC,11980,0.68,298.2,507.0,12.6,937,11983,0.00,1.08,0.00,0.000,4,0.000,0.051,2959,2488,1673,0,0,0,0,0,0
$GC,12045,0.70,298.2,499.3,12.2,942,12054,0.00,1.08,0.00,0.000,6,0.000,0.044,2961,1783,1673,0,0,0,0,0,0
$GC,12370,0.71,298.2,457.9,12.8,973,12374,0.00,1.08,0.00,0.000,4,0.000,0.049,2967,1065,1673,0,0,0,0,0,0
$GC,12475,0.73,298.2,444.3,13.7,982,12479,0.00,1.10,0.00,0.000,6,0.000,0.044,2964,1790,1672,0,0,0,0,0,0
$GC,12808,0.76,312.6,403.8,11.2,1013,12832,0.00,1.05,16.55,0.969,4,0.000,0.050,2959,2480,1608,0,0,0,0,0,0
$GC,12860,0.84,347.8,397.6,10.4,1017,12901,0.12,1.08,32.88,0.995,6,0.049,0.042,3038,1779,1465,0,0,0,0,0,0
$GC,13221,0.80,347.8,332.0,18.7,1051,13225,0.12,1.10,0.00,0.000,4,0.169,0.051,3002,2484,1461,0,0,0,0,0,0
$GC,13339,0.80,347.8,314.0,13.5,1061,13347,0.00,1.08,0.00,0.000,6,0.000,0.041,3005,1780,1460,0,0,0,0,0,0
$GC,13664,0.80,347.8,271.6,12.9,1092,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1780,1460,0,0,0,0,0,0
$GC,13988,0.81,353.5,233.5,11.6,1135,13996,0.00,0.00,5.78,0.650,6,0.000,0.000,3005,1780,1443,0,0,0,0,0,0
$GC,14315,0.81,353.5,191.0,14.3,1196,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1780,1443,0,0,0,0,0,0
$GC,14642,0.82,353.5,147.2,14.1,1257,14651,0.00,1.08,0.00,0.000,4,0.000,0.046,3002,2480,1443,0,0,0,0,0,0
$GC,14696,0.86,353.5,140.3,12.1,1266,14704,0.00,1.08,0.00,0.000,6,0.000,0.040,3005,1765,1443,0,0,0,0,0,0
$GC,15023,1.01,448.9,105.0,7.9,1327,15114,0.17,1.02,82.75,0.736,4,0.070,0.040,3105,1074,1052,0,0,0,0,0,0
$GC,15223,0.99,448.9,71.1,18.4,1358,15232,0.10,1.08,0.00,0.000,6,0.129,0.037,3072,1793,1049,0,0,0,0,0,0
$GC,15555,1.03,453.3,25.9,11.6,1419,15564,0.00,1.05,4.60,0.444,4,0.000,0.044,3071,2474,1035,0,0,0,0,0,0
$GC,15583,1.07,453.3,22.0,12.0,1423,15591,0.00,1.05,0.00,0.000,6,0.000,0.038,3074,1783,1034,0,0,0,0,0,0
$STATE,15746,end climb,SURFACE_DEPTH_REACHED
$STATE,15746,begin surface coast
$FINISH,1.4,1.021881
$STATE,15774,end surface coast,CONTROL_FINISHED_OK
$STATE,15774,begin surface
$SM_CCo,15852,0.00,0.000,0,0,1033,454.05
$SM_GC,2.15,7.53,0.00,0.00,0.034,0.000,0.000,131,1597,1033,-8.04,-0.37,454.05,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12259.66,101011,131336
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.88
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.60
$XPDR_PINGS,116
$24V_AH,22.9,85.199
$10V_AH,9.8,59.990
$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,19.550,68.375,587.150,0.000,0.000,28.833,26.309,192.955,29.000,0.000,15.986,3635.748,7929.110,642.299,3550.354,486.883,0.000,2037.040,0.000,3319.146,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,71.910,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.918,1494.207,1706.966,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330416
$DATA_FILE_SIZE,80335,1458
$CAP_FILE_SIZE,170917,0
$CFSIZE,260165632,115662848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,161.3,1
$GPS,101011,221054,2336.925,12308.004,38,1.0,38,-3.3