version: 66.09
glider: 166
mission: 6
dive: 356
start: 10 11 111 2 52 48
data:
$ID,166
$MISSION,6
$DIVE,356
$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,-24847.439
$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,35
$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
$GPS1,111011,024437,2338.206,12311.146,26,1.4,26,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-72.5
$GPS2,111011,025225,2338.132,12311.163,38,1.2,42,-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,57.1,77447,-18.1,-11.786
$D_GRID,3604
$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,-88.30,0.000,2,0.000,0.000,140,1614,3066,0,0,0,0,0,0
$GC,110,-0.64,-194.6,5.8,-8.1,12,142,9.50,1.05,-12.02,0.000,4,0.221,0.068,2521,2308,3681,0,0,0,0,0,0
$GC,168,-0.48,-194.6,28.4,-38.5,20,177,0.20,1.08,0.00,0.000,6,0.149,0.038,2579,1587,3682,0,0,0,0,0,0
$GC,493,-0.47,-194.6,92.5,-15.1,81,501,0.00,1.05,0.00,0.000,4,0.000,0.039,2575,2302,3683,0,0,0,0,0,0
$GC,604,-0.47,-194.6,109.5,-16.1,101,612,0.00,1.02,0.00,0.000,6,0.000,0.037,2574,1603,3682,0,0,0,0,0,0
$GC,934,-0.49,-194.6,158.6,-11.9,162,943,0.00,1.02,0.00,0.000,4,0.000,0.038,2569,2304,3684,0,0,0,0,0,0
$GC,983,-0.51,-194.6,163.9,-10.7,170,992,0.00,1.02,0.00,0.000,6,0.000,0.036,2568,1602,3684,0,0,0,0,0,0
$GC,1311,-0.54,-194.6,202.0,-13.1,231,1319,0.00,1.02,0.00,0.000,4,0.000,0.037,2563,2307,3684,0,0,0,0,0,0
$GC,1389,-0.57,-194.6,211.7,-12.9,244,1397,0.00,1.02,0.00,0.000,6,0.000,0.035,2563,1602,3684,0,0,0,0,0,0
$GC,1715,-0.60,-194.6,253.0,-11.8,303,1718,0.00,1.00,0.00,0.000,4,0.000,0.038,2563,909,3684,0,0,0,0,0,0
$GC,1753,-0.62,-194.6,258.1,-11.3,306,1762,0.00,1.02,0.00,0.000,6,0.000,0.032,2558,1620,3684,0,0,0,0,0,0
$GC,2080,-0.65,-194.6,288.6,-7.6,337,2084,0.00,0.98,0.00,0.000,4,0.000,0.039,2553,2303,3683,0,0,0,0,0,0
$GC,2128,-0.69,-194.6,292.0,-7.1,341,2132,0.00,1.00,0.00,0.000,6,0.000,0.036,2553,1615,3683,0,0,0,0,0,0
$GC,2461,-0.73,-194.6,321.9,-10.1,372,2465,0.12,1.02,0.00,0.000,4,0.083,0.040,2472,2301,3683,0,0,0,0,0,0
$GC,2496,-0.70,-194.6,326.7,-14.5,375,2500,0.12,1.00,0.00,0.000,6,0.134,0.037,2514,1617,3683,0,0,0,0,0,0
$GC,2826,-0.70,-194.6,371.8,-13.7,406,2830,0.00,1.00,0.00,0.000,4,0.000,0.041,2512,2297,3682,0,0,0,0,0,0
$GC,2876,-0.71,-194.6,378.7,-13.3,410,2884,0.00,1.00,0.00,0.000,6,0.000,0.037,2513,1613,3681,0,0,0,0,0,0
$GC,3201,-0.71,-194.6,421.9,-13.0,441,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1612,3680,0,0,0,0,0,0
$GC,3522,-0.71,-194.6,457.4,-11.7,471,3526,0.00,1.02,0.00,0.000,4,0.000,0.043,2524,2300,3678,0,0,0,0,0,0
$GC,3582,-0.73,-194.6,464.3,-11.4,476,3586,0.00,1.02,0.00,0.000,6,0.000,0.039,2526,1609,3678,0,0,0,0,0,0
$GC,3913,-0.73,-194.6,507.7,-13.0,507,3917,0.00,1.02,0.00,0.000,4,0.000,0.044,2522,2290,3675,0,0,0,0,0,0
$GC,3963,-0.74,-194.6,514.0,-11.9,511,3970,0.00,1.02,0.00,0.000,6,0.000,0.039,2521,1605,3675,0,0,0,0,0,0
$GC,4289,-0.74,-194.6,549.0,-10.1,542,4292,0.00,1.02,0.00,0.000,4,0.000,0.043,2521,916,3674,0,0,0,0,0,0
$GC,4440,-0.74,-194.6,564.1,-10.1,555,4444,0.00,1.02,0.00,0.000,6,0.000,0.038,2516,1605,3673,0,0,0,0,0,0
$GC,4781,-0.75,-194.6,602.8,-12.2,586,4785,0.00,1.02,0.00,0.000,4,0.000,0.045,2511,2300,3670,0,0,0,0,0,0
$GC,4822,-0.77,-194.6,607.7,-12.2,587,4829,0.00,1.02,0.00,0.000,6,0.000,0.040,2511,1611,3670,0,0,0,0,0,0
$GC,5139,-0.77,-194.6,647.2,-12.3,603,5142,0.00,1.05,0.00,0.000,4,0.000,0.046,2511,908,3667,0,0,0,0,0,0
$GC,5184,-0.77,-194.6,652.9,-12.7,605,5188,0.00,1.05,0.00,0.000,6,0.000,0.040,2506,1607,3666,0,0,0,0,0,0
$GC,5520,-0.77,-194.6,692.5,-11.6,621,5524,0.00,1.02,0.00,0.000,4,0.000,0.047,2501,2296,3664,0,0,0,0,0,0
$GC,5547,-0.77,-194.6,695.8,-11.2,622,5551,0.00,1.02,0.00,0.000,6,0.000,0.041,2500,1608,3664,0,0,0,0,0,0
$GC,5874,-0.77,-194.6,733.0,-11.8,638,5878,0.00,1.05,0.00,0.000,4,0.000,0.048,2501,911,3661,0,0,0,0,0,0
$GC,5932,-0.77,-194.6,740.0,-12.6,640,5936,0.00,1.05,0.00,0.000,6,0.000,0.043,2496,1602,3661,0,0,0,0,0,0
$GC,6254,-0.77,-194.6,780.2,-12.5,656,6257,0.00,1.05,0.00,0.000,4,0.000,0.048,2496,919,3658,0,0,0,0,0,0
$GC,6322,-0.77,-194.6,789.0,-12.8,659,6326,0.00,1.08,0.00,0.000,6,0.000,0.044,2491,1619,3658,0,0,0,0,0,0
$GC,6658,-0.77,-194.6,828.8,-11.8,675,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1619,3656,0,0,0,0,0,0
$GC,6965,-0.77,-194.6,862.4,-10.5,690,6968,0.00,1.10,0.00,0.000,4,0.000,0.052,2491,914,3654,0,0,0,0,0,0
$GC,7045,-0.77,-194.6,870.7,-10.4,693,7049,0.00,1.08,0.00,0.000,6,0.000,0.048,2486,1605,3653,0,0,0,0,0,0
$GC,7366,-0.77,-194.6,906.5,-11.6,709,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1605,3651,0,0,0,0,0,0
$GC,7676,-0.77,-194.6,941.2,-11.1,724,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1605,3650,0,0,0,0,0,0
$GC,7987,-0.77,-194.6,978.0,-11.4,739,7991,0.00,1.08,0.00,0.000,4,0.000,0.055,2486,923,3648,0,0,0,0,0,0
$GC,8038,-0.77,-194.6,984.4,-11.8,741,8041,0.00,1.08,0.00,0.000,6,0.000,0.050,2481,1608,3647,0,0,0,0,0,0
$STATE,8096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8096,begin apogee
$GC,8104,-0.11,0.0,991.3,12.0,744,8277,0.70,0.00,166.82,1.437,6,0.129,0.000,2703,1783,2883,0,0,0,0,0,0
$STATE,8280,end apogee,CONTROL_FINISHED_OK
$STATE,8280,begin climb
$GC,8282,0.64,194.6,997.7,0.0,752,8468,0.68,0.00,179.20,1.383,6,0.067,0.000,2950,1783,2090,0,0,0,0,0,0
$GC,8776,0.62,194.6,944.5,12.4,776,8779,0.00,1.08,0.00,0.000,4,0.000,0.060,2950,2479,2081,0,0,0,0,0,0
$GC,8824,0.60,194.6,938.7,12.5,778,8828,0.00,1.08,0.00,0.000,6,0.000,0.050,2954,1794,2080,0,0,0,0,0,0
$GC,9157,0.57,194.6,894.5,13.4,794,9161,0.00,1.08,0.00,0.000,4,0.000,0.060,2955,2479,2078,0,0,0,0,0,0
$GC,9181,0.55,194.6,891.3,13.8,795,9185,0.10,1.10,0.00,0.000,6,0.153,0.049,2928,1769,2078,0,0,0,0,0,0
$GC,9515,0.55,194.6,851.2,12.0,811,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1769,2077,0,0,0,0,0,0
$GC,9822,0.55,194.6,814.5,12.2,826,9826,0.00,1.12,0.00,0.000,4,0.000,0.059,2928,2484,2076,0,0,0,0,0,0
$GC,9880,0.55,194.6,807.3,12.5,828,9883,0.00,1.10,0.00,0.000,6,0.000,0.047,2930,1776,2076,0,0,0,0,0,0
$GC,10201,0.55,194.6,767.1,12.2,844,10205,0.00,1.08,0.00,0.000,4,0.000,0.052,2935,1074,2075,0,0,0,0,0,0
$GC,10228,0.55,194.6,763.5,11.9,845,10232,0.00,1.08,0.00,0.000,6,0.000,0.046,2935,1775,2075,0,0,0,0,0,0
$GC,10558,0.57,216.0,726.9,10.9,861,10580,0.00,0.00,18.40,1.223,6,0.000,0.000,2935,1775,2002,0,0,0,0,0,0
$GC,10890,0.57,216.0,688.3,11.8,877,10894,0.00,1.08,0.00,0.000,4,0.000,0.056,2935,2484,1998,0,0,0,0,0,0
$GC,10940,0.57,216.0,682.1,12.1,879,10943,0.00,1.10,0.00,0.000,6,0.000,0.046,2938,1772,1998,0,0,0,0,0,0
$GC,11269,0.57,216.0,641.7,12.2,895,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1772,1998,0,0,0,0,0,0
$GC,11576,0.60,242.0,606.7,10.7,910,11607,0.00,1.15,24.52,1.170,4,0.000,0.054,2938,2487,1897,0,0,0,0,0,0
$GC,11648,0.66,277.4,599.2,10.3,913,11689,0.00,1.10,34.17,1.160,6,0.000,0.045,2941,1782,1753,0,0,0,0,0,0
$GC,12009,0.76,335.6,561.5,9.4,947,12068,0.12,0.00,54.47,1.141,6,0.090,0.000,3007,1782,1515,0,0,0,0,0,0
$GC,12385,0.73,335.6,506.0,15.1,983,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1782,1509,0,0,0,0,0,0
$GC,12708,0.71,335.6,455.6,16.0,1013,12713,0.12,1.08,0.00,0.000,4,0.166,0.050,2970,2476,1507,0,0,0,0,0,0
$GC,12800,0.73,335.6,443.2,11.8,1021,12804,0.00,1.08,0.00,0.000,6,0.000,0.043,2973,1772,1506,0,0,0,0,0,0
$GC,13131,0.74,335.6,399.1,13.6,1052,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1772,1505,0,0,0,0,0,0
$GC,13453,0.76,335.6,356.3,13.3,1082,13457,0.00,1.10,0.00,0.000,4,0.000,0.050,2970,2486,1505,0,0,0,0,0,0
$GC,13481,0.78,335.6,351.8,13.3,1084,13489,0.00,1.08,0.00,0.000,6,0.000,0.043,2974,1783,1505,0,0,0,0,0,0
$GC,13810,0.81,335.6,309.7,12.7,1115,13816,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1783,1505,0,0,0,0,0,0
$GC,14138,0.87,362.1,269.7,10.7,1146,14165,0.15,1.05,23.52,0.864,4,0.078,0.044,3061,1072,1407,0,0,0,0,0,0
$GC,14277,0.83,362.1,246.8,17.8,1159,14286,0.12,1.10,0.00,0.000,6,0.140,0.041,3020,1798,1405,0,0,0,0,0,0
$GC,14609,0.83,362.1,200.7,13.6,1220,14618,0.00,1.00,0.00,0.000,4,0.000,0.047,3016,2478,1405,0,0,0,0,0,0
$GC,14642,0.83,362.1,195.3,14.7,1225,14652,0.00,1.05,0.00,0.000,6,0.000,0.041,3019,1780,1405,0,0,0,0,0,0
$GC,14969,0.86,384.2,154.9,10.9,1286,14993,0.00,0.00,20.65,0.752,6,0.000,0.000,3019,1780,1317,0,0,0,0,0,0
$GC,15314,0.89,384.2,115.0,13.8,1349,15322,0.00,1.10,0.00,0.000,4,0.000,0.045,3017,2481,1316,0,0,0,0,0,0
$GC,15379,0.93,384.2,105.7,14.4,1360,15389,0.00,1.05,0.00,0.000,6,0.000,0.039,3020,1784,1316,0,0,0,0,0,0
$GC,15708,1.10,490.6,63.1,7.5,1421,15804,0.22,1.12,89.68,0.694,4,0.059,0.043,3138,2482,881,0,0,0,0,0,0
$GC,15840,1.07,490.6,43.1,16.9,1440,15850,0.15,1.08,0.00,0.000,6,0.142,0.037,3093,1783,879,0,0,0,0,0,0
$STATE,16141,end climb,SURFACE_DEPTH_REACHED
$STATE,16141,begin surface coast
$FINISH,1.3,1.018928
$STATE,16166,end surface coast,CONTROL_FINISHED_OK
$STATE,16166,begin surface
$SM_CCo,16246,0.00,0.000,0,0,876,492.56
$SM_GC,2.11,7.62,0.00,0.00,0.037,0.000,0.000,134,1591,876,-8.04,-0.54,492.56,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12308.14,101011,222228
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.76
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.60
$XPDR_PINGS,115
$24V_AH,22.9,85.650
$10V_AH,9.8,60.319
$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,19.950,63.725,611.450,0.000,0.000,27.228,18.588,223.070,28.750,0.000,43.534,3699.699,8243.677,644.777,3620.899,483.739,0.000,2044.442,0.000,3330.255,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,71.145,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.863,1535.647,1745.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330388
$DATA_FILE_SIZE,83464,1500
$CAP_FILE_SIZE,168556,0
$CFSIZE,260165632,115482624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212,139.4,1
$GPS,111011,072506,2338.400,12314.872,53,1.4,53,-3.3