version: 66.09
glider: 166
mission: 6
dive: 359
start: 10 11 111 16 55 14
data:
$ID,166
$MISSION,6
$DIVE,359
$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,-24851.211
$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
$GPS1,111011,164537,2340.502,12321.986,36,1.1,36,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.6
$GPS2,111011,165450,2340.430,12322.160,17,1.1,17,-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,42.6,58387,-18.1,-11.786
$D_GRID,4157
$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,-82.85,0.000,2,0.000,0.000,121,1583,3035,0,0,0,0,0,0
$GC,108,-0.64,-194.6,5.6,-7.9,11,140,9.43,1.12,-12.45,0.000,4,0.216,0.069,2521,2305,3680,0,0,0,0,0,0
$GC,212,-0.54,-194.6,42.1,-27.8,28,220,0.15,1.02,0.00,0.000,6,0.148,0.037,2568,1611,3681,0,0,0,0,0,0
$GC,537,-0.54,-194.6,104.7,-16.0,89,546,0.00,1.02,0.00,0.000,4,0.000,0.041,2564,2299,3682,0,0,0,0,0,0
$GC,572,-0.54,-194.6,110.0,-15.4,94,580,0.00,1.02,0.00,0.000,6,0.000,0.036,2563,1605,3682,0,0,0,0,0,0
$GC,899,-0.54,-194.6,154.6,-12.9,155,907,0.00,1.02,0.00,0.000,4,0.000,0.041,2558,2296,3683,0,0,0,0,0,0
$GC,1007,-0.55,-194.6,167.8,-12.4,174,1015,0.00,1.02,0.00,0.000,6,0.000,0.037,2557,1604,3683,0,0,0,0,0,0
$GC,1336,-0.57,-194.6,212.7,-13.5,235,1344,0.00,1.05,0.00,0.000,4,0.000,0.042,2553,2301,3684,0,0,0,0,0,0
$GC,1412,-0.59,-194.6,221.8,-11.3,248,1420,0.00,1.02,0.00,0.000,6,0.000,0.037,2553,1609,3683,0,0,0,0,0,0
$GC,1739,-0.61,-194.6,254.7,-9.8,305,1743,0.00,1.05,0.00,0.000,4,0.000,0.043,2553,917,3683,0,0,0,0,0,0
$GC,1840,-0.64,-194.6,264.8,-9.8,314,1844,0.00,1.02,0.00,0.000,6,0.000,0.037,2548,1607,3683,0,0,0,0,0,0
$GC,2173,-0.66,-194.6,300.5,-11.5,345,2177,0.00,1.02,0.00,0.000,4,0.000,0.044,2543,2305,3683,0,0,0,0,0,0
$GC,2269,-0.70,-194.6,311.2,-10.5,353,2276,0.00,1.05,0.00,0.000,6,0.000,0.041,2544,1608,3683,0,0,0,0,0,0
$GC,2596,-0.72,-194.6,347.2,-10.3,384,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1609,3681,0,0,0,0,0,0
$GC,2917,-0.75,-194.6,381.1,-11.0,414,2921,0.12,1.08,0.00,0.000,4,0.086,0.047,2470,2297,3680,0,0,0,0,0,0
$GC,2966,-0.72,-194.6,389.0,-16.0,418,2974,0.12,1.02,0.00,0.000,6,0.132,0.041,2511,1614,3680,0,0,0,0,0,0
$GC,3291,-0.72,-194.6,429.6,-12.2,449,3295,0.00,1.05,0.00,0.000,4,0.000,0.047,2511,918,3678,0,0,0,0,0,0
$GC,3325,-0.72,-194.6,433.6,-11.9,452,3329,0.00,1.02,0.00,0.000,6,0.000,0.041,2509,1598,3677,0,0,0,0,0,0
$GC,3656,-0.72,-194.6,471.7,-11.8,483,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1598,3676,0,0,0,0,0,0
$GC,3976,-0.72,-194.6,507.9,-11.3,513,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1598,3675,0,0,0,0,0,0
$GC,4297,-0.73,-194.6,545.1,-12.3,543,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1598,3673,0,0,0,0,0,0
$GC,4625,-0.74,-194.6,583.3,-11.1,574,4628,0.00,1.08,0.00,0.000,4,0.000,0.053,2521,2306,3670,0,0,0,0,0,0
$GC,4674,-0.77,-194.6,588.6,-10.9,578,4678,0.00,1.05,0.00,0.000,6,0.000,0.046,2521,1622,3670,0,0,0,0,0,0
$GC,5010,-0.78,-194.6,625.4,-11.1,599,5014,0.00,1.08,0.00,0.000,4,0.000,0.050,2520,910,3667,0,0,0,0,0,0
$GC,5060,-0.79,-194.6,631.7,-11.9,601,5064,0.00,1.08,0.00,0.000,6,0.000,0.046,2515,1608,3667,0,0,0,0,0,0
$GC,5389,-0.79,-194.6,670.3,-12.0,617,5393,0.00,1.05,0.00,0.000,4,0.000,0.051,2510,2306,3665,0,0,0,0,0,0
$GC,5459,-0.81,-194.6,678.2,-11.2,620,5462,0.00,1.05,0.00,0.000,6,0.000,0.045,2510,1616,3664,0,0,0,0,0,0
$GC,5794,-0.82,-194.6,715.9,-10.7,636,5798,0.00,1.08,0.00,0.000,4,0.000,0.053,2510,910,3661,0,0,0,0,0,0
$GC,5912,-0.83,-194.6,728.8,-10.9,641,5915,0.00,1.08,0.00,0.000,6,0.000,0.047,2505,1605,3660,0,0,0,0,0,0
$GC,6242,-0.83,-194.6,764.8,-11.4,657,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1605,3658,0,0,0,0,0,0
$GC,6549,-0.84,-194.6,799.9,-11.1,672,6553,0.00,1.08,0.00,0.000,4,0.000,0.051,2505,913,3655,0,0,0,0,0,0
$GC,6652,-0.86,-194.6,811.3,-10.9,676,6656,0.00,1.08,0.00,0.000,6,0.000,0.047,2500,1607,3655,0,0,0,0,0,0
$GC,6974,-0.87,-194.6,844.5,-9.8,692,6976,0.10,0.00,0.00,0.000,6,0.105,0.000,2446,1607,3653,0,0,0,0,0,0
$GC,7283,-0.83,-194.6,886.5,-14.2,707,7287,0.12,1.10,0.00,0.000,4,0.171,0.053,2478,915,3651,0,0,0,0,0,0
$GC,7414,-0.83,-194.6,903.7,-13.1,712,7421,0.00,1.08,0.00,0.000,6,0.000,0.047,2474,1610,3650,0,0,0,0,0,0
$GC,7730,-0.83,-194.6,945.1,-13.2,728,7734,0.00,1.12,0.00,0.000,4,0.000,0.054,2475,904,3649,0,0,0,0,0,0
$GC,7800,-0.83,-194.6,954.3,-13.4,731,7803,0.00,1.10,0.00,0.000,6,0.000,0.048,2471,1610,3648,0,0,0,0,0,0
$STATE,8068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8069,begin apogee
$GC,8075,-0.11,0.0,992.1,14.1,744,8247,0.73,0.00,166.50,1.444,6,0.128,0.000,2701,1786,2884,0,0,0,0,0,0
$STATE,8248,end apogee,CONTROL_FINISHED_OK
$STATE,8248,begin climb
$GC,8251,0.64,194.6,1001.5,0.0,752,8437,0.70,1.10,179.25,1.391,4,0.069,0.057,2956,2480,2089,0,0,0,0,0,0
$GC,8521,0.62,194.6,979.2,11.9,763,8528,0.00,1.10,0.00,0.000,6,0.000,0.050,2959,1784,2083,0,0,0,0,0,0
$GC,8840,0.59,194.6,941.1,12.0,779,8843,0.00,1.10,0.00,0.000,4,0.000,0.058,2960,2486,2080,0,0,0,0,0,0
$GC,8863,0.57,196.1,938.2,11.7,780,8868,0.10,1.10,0.00,0.000,6,0.155,0.050,2933,1782,2080,0,0,0,0,0,0
$GC,9198,0.62,237.7,905.0,10.1,796,9242,0.00,1.15,38.83,1.353,4,0.000,0.054,2937,1070,1914,0,0,0,0,0,0
$GC,9268,0.68,287.3,898.1,9.8,799,9321,0.00,1.12,48.40,1.338,6,0.000,0.047,2936,1775,1711,0,0,0,0,0,0
$GC,9640,0.70,287.3,854.2,12.1,817,9644,0.10,1.12,0.00,0.000,4,0.100,0.054,2995,1066,1705,0,0,0,0,0,0
$GC,9663,0.70,287.3,850.7,12.4,818,9667,0.00,1.12,0.00,0.000,6,0.000,0.048,2995,1788,1704,0,0,0,0,0,0
$GC,9997,0.67,287.3,796.1,16.3,834,10001,0.12,1.05,0.00,0.000,4,0.175,0.055,2959,2482,1703,0,0,0,0,0,0
$GC,10066,0.67,287.3,786.6,12.8,837,10070,0.00,1.10,0.00,0.000,6,0.000,0.048,2961,1762,1702,0,0,0,0,0,0
$GC,10399,0.67,287.3,742.5,13.2,853,10403,0.00,1.02,0.00,0.000,4,0.000,0.053,2967,1081,1701,0,0,0,0,0,0
$GC,10437,0.67,287.3,737.4,13.1,854,10444,0.00,1.08,0.00,0.000,6,0.000,0.044,2967,1786,1701,0,0,0,0,0,0
$GC,10756,0.67,287.3,694.8,13.5,870,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1786,1700,0,0,0,0,0,0
$GC,11065,0.67,287.3,650.6,14.4,885,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1786,1700,0,0,0,0,0,0
$GC,11374,0.67,287.3,607.0,13.9,900,11377,0.00,1.08,0.00,0.000,4,0.000,0.050,2971,1081,1699,0,0,0,0,0,0
$GC,11412,0.67,287.3,601.5,13.3,901,11420,0.00,1.08,0.00,0.000,6,0.000,0.043,2970,1788,1699,0,0,0,0,0,0
$GC,11737,0.67,287.3,561.4,12.1,931,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1788,1699,0,0,0,0,0,0
$GC,12061,0.68,293.8,523.9,11.5,961,12069,0.00,0.00,5.00,0.814,6,0.000,0.000,2970,1789,1686,0,0,0,0,0,0
$GC,12386,0.68,293.8,475.5,17.1,992,12390,0.00,1.08,0.00,0.000,4,0.000,0.048,2974,1081,1686,0,0,0,0,0,0
$GC,12465,0.68,293.8,462.2,16.6,999,12469,0.00,1.05,0.00,0.000,6,0.000,0.042,2971,1779,1685,0,0,0,0,0,0
$GC,12797,0.69,293.8,414.3,13.0,1030,12800,0.00,1.05,0.00,0.000,4,0.000,0.051,2970,2483,1686,0,0,0,0,0,0
$GC,12844,0.71,296.2,408.7,11.7,1034,12856,0.00,1.08,3.97,0.645,6,0.000,0.044,2973,1781,1676,0,0,0,0,0,0
$GC,13175,0.80,357.7,376.7,9.3,1065,13237,0.00,1.15,57.62,1.002,4,0.000,0.048,2978,1062,1425,0,0,0,0,0,0
$GC,13329,0.83,357.7,359.3,13.4,1078,13332,0.00,1.10,0.00,0.000,6,0.000,0.040,2978,1784,1421,0,0,0,0,0,0
$GC,13660,0.86,357.7,315.2,12.0,1109,13664,0.12,1.12,0.00,0.000,4,0.087,0.047,3052,1062,1421,0,0,0,0,0,0
$GC,13698,0.82,357.7,309.5,16.1,1112,13708,0.12,1.08,0.00,0.000,6,0.143,0.040,3013,1786,1420,0,0,0,0,0,0
$GC,14024,0.82,357.7,263.1,14.3,1143,14025,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1787,1420,0,0,0,0,0,0
$GC,14344,0.82,357.7,215.6,14.6,1194,14351,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1787,1420,0,0,0,0,0,0
$GC,14669,0.83,357.7,172.4,12.8,1255,14677,0.00,1.10,0.00,0.000,4,0.000,0.047,3017,1060,1420,0,0,0,0,0,0
$GC,14760,0.85,362.6,161.3,11.6,1271,14769,0.00,1.08,5.43,0.591,6,0.000,0.038,3017,1785,1405,0,0,0,0,0,0
$GC,15089,0.95,424.2,127.9,9.3,1332,15150,0.10,1.15,54.47,0.757,4,0.098,0.045,3080,1065,1153,0,0,0,0,0,0
$GC,15284,0.95,424.2,96.1,16.3,1364,15291,0.00,1.08,0.00,0.000,6,0.000,0.037,3080,1786,1150,0,0,0,0,0,0
$GC,15614,0.99,446.3,47.0,10.9,1425,15638,0.00,1.05,19.62,0.654,4,0.000,0.044,3080,2477,1063,0,0,0,0,0,0
$GC,15670,1.02,449.3,40.7,11.7,1433,15680,0.00,1.08,4.03,0.415,6,0.000,0.039,3084,1766,1051,0,0,0,0,0,0
$STATE,15966,end climb,SURFACE_DEPTH_REACHED
$STATE,15966,begin surface coast
$FINISH,1.3,1.010698
$STATE,15994,end surface coast,CONTROL_FINISHED_OK
$STATE,15994,begin surface
$SM_CCo,16072,0.00,0.000,0,0,1048,450.37
$SM_GC,2.20,7.53,0.00,0.00,0.031,0.000,0.000,136,1587,1048,-8.04,-0.65,450.37,0,0,0,0,0,0
$IRIDIUM_FIX,2333.28,12321.17,111011,161612
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.44
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.50
$XPDR_PINGS,122
$24V_AH,22.9,86.308
$10V_AH,9.8,60.817
$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,19.675,62.750,583.125,0.000,0.000,59.220,62.777,194.728,30.500,0.000,18.310,3707.165,8127.837,605.446,3674.703,488.085,0.000,2009.159,0.000,3359.248,0.000,0.541,0.000
$DEVICE_MAMPS,216.495,71.145,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.465,1526.885,1724.833,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83556,1492
$CAP_FILE_SIZE,170131,0
$CFSIZE,260165632,115212288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256,115.1,1
$GPS,111011,212424,2341.530,12326.340,39,1.1,39,-3.3