version: 66.09
glider: 166
mission: 6
dive: 360
start: 10 11 111 21 32 1
data:
$ID,166
$MISSION,6
$DIVE,360
$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,-24852.469
$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,54
$R_STBD_OVSHOOT,51
$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
$GPS1,111011,212424,2341.530,12326.340,39,1.1,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-72.3
$GPS2,111011,213138,2341.468,12326.419,15,1.3,15,-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,41.1,50931,-18.1,-11.786
$D_GRID,4339
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-81.75,0.000,2,0.000,0.000,127,1582,3001,0,0,0,0,0,0
$GC,104,-0.64,-194.6,5.4,-7.4,11,135,9.48,1.10,-13.75,0.000,4,0.219,0.063,2522,2312,3679,0,0,0,0,0,0
$GC,192,-0.53,-194.6,33.7,-27.4,25,202,0.15,1.02,0.00,0.000,6,0.150,0.037,2567,1610,3680,0,0,0,0,0,0
$GC,520,-0.50,-194.6,96.1,-16.1,86,529,0.00,1.02,0.00,0.000,4,0.000,0.042,2563,2304,3681,0,0,0,0,0,0
$GC,570,-0.50,-194.6,104.9,-16.0,94,578,0.00,1.02,0.00,0.000,6,0.000,0.038,2562,1609,3681,0,0,0,0,0,0
$GC,897,-0.50,-194.6,160.7,-14.9,155,905,0.00,1.02,0.00,0.000,4,0.000,0.041,2562,907,3682,0,0,0,0,0,0
$GC,998,-0.52,-194.6,176.3,-14.5,173,1006,0.00,1.02,0.00,0.000,6,0.000,0.036,2557,1607,3682,0,0,0,0,0,0
$GC,1327,-0.53,-194.6,214.4,-12.1,234,1335,0.00,1.02,0.00,0.000,4,0.000,0.041,2557,913,3683,0,0,0,0,0,0
$GC,1374,-0.55,-194.6,220.2,-13.5,241,1383,0.00,1.02,0.00,0.000,6,0.000,0.034,2552,1613,3683,0,0,0,0,0,0
$GC,1703,-0.56,-194.6,261.5,-11.2,293,1707,0.00,1.00,0.00,0.000,4,0.000,0.042,2547,2300,3682,0,0,0,0,0,0
$GC,1788,-0.59,-194.6,270.5,-9.7,300,1796,0.00,1.02,0.00,0.000,6,0.000,0.038,2547,1611,3682,0,0,0,0,0,0
$GC,2115,-0.61,-194.6,307.8,-12.7,331,2118,0.00,1.02,0.00,0.000,4,0.000,0.044,2543,2295,3682,0,0,0,0,0,0
$GC,2183,-0.64,-194.6,316.2,-11.7,337,2187,0.00,1.02,0.00,0.000,6,0.000,0.039,2543,1605,3683,0,0,0,0,0,0
$GC,2515,-0.66,-194.6,352.8,-10.9,368,2519,0.00,1.02,0.00,0.000,4,0.000,0.044,2543,911,3682,0,0,0,0,0,0
$GC,2586,-0.69,-194.6,360.7,-10.6,374,2594,0.00,1.05,0.00,0.000,6,0.000,0.041,2539,1609,3682,0,0,0,0,0,0
$GC,2912,-0.71,-194.6,392.9,-9.7,405,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1610,3681,0,0,0,0,0,0
$GC,3232,-0.74,-194.6,418.7,-7.6,435,3236,0.00,1.05,0.00,0.000,4,0.000,0.047,2534,2302,3679,0,0,0,0,0,0
$GC,3285,-0.78,-194.6,422.6,-7.5,439,3292,0.10,1.05,0.00,0.000,6,0.044,0.041,2470,1604,3678,0,0,0,0,0,0
$GC,3611,-0.73,-194.6,471.8,-16.0,470,3616,0.12,1.05,0.00,0.000,4,0.169,0.047,2506,919,3677,0,0,0,0,0,0
$GC,3696,-0.73,-194.6,483.3,-13.0,477,3704,0.00,1.05,0.00,0.000,6,0.000,0.042,2504,1611,3676,0,0,0,0,0,0
$GC,4021,-0.73,-194.6,527.7,-13.5,508,4025,0.00,1.05,0.00,0.000,4,0.000,0.050,2502,2310,3676,0,0,0,0,0,0
$GC,4084,-0.73,-194.6,536.1,-13.1,513,4092,0.00,1.05,0.00,0.000,6,0.000,0.044,2502,1618,3675,0,0,0,0,0,0
$GC,4409,-0.73,-194.6,581.2,-14.1,544,4413,0.00,1.08,0.00,0.000,4,0.000,0.049,2503,905,3672,0,0,0,0,0,0
$GC,4539,-0.73,-194.6,599.5,-13.8,555,4546,0.00,1.08,0.00,0.000,6,0.000,0.043,2497,1608,3671,0,0,0,0,0,0
$GC,4855,-0.73,-194.6,639.8,-12.3,571,4859,0.00,1.08,0.00,0.000,4,0.000,0.048,2498,907,3668,0,0,0,0,0,0
$GC,4935,-0.72,-194.6,649.8,-12.7,574,4939,0.00,1.08,0.00,0.000,6,0.000,0.044,2492,1608,3667,0,0,0,0,0,0
$GC,5258,-0.72,-194.6,687.1,-11.2,590,5262,0.00,1.08,0.00,0.000,4,0.000,0.049,2492,910,3665,0,0,0,0,0,0
$GC,5285,-0.72,-194.6,690.6,-11.1,591,5289,0.00,1.08,0.00,0.000,6,0.000,0.046,2487,1610,3665,0,0,0,0,0,0
$GC,5615,-0.72,-194.6,726.9,-11.1,607,5618,0.00,1.10,0.00,0.000,4,0.000,0.052,2488,914,3662,0,0,0,0,0,0
$GC,5706,-0.71,-194.6,737.5,-11.6,611,5710,0.08,1.08,0.00,0.000,6,0.149,0.046,2507,1611,3661,0,0,0,0,0,0
$GC,6042,-0.72,-194.6,769.4,-9.5,627,6046,0.00,1.05,0.00,0.000,4,0.000,0.055,2504,2303,3658,0,0,0,0,0,0
$GC,6076,-0.74,-194.6,773.1,-9.4,628,6080,0.00,1.08,0.00,0.000,6,0.000,0.048,2504,1607,3658,0,0,0,0,0,0
$GC,6398,-0.75,-194.6,805.5,-10.3,644,6402,0.00,1.08,0.00,0.000,4,0.000,0.054,2504,906,3656,0,0,0,0,0,0
$GC,6518,-0.77,-194.6,818.5,-10.6,649,6522,0.00,1.10,0.00,0.000,6,0.000,0.047,2499,1612,3655,0,0,0,0,0,0
$GC,6845,-0.77,-194.6,856.1,-11.7,665,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1612,3652,0,0,0,0,0,0
$GC,7157,-0.77,-194.6,890.9,-11.1,680,7161,0.00,1.10,0.00,0.000,4,0.000,0.056,2499,916,3651,0,0,0,0,0,0
$GC,7218,-0.78,-194.6,898.4,-11.4,682,7225,0.00,1.08,0.00,0.000,6,0.000,0.049,2494,1606,3650,0,0,0,0,0,0
$GC,7537,-0.78,-194.6,932.2,-10.6,698,7541,0.00,1.08,0.00,0.000,4,0.000,0.054,2494,917,3649,0,0,0,0,0,0
$GC,7583,-0.78,-194.6,937.5,-10.7,700,7587,0.00,1.08,0.00,0.000,6,0.000,0.050,2489,1608,3648,0,0,0,0,0,0
$GC,7916,-0.78,-194.6,972.5,-10.5,716,7919,0.00,1.08,0.00,0.000,4,0.000,0.055,2489,919,3646,0,0,0,0,0,0
$GC,8002,-0.78,-194.6,982.1,-11.3,719,8008,0.00,1.08,0.00,0.000,6,0.000,0.049,2484,1607,3646,0,0,0,0,0,0
$STATE,8068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8068,begin apogee
$GC,8074,-0.11,0.0,990.0,11.4,723,8247,0.68,0.00,166.57,1.448,6,0.126,0.000,2701,1799,2883,0,0,0,0,0,0
$STATE,8250,end apogee,CONTROL_FINISHED_OK
$STATE,8250,begin climb
$GC,8252,0.64,194.6,995.6,0.0,731,8439,0.73,1.15,179.62,1.388,4,0.067,0.062,2957,2475,2090,0,0,0,0,0,0
$GC,8515,0.61,194.6,966.7,15.4,743,8522,0.00,1.10,0.00,0.000,6,0.000,0.050,2962,1785,2084,0,0,0,0,0,0
$GC,8831,0.58,194.6,918.8,14.6,759,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1786,2081,0,0,0,0,0,0
$GC,9143,0.54,194.6,874.3,14.3,774,9147,0.15,1.10,0.00,0.000,4,0.171,0.058,2918,2487,2079,0,0,0,0,0,0
$GC,9234,0.59,219.6,863.4,10.8,778,9261,0.00,1.10,22.58,1.295,6,0.000,0.048,2921,1776,1988,0,0,0,0,0,0
$GC,9583,0.66,265.9,826.9,9.9,795,9630,0.10,0.00,44.47,1.320,6,0.103,0.000,2974,1776,1798,0,0,0,0,0,0
$GC,9934,0.63,265.9,782.4,12.2,812,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1776,1792,0,0,0,0,0,0
$GC,10248,0.61,265.9,742.7,12.9,827,10252,0.12,1.10,0.00,0.000,4,0.173,0.056,2941,2483,1791,0,0,0,0,0,0
$GC,10294,0.66,293.5,736.9,10.7,829,10324,0.00,1.08,26.00,1.249,6,0.000,0.047,2943,1784,1687,0,0,0,0,0,0
$GC,10647,0.69,303.6,697.7,11.4,846,10659,0.00,0.00,10.45,1.116,6,0.000,0.000,2943,1784,1646,0,0,0,0,0,0
$GC,10956,0.75,336.0,664.2,10.5,861,10993,0.12,1.08,31.77,1.216,4,0.089,0.047,3016,1072,1513,0,0,0,0,0,0
$GC,11030,0.72,336.0,653.1,16.5,863,11034,0.10,1.10,0.00,0.000,6,0.145,0.045,2984,1778,1510,0,0,0,0,0,0
$GC,11351,0.72,336.0,605.2,15.1,879,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1778,1508,0,0,0,0,0,0
$GC,11672,0.72,336.0,557.7,14.1,907,11676,0.00,1.05,0.00,0.000,4,0.000,0.054,2982,2473,1507,0,0,0,0,0,0
$GC,11699,0.72,336.0,553.1,14.3,909,11706,0.00,1.05,0.00,0.000,6,0.000,0.045,2985,1783,1507,0,0,0,0,0,0
$GC,12025,0.73,342.5,511.8,11.5,940,12036,0.00,0.00,6.25,0.887,6,0.000,0.000,2985,1783,1487,0,0,0,0,0,0
$GC,12353,0.73,342.5,466.3,14.4,971,12357,0.00,1.08,0.00,0.000,4,0.000,0.053,2982,2485,1486,0,0,0,0,0,0
$GC,12405,0.74,342.5,459.1,13.8,975,12412,0.00,1.10,0.00,0.000,6,0.000,0.045,2985,1765,1486,0,0,0,0,0,0
$GC,12730,0.74,342.5,413.6,14.4,1006,12734,0.00,1.02,0.00,0.000,4,0.000,0.049,2990,1081,1485,0,0,0,0,0,0
$GC,12771,0.74,342.5,407.9,14.4,1009,12777,0.00,1.05,0.00,0.000,6,0.000,0.041,2987,1778,1484,0,0,0,0,0,0
$GC,13096,0.77,365.2,366.2,10.9,1040,13123,0.00,1.10,22.02,0.969,4,0.000,0.050,2990,1085,1395,0,0,0,0,0,0
$GC,13178,0.79,365.2,356.9,12.6,1047,13182,0.00,1.05,0.00,0.000,6,0.000,0.041,2987,1778,1393,0,0,0,0,0,0
$GC,13509,0.80,365.2,310.0,15.2,1078,13513,0.00,1.08,0.00,0.000,4,0.000,0.047,2991,1074,1392,0,0,0,0,0,0
$GC,13569,0.82,365.2,301.3,15.4,1083,13573,0.00,1.05,0.00,0.000,6,0.000,0.040,2988,1776,1392,0,0,0,0,0,0
$GC,13900,0.85,365.2,253.8,14.4,1114,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1776,1392,0,0,0,0,0,0
$GC,14220,0.90,383.3,215.6,11.0,1171,14244,0.12,0.00,17.70,0.811,6,0.090,0.000,3057,1778,1320,0,0,0,0,0,0
$GC,14567,0.87,383.3,159.1,18.9,1234,14576,0.12,1.08,0.00,0.000,4,0.167,0.046,3029,1083,1318,0,0,0,0,0,0
$GC,14618,0.87,383.3,149.8,16.7,1242,14626,0.00,1.05,0.00,0.000,6,0.000,0.038,3026,1787,1318,0,0,0,0,0,0
$GC,14947,0.98,452.9,107.3,9.0,1303,15016,0.10,1.12,60.38,0.744,4,0.103,0.041,3090,1083,1035,0,0,0,0,0,0
$GC,15169,0.98,452.9,71.8,16.4,1340,15178,0.00,1.05,0.00,0.000,6,0.000,0.036,3088,1787,1032,0,0,0,0,0,0
$GC,15500,1.00,452.9,30.3,13.5,1401,15508,0.00,1.08,0.00,0.000,4,0.000,0.044,3091,1081,1032,0,0,0,0,0,0
$GC,15517,1.02,452.9,27.8,13.2,1403,15525,0.00,1.02,0.00,0.000,6,0.000,0.035,3091,1779,1032,0,0,0,0,0,0
$STATE,15705,end climb,SURFACE_DEPTH_REACHED
$STATE,15705,begin surface coast
$FINISH,1.5,1.021927
$STATE,15728,end surface coast,CONTROL_FINISHED_OK
$STATE,15728,begin surface
$SM_CCo,15807,0.00,0.000,0,0,1030,454.79
$SM_GC,2.03,7.50,0.00,0.00,0.033,0.000,0.000,143,1604,1030,-8.03,-0.17,454.79,0,0,0,0,0,0
$IRIDIUM_FIX,2333.28,12321.17,111011,161626
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.58
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.70
$XPDR_PINGS,117
$24V_AH,22.8,86.536
$10V_AH,9.8,60.980
$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,19.775,66.475,587.825,0.000,0.000,31.139,45.648,192.042,29.250,0.000,16.718,3593.370,7992.855,643.870,3502.579,488.504,0.000,2012.768,0.000,3247.353,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,68.085,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.211,1477.805,1643.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330392
$DATA_FILE_SIZE,80214,1442
$CAP_FILE_SIZE,169711,0
$CFSIZE,260165632,115126272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223, 98.4,1
$GPS,121011,015636,2343.266,12330.205,29,1.2,29,-3.3