version: 66.09
glider: 166
mission: 6
dive: 364
start: 10 12 111 16 9 18
data:
$ID,166
$MISSION,6
$DIVE,364
$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,-24857.496
$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,50
$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
$GPS1,121011,160124,2348.034,12345.173,23,0.8,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-70.3
$GPS2,121011,160855,2348.108,12345.291,11,1.1,16,-3.4
$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,88.4,16816,-18.1,-11.786
$D_GRID,3143
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.64,-194.6,0.0,0.0,0,114,0.00,0.00,-93.93,0.000,2,0.000,0.000,124,1589,3081,0,0,0,0,0,0
$GC,118,-0.64,-194.6,5.6,-7.8,13,143,9.43,1.12,-11.77,0.000,4,0.218,0.065,2525,2314,3681,0,0,0,0,0,0
$GC,169,-0.45,-194.6,26.0,-39.7,20,178,0.22,1.05,0.00,0.000,6,0.155,0.036,2593,1603,3682,0,0,0,0,0,0
$GC,496,-0.45,-194.6,94.2,-14.4,81,504,0.00,1.00,0.00,0.000,4,0.000,0.037,2591,914,3683,0,0,0,0,0,0
$GC,514,-0.45,-194.6,97.2,-14.3,83,523,0.00,1.00,0.00,0.000,6,0.000,0.034,2588,1607,3683,0,0,0,0,0,0
$GC,843,-0.48,-194.6,137.2,-10.2,144,851,0.00,1.00,0.00,0.000,4,0.000,0.038,2583,2303,3684,0,0,0,0,0,0
$GC,1019,-0.52,-194.6,155.5,-10.6,176,1027,0.00,1.00,0.00,0.000,6,0.000,0.036,2582,1615,3684,0,0,0,0,0,0
$GC,1347,-0.56,-194.6,190.0,-10.8,237,1355,0.00,1.00,0.00,0.000,4,0.000,0.039,2577,2297,3684,0,0,0,0,0,0
$GC,1414,-0.61,-194.6,197.3,-10.0,248,1422,0.00,1.00,0.00,0.000,6,0.000,0.034,2577,1610,3685,0,0,0,0,0,0
$GC,1741,-0.66,-194.6,230.2,-9.0,309,1750,0.12,1.02,0.00,0.000,4,0.082,0.040,2488,2295,3684,0,0,0,0,0,0
$GC,1786,-0.62,-194.6,236.0,-14.7,316,1794,0.15,1.00,0.00,0.000,6,0.132,0.035,2538,1604,3684,0,0,0,0,0,0
$GC,2113,-0.62,-194.6,280.2,-13.1,356,2116,0.00,1.02,0.00,0.000,4,0.000,0.041,2535,2293,3684,0,0,0,0,0,0
$GC,2240,-0.64,-194.6,294.7,-11.5,367,2244,0.00,1.00,0.00,0.000,6,0.000,0.036,2535,1607,3684,0,0,0,0,0,0
$GC,2571,-0.65,-194.6,334.8,-12.0,398,2575,0.00,1.00,0.00,0.000,4,0.000,0.040,2536,917,3683,0,0,0,0,0,0
$GC,2612,-0.67,-194.6,340.1,-13.2,401,2619,0.00,1.00,0.00,0.000,6,0.000,0.035,2531,1603,3683,0,0,0,0,0,0
$GC,2939,-0.68,-194.6,379.1,-10.4,432,2942,0.00,1.02,0.00,0.000,4,0.000,0.042,2526,2300,3681,0,0,0,0,0,0
$GC,3082,-0.70,-194.6,393.6,-10.5,444,3089,0.00,1.02,0.00,0.000,6,0.000,0.037,2528,1616,3680,0,0,0,0,0,0
$GC,3408,-0.72,-194.6,430.8,-11.6,475,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1617,3679,0,0,0,0,0,0
$GC,3732,-0.73,-194.6,465.9,-10.3,505,3739,0.10,0.00,0.00,0.000,6,0.100,0.000,2486,1616,3677,0,0,0,0,0,0
$GC,4064,-0.70,-194.6,515.7,-15.6,536,4071,0.12,0.00,0.00,0.000,6,0.165,0.000,2520,1616,3675,0,0,0,0,0,0
$GC,4390,-0.70,-194.6,554.2,-10.7,567,4394,0.00,1.02,0.00,0.000,4,0.000,0.047,2517,2292,3673,0,0,0,0,0,0
$GC,4429,-0.70,-194.6,558.2,-9.9,570,4435,0.00,1.02,0.00,0.000,6,0.000,0.040,2517,1608,3672,0,0,0,0,0,0
$GC,4754,-0.70,-194.6,593.3,-11.0,601,4758,0.00,1.05,0.00,0.000,4,0.000,0.046,2517,913,3670,0,0,0,0,0,0
$GC,4783,-0.70,-194.6,596.6,-11.2,603,4791,0.00,1.05,0.00,0.000,6,0.000,0.042,2512,1604,3670,0,0,0,0,0,0
$GC,5112,-0.70,-194.6,635.1,-11.9,621,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1604,3667,0,0,0,0,0,0
$GC,5420,-0.70,-194.6,672.0,-11.7,636,5424,0.00,1.08,0.00,0.000,4,0.000,0.052,2506,2305,3665,0,0,0,0,0,0
$GC,5495,-0.71,-194.6,680.6,-11.2,639,5498,0.00,1.08,0.00,0.000,6,0.000,0.046,2506,1611,3664,0,0,0,0,0,0
$GC,5822,-0.71,-194.6,717.0,-10.5,655,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1611,3662,0,0,0,0,0,0
$GC,6131,-0.71,-194.6,749.7,-10.5,670,6135,0.00,1.08,0.00,0.000,4,0.000,0.054,2506,920,3660,0,0,0,0,0,0
$GC,6262,-0.71,-194.6,764.7,-11.6,675,6270,0.00,1.05,0.00,0.000,6,0.000,0.048,2502,1595,3658,0,0,0,0,0,0
$GC,6578,-0.71,-194.6,801.5,-12.1,691,6582,0.00,1.08,0.00,0.000,4,0.000,0.054,2502,913,3657,0,0,0,0,0,0
$GC,6612,-0.71,-194.6,805.7,-12.4,692,6616,0.00,1.10,0.00,0.000,6,0.000,0.049,2497,1614,3656,0,0,0,0,0,0
$GC,6935,-0.71,-194.6,844.5,-11.4,708,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1614,3654,0,0,0,0,0,0
$GC,7243,-0.71,-194.6,877.5,-10.5,723,7247,0.00,1.10,0.00,0.000,4,0.000,0.054,2496,916,3652,0,0,0,0,0,0
$GC,7341,-0.71,-194.6,888.1,-10.8,727,7344,0.00,1.08,0.00,0.000,6,0.000,0.049,2491,1606,3651,0,0,0,0,0,0
$GC,7668,-0.71,-194.6,924.1,-11.1,743,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1606,3649,0,0,0,0,0,0
$GC,7979,-0.71,-194.6,957.2,-10.9,758,7983,0.00,1.10,0.00,0.000,4,0.000,0.057,2492,909,3647,0,0,0,0,0,0
$GC,8102,-0.71,-194.6,972.2,-12.1,763,8106,0.00,1.10,0.00,0.000,6,0.000,0.050,2486,1610,3647,0,0,0,0,0,0
$STATE,8257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8257,begin apogee
$GC,8263,-0.11,0.0,990.4,11.8,771,8437,0.68,0.00,166.40,1.447,6,0.128,0.000,2702,1788,2884,0,0,0,0,0,0
$STATE,8438,end apogee,CONTROL_FINISHED_OK
$STATE,8438,begin climb
$GC,8441,0.64,194.6,996.7,0.0,779,8632,0.73,1.17,180.15,1.390,4,0.067,0.060,2959,2480,2090,0,0,0,0,0,0
$GC,8659,0.61,194.6,976.5,13.2,789,8666,0.00,1.12,0.00,0.000,6,0.000,0.049,2963,1786,2086,0,0,0,0,0,0
$GC,8976,0.58,194.6,931.9,14.7,805,8978,0.12,0.00,0.00,0.000,6,0.178,0.000,2933,1786,2081,0,0,0,0,0,0
$GC,9287,0.58,194.6,891.3,13.3,820,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1786,2079,0,0,0,0,0,0
$GC,9594,0.58,194.6,849.8,13.3,835,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1786,2078,0,0,0,0,0,0
$GC,9903,0.58,194.6,810.0,12.7,850,9907,0.00,1.10,0.00,0.000,4,0.000,0.056,2930,2480,2077,0,0,0,0,0,0
$GC,9944,0.58,194.6,804.9,12.6,851,9951,0.00,1.10,0.00,0.000,6,0.000,0.046,2933,1772,2076,0,0,0,0,0,0
$GC,10260,0.58,194.6,765.9,12.0,867,10263,0.00,1.10,0.00,0.000,4,0.000,0.057,2933,2481,2075,0,0,0,0,0,0
$GC,10311,0.58,197.5,759.9,11.7,869,10315,0.00,1.08,0.00,0.000,6,0.000,0.047,2937,1785,2075,0,0,0,0,0,0
$GC,10638,0.60,209.9,722.5,11.3,885,10660,0.00,1.12,12.77,1.181,4,0.000,0.051,2942,1072,2027,0,0,0,0,0,0
$GC,10693,0.62,229.1,716.2,11.0,887,10716,0.00,1.10,19.27,1.211,6,0.000,0.045,2941,1786,1950,0,0,0,0,0,0
$GC,11042,0.63,235.5,677.3,11.5,904,11051,0.00,0.00,6.93,1.004,6,0.000,0.000,2941,1787,1923,0,0,0,0,0,0
$GC,11347,0.63,235.5,639.8,12.4,919,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1786,1920,0,0,0,0,0,0
$GC,11659,0.68,275.4,605.3,10.2,934,11699,0.00,0.00,38.17,1.186,6,0.000,0.000,2941,1787,1761,0,0,0,0,0,0
$GC,12016,0.72,295.6,565.4,11.0,965,12042,0.10,1.15,19.98,1.112,4,0.105,0.050,2999,1072,1678,0,0,0,0,0,0
$GC,12087,0.70,295.6,555.1,16.2,971,12091,0.00,1.10,0.00,0.000,6,0.000,0.044,2996,1780,1676,0,0,0,0,0,0
$GC,12420,0.68,295.6,500.0,16.2,1002,12425,0.12,1.08,0.00,0.000,4,0.176,0.054,2959,2483,1674,0,0,0,0,0,0
$GC,12459,0.70,295.6,494.0,13.7,1005,12466,0.00,1.08,0.00,0.000,6,0.000,0.044,2961,1780,1673,0,0,0,0,0,0
$GC,12787,0.71,296.2,456.0,11.8,1036,12791,0.00,1.08,0.00,0.000,4,0.000,0.049,2967,1076,1673,0,0,0,0,0,0
$GC,12856,0.72,296.2,447.3,12.4,1042,12860,0.00,1.08,0.00,0.000,6,0.000,0.041,2963,1788,1672,0,0,0,0,0,0
$GC,13190,0.74,296.2,406.2,12.3,1073,13194,0.00,1.08,0.00,0.000,4,0.000,0.047,2967,1079,1672,0,0,0,0,0,0
$GC,13284,0.76,302.4,394.8,11.5,1081,13295,0.00,1.05,6.60,0.823,6,0.000,0.041,2967,1774,1650,0,0,0,0,0,0
$GC,13616,0.77,302.6,356.6,11.8,1112,13619,0.00,1.05,0.00,0.000,4,0.000,0.050,2967,2482,1650,0,0,0,0,0,0
$GC,13689,0.81,313.4,348.0,11.3,1118,13708,0.08,1.08,12.10,0.896,6,0.054,0.043,3026,1769,1606,0,0,0,0,0,0
$GC,14025,0.78,313.4,296.3,15.9,1150,14029,0.00,1.02,0.00,0.000,4,0.000,0.047,3031,1081,1603,0,0,0,0,0,0
$GC,14096,0.75,313.4,285.6,15.1,1156,14105,0.12,1.05,0.00,0.000,6,0.142,0.041,2990,1785,1603,0,0,0,0,0,0
$GC,14422,0.77,330.8,245.7,11.1,1190,14445,0.00,0.00,16.65,0.837,6,0.000,0.000,2990,1786,1534,0,0,0,0,0,0
$GC,14766,0.78,330.8,205.3,13.2,1253,14774,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1786,1533,0,0,0,0,0,0
$GC,15092,0.86,375.1,168.3,10.0,1314,15137,0.00,1.12,40.22,0.795,4,0.000,0.045,2994,1080,1353,0,0,0,0,0,0
$GC,15165,0.94,416.0,160.9,10.1,1324,15211,0.12,1.05,36.70,0.773,6,0.045,0.037,3072,1782,1186,0,0,0,0,0,0
$GC,15531,0.93,416.0,96.4,19.0,1390,15538,0.00,1.05,0.00,0.000,4,0.000,0.043,3077,1086,1182,0,0,0,0,0,0
$GC,15597,0.93,416.0,84.9,16.6,1401,15606,0.10,1.02,0.00,0.000,6,0.128,0.037,3044,1786,1182,0,0,0,0,0,0
$GC,15929,1.11,513.7,51.3,7.8,1462,16019,0.15,0.00,81.15,0.687,6,0.073,0.000,3131,1786,785,0,0,0,0,0,0
$STATE,16216,end climb,SURFACE_DEPTH_REACHED
$STATE,16216,begin surface coast
$FINISH,1.2,1.021934
$STATE,16236,end surface coast,CONTROL_FINISHED_OK
$STATE,16237,begin surface
$SM_CCo,16314,0.00,0.000,0,0,781,515.87
$SM_GC,2.00,7.60,0.00,0.00,0.028,0.000,0.000,130,1596,781,-8.04,-0.40,515.87,0,0,0,0,0,0
$IRIDIUM_FIX,2340.34,12347.94,121011,111135
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.03
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.50
$XPDR_PINGS,118
$24V_AH,22.9,87.436
$10V_AH,9.8,61.676
$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,20.075,57.800,637.100,0.000,0.000,25.865,17.498,229.112,29.500,0.000,17.154,3723.584,8225.066,696.188,3600.938,498.834,0.000,2085.588,0.000,3344.813,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,69.615,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.647,1550.370,1780.592,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330420
$DATA_FILE_SIZE,83538,1514
$CAP_FILE_SIZE,168469,0
$CFSIZE,260165632,114749440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.271, 66.0,1
$GPS,121011,204236,2349.197,12350.607,37,1.0,43,-3.4