version: 66.09
glider: 166
mission: 6
dive: 365
start: 10 12 111 20 51 22
data:
$ID,166
$MISSION,6
$DIVE,365
$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,-24858.754
$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,46
$R_STBD_OVSHOOT,59
$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
$GPS1,121011,204236,2349.197,12350.607,37,1.0,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-69.3
$GPS2,121011,205058,2349.283,12350.717,11,2.2,30,-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,101.3,7376,-28.0,-11.786
$D_GRID,2918
$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,17,-0.72,-80.6,0.0,0.0,0,115,0.00,0.00,-95.60,0.000,2,0.000,0.000,123,1595,3092,0,0,0,0,0,0
$GC,118,-0.77,-116.9,5.9,-8.2,13,143,9.25,1.08,-5.32,0.000,4,0.216,0.064,2488,2306,3362,0,0,0,0,0,0
$GC,170,-0.64,-116.9,27.7,-43.4,20,178,0.15,1.05,0.00,0.000,6,0.164,0.039,2530,1603,3363,0,0,0,0,0,0
$GC,498,-0.67,-116.9,106.7,-18.5,81,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1602,3365,0,0,0,0,0,0
$GC,826,-0.72,-116.9,158.0,-15.4,142,834,0.00,1.02,0.00,0.000,4,0.000,0.039,2529,901,3366,0,0,0,0,0,0
$GC,1058,-0.78,-116.9,193.3,-13.5,185,1066,0.00,1.02,0.00,0.000,6,0.000,0.034,2525,1608,3366,0,0,0,0,0,0
$GC,1385,-0.85,-116.9,232.3,-11.8,246,1393,0.15,1.02,0.00,0.000,4,0.075,0.039,2442,2308,3366,0,0,0,0,0,0
$GC,1430,-0.85,-116.9,238.9,-16.8,253,1439,0.00,1.02,0.00,0.000,6,0.000,0.037,2442,1608,3367,0,0,0,0,0,0
$GC,1765,-0.85,-116.9,298.0,-18.2,289,1769,0.10,1.02,0.00,0.000,4,0.191,0.039,2471,916,3367,0,0,0,0,0,0
$GC,2026,-0.88,-116.9,338.5,-14.5,312,2030,0.00,1.00,0.00,0.000,6,0.000,0.034,2468,1607,3366,0,0,0,0,0,0
$GC,2358,-0.92,-116.9,386.3,-13.8,343,2361,0.00,1.02,0.00,0.000,4,0.000,0.040,2468,919,3364,0,0,0,0,0,0
$GC,2463,-0.96,-116.9,400.7,-12.7,352,2470,0.00,1.00,0.00,0.000,6,0.000,0.034,2463,1607,3364,0,0,0,0,0,0
$GC,2789,-1.00,-116.9,444.1,-12.7,383,2793,0.12,1.05,0.00,0.000,4,0.086,0.041,2404,918,3362,0,0,0,0,0,0
$GC,3050,-0.99,-116.9,487.3,-15.3,406,3054,0.00,1.00,0.00,0.000,6,0.000,0.036,2402,1600,3361,0,0,0,0,0,0
$GC,3381,-0.99,-116.9,540.6,-16.5,437,3384,0.00,1.02,0.00,0.000,4,0.000,0.042,2421,916,3359,0,0,0,0,0,0
$GC,3635,-0.99,-116.9,585.9,-17.4,459,3643,0.00,1.02,0.00,0.000,6,0.000,0.037,2416,1607,3357,0,0,0,0,0,0
$GC,3954,-0.99,-116.9,633.3,-14.2,479,3957,0.00,1.05,0.00,0.000,4,0.000,0.044,2416,918,3354,0,0,0,0,0,0
$GC,4211,-0.99,-116.9,673.7,-15.9,490,4215,0.00,1.02,0.00,0.000,6,0.000,0.039,2413,1607,3352,0,0,0,0,0,0
$GC,4535,-0.99,-116.9,725.3,-16.2,506,4539,0.00,1.05,0.00,0.000,4,0.000,0.045,2413,919,3349,0,0,0,0,0,0
$GC,4792,-0.99,-116.9,767.4,-15.6,517,4797,0.00,1.05,0.00,0.000,6,0.000,0.042,2408,1609,3347,0,0,0,0,0,0
$GC,5117,-0.99,-116.9,813.9,-15.2,533,5120,0.00,1.05,0.00,0.000,4,0.000,0.048,2408,925,3344,0,0,0,0,0,0
$GC,5365,-0.99,-116.9,853.4,-15.2,544,5369,0.00,1.05,0.00,0.000,6,0.000,0.047,2403,1606,3343,0,0,0,0,0,0
$GC,5700,-0.99,-116.9,900.7,-13.1,560,5704,0.00,1.05,0.00,0.000,4,0.000,0.050,2403,926,3340,0,0,0,0,0,0
$GC,5960,-0.99,-116.9,935.6,-13.4,571,5964,0.00,1.05,0.00,0.000,6,0.000,0.048,2399,1605,3338,0,0,0,0,0,0
$GC,6281,-0.99,-116.9,976.1,-12.3,587,6285,0.00,1.05,0.00,0.000,4,0.000,0.052,2398,927,3336,0,0,0,0,0,0
$STATE,6386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6386,begin apogee
$GC,6395,-0.11,0.0,990.3,13.3,591,6502,1.02,0.00,99.40,1.443,6,0.156,0.000,2698,1781,2884,0,0,0,0,0,0
$STATE,6503,end apogee,CONTROL_FINISHED_OK
$STATE,6503,begin climb
$GC,6506,0.77,116.9,992.8,0.0,596,6625,0.80,1.15,109.12,1.398,4,0.070,0.057,2987,2483,2406,0,0,0,0,0,0
$GC,6832,0.79,116.9,952.8,14.3,611,6836,0.00,1.05,0.00,0.000,6,0.000,0.048,2990,1805,2400,0,0,0,0,0,0
$GC,7156,0.81,116.9,907.4,14.2,627,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1806,2396,0,0,0,0,0,0
$GC,7464,0.82,116.9,867.4,12.1,642,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1805,2394,0,0,0,0,0,0
$GC,7775,0.84,116.9,829.3,12.6,657,7779,0.00,1.12,0.00,0.000,4,0.000,0.050,2996,1067,2392,0,0,0,0,0,0
$GC,7821,0.86,116.9,823.2,12.6,659,7825,0.00,1.10,0.00,0.000,6,0.000,0.048,2992,1774,2392,0,0,0,0,0,0
$GC,8154,0.88,116.9,778.4,14.0,675,8158,0.10,1.08,0.00,0.000,4,0.112,0.056,3038,2481,2390,0,0,0,0,0,0
$GC,8292,0.87,116.9,755.6,17.3,681,8296,0.00,1.08,0.00,0.000,6,0.000,0.047,3041,1782,2389,0,0,0,0,0,0
$GC,8625,0.85,116.9,700.3,15.9,697,8629,0.00,1.08,0.00,0.000,4,0.000,0.054,3038,2486,2388,0,0,0,0,0,0
$GC,8751,0.84,116.9,680.1,16.1,702,8755,0.00,1.10,0.00,0.000,6,0.000,0.046,3041,1770,2387,0,0,0,0,0,0
$GC,9072,0.82,116.9,632.2,14.3,718,9077,0.12,1.10,0.00,0.000,4,0.209,0.054,3007,2482,2387,0,0,0,0,0,0
$GC,9175,0.84,116.9,618.9,12.9,722,9179,0.00,1.08,0.00,0.000,6,0.000,0.046,3011,1781,2387,0,0,0,0,0,0
$GC,9503,0.85,116.9,574.6,13.3,746,9507,0.00,1.05,0.00,0.000,4,0.000,0.050,3016,1080,2387,0,0,0,0,0,0
$GC,9551,0.85,116.9,568.0,13.6,750,9555,0.00,1.08,0.00,0.000,6,0.000,0.044,3013,1786,2386,0,0,0,0,0,0
$GC,9883,0.88,127.6,528.6,10.7,781,9895,0.00,1.10,7.22,0.945,4,0.000,0.053,3008,2491,2363,0,0,0,0,0,0
$GC,10030,0.90,127.6,511.4,12.1,793,10036,0.00,1.10,0.00,0.000,6,0.000,0.044,3011,1769,2361,0,0,0,0,0,0
$GC,10356,0.93,134.5,472.7,11.1,824,10369,0.10,1.15,7.97,0.934,4,0.112,0.051,3055,2491,2334,0,0,0,0,0,0
$GC,10407,0.92,134.5,465.9,13.9,828,10412,0.00,1.08,0.00,0.000,6,0.000,0.044,3058,1786,2334,0,0,0,0,0,0
$GC,10739,0.91,134.5,419.6,13.8,859,10742,0.00,1.08,0.00,0.000,4,0.000,0.047,3063,1065,2333,0,0,0,0,0,0
$GC,10937,0.90,134.5,391.7,13.6,876,10944,0.00,1.10,0.00,0.000,6,0.000,0.044,3060,1790,2332,0,0,0,0,0,0
$GC,11262,0.90,134.5,349.6,13.2,907,11266,0.00,1.02,0.00,0.000,4,0.000,0.050,3055,2481,2332,0,0,0,0,0,0
$GC,11334,0.90,134.5,339.4,13.8,913,11341,0.00,1.08,0.00,0.000,6,0.000,0.042,3058,1774,2332,0,0,0,0,0,0
$GC,11660,0.90,134.5,297.1,12.3,944,11664,0.00,1.05,0.00,0.000,4,0.000,0.045,3063,1067,2332,0,0,0,0,0,0
$GC,11687,0.90,135.1,293.8,11.7,946,11695,0.00,1.08,0.00,0.000,6,0.000,0.041,3060,1783,2332,0,0,0,0,0,0
$GC,12014,0.90,135.9,257.4,11.7,977,12017,0.00,1.02,0.00,0.000,4,0.000,0.048,3056,2476,2332,0,0,0,0,0,0
$GC,12104,0.92,151.4,247.7,10.3,987,12128,0.00,1.05,16.27,0.841,6,0.000,0.041,3059,1778,2265,0,0,0,0,0,0
$GC,12449,0.92,151.4,206.1,12.3,1050,12457,0.00,1.05,0.00,0.000,4,0.000,0.047,3056,2478,2263,0,0,0,0,0,0
$GC,12596,0.96,174.7,191.0,9.5,1076,12627,0.00,1.05,20.85,0.802,6,0.000,0.041,3059,1778,2171,0,0,0,0,0,0
$GC,12947,0.99,176.7,152.5,11.6,1140,12955,0.00,1.05,0.00,0.000,4,0.000,0.046,3056,2482,2169,0,0,0,0,0,0
$GC,13135,1.07,210.0,134.4,8.5,1174,13173,0.00,1.05,31.38,0.762,6,0.000,0.040,3059,1781,2028,0,0,0,0,0,0
$GC,13494,1.14,223.7,95.3,10.4,1239,13512,0.15,1.08,12.85,0.672,4,0.078,0.041,3140,1073,1971,0,0,0,0,0,0
$GC,13753,1.16,240.6,63.3,10.1,1286,13777,0.00,1.05,15.65,0.658,6,0.000,0.036,3137,1786,1901,0,0,0,0,0,0
$GC,14099,1.20,251.6,29.0,10.7,1349,14115,0.00,1.10,10.68,0.592,4,0.000,0.041,3140,1074,1857,0,0,0,0,0,0
$GC,14150,1.24,258.9,23.4,11.1,1357,14166,0.00,1.05,7.93,0.549,6,0.000,0.035,3137,1788,1827,0,0,0,0,0,0
$STATE,14315,end climb,SURFACE_DEPTH_REACHED
$STATE,14315,begin surface coast
$FINISH,1.2,1.021355
$STATE,14338,end surface coast,CONTROL_FINISHED_OK
$STATE,14338,begin surface
$SM_CCo,14355,118.25,0.578,1,0,1049,450.13
$SM_GC,2.10,0.00,0.00,118.25,0.000,0.000,0.578,135,1585,1049,-8.16,-0.71,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2337.99,12344.67,121011,161601
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.18
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.10
$XPDR_PINGS,138
$24V_AH,23.1,87.588
$10V_AH,9.8,61.844
$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,19.775,59.850,339.325,118.250,0.000,30.726,41.511,246.295,34.500,0.000,32.228,3525.374,6632.304,546.991,3793.742,466.444,0.000,1923.644,0.000,3468.918,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,64.260,1442.790,578.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,951.960,1424.064,1790.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330352
$DATA_FILE_SIZE,76935,1391
$CAP_FILE_SIZE,159855,0
$CFSIZE,260165632,114675712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.278, 51.4,1
$GPS,131011,005421,2350.998,12354.086,38,3.6,57,-3.4