version: 66.09
glider: 166
mission: 6
dive: 366
start: 10 13 111 1 2 2
data:
$ID,166
$MISSION,6
$DIVE,366
$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,-24860.016
$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,56
$R_STBD_OVSHOOT,54
$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
$GPS1,131011,005421,2350.998,12354.086,38,3.6,57,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.9
$GPS2,131011,010137,2351.104,12354.141,18,1.2,35,-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,192.9,2509,-28.0,-11.786
$D_GRID,2788
$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,-0.72,-80.6,0.0,0.0,0,104,0.00,0.00,-83.78,0.000,2,0.000,0.000,134,1584,3074,0,0,0,0,0,0
$GC,107,-0.78,-130.2,5.5,-6.9,12,131,9.10,0.98,-6.97,0.000,4,0.214,0.065,2484,909,3416,0,0,0,0,0,0
$GC,278,-0.77,-130.2,64.8,-27.1,42,287,0.00,1.02,0.00,0.000,6,0.000,0.036,2481,1605,3417,0,0,0,0,0,0
$GC,604,-0.77,-130.2,135.2,-20.8,103,612,0.00,1.02,0.00,0.000,4,0.000,0.041,2483,919,3419,0,0,0,0,0,0
$GC,764,-0.80,-130.2,162.0,-18.1,131,772,0.00,1.00,0.00,0.000,6,0.000,0.034,2479,1608,3419,0,0,0,0,0,0
$GC,1094,-0.82,-130.2,217.8,-14.6,192,1102,0.00,1.02,0.00,0.000,4,0.000,0.038,2482,916,3420,0,0,0,0,0,0
$GC,1209,-0.85,-130.2,235.1,-14.8,213,1217,0.00,1.00,0.00,0.000,6,0.000,0.034,2479,1605,3420,0,0,0,0,0,0
$GC,1536,-0.89,-130.2,284.9,-12.5,252,1539,0.00,1.00,0.00,0.000,4,0.000,0.038,2474,2304,3420,0,0,0,0,0,0
$GC,1638,-0.93,-130.2,298.0,-13.5,261,1642,0.00,1.02,0.00,0.000,6,0.000,0.037,2477,1608,3420,0,0,0,0,0,0
$GC,1970,-0.98,-130.2,339.9,-13.2,292,1974,0.15,1.05,0.00,0.000,4,0.078,0.041,2403,905,3420,0,0,0,0,0,0
$GC,2130,-0.96,-130.2,371.4,-19.6,306,2139,0.10,1.02,0.00,0.000,6,0.169,0.035,2431,1605,3419,0,0,0,0,0,0
$GC,2456,-0.97,-130.2,423.3,-15.5,337,2460,0.00,1.00,0.00,0.000,4,0.000,0.041,2428,2299,3417,0,0,0,0,0,0
$GC,2472,-0.99,-130.2,426.2,-15.1,338,2480,0.00,1.00,0.00,0.000,6,0.000,0.037,2430,1615,3417,0,0,0,0,0,0
$GC,2798,-1.01,-130.2,475.7,-15.0,369,2802,0.00,1.05,0.00,0.000,4,0.000,0.042,2440,907,3415,0,0,0,0,0,0
$GC,3060,-1.03,-130.2,514.4,-14.3,392,3064,0.08,1.05,0.00,0.000,6,0.062,0.037,2408,1616,3414,0,0,0,0,0,0
$GC,3391,-1.02,-130.2,571.1,-17.1,423,3394,0.00,1.05,0.00,0.000,4,0.000,0.043,2410,920,3412,0,0,0,0,0,0
$GC,3650,-1.01,-130.2,615.9,-16.6,442,3654,0.00,1.02,0.00,0.000,6,0.000,0.038,2408,1610,3409,0,0,0,0,0,0
$GC,3974,-1.01,-130.2,668.2,-15.9,458,3978,0.00,1.08,0.00,0.000,4,0.000,0.045,2407,918,3407,0,0,0,0,0,0
$GC,4209,-1.00,-130.2,705.8,-16.2,468,4213,0.00,1.02,0.00,0.000,6,0.000,0.041,2403,1599,3405,0,0,0,0,0,0
$GC,4532,-1.00,-130.2,754.2,-14.9,484,4536,0.00,1.05,0.00,0.000,4,0.000,0.047,2403,920,3403,0,0,0,0,0,0
$GC,4793,-0.98,-130.2,797.5,-18.6,495,4798,0.08,1.05,0.00,0.000,6,0.181,0.045,2420,1602,3399,0,0,0,0,0,0
$GC,5116,-0.99,-130.2,845.7,-14.4,511,5119,0.00,1.05,0.00,0.000,4,0.000,0.050,2424,925,3397,0,0,0,0,0,0
$GC,5334,-1.01,-130.2,877.9,-14.3,520,5340,0.00,1.08,0.00,0.000,6,0.000,0.047,2421,1614,3395,0,0,0,0,0,0
$GC,5650,-1.03,-130.2,920.0,-13.2,536,5654,0.00,1.08,0.00,0.000,4,0.000,0.052,2421,926,3393,0,0,0,0,0,0
$GC,5907,-1.05,-130.2,956.7,-14.4,547,5910,0.00,1.05,0.00,0.000,6,0.000,0.047,2418,1607,3391,0,0,0,0,0,0
$STATE,6144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6144,begin apogee
$GC,6150,-0.11,0.0,990.5,14.4,559,6270,0.93,0.00,111.05,1.444,6,0.147,0.000,2700,1784,2883,0,0,0,0,0,0
$STATE,6270,end apogee,CONTROL_FINISHED_OK
$STATE,6270,begin climb
$GC,6273,0.78,130.2,993.9,0.0,564,6403,0.82,1.10,120.78,1.388,4,0.068,0.055,2996,2482,2352,0,0,0,0,0,0
$GC,6510,0.80,130.2,967.5,14.7,575,6514,0.00,1.08,0.00,0.000,6,0.000,0.048,2999,1794,2347,0,0,0,0,0,0
$GC,6834,0.81,130.2,920.3,15.0,591,6838,0.00,1.08,0.00,0.000,4,0.000,0.058,2996,2480,2343,0,0,0,0,0,0
$GC,6862,0.83,130.2,915.7,14.8,592,6865,0.00,1.08,0.00,0.000,6,0.000,0.047,2999,1783,2343,0,0,0,0,0,0
$GC,7189,0.85,130.2,867.4,14.9,608,7193,0.00,1.08,0.00,0.000,4,0.000,0.056,2997,2483,2341,0,0,0,0,0,0
$GC,7237,0.87,130.2,860.6,14.5,610,7241,0.00,1.08,0.00,0.000,6,0.000,0.049,3000,1784,2340,0,0,0,0,0,0
$GC,7571,0.88,130.2,810.6,14.7,626,7575,0.00,1.08,0.00,0.000,4,0.000,0.055,2997,2479,2338,0,0,0,0,0,0
$GC,7679,0.91,130.2,794.5,15.0,630,7687,0.08,1.08,0.00,0.000,6,0.065,0.046,3042,1776,2337,0,0,0,0,0,0
$GC,7996,0.89,130.2,740.9,18.0,646,8000,0.00,1.05,0.00,0.000,4,0.000,0.050,3048,1079,2337,0,0,0,0,0,0
$GC,8021,0.87,130.2,736.5,17.8,647,8025,0.00,1.08,0.00,0.000,6,0.000,0.046,3045,1778,2336,0,0,0,0,0,0
$GC,8356,0.85,130.2,679.6,17.2,663,8360,0.00,1.05,0.00,0.000,4,0.000,0.057,3040,2475,2336,0,0,0,0,0,0
$GC,8615,0.85,130.2,637.8,15.5,674,8619,0.00,1.08,0.00,0.000,6,0.000,0.045,3043,1773,2334,0,0,0,0,0,0
$GC,8940,0.83,130.2,586.3,15.5,694,8944,0.00,1.10,0.00,0.000,4,0.000,0.054,3040,2489,2333,0,0,0,0,0,0
$GC,9138,0.83,130.2,556.2,14.5,711,9145,0.00,1.08,0.00,0.000,6,0.000,0.045,3043,1788,2333,0,0,0,0,0,0
$GC,9464,0.83,130.2,510.8,13.8,742,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1788,2333,0,0,0,0,0,0
$GC,9786,0.83,130.2,467.8,13.3,772,9789,0.00,1.08,0.00,0.000,4,0.000,0.052,3041,2493,2332,0,0,0,0,0,0
$GC,9831,0.83,130.2,461.5,13.1,776,9836,0.08,1.10,0.00,0.000,6,0.190,0.044,3022,1778,2331,0,0,0,0,0,0
$GC,10162,0.86,130.2,421.2,12.6,807,10166,0.00,1.05,0.00,0.000,4,0.000,0.048,3025,1076,2332,0,0,0,0,0,0
$GC,10288,0.87,130.2,405.0,13.1,818,10292,0.00,1.08,0.00,0.000,6,0.000,0.041,3022,1788,2332,0,0,0,0,0,0
$GC,10619,0.90,130.2,362.3,12.4,849,10623,0.00,1.02,0.00,0.000,4,0.000,0.050,3017,2475,2332,0,0,0,0,0,0
$GC,10871,0.92,130.2,332.0,12.6,871,10875,0.00,1.05,0.00,0.000,6,0.000,0.043,3020,1778,2332,0,0,0,0,0,0
$GC,11203,0.96,138.3,293.2,11.0,902,11217,0.10,1.08,4.82,0.649,4,0.109,0.046,3075,1071,2320,0,0,0,0,0,0
$GC,11358,0.95,138.3,272.3,14.3,915,11365,0.00,1.08,0.00,0.000,6,0.000,0.040,3072,1787,2320,0,0,0,0,0,0
$GC,11686,0.97,154.9,237.4,10.2,958,11708,0.00,0.00,16.40,0.827,6,0.000,0.000,3071,1787,2251,0,0,0,0,0,0
$GC,12028,0.97,154.9,190.7,14.5,1021,12037,0.00,1.08,0.00,0.000,4,0.000,0.044,3075,1073,2249,0,0,0,0,0,0
$GC,12280,0.98,164.5,159.3,10.8,1067,12296,0.00,1.05,9.55,0.702,6,0.000,0.039,3072,1778,2213,0,0,0,0,0,0
$GC,12619,1.05,200.9,127.3,8.2,1129,12657,0.00,0.00,32.47,0.754,6,0.000,0.000,3072,1778,2065,0,0,0,0,0,0
$GC,12980,1.14,234.5,90.1,8.5,1194,13019,0.12,1.05,29.67,0.708,4,0.093,0.042,3133,2473,1925,0,0,0,0,0,0
$GC,13262,1.18,248.3,55.6,10.4,1244,13280,0.00,1.05,12.73,0.629,6,0.000,0.039,3136,1774,1870,0,0,0,0,0,0
$GC,13601,1.22,257.3,18.7,10.9,1306,13617,0.00,1.08,8.88,0.558,4,0.000,0.041,3133,2477,1835,0,0,0,0,0,0
$STATE,13727,end climb,SURFACE_DEPTH_REACHED
$STATE,13727,begin surface coast
$FINISH,1.2,1.021871
$STATE,13757,end surface coast,CONTROL_FINISHED_OK
$STATE,13758,begin surface
$SM_CCo,13778,103.90,0.559,1,0,1048,450.13
$SM_GC,1.99,0.00,0.00,103.90,0.000,0.000,0.559,145,1601,1048,-8.12,-0.25,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2340.34,12347.94,121011,202011
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.71
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.00
$XPDR_PINGS,120
$24V_AH,23.0,87.737
$10V_AH,9.9,62.005
$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,19.350,55.225,346.350,103.900,0.000,23.823,30.093,193.145,30.000,0.000,36.088,3402.209,6349.974,518.106,3582.337,455.024,0.000,1835.822,0.000,3318.607,0.000,0.541,0.000
$DEVICE_MAMPS,214.200,67.320,1443.555,559.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.157,1365.361,1689.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330376
$DATA_FILE_SIZE,76757,1334
$CAP_FILE_SIZE,154340,0
$CFSIZE,260165632,114597888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.340, 60.5,1
$GPS,131011,045436,2350.865,12356.883,27,1.2,27,-3.4