version: 66.09
glider: 166
mission: 6
dive: 341
start: 10 8 111 5 39 28
data:
$ID,166
$MISSION,6
$DIVE,341
$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,-8
$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,-24828.566
$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,51
$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
$GPS1,081011,052357,2325.975,12224.025,33,2.7,52,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-65.7
$GPS2,081011,053905,2326.142,12224.122,47,3.5,66,-3.2
$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,116.6,160169,-18.1,-11.786
$D_GRID,3769
$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,16,-0.64,-194.6,0.0,0.0,0,110,0.00,0.00,-90.97,0.000,2,0.000,0.000,119,1591,3301,0,0,0,0,0,0
$GC,113,-0.64,-194.6,6.6,-10.5,12,137,9.40,1.00,-7.00,0.000,4,0.216,0.067,2531,908,3679,0,0,0,0,0,0
$GC,216,-0.54,-194.6,45.4,-25.2,29,225,0.12,1.02,0.00,0.000,6,0.148,0.038,2566,1590,3680,0,0,0,0,0,0
$GC,545,-0.51,-194.6,105.0,-15.8,90,554,0.00,1.02,0.00,0.000,4,0.000,0.041,2564,916,3681,0,0,0,0,0,0
$GC,595,-0.51,-194.6,112.5,-13.9,98,604,0.00,1.05,0.00,0.000,6,0.000,0.037,2561,1619,3681,0,0,0,0,0,0
$GC,924,-0.51,-194.6,159.1,-13.7,159,932,0.00,1.02,0.00,0.000,4,0.000,0.045,2556,2312,3682,0,0,0,0,0,0
$GC,1077,-0.53,-194.6,180.5,-13.9,186,1087,0.00,1.05,0.00,0.000,6,0.000,0.041,2555,1616,3682,0,0,0,0,0,0
$GC,1405,-0.53,-194.6,226.2,-12.8,247,1413,0.00,1.02,0.00,0.000,4,0.000,0.045,2551,2299,3681,0,0,0,0,0,0
$GC,1434,-0.53,-194.6,229.7,-11.8,251,1442,0.00,1.02,0.00,0.000,6,0.000,0.041,2551,1614,3681,0,0,0,0,0,0
$GC,1762,-0.54,-194.6,264.9,-10.8,299,1766,0.00,1.05,0.00,0.000,4,0.000,0.047,2546,2304,3681,0,0,0,0,0,0
$GC,1866,-0.56,-194.6,276.8,-11.0,308,1870,0.00,1.05,0.00,0.000,6,0.000,0.043,2546,1612,3681,0,0,0,0,0,0
$GC,2198,-0.58,-194.6,317.2,-12.2,339,2202,0.00,1.05,0.00,0.000,4,0.000,0.047,2542,2301,3680,0,0,0,0,0,0
$GC,2226,-0.61,-194.6,320.9,-11.8,341,2232,0.00,1.05,0.00,0.000,6,0.000,0.043,2542,1604,3680,0,0,0,0,0,0
$GC,2551,-0.62,-194.6,361.6,-12.2,372,2555,0.00,1.08,0.00,0.000,4,0.000,0.048,2538,2308,3679,0,0,0,0,0,0
$GC,2590,-0.65,-194.6,366.5,-12.1,375,2597,0.00,1.05,0.00,0.000,6,0.000,0.043,2538,1612,3678,0,0,0,0,0,0
$GC,2916,-0.67,-194.6,400.6,-9.7,406,2919,0.00,1.05,0.00,0.000,4,0.000,0.048,2538,913,3677,0,0,0,0,0,0
$GC,2951,-0.69,-194.6,404.1,-9.9,409,2955,0.00,1.05,0.00,0.000,6,0.000,0.044,2534,1607,3677,0,0,0,0,0,0
$GC,3285,-0.72,-194.6,441.0,-10.6,440,3288,0.00,1.05,0.00,0.000,4,0.000,0.047,2530,2313,3676,0,0,0,0,0,0
$GC,3415,-0.75,-194.6,453.6,-9.3,451,3422,0.00,1.08,0.00,0.000,6,0.000,0.043,2530,1605,3675,0,0,0,0,0,0
$GC,3741,-0.78,-194.6,486.2,-10.6,482,3745,0.15,1.10,0.00,0.000,4,0.073,0.050,2463,2307,3672,0,0,0,0,0,0
$GC,3778,-0.74,-194.6,491.5,-14.7,485,3786,0.10,1.05,0.00,0.000,6,0.143,0.044,2499,1615,3672,0,0,0,0,0,0
$GC,4104,-0.72,-194.6,535.7,-12.8,516,4108,0.00,1.08,0.00,0.000,4,0.000,0.050,2499,908,3670,0,0,0,0,0,0
$GC,4239,-0.72,-194.6,553.3,-12.8,528,4243,0.00,1.08,0.00,0.000,6,0.000,0.046,2496,1607,3669,0,0,0,0,0,0
$GC,4571,-0.71,-194.6,594.9,-12.6,559,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1608,3667,0,0,0,0,0,0
$GC,4891,-0.71,-194.6,635.6,-12.8,577,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1608,3664,0,0,0,0,0,0
$GC,5203,-0.71,-194.6,675.6,-12.9,592,5206,0.00,1.08,0.00,0.000,4,0.000,0.052,2496,920,3660,0,0,0,0,0,0
$GC,5253,-0.71,-194.6,682.9,-13.7,594,5257,0.00,1.08,0.00,0.000,6,0.000,0.047,2491,1612,3660,0,0,0,0,0,0
$GC,5580,-0.71,-194.6,726.4,-13.5,610,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1612,3657,0,0,0,0,0,0
$GC,5891,-0.71,-194.6,767.2,-13.4,625,5895,0.00,1.10,0.00,0.000,4,0.000,0.054,2491,910,3654,0,0,0,0,0,0
$GC,6051,-0.71,-194.6,788.8,-13.2,632,6055,0.00,1.10,0.00,0.000,6,0.000,0.050,2486,1612,3653,0,0,0,0,0,0
$GC,6386,-0.71,-194.6,828.3,-11.1,648,6390,0.00,1.10,0.00,0.000,4,0.000,0.054,2486,911,3651,0,0,0,0,0,0
$GC,6447,-0.71,-194.6,835.5,-11.5,650,6455,0.08,1.10,0.00,0.000,6,0.147,0.051,2506,1611,3650,0,0,0,0,0,0
$GC,6768,-0.73,-194.6,864.3,-9.1,666,6772,0.00,1.10,0.00,0.000,4,0.000,0.054,2506,909,3647,0,0,0,0,0,0
$GC,6818,-0.74,-194.6,869.9,-9.7,668,6822,0.00,1.10,0.00,0.000,6,0.000,0.052,2504,1609,3648,0,0,0,0,0,0
$GC,7146,-0.76,-194.6,902.3,-10.2,684,7150,0.00,1.08,0.00,0.000,4,0.000,0.060,2498,2307,3645,0,0,0,0,0,0
$GC,7199,-0.78,-194.6,907.5,-10.0,686,7203,0.00,1.08,0.00,0.000,6,0.000,0.051,2498,1615,3645,0,0,0,0,0,0
$GC,7527,-0.79,-194.6,942.9,-11.1,702,7530,0.00,1.08,0.00,0.000,4,0.000,0.057,2498,914,3643,0,0,0,0,0,0
$GC,7575,-0.80,-194.6,948.2,-11.4,704,7579,0.00,1.10,0.00,0.000,6,0.000,0.050,2494,1616,3643,0,0,0,0,0,0
$GC,7908,-0.80,-194.6,985.3,-11.1,720,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1616,3641,0,0,0,0,0,0
$STATE,7968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7968,begin apogee
$GC,7974,-0.11,0.0,992.1,11.1,723,8146,0.65,0.00,165.23,1.445,6,0.121,0.000,2704,1788,2884,0,0,0,0,0,0
$STATE,8146,end apogee,CONTROL_FINISHED_OK
$STATE,8146,begin climb
$GC,8149,0.64,194.6,998.2,0.0,731,8337,0.73,0.00,180.05,1.387,6,0.064,0.000,2962,1788,2090,0,0,0,0,0,0
$GC,8640,0.61,194.6,935.3,15.0,755,8644,0.00,1.08,0.00,0.000,4,0.000,0.060,2962,2484,2081,0,0,0,0,0,0
$GC,8715,0.58,194.6,924.1,14.3,758,8720,0.10,1.10,0.00,0.000,6,0.158,0.051,2936,1783,2080,0,0,0,0,0,0
$GC,9044,0.57,200.8,884.8,11.5,774,9053,0.00,1.10,5.28,0.960,4,0.000,0.056,2936,2477,2064,0,0,0,0,0,0
$GC,9093,0.58,208.8,878.7,11.5,776,9111,0.00,1.08,9.60,1.163,6,0.000,0.050,2939,1779,2031,0,0,0,0,0,0
$GC,9423,0.57,208.8,838.3,13.1,792,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1779,2027,0,0,0,0,0,0
$GC,9729,0.57,208.8,798.4,12.7,807,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1779,2026,0,0,0,0,0,0
$GC,10040,0.57,208.8,759.0,12.4,822,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1778,2025,0,0,0,0,0,0
$GC,10348,0.58,216.5,723.2,11.5,837,10357,0.00,0.00,7.43,1.055,6,0.000,0.000,2939,1779,2001,0,0,0,0,0,0
$GC,10657,0.59,227.2,688.0,11.4,852,10672,0.00,1.15,11.73,1.140,4,0.000,0.056,2939,2486,1957,0,0,0,0,0,0
$GC,10736,0.61,238.8,679.0,11.3,854,10752,0.00,1.10,12.25,1.131,6,0.000,0.047,2943,1782,1909,0,0,0,0,0,0
$GC,11076,0.61,238.8,638.6,11.8,871,11080,0.00,1.08,0.00,0.000,4,0.000,0.052,2949,1076,1906,0,0,0,0,0,0
$GC,11112,0.62,249.7,634.5,11.3,872,11127,0.00,1.10,11.57,1.103,6,0.000,0.047,2949,1787,1865,0,0,0,0,0,0
$GC,11441,0.62,249.7,594.4,11.9,890,11445,0.00,1.05,0.00,0.000,4,0.000,0.055,2949,2480,1862,0,0,0,0,0,0
$GC,11516,0.64,253.4,585.4,11.6,896,11523,0.00,1.08,4.38,0.778,6,0.000,0.046,2953,1783,1851,0,0,0,0,0,0
$GC,11841,0.64,253.4,544.8,13.0,927,11845,0.00,1.08,0.00,0.000,4,0.000,0.051,2958,1071,1850,0,0,0,0,0,0
$GC,11889,0.64,253.4,538.9,12.8,931,11893,0.00,1.10,0.00,0.000,6,0.000,0.045,2958,1788,1849,0,0,0,0,0,0
$GC,12219,0.64,253.4,497.1,12.1,962,12223,0.00,1.10,0.00,0.000,4,0.000,0.050,2961,1071,1849,0,0,0,0,0,0
$GC,12281,0.64,253.4,489.7,12.5,967,12288,0.00,1.08,0.00,0.000,6,0.000,0.044,2961,1776,1848,0,0,0,0,0,0
$GC,12606,0.68,284.7,452.2,10.5,998,12639,0.00,0.00,30.52,1.063,6,0.000,0.000,2961,1776,1723,0,0,0,0,0,0
$GC,12956,0.72,311.7,414.1,10.7,1031,12989,0.00,1.10,25.62,1.010,4,0.000,0.053,2961,2477,1612,0,0,0,0,0,0
$GC,13095,0.75,313.7,398.4,11.7,1043,13099,0.00,1.08,0.00,0.000,6,0.000,0.043,2966,1777,1611,0,0,0,0,0,0
$GC,13426,0.77,313.7,357.5,12.5,1074,13430,0.00,1.05,0.00,0.000,4,0.000,0.047,2971,1076,1610,0,0,0,0,0,0
$GC,13534,0.79,313.7,343.9,12.3,1083,13541,0.00,1.08,0.00,0.000,6,0.000,0.041,2970,1786,1609,0,0,0,0,0,0
$GC,13860,0.84,329.9,304.7,11.1,1114,13885,0.12,1.08,17.30,0.879,4,0.087,0.045,3045,1065,1538,0,0,0,0,0,0
$GC,13950,0.79,329.9,289.5,19.0,1121,13957,0.12,1.08,0.00,0.000,6,0.142,0.041,3005,1780,1536,0,0,0,0,0,0
$GC,14277,0.79,329.9,242.4,13.7,1157,14285,0.00,1.08,0.00,0.000,4,0.000,0.049,3000,2481,1536,0,0,0,0,0,0
$GC,14379,0.80,329.9,228.6,13.0,1175,14387,0.00,1.08,0.00,0.000,6,0.000,0.042,3004,1772,1537,0,0,0,0,0,0
$GC,14709,0.81,334.7,187.9,11.6,1236,14724,0.00,1.12,6.00,0.628,4,0.000,0.047,3001,2480,1519,0,0,0,0,0,0
$GC,14782,0.86,357.5,179.7,10.9,1248,14812,0.00,1.05,21.60,0.777,6,0.000,0.041,3004,1784,1424,0,0,0,0,0,0
$GC,15131,0.88,357.5,137.2,12.2,1312,15139,0.00,1.05,0.00,0.000,4,0.000,0.044,3009,1081,1423,0,0,0,0,0,0
$GC,15205,0.91,357.5,127.5,13.8,1325,15213,0.00,1.05,0.00,0.000,6,0.000,0.037,3009,1789,1423,0,0,0,0,0,0
$GC,15535,1.00,394.7,90.3,10.3,1386,15574,0.15,1.15,32.97,0.705,4,0.073,0.044,3101,1063,1274,0,0,0,0,0,0
$GC,15651,0.97,394.7,72.4,15.3,1404,15659,0.12,1.08,0.00,0.000,6,0.138,0.037,3061,1788,1273,0,0,0,0,0,0
$GC,15979,0.99,394.7,30.5,11.9,1465,15987,0.00,1.00,0.00,0.000,4,0.000,0.043,3060,2474,1273,0,0,0,0,0,0
$GC,16065,1.05,413.4,20.1,11.0,1480,16089,0.00,1.05,17.52,0.614,6,0.000,0.038,3060,1771,1198,0,0,0,0,0,0
$STATE,16206,end climb,SURFACE_DEPTH_REACHED
$STATE,16206,begin surface coast
$FINISH,1.2,1.022223
$STATE,16229,end surface coast,CONTROL_FINISHED_OK
$STATE,16229,begin surface
$SM_CCo,16246,38.75,0.417,1,0,1049,450.13
$SM_GC,2.13,0.00,0.00,38.75,0.000,0.000,0.417,125,1610,1049,-8.19,0.00,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2321.52,12234.94,081011,050557
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.97
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.90
$XPDR_PINGS,122
$24V_AH,22.8,82.298
$10V_AH,9.8,57.804
$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,19.350,69.025,559.050,38.750,0.000,75.391,131.248,341.868,30.500,0.000,67.841,3760.676,8256.530,678.264,3950.423,532.224,0.000,2079.252,0.000,3368.863,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,74.205,1445.085,416.925,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.990,1546.949,1735.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,83560,1509
$CAP_FILE_SIZE,180150,0
$CFSIZE,260165632,116817920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.241,  9.2,1
$GPS,081011,101227,2327.371,12227.310,27,2.3,46,-3.2