version: 66.09
glider: 166
mission: 6
dive: 343
start: 10 8 111 15 2 4
data:
$ID,166
$MISSION,6
$DIVE,343
$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,-24831.088
$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,40
$R_STBD_OVSHOOT,76
$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
$GPS1,081011,145127,2328.240,12230.183,29,99.0,48,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-66.5
$GPS2,081011,150140,2328.435,12230.178,16,99.0,35,-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,119.2,149142,-18.1,-11.786
$D_GRID,3593
$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,15,begin dive
$GC,17,-0.64,-194.6,0.0,0.0,0,114,0.00,0.00,-94.35,0.000,2,0.000,0.000,122,1636,3278,0,0,0,0,0,0
$GC,119,-0.64,-194.6,6.3,-9.2,13,144,9.35,1.08,-7.28,0.000,4,0.215,0.060,2528,884,3680,0,0,0,0,0,0
$GC,179,-0.51,-194.6,34.7,-35.0,22,187,0.15,1.05,0.00,0.000,6,0.143,0.039,2572,1582,3682,0,0,0,0,0,0
$GC,508,-0.49,-194.6,96.4,-14.2,83,517,0.00,1.05,0.00,0.000,4,0.000,0.039,2568,2311,3683,0,0,0,0,0,0
$GC,548,-0.49,-194.6,100.9,-11.5,89,556,0.00,1.05,0.00,0.000,6,0.000,0.034,2567,1590,3683,0,0,0,0,0,0
$GC,876,-0.49,-194.6,146.7,-14.4,150,884,0.00,1.08,0.00,0.000,4,0.000,0.040,2561,2320,3683,0,0,0,0,0,0
$GC,1068,-0.51,-194.6,170.3,-11.5,185,1076,0.00,1.02,0.00,0.000,6,0.000,0.036,2561,1615,3683,0,0,0,0,0,0
$GC,1396,-0.52,-194.6,208.4,-11.9,246,1404,0.00,1.02,0.00,0.000,4,0.000,0.040,2556,2315,3684,0,0,0,0,0,0
$GC,1465,-0.54,-194.6,216.9,-11.5,258,1473,0.00,1.02,0.00,0.000,6,0.000,0.034,2556,1607,3683,0,0,0,0,0,0
$GC,1800,-0.56,-194.6,255.5,-10.3,315,1804,0.00,1.05,0.00,0.000,4,0.000,0.041,2551,2314,3683,0,0,0,0,0,0
$GC,1896,-0.58,-194.6,264.4,-9.0,323,1903,0.00,1.02,0.00,0.000,6,0.000,0.034,2551,1610,3683,0,0,0,0,0,0
$GC,2221,-0.60,-194.6,298.5,-10.4,354,2225,0.00,1.02,0.00,0.000,4,0.000,0.041,2546,2306,3683,0,0,0,0,0,0
$GC,2303,-0.63,-194.6,306.5,-9.6,361,2307,0.00,1.02,0.00,0.000,6,0.000,0.037,2547,1604,3682,0,0,0,0,0,0
$GC,2635,-0.66,-194.6,342.3,-11.0,392,2638,0.00,1.05,0.00,0.000,4,0.000,0.041,2543,2309,3681,0,0,0,0,0,0
$GC,2709,-0.69,-194.6,350.4,-11.0,398,2716,0.00,1.02,0.00,0.000,6,0.000,0.037,2542,1616,3681,0,0,0,0,0,0
$GC,3035,-0.71,-194.6,385.8,-10.7,429,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1616,3680,0,0,0,0,0,0
$GC,3357,-0.75,-194.6,418.7,-9.4,459,3362,0.12,1.08,0.00,0.000,4,0.086,0.044,2472,2315,3678,0,0,0,0,0,0
$GC,3474,-0.72,-194.6,434.0,-13.3,469,3478,0.08,1.05,0.00,0.000,6,0.141,0.038,2508,1604,3677,0,0,0,0,0,0
$GC,3806,-0.71,-194.6,477.3,-12.3,500,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1604,3676,0,0,0,0,0,0
$GC,4128,-0.71,-194.6,517.3,-12.7,530,4131,0.00,1.05,0.00,0.000,4,0.000,0.046,2508,2301,3674,0,0,0,0,0,0
$GC,4162,-0.71,-194.6,521.8,-11.5,533,4166,0.00,1.02,0.00,0.000,6,0.000,0.041,2508,1614,3674,0,0,0,0,0,0
$GC,4494,-0.71,-194.6,565.3,-14.0,564,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1614,3671,0,0,0,0,0,0
$GC,4821,-0.71,-194.6,609.7,-13.5,592,4825,0.00,1.05,0.00,0.000,4,0.000,0.051,2503,2295,3668,0,0,0,0,0,0
$GC,4867,-0.71,-194.6,615.7,-12.9,594,4871,0.00,1.02,0.00,0.000,6,0.000,0.044,2503,1619,3668,0,0,0,0,0,0
$GC,5202,-0.71,-194.6,656.1,-11.2,610,5206,0.00,1.08,0.00,0.000,4,0.000,0.049,2503,910,3666,0,0,0,0,0,0
$GC,5286,-0.71,-194.6,666.1,-11.3,613,5293,0.00,1.08,0.00,0.000,6,0.000,0.047,2498,1605,3665,0,0,0,0,0,0
$GC,5604,-0.71,-194.6,700.4,-10.9,629,5608,0.00,1.08,0.00,0.000,4,0.000,0.050,2498,903,3662,0,0,0,0,0,0
$GC,5665,-0.71,-194.6,707.6,-11.5,631,5672,0.00,1.10,0.00,0.000,6,0.000,0.049,2493,1613,3661,0,0,0,0,0,0
$GC,5983,-0.71,-194.6,744.2,-12.1,647,5987,0.00,1.08,0.00,0.000,4,0.000,0.053,2493,918,3659,0,0,0,0,0,0
$GC,6029,-0.71,-194.6,750.2,-12.9,649,6032,0.00,1.08,0.00,0.000,6,0.000,0.050,2488,1608,3658,0,0,0,0,0,0
$GC,6361,-0.71,-194.6,791.8,-12.5,665,6363,0.10,0.00,0.00,0.000,6,0.183,0.000,2513,1609,3656,0,0,0,0,0,0
$GC,6674,-0.73,-194.6,824.0,-10.1,680,6678,0.00,1.08,0.00,0.000,4,0.000,0.058,2510,2309,3653,0,0,0,0,0,0
$GC,6707,-0.75,-194.6,827.8,-10.0,681,6711,0.00,1.08,0.00,0.000,6,0.000,0.050,2510,1612,3653,0,0,0,0,0,0
$GC,7029,-0.77,-194.6,860.7,-10.1,697,7033,0.00,1.08,0.00,0.000,4,0.000,0.056,2510,911,3651,0,0,0,0,0,0
$GC,7192,-0.79,-194.6,876.8,-9.8,704,7196,0.00,1.10,0.00,0.000,6,0.000,0.052,2505,1612,3650,0,0,0,0,0,0
$GC,7528,-0.80,-194.6,910.8,-10.2,720,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1612,3648,0,0,0,0,0,0
$GC,7835,-0.82,-194.6,943.1,-10.5,735,7838,0.00,1.10,0.00,0.000,4,0.000,0.057,2505,914,3646,0,0,0,0,0,0
$GC,7885,-0.83,-194.6,948.4,-10.2,737,7889,0.00,1.10,0.00,0.000,6,0.000,0.052,2500,1613,3646,0,0,0,0,0,0
$GC,8215,-0.85,-194.6,979.2,-9.1,753,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1613,3644,0,0,0,0,0,0
$STATE,8334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8334,begin apogee
$GC,8340,-0.11,0.0,991.0,9.5,759,8513,0.62,0.00,166.27,1.450,6,0.119,0.000,2703,1786,2883,0,0,0,0,0,0
$STATE,8514,end apogee,CONTROL_FINISHED_OK
$STATE,8514,begin climb
$GC,8516,0.64,194.6,995.5,0.0,767,8703,0.70,1.12,179.90,1.396,4,0.066,0.060,2958,2478,2089,0,0,0,0,0,0
$GC,8778,0.61,194.6,967.1,14.2,778,8782,0.00,1.10,0.00,0.000,6,0.000,0.052,2961,1790,2084,0,0,0,0,0,0
$GC,9108,0.58,194.6,920.4,13.9,794,9112,0.00,1.08,0.00,0.000,4,0.000,0.062,2961,2474,2080,0,0,0,0,0,0
$GC,9137,0.54,194.6,915.9,14.1,795,9142,0.12,1.10,0.00,0.000,6,0.151,0.051,2925,1772,2080,0,0,0,0,0,0
$GC,9465,0.55,200.6,877.7,11.5,811,9474,0.00,1.10,4.75,0.913,4,0.000,0.057,2928,1066,2066,0,0,0,0,0,0
$GC,9504,0.56,208.9,873.1,11.4,812,9519,0.00,1.12,9.75,1.174,6,0.000,0.050,2928,1783,2032,0,0,0,0,0,0
$GC,9843,0.56,208.9,832.2,12.1,829,9846,0.00,1.10,0.00,0.000,4,0.000,0.054,2933,1072,2028,0,0,0,0,0,0
$GC,9906,0.56,208.9,824.4,12.0,831,9914,0.00,1.10,0.00,0.000,6,0.000,0.050,2933,1778,2028,0,0,0,0,0,0
$GC,10222,0.57,217.9,787.5,11.4,847,10237,0.00,1.10,9.38,1.145,4,0.000,0.060,2933,2482,1995,0,0,0,0,0,0
$GC,10338,0.59,233.7,775.0,11.1,852,10361,0.00,1.10,16.25,1.232,6,0.000,0.047,2937,1768,1930,0,0,0,0,0,0
$GC,10673,0.61,254.0,737.7,11.0,868,10695,0.00,0.00,19.98,1.231,6,0.000,0.000,2936,1768,1848,0,0,0,0,0,0
$GC,10999,0.65,285.4,702.2,10.5,884,11032,0.00,0.00,30.88,1.240,6,0.000,0.000,2937,1768,1720,0,0,0,0,0,0
$GC,11331,0.72,323.4,668.9,10.2,900,11375,0.12,1.15,36.45,1.219,4,0.088,0.054,2999,2488,1564,0,0,0,0,0,0
$GC,11403,0.69,323.4,658.1,16.4,903,11407,0.10,1.12,0.00,0.000,6,0.148,0.047,2973,1779,1562,0,0,0,0,0,0
$GC,11735,0.69,323.4,610.3,14.0,919,11739,0.00,1.10,0.00,0.000,4,0.000,0.054,2969,2486,1558,0,0,0,0,0,0
$GC,11795,0.69,323.4,601.8,13.4,921,11803,0.00,1.10,0.00,0.000,6,0.000,0.045,2972,1771,1558,0,0,0,0,0,0
$GC,12120,0.69,323.4,556.6,14.3,951,12121,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1771,1557,0,0,0,0,0,0
$GC,12441,0.69,323.4,509.5,14.6,981,12444,0.00,1.10,0.00,0.000,4,0.000,0.055,2970,2485,1557,0,0,0,0,0,0
$GC,12500,0.70,323.4,500.9,14.2,986,12504,0.00,1.08,0.00,0.000,6,0.000,0.045,2972,1780,1556,0,0,0,0,0,0
$GC,12831,0.70,323.4,456.0,13.8,1017,12835,0.00,1.05,0.00,0.000,4,0.000,0.050,2978,1077,1556,0,0,0,0,0,0
$GC,12860,0.70,323.4,452.0,14.0,1019,12868,0.00,1.08,0.00,0.000,6,0.000,0.044,2975,1785,1555,0,0,0,0,0,0
$GC,13185,0.70,323.4,406.7,14.0,1050,13189,0.00,1.10,0.00,0.000,4,0.000,0.049,2978,1069,1555,0,0,0,0,0,0
$GC,13222,0.72,323.4,402.1,13.8,1053,13225,0.00,1.08,0.00,0.000,6,0.000,0.042,2977,1778,1555,0,0,0,0,0,0
$GC,13553,0.73,323.4,358.6,12.7,1084,13555,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1779,1555,0,0,0,0,0,0
$GC,13876,0.76,333.3,319.8,11.4,1114,13888,0.00,1.10,8.62,0.821,4,0.000,0.050,2977,2490,1525,0,0,0,0,0,0
$GC,13962,0.80,344.0,309.3,11.4,1121,13980,0.00,1.08,11.65,0.851,6,0.000,0.043,2980,1782,1480,0,0,0,0,0,0
$GC,14299,0.82,344.0,269.7,11.8,1153,14300,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1782,1478,0,0,0,0,0,0
$GC,14617,0.89,378.0,233.4,10.4,1197,14656,0.15,1.10,31.48,0.844,4,0.076,0.045,3072,1075,1342,0,0,0,0,0,0
$GC,14708,0.85,378.0,217.6,19.6,1211,14718,0.15,1.08,0.00,0.000,6,0.142,0.039,3023,1788,1340,0,0,0,0,0,0
$GC,15040,0.85,378.0,167.0,15.2,1272,15048,0.00,1.02,0.00,0.000,4,0.000,0.047,3018,2482,1339,0,0,0,0,0,0
$GC,15091,0.86,378.0,159.7,14.6,1280,15099,0.00,1.05,0.00,0.000,6,0.000,0.040,3021,1781,1339,0,0,0,0,0,0
$GC,15418,0.87,378.0,115.1,12.9,1341,15425,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1781,1339,0,0,0,0,0,0
$GC,15749,0.97,430.6,78.7,9.6,1402,15803,0.10,1.08,45.92,0.708,4,0.100,0.039,3091,1069,1126,0,0,0,0,0,0
$GC,15965,0.97,430.6,46.7,12.6,1439,15975,0.08,1.05,0.00,0.000,6,0.135,0.037,3064,1785,1124,0,0,0,0,0,0
$GC,16297,1.06,471.7,14.1,10.1,1500,16336,0.00,1.05,34.65,0.636,4,0.000,0.044,3063,2471,960,0,0,0,0,0,0
$STATE,16400,end climb,SURFACE_DEPTH_REACHED
$STATE,16401,begin surface coast
$FINISH,1.3,1.022107
$STATE,16431,end surface coast,CONTROL_FINISHED_OK
$STATE,16431,begin surface
$SM_CCo,16512,0.00,0.000,0,0,956,472.69
$SM_GC,2.16,7.43,0.00,0.00,0.029,0.000,0.000,139,1611,956,-8.03,0.03,472.69,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12231.69,081011,141459
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.25
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.60
$XPDR_PINGS,105
$24V_AH,22.7,82.744
$10V_AH,9.8,58.144
$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,19.375,67.000,605.925,0.000,0.000,60.444,96.781,201.837,26.250,0.000,37.565,3793.826,8346.916,641.924,3810.463,510.560,0.000,2073.273,0.000,3436.324,0.000,0.542,0.000
$DEVICE_MAMPS,214.965,73.440,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.565,1559.053,1793.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,86714,1522
$CAP_FILE_SIZE,176861,0
$CFSIZE,260165632,116633600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192, 17.8,1
$GPS,081011,193837,2328.961,12233.466,42,1.6,42,-3.2