version: 66.09
glider: 166
mission: 6
dive: 348
start: 10 9 111 14 18 49
data:
$ID,166
$MISSION,6
$DIVE,348
$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,-24837.375
$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,45
$R_STBD_OVSHOOT,62
$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
$GPS1,091011,141107,2331.813,12245.817,26,1.9,26,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-72.8
$GPS2,091011,141826,2331.843,12245.915,13,1.5,13,-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,88.8,121769,-18.1,-11.786
$D_GRID,3292
$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,17,-0.64,-194.6,0.0,0.0,0,108,0.00,0.00,-88.50,0.000,2,0.000,0.000,137,1602,2884,0,0,0,0,0,0
$GC,111,-0.64,-194.6,5.0,-4.2,12,143,9.32,1.10,-16.60,0.000,4,0.217,0.068,2528,900,3680,0,0,0,0,0,0
$GC,284,-0.57,-194.6,57.6,-21.3,42,294,0.10,1.02,0.00,0.000,6,0.145,0.034,2556,1597,3682,0,0,0,0,0,0
$GC,610,-0.54,-194.6,114.0,-17.7,103,618,0.00,1.02,0.00,0.000,4,0.000,0.041,2553,2304,3682,0,0,0,0,0,0
$GC,725,-0.54,-194.6,132.5,-15.2,123,733,0.00,1.05,0.00,0.000,6,0.000,0.037,2552,1597,3683,0,0,0,0,0,0
$GC,1051,-0.53,-194.6,178.0,-13.9,184,1059,0.00,1.05,0.00,0.000,4,0.000,0.039,2547,2307,3683,0,0,0,0,0,0
$GC,1132,-0.53,-194.6,189.1,-13.4,198,1141,0.00,1.02,0.00,0.000,6,0.000,0.034,2547,1605,3683,0,0,0,0,0,0
$GC,1462,-0.53,-194.6,237.7,-13.4,259,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1605,3683,0,0,0,0,0,0
$GC,1788,-0.53,-194.6,280.9,-12.9,298,1791,0.00,1.05,0.00,0.000,4,0.000,0.041,2543,2305,3683,0,0,0,0,0,0
$GC,1841,-0.55,-194.6,287.6,-12.4,302,1850,0.00,1.02,0.00,0.000,6,0.000,0.036,2542,1609,3683,0,0,0,0,0,0
$GC,2167,-0.56,-194.6,331.1,-14.3,333,2170,0.00,1.02,0.00,0.000,4,0.000,0.041,2538,2300,3682,0,0,0,0,0,0
$GC,2215,-0.58,-194.6,337.3,-13.5,337,2219,0.00,1.00,0.00,0.000,6,0.000,0.038,2538,1624,3683,0,0,0,0,0,0
$GC,2546,-0.60,-194.6,375.0,-9.9,368,2550,0.00,1.00,0.00,0.000,4,0.000,0.042,2533,2300,3682,0,0,0,0,0,0
$GC,2617,-0.62,-194.6,381.1,-8.6,374,2620,0.00,1.02,0.00,0.000,6,0.000,0.038,2534,1605,3681,0,0,0,0,0,0
$GC,2948,-0.64,-194.6,417.8,-12.0,405,2951,0.00,1.02,0.00,0.000,4,0.000,0.043,2530,2295,3680,0,0,0,0,0,0
$GC,3064,-0.67,-194.6,430.2,-10.5,415,3068,0.00,1.02,0.00,0.000,6,0.000,0.037,2530,1600,3679,0,0,0,0,0,0
$GC,3396,-0.69,-194.6,466.0,-10.4,446,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1600,3678,0,0,0,0,0,0
$GC,3720,-0.72,-194.6,499.2,-10.6,476,3723,0.00,1.05,0.00,0.000,4,0.000,0.044,2528,2300,3677,0,0,0,0,0,0
$GC,3818,-0.76,-194.6,509.6,-9.7,484,3825,0.08,1.02,0.00,0.000,6,0.051,0.039,2478,1607,3677,0,0,0,0,0,0
$GC,4144,-0.73,-194.6,556.8,-15.9,515,4146,0.12,0.00,0.00,0.000,6,0.167,0.000,2512,1606,3674,0,0,0,0,0,0
$GC,4462,-0.73,-194.6,595.7,-11.2,545,4465,0.00,1.02,0.00,0.000,4,0.000,0.047,2512,919,3672,0,0,0,0,0,0
$GC,4507,-0.73,-194.6,601.2,-12.1,549,4511,0.00,1.02,0.00,0.000,6,0.000,0.041,2509,1598,3672,0,0,0,0,0,0
$GC,4841,-0.73,-194.6,635.6,-9.9,565,4844,0.00,1.05,0.00,0.000,4,0.000,0.049,2509,918,3669,0,0,0,0,0,0
$GC,4911,-0.73,-194.6,642.7,-10.4,568,4915,0.00,1.05,0.00,0.000,6,0.000,0.045,2505,1603,3668,0,0,0,0,0,0
$GC,5244,-0.73,-194.6,677.6,-10.6,584,5248,0.00,1.05,0.00,0.000,4,0.000,0.050,2504,925,3666,0,0,0,0,0,0
$GC,5296,-0.73,-194.6,683.4,-11.3,586,5300,0.00,1.05,0.00,0.000,6,0.000,0.047,2500,1602,3666,0,0,0,0,0,0
$GC,5624,-0.73,-194.6,719.9,-11.1,602,5627,0.00,1.08,0.00,0.000,4,0.000,0.052,2500,915,3662,0,0,0,0,0,0
$GC,5727,-0.73,-194.6,731.9,-11.8,606,5730,0.00,1.08,0.00,0.000,6,0.000,0.049,2494,1604,3661,0,0,0,0,0,0
$GC,6048,-0.73,-194.6,769.4,-12.1,622,6052,0.00,1.08,0.00,0.000,4,0.000,0.054,2494,919,3659,0,0,0,0,0,0
$GC,6109,-0.73,-194.6,777.2,-12.4,624,6116,0.00,1.08,0.00,0.000,6,0.000,0.049,2489,1606,3657,0,0,0,0,0,0
$GC,6427,-0.73,-194.6,815.3,-12.0,640,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1606,3655,0,0,0,0,0,0
$GC,6735,-0.73,-194.6,854.5,-12.8,655,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1606,3654,0,0,0,0,0,0
$GC,7044,-0.73,-194.6,892.4,-11.7,670,7048,0.00,1.08,0.00,0.000,4,0.000,0.055,2489,928,3652,0,0,0,0,0,0
$GC,7160,-0.73,-194.6,906.5,-12.4,675,7164,0.00,1.08,0.00,0.000,6,0.000,0.052,2484,1607,3651,0,0,0,0,0,0
$GC,7493,-0.73,-194.6,946.2,-11.7,691,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1607,3649,0,0,0,0,0,0
$GC,7804,-0.73,-194.6,983.9,-12.5,706,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1607,3647,0,0,0,0,0,0
$STATE,7861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7861,begin apogee
$GC,7867,-0.11,0.0,991.3,12.3,709,8041,0.68,0.00,167.00,1.446,6,0.125,0.000,2702,1793,2883,0,0,0,0,0,0
$STATE,8042,end apogee,CONTROL_FINISHED_OK
$STATE,8042,begin climb
$GC,8046,0.64,194.6,997.5,0.0,717,8234,0.70,1.17,179.25,1.387,4,0.067,0.060,2957,2480,2090,0,0,0,0,0,0
$GC,8318,0.61,194.6,968.5,14.0,729,8325,0.00,1.10,0.00,0.000,6,0.000,0.050,2962,1792,2084,0,0,0,0,0,0
$GC,8635,0.57,194.6,922.6,14.5,745,8636,0.12,0.00,0.00,0.000,6,0.177,0.000,2931,1792,2081,0,0,0,0,0,0
$GC,8946,0.59,206.8,887.6,11.3,760,8961,0.00,1.08,11.18,1.212,4,0.000,0.057,2930,2486,2039,0,0,0,0,0,0
$GC,9030,0.61,225.8,878.3,11.0,763,9053,0.00,1.12,18.98,1.283,6,0.000,0.049,2933,1774,1963,0,0,0,0,0,0
$GC,9366,0.62,230.3,841.0,11.6,779,9372,0.00,0.00,4.85,0.915,6,0.000,0.000,2933,1774,1945,0,0,0,0,0,0
$GC,9671,0.62,230.3,803.7,12.1,794,9674,0.00,1.10,0.00,0.000,4,0.000,0.059,2933,2478,1942,0,0,0,0,0,0
$GC,9731,0.62,230.3,795.8,12.5,796,9738,0.00,1.10,0.00,0.000,6,0.000,0.047,2936,1773,1942,0,0,0,0,0,0
$GC,10050,0.62,230.3,756.0,12.6,812,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1773,1941,0,0,0,0,0,0
$GC,10357,0.62,230.3,717.7,12.3,827,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1772,1940,0,0,0,0,0,0
$GC,10669,0.64,245.9,682.0,11.2,842,10687,0.00,0.00,15.62,1.190,6,0.000,0.000,2937,1773,1881,0,0,0,0,0,0
$GC,10996,0.66,265.7,646.4,11.0,858,11020,0.00,1.17,19.70,1.185,4,0.000,0.056,2936,2488,1800,0,0,0,0,0,0
$GC,11078,0.71,285.2,637.3,11.0,861,11105,0.08,1.12,20.05,1.167,6,0.057,0.046,2993,1771,1720,0,0,0,0,0,0
$GC,11425,0.68,285.2,580.0,16.7,883,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1771,1716,0,0,0,0,0,0
$GC,11748,0.65,285.2,530.5,14.0,913,11755,0.15,0.00,0.00,0.000,6,0.170,0.000,2954,1771,1714,0,0,0,0,0,0
$GC,12076,0.69,301.0,491.9,11.1,944,12098,0.00,1.15,15.05,1.055,4,0.000,0.054,2954,2491,1656,0,0,0,0,0,0
$GC,12206,0.74,325.8,478.4,10.8,955,12239,0.00,1.10,23.98,1.071,6,0.000,0.044,2956,1775,1555,0,0,0,0,0,0
$GC,12557,0.78,338.6,439.5,11.3,988,12577,0.12,0.00,13.10,0.982,6,0.088,0.000,3029,1775,1501,0,0,0,0,0,0
$GC,12898,0.74,338.6,377.8,18.7,1020,12902,0.17,1.12,0.00,0.000,4,0.158,0.051,2977,2485,1499,0,0,0,0,0,0
$GC,12955,0.76,338.6,369.3,12.7,1025,12958,0.00,1.08,0.00,0.000,6,0.000,0.043,2980,1783,1498,0,0,0,0,0,0
$GC,13288,0.77,338.6,327.3,12.7,1056,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1783,1499,0,0,0,0,0,0
$GC,13617,0.79,338.6,284.0,13.3,1087,13623,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1783,1498,0,0,0,0,0,0
$GC,13947,0.81,338.6,242.1,12.6,1123,13955,0.00,1.05,0.00,0.000,4,0.000,0.046,2980,2482,1498,0,0,0,0,0,0
$GC,13989,0.83,338.6,237.0,12.2,1130,13998,0.00,1.08,0.00,0.000,6,0.000,0.041,2983,1775,1499,0,0,0,0,0,0
$GC,14320,0.89,359.6,199.3,10.9,1191,14344,0.12,1.10,19.77,0.795,4,0.086,0.046,3065,1071,1417,0,0,0,0,0,0
$GC,14408,0.85,359.6,185.4,18.3,1205,14417,0.15,1.08,0.00,0.000,6,0.136,0.039,3015,1794,1415,0,0,0,0,0,0
$GC,14741,0.87,365.0,141.6,11.6,1266,14751,0.00,1.15,6.25,0.602,4,0.000,0.044,3019,1063,1395,0,0,0,0,0,0
$GC,14796,0.89,365.0,134.4,12.3,1275,14804,0.00,1.05,0.00,0.000,6,0.000,0.037,3019,1769,1395,0,0,0,0,0,0
$GC,15125,0.91,365.0,91.9,13.1,1336,15133,0.00,1.05,0.00,0.000,4,0.000,0.043,3025,1072,1395,0,0,0,0,0,0
$GC,15184,0.96,388.9,85.5,10.8,1345,15216,0.00,1.05,22.65,0.696,6,0.000,0.035,3025,1787,1297,0,0,0,0,0,0
$GC,15538,1.08,443.9,48.6,9.6,1409,15592,0.17,1.15,47.05,0.675,4,0.067,0.043,3128,1060,1073,0,0,0,0,0,0
$GC,15712,1.06,443.9,20.6,17.5,1438,15722,0.12,1.08,0.00,0.000,6,0.138,0.036,3087,1791,1071,0,0,0,0,0,0
$STATE,15853,end climb,SURFACE_DEPTH_REACHED
$STATE,15853,begin surface coast
$FINISH,1.2,1.007297
$STATE,15876,end surface coast,CONTROL_FINISHED_OK
$STATE,15876,begin surface
$SM_CCo,15893,10.57,0.066,0,0,1049,450.13
$SM_GC,2.32,0.00,0.00,10.57,0.000,0.000,0.066,136,1602,1049,-8.16,-0.23,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12241.43,091011,090919
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.91
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.50
$XPDR_PINGS,114
$24V_AH,22.9,83.864
$10V_AH,9.8,58.985
$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,19.850,54.025,584.475,10.575,0.000,25.188,45.120,204.085,28.500,0.000,14.823,3625.740,8059.176,639.371,3518.592,483.630,0.000,1995.046,0.000,3258.548,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,69.615,1445.850,65.790,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.444,1503.210,1694.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,83620,1467
$CAP_FILE_SIZE,164249,0
$CFSIZE,260165632,116199424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 60.8,1
$GPS,091011,184506,2332.426,12249.652,29,1.1,29,-3.2