version: 66.09
glider: 166
mission: 6
dive: 349
start: 10 9 111 18 52 31
data:
$ID,166
$MISSION,6
$DIVE,349
$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,-24838.633
$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,44
$R_STBD_OVSHOOT,60
$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
$GPS1,091011,184506,2332.426,12249.652,29,1.1,29,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-72.6
$GPS2,091011,185208,2332.341,12249.723,15,1.3,15,-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,80.8,115318,-18.1,-11.786
$D_GRID,2874
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-81.32,0.000,2,0.000,0.000,131,1601,3013,0,0,0,0,0,0
$GC,104,-0.64,-194.6,5.8,-9.5,11,135,9.48,1.05,-13.00,0.000,4,0.220,0.067,2525,914,3679,0,0,0,0,0,0
$GC,216,-0.53,-194.6,43.5,-26.3,29,225,0.15,1.02,0.00,0.000,6,0.155,0.035,2567,1610,3680,0,0,0,0,0,0
$GC,543,-0.51,-194.6,105.8,-16.4,90,551,0.00,1.02,0.00,0.000,4,0.000,0.041,2562,2302,3681,0,0,0,0,0,0
$GC,609,-0.51,-194.6,116.8,-14.9,101,617,0.00,1.02,0.00,0.000,6,0.000,0.036,2560,1604,3681,0,0,0,0,0,0
$GC,935,-0.51,-194.6,167.8,-14.1,162,943,0.00,1.00,0.00,0.000,4,0.000,0.039,2560,918,3682,0,0,0,0,0,0
$GC,1026,-0.51,-194.6,179.7,-13.4,178,1037,0.00,1.00,0.00,0.000,6,0.000,0.033,2554,1614,3682,0,0,0,0,0,0
$GC,1353,-0.51,-194.6,222.7,-12.9,239,1363,0.00,1.00,0.00,0.000,4,0.000,0.040,2550,2297,3682,0,0,0,0,0,0
$GC,1426,-0.53,-194.6,230.7,-10.9,251,1434,0.00,1.00,0.00,0.000,6,0.000,0.034,2550,1611,3682,0,0,0,0,0,0
$GC,1753,-0.55,-194.6,269.9,-9.6,296,1757,0.00,1.00,0.00,0.000,4,0.000,0.039,2545,2297,3682,0,0,0,0,0,0
$GC,1824,-0.57,-194.6,276.4,-9.0,302,1827,0.00,1.00,0.00,0.000,6,0.000,0.036,2545,1611,3682,0,0,0,0,0,0
$GC,2154,-0.57,-194.6,312.4,-12.1,333,2158,0.00,1.02,0.00,0.000,4,0.000,0.041,2541,2303,3682,0,0,0,0,0,0
$GC,2217,-0.60,-194.6,319.7,-11.2,338,2224,0.00,1.02,0.00,0.000,6,0.000,0.037,2541,1607,3682,0,0,0,0,0,0
$GC,2544,-0.62,-194.6,356.8,-10.9,369,2548,0.00,1.02,0.00,0.000,4,0.000,0.041,2537,2303,3681,0,0,0,0,0,0
$GC,2647,-0.64,-194.6,367.7,-10.4,378,2651,0.00,1.02,0.00,0.000,6,0.000,0.038,2537,1608,3681,0,0,0,0,0,0
$GC,2979,-0.66,-194.6,406.2,-11.5,409,2982,0.00,1.02,0.00,0.000,4,0.000,0.042,2534,2296,3680,0,0,0,0,0,0
$GC,3048,-0.69,-194.6,413.3,-10.1,415,3051,0.00,1.00,0.00,0.000,6,0.000,0.037,2533,1614,3680,0,0,0,0,0,0
$GC,3379,-0.71,-194.6,451.4,-12.4,446,3383,0.00,1.02,0.00,0.000,4,0.000,0.043,2534,914,3678,0,0,0,0,0,0
$GC,3448,-0.73,-194.6,460.2,-12.7,452,3452,0.00,1.00,0.00,0.000,6,0.000,0.037,2531,1593,3677,0,0,0,0,0,0
$GC,3779,-0.75,-194.6,500.2,-11.8,483,3784,0.12,1.08,0.00,0.000,4,0.087,0.045,2471,2311,3676,0,0,0,0,0,0
$GC,3826,-0.71,-194.6,507.0,-15.4,487,3830,0.10,1.05,0.00,0.000,6,0.136,0.040,2506,1604,3676,0,0,0,0,0,0
$GC,4157,-0.70,-194.6,548.3,-12.2,518,4161,0.00,1.05,0.00,0.000,4,0.000,0.046,2503,2301,3675,0,0,0,0,0,0
$GC,4181,-0.69,-194.6,551.2,-12.1,520,4184,0.00,1.02,0.00,0.000,6,0.000,0.041,2502,1615,3674,0,0,0,0,0,0
$GC,4511,-0.69,-194.6,593.4,-13.1,551,4515,0.00,1.05,0.00,0.000,4,0.000,0.046,2503,914,3672,0,0,0,0,0,0
$GC,4580,-0.69,-194.6,602.9,-13.8,557,4583,0.00,1.05,0.00,0.000,6,0.000,0.041,2498,1608,3672,0,0,0,0,0,0
$GC,4914,-0.69,-194.6,647.4,-13.5,573,4918,0.00,1.05,0.00,0.000,4,0.000,0.050,2493,2309,3669,0,0,0,0,0,0
$GC,4986,-0.69,-194.6,657.7,-13.9,576,4991,0.00,1.05,0.00,0.000,6,0.000,0.044,2493,1619,3668,0,0,0,0,0,0
$GC,5314,-0.69,-194.6,704.4,-14.3,592,5316,0.10,0.00,0.00,0.000,6,0.173,0.000,2519,1619,3667,0,0,0,0,0,0
$GC,5626,-0.71,-194.6,741.8,-11.5,607,5630,0.00,1.10,0.00,0.000,4,0.000,0.053,2519,905,3664,0,0,0,0,0,0
$GC,5677,-0.73,-194.6,747.9,-11.0,609,5680,0.00,1.08,0.00,0.000,6,0.000,0.047,2516,1599,3664,0,0,0,0,0,0
$GC,6007,-0.75,-194.6,783.0,-10.8,625,6010,0.00,1.08,0.00,0.000,4,0.000,0.053,2516,913,3661,0,0,0,0,0,0
$GC,6062,-0.77,-194.6,789.7,-11.3,627,6066,0.00,1.08,0.00,0.000,6,0.000,0.049,2511,1601,3661,0,0,0,0,0,0
$GC,6385,-0.79,-194.6,825.4,-11.4,643,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1601,3658,0,0,0,0,0,0
$GC,6697,-0.81,-194.6,859.3,-10.9,658,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1601,3655,0,0,0,0,0,0
$GC,7003,-0.83,-194.6,891.1,-9.8,673,7007,0.00,1.10,0.00,0.000,4,0.000,0.056,2511,904,3653,0,0,0,0,0,0
$GC,7084,-0.85,-194.6,899.9,-10.8,676,7087,0.00,1.10,0.00,0.000,6,0.000,0.050,2506,1604,3653,0,0,0,0,0,0
$GC,7406,-0.87,-194.6,935.7,-11.0,692,7410,0.12,1.10,0.00,0.000,4,0.091,0.059,2437,2306,3651,0,0,0,0,0,0
$GC,7455,-0.83,-194.6,942.9,-14.8,694,7459,0.10,1.08,0.00,0.000,6,0.145,0.052,2469,1612,3651,0,0,0,0,0,0
$GC,7785,-0.82,-194.6,987.5,-13.9,710,7789,0.00,1.10,0.00,0.000,4,0.000,0.057,2469,905,3648,0,0,0,0,0,0
$STATE,7799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7799,begin apogee
$GC,7806,-0.11,0.0,990.4,14.0,710,7983,0.75,0.00,166.68,1.437,6,0.130,0.000,2703,1782,2883,0,0,0,0,0,0
$STATE,7984,end apogee,CONTROL_FINISHED_OK
$STATE,7984,begin climb
$GC,7986,0.64,194.6,998.4,0.0,719,8172,0.70,1.20,178.73,1.386,4,0.066,0.059,2958,2483,2090,0,0,0,0,0,0
$GC,8245,0.61,194.6,974.6,12.6,730,8248,0.00,1.12,0.00,0.000,6,0.000,0.050,2963,1783,2085,0,0,0,0,0,0
$GC,8575,0.57,194.6,933.0,12.4,746,8579,0.12,1.10,0.00,0.000,4,0.182,0.058,2928,2480,2081,0,0,0,0,0,0
$GC,8629,0.64,247.4,927.0,9.6,748,8685,0.00,1.10,48.15,1.349,6,0.000,0.049,2931,1778,1874,0,0,0,0,0,0
$GC,8992,0.65,259.4,888.0,11.3,766,9008,0.00,1.15,11.52,1.202,4,0.000,0.054,2936,1062,1825,0,0,0,0,0,0
$GC,9035,0.68,282.5,882.9,10.8,767,9065,0.00,1.12,23.73,1.292,6,0.000,0.048,2933,1778,1731,0,0,0,0,0,0
$GC,9386,0.72,298.4,843.0,11.1,784,9409,0.12,1.08,16.12,1.244,4,0.089,0.056,2995,2490,1666,0,0,0,0,0,0
$GC,9461,0.68,298.4,830.8,16.4,787,9465,0.10,1.12,0.00,0.000,6,0.158,0.048,2970,1778,1665,0,0,0,0,0,0
$GC,9790,0.66,298.4,787.3,12.7,803,9794,0.00,1.10,0.00,0.000,4,0.000,0.054,2967,2484,1662,0,0,0,0,0,0
$GC,9823,0.66,298.4,782.6,12.6,804,9827,0.00,1.10,0.00,0.000,6,0.000,0.047,2970,1771,1662,0,0,0,0,0,0
$GC,10148,0.65,298.4,741.5,13.8,820,10151,0.00,1.10,0.00,0.000,4,0.000,0.056,2967,2483,1661,0,0,0,0,0,0
$GC,10176,0.65,298.4,737.0,14.2,821,10180,0.00,1.08,0.00,0.000,6,0.000,0.047,2970,1781,1661,0,0,0,0,0,0
$GC,10504,0.64,298.4,687.4,15.5,837,10507,0.00,1.08,0.00,0.000,4,0.000,0.054,2967,2482,1660,0,0,0,0,0,0
$GC,10552,0.64,298.4,680.4,14.9,839,10556,0.00,1.08,0.00,0.000,6,0.000,0.047,2970,1773,1661,0,0,0,0,0,0
$GC,10886,0.63,298.4,631.3,14.7,855,10889,0.00,1.10,0.00,0.000,4,0.000,0.054,2968,2490,1659,0,0,0,0,0,0
$GC,10958,0.63,298.4,620.0,15.1,858,10962,0.00,1.08,0.00,0.000,6,0.000,0.045,2971,1781,1660,0,0,0,0,0,0
$GC,11284,0.63,298.4,568.9,15.4,882,11288,0.00,1.05,0.00,0.000,4,0.000,0.050,2976,1080,1659,0,0,0,0,0,0
$GC,11353,0.63,298.4,557.8,15.4,888,11357,0.00,1.08,0.00,0.000,6,0.000,0.043,2973,1789,1658,0,0,0,0,0,0
$GC,11684,0.63,298.4,505.2,15.3,919,11688,0.00,1.02,0.00,0.000,4,0.000,0.054,2968,2479,1658,0,0,0,0,0,0
$GC,11768,0.63,298.4,493.2,13.6,926,11776,0.00,1.05,0.00,0.000,6,0.000,0.043,2971,1785,1658,0,0,0,0,0,0
$GC,12093,0.63,298.4,452.0,12.1,957,12097,0.00,1.05,0.00,0.000,4,0.000,0.048,2977,1080,1658,0,0,0,0,0,0
$GC,12142,0.63,298.4,445.7,12.4,961,12149,0.00,1.05,0.00,0.000,6,0.000,0.041,2973,1779,1658,0,0,0,0,0,0
$GC,12467,0.63,298.4,406.2,12.5,992,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1779,1658,0,0,0,0,0,0
$GC,12788,0.63,298.4,365.4,12.6,1022,12792,0.00,1.02,0.00,0.000,4,0.000,0.051,2969,2479,1658,0,0,0,0,0,0
$GC,12863,0.65,298.4,356.1,11.9,1028,12869,0.00,1.05,0.00,0.000,6,0.000,0.043,2972,1781,1657,0,0,0,0,0,0
$GC,13189,0.67,307.4,318.5,11.4,1059,13200,0.00,0.00,8.57,0.804,6,0.000,0.000,2972,1781,1630,0,0,0,0,0,0
$GC,13517,0.72,332.2,282.6,10.8,1090,13548,0.00,0.00,23.95,0.877,6,0.000,0.000,2972,1781,1529,0,0,0,0,0,0
$GC,13866,0.74,332.2,242.3,12.4,1128,13874,0.00,1.05,0.00,0.000,4,0.000,0.046,2978,1074,1527,0,0,0,0,0,0
$GC,13888,0.77,332.2,239.6,12.5,1131,13897,0.00,1.05,0.00,0.000,6,0.000,0.038,2974,1779,1526,0,0,0,0,0,0
$GC,14218,0.85,379.1,204.6,9.9,1192,14270,0.12,0.00,42.65,0.821,6,0.091,0.000,3049,1780,1337,0,0,0,0,0,0
$GC,14593,0.83,379.1,142.3,15.6,1259,14602,0.12,1.08,0.00,0.000,4,0.161,0.045,3019,1080,1334,0,0,0,0,0,0
$GC,14638,0.83,379.1,136.3,13.0,1266,14647,0.00,1.05,0.00,0.000,6,0.000,0.037,3019,1787,1334,0,0,0,0,0,0
$GC,14966,0.85,379.1,97.0,12.5,1327,14974,0.00,1.08,0.00,0.000,4,0.000,0.043,3023,1069,1333,0,0,0,0,0,0
$GC,15052,0.87,379.1,86.0,12.2,1342,15062,0.00,1.05,0.00,0.000,6,0.000,0.037,3023,1784,1334,0,0,0,0,0,0
$GC,15381,0.91,379.1,48.2,12.4,1403,15388,0.00,1.05,0.00,0.000,4,0.000,0.043,3028,1078,1333,0,0,0,0,0,0
$GC,15477,1.02,426.1,38.1,9.9,1420,15523,0.10,1.02,40.83,0.666,6,0.053,0.036,3096,1780,1145,0,0,0,0,0,0
$STATE,15737,end climb,SURFACE_DEPTH_REACHED
$STATE,15737,begin surface coast
$FINISH,1.3,1.021339
$STATE,15763,end surface coast,CONTROL_FINISHED_OK
$STATE,15764,begin surface
$SM_CCo,15781,28.83,0.331,1,0,1049,450.13
$SM_GC,1.97,0.00,0.00,28.83,0.000,0.000,0.331,126,1592,1049,-8.17,-0.51,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2323.87,12247.93,091011,141439
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.23
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.10
$XPDR_PINGS,104
$24V_AH,23.0,84.082
$10V_AH,9.8,59.151
$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,19.825,72.650,560.925,28.825,0.000,28.268,40.518,189.474,26.000,0.000,16.819,3679.033,7833.273,635.321,3581.727,491.752,0.000,2049.117,0.000,3332.549,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,67.320,1437.435,331.245,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.780,1504.773,1714.526,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83599,1470
$CAP_FILE_SIZE,174222,0
$CFSIZE,260165632,116105216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,205.6,1
$GPS,091011,231730,2332.852,12252.498,37,2.0,42,-3.2