version: 66.09
glider: 166
mission: 6
dive: 353
start: 10 10 111 13 10 24
data:
$ID,166
$MISSION,6
$DIVE,353
$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,-24843.668
$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,47
$R_STBD_OVSHOOT,52
$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
$GPS1,101011,130306,2335.688,12301.543,35,1.0,35,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.7
$GPS2,101011,130944,2335.741,12301.613,12,1.4,12,-3.3
$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,71.2,94217,-18.1,-11.786
$D_GRID,2744
$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,-194.6,0.0,0.0,0,120,0.00,0.00,-100.70,0.000,2,0.000,0.000,138,1592,2925,0,0,0,0,0,0
$GC,123,-0.64,-194.6,5.6,-7.6,14,154,9.40,1.02,-14.82,0.000,4,0.218,0.067,2532,900,3680,0,0,0,0,0,0
$GC,186,-0.50,-194.6,28.9,-34.8,23,194,0.17,1.05,0.00,0.000,6,0.152,0.034,2579,1610,3682,0,0,0,0,0,0
$GC,513,-0.50,-194.6,93.6,-16.0,84,522,0.00,1.00,0.00,0.000,4,0.000,0.039,2574,2306,3683,0,0,0,0,0,0
$GC,636,-0.51,-194.6,107.9,-9.8,106,644,0.00,1.02,0.00,0.000,6,0.000,0.036,2572,1609,3682,0,0,0,0,0,0
$GC,963,-0.53,-194.6,148.3,-12.8,167,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1609,3683,0,0,0,0,0,0
$GC,1290,-0.54,-194.6,191.2,-13.7,228,1299,0.00,1.02,0.00,0.000,4,0.000,0.039,2567,2306,3683,0,0,0,0,0,0
$GC,1329,-0.57,-194.6,196.6,-14.1,234,1337,0.00,1.02,0.00,0.000,6,0.000,0.035,2566,1606,3683,0,0,0,0,0,0
$GC,1657,-0.59,-194.6,238.6,-13.4,295,1665,0.00,1.05,0.00,0.000,4,0.000,0.039,2561,2305,3683,0,0,0,0,0,0
$GC,1716,-0.62,-194.6,245.1,-11.9,304,1724,0.00,1.02,0.00,0.000,6,0.000,0.035,2561,1607,3683,0,0,0,0,0,0
$GC,2050,-0.65,-194.6,281.1,-8.4,338,2054,0.00,1.05,0.00,0.000,4,0.000,0.040,2557,2301,3683,0,0,0,0,0,0
$GC,2114,-0.69,-194.6,285.8,-7.5,343,2121,0.08,1.02,0.00,0.000,6,0.049,0.035,2482,1603,3683,0,0,0,0,0,0
$GC,2439,-0.64,-194.6,337.4,-18.2,374,2443,0.20,1.05,0.00,0.000,4,0.151,0.035,2537,2305,3682,0,0,0,0,0,0
$GC,2468,-0.64,-194.6,341.9,-15.6,376,2475,0.00,1.02,0.00,0.000,6,0.000,0.037,2537,1609,3682,0,0,0,0,0,0
$GC,2793,-0.65,-194.6,381.5,-11.8,407,2797,0.00,1.02,0.00,0.000,4,0.000,0.040,2538,910,3681,0,0,0,0,0,0
$GC,2933,-0.67,-194.6,397.1,-10.6,419,2937,0.00,1.02,0.00,0.000,6,0.000,0.034,2533,1611,3680,0,0,0,0,0,0
$GC,3266,-0.69,-194.6,433.1,-12.1,450,3270,0.00,1.00,0.00,0.000,4,0.000,0.042,2531,2302,3679,0,0,0,0,0,0
$GC,3369,-0.73,-194.6,445.5,-11.8,459,3372,0.00,1.02,0.00,0.000,6,0.000,0.038,2540,1611,3679,0,0,0,0,0,0
$GC,3702,-0.75,-194.6,483.2,-10.4,490,3707,0.12,1.05,0.00,0.000,4,0.084,0.043,2471,914,3678,0,0,0,0,0,0
$GC,3752,-0.71,-194.6,490.7,-15.5,494,3760,0.12,1.02,0.00,0.000,6,0.144,0.036,2508,1608,3677,0,0,0,0,0,0
$GC,4080,-0.71,-194.6,532.9,-13.3,525,4084,0.00,1.02,0.00,0.000,4,0.000,0.044,2505,2306,3675,0,0,0,0,0,0
$GC,4175,-0.71,-194.6,545.7,-13.1,533,4182,0.00,1.02,0.00,0.000,6,0.000,0.039,2505,1615,3675,0,0,0,0,0,0
$GC,4502,-0.71,-194.6,588.1,-12.4,564,4505,0.00,1.05,0.00,0.000,4,0.000,0.044,2505,907,3672,0,0,0,0,0,0
$GC,4696,-0.71,-194.6,613.3,-13.2,577,4704,0.00,1.05,0.00,0.000,6,0.000,0.038,2500,1610,3671,0,0,0,0,0,0
$GC,5016,-0.71,-194.6,654.1,-12.9,593,5019,0.00,1.08,0.00,0.000,4,0.000,0.046,2500,918,3668,0,0,0,0,0,0
$GC,5065,-0.71,-194.6,660.3,-12.9,595,5069,0.00,1.02,0.00,0.000,6,0.000,0.040,2495,1603,3668,0,0,0,0,0,0
$GC,5398,-0.71,-194.6,700.4,-11.3,611,5402,0.00,1.05,0.00,0.000,4,0.000,0.046,2494,913,3665,0,0,0,0,0,0
$GC,5479,-0.71,-194.6,709.7,-11.5,614,5482,0.00,1.05,0.00,0.000,6,0.000,0.042,2490,1605,3664,0,0,0,0,0,0
$GC,5800,-0.71,-194.6,743.9,-10.8,630,5804,0.00,1.05,0.00,0.000,4,0.000,0.048,2490,919,3662,0,0,0,0,0,0
$GC,5880,-0.71,-194.6,752.9,-11.4,633,5884,0.08,1.05,0.00,0.000,6,0.148,0.044,2509,1607,3661,0,0,0,0,0,0
$GC,6203,-0.73,-194.6,784.9,-9.7,649,6207,0.00,1.05,0.00,0.000,4,0.000,0.050,2509,924,3659,0,0,0,0,0,0
$GC,6250,-0.75,-194.6,789.8,-10.1,651,6253,0.00,1.05,0.00,0.000,6,0.000,0.045,2507,1608,3658,0,0,0,0,0,0
$GC,6585,-0.76,-194.6,823.9,-10.4,667,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1608,3656,0,0,0,0,0,0
$GC,6893,-0.78,-194.6,855.2,-10.0,682,6896,0.00,1.08,0.00,0.000,4,0.000,0.051,2506,917,3654,0,0,0,0,0,0
$GC,6934,-0.79,-194.6,859.5,-10.5,683,6941,0.00,1.08,0.00,0.000,6,0.000,0.048,2501,1608,3654,0,0,0,0,0,0
$GC,7250,-0.81,-194.6,891.1,-9.7,699,7254,0.00,1.08,0.00,0.000,4,0.000,0.054,2502,919,3651,0,0,0,0,0,0
$GC,7289,-0.82,-194.6,895.2,-10.0,700,7297,0.00,1.08,0.00,0.000,6,0.000,0.050,2497,1608,3651,0,0,0,0,0,0
$GC,7608,-0.82,-194.6,924.1,-8.8,716,7612,0.00,1.08,0.00,0.000,4,0.000,0.055,2497,922,3650,0,0,0,0,0,0
$GC,7669,-0.82,-194.6,930.1,-9.1,718,7676,0.00,1.08,0.00,0.000,6,0.000,0.051,2492,1610,3649,0,0,0,0,0,0
$GC,7987,-0.82,-194.6,959.4,-9.3,734,7991,0.00,1.10,0.00,0.000,4,0.000,0.057,2492,924,3648,0,0,0,0,0,0
$GC,8059,-0.82,-194.6,967.0,-10.1,737,8063,0.00,1.08,0.00,0.000,6,0.000,0.053,2487,1608,3647,0,0,0,0,0,0
$STATE,8302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8302,begin apogee
$GC,8310,-0.11,0.0,991.3,10.1,749,8484,0.68,0.00,167.32,1.450,6,0.123,0.000,2704,1784,2883,0,0,0,0,0,0
$STATE,8486,end apogee,CONTROL_FINISHED_OK
$STATE,8487,begin climb
$GC,8489,0.64,194.6,996.4,0.0,757,8682,0.68,1.20,181.38,1.390,4,0.067,0.056,2956,1095,2090,0,0,0,0,0,0
$GC,8717,0.61,194.6,974.2,14.0,768,8721,0.00,1.10,0.00,0.000,6,0.000,0.053,2956,1764,2085,0,0,0,0,0,0
$GC,9053,0.58,194.6,925.6,14.5,784,9056,0.00,1.10,0.00,0.000,4,0.000,0.061,2956,2484,2081,0,0,0,0,0,0
$GC,9130,0.56,194.6,913.9,14.4,787,9134,0.10,1.08,0.00,0.000,6,0.151,0.050,2929,1790,2080,0,0,0,0,0,0
$GC,9453,0.57,202.7,876.1,11.5,803,9464,0.00,1.15,6.88,1.069,4,0.000,0.060,2928,2498,2057,0,0,0,0,0,0
$GC,9517,0.59,221.5,868.7,11.0,806,9540,0.00,1.12,19.25,1.278,6,0.000,0.049,2931,1777,1981,0,0,0,0,0,0
$GC,9850,0.63,249.0,832.1,10.7,822,9881,0.00,1.12,26.45,1.296,4,0.000,0.056,2931,2495,1868,0,0,0,0,0,0
$GC,9928,0.67,274.5,823.7,10.8,825,9962,0.00,1.12,25.10,1.272,6,0.000,0.047,2934,1781,1764,0,0,0,0,0,0
$GC,10275,0.72,299.5,786.1,10.8,842,10306,0.12,1.17,23.95,1.260,4,0.088,0.057,2997,2497,1663,0,0,0,0,0,0
$GC,10347,0.69,299.5,774.7,16.7,845,10351,0.10,1.12,0.00,0.000,6,0.154,0.046,2970,1780,1660,0,0,0,0,0,0
$GC,10675,0.69,299.5,727.6,14.6,861,10679,0.00,1.12,0.00,0.000,4,0.000,0.056,2967,2490,1658,0,0,0,0,0,0
$GC,10747,0.69,299.5,717.1,13.5,864,10751,0.00,1.10,0.00,0.000,6,0.000,0.047,2970,1779,1657,0,0,0,0,0,0
$GC,11074,0.69,299.5,670.5,14.0,880,11078,0.00,1.10,0.00,0.000,4,0.000,0.055,2970,2492,1656,0,0,0,0,0,0
$GC,11103,0.69,299.5,666.3,14.2,881,11107,0.00,1.10,0.00,0.000,6,0.000,0.045,2973,1776,1656,0,0,0,0,0,0
$GC,11430,0.69,299.5,619.3,14.6,897,11434,0.00,1.10,0.00,0.000,4,0.000,0.055,2973,2491,1655,0,0,0,0,0,0
$GC,11486,0.69,299.5,610.8,14.4,899,11490,0.00,1.10,0.00,0.000,6,0.000,0.045,2976,1769,1655,0,0,0,0,0,0
$GC,11816,0.69,299.5,561.7,14.6,927,11820,0.00,1.05,0.00,0.000,4,0.000,0.050,2981,1074,1654,0,0,0,0,0,0
$GC,11840,0.69,299.5,558.0,14.7,929,11843,0.00,1.10,0.00,0.000,6,0.000,0.044,2981,1795,1654,0,0,0,0,0,0
$GC,12170,0.69,299.5,510.4,14.7,960,12174,0.00,1.02,0.00,0.000,4,0.000,0.054,2981,2478,1654,0,0,0,0,0,0
$GC,12310,0.69,299.5,490.5,14.6,972,12316,0.00,1.05,0.00,0.000,6,0.000,0.043,2984,1783,1653,0,0,0,0,0,0
$GC,12636,0.69,299.5,440.3,15.9,1003,12640,0.00,1.05,0.00,0.000,4,0.000,0.048,2989,1078,1653,0,0,0,0,0,0
$GC,12660,0.69,299.5,436.4,16.5,1005,12663,0.00,1.08,0.00,0.000,6,0.000,0.043,2989,1786,1652,0,0,0,0,0,0
$GC,12990,0.69,299.5,384.8,16.2,1036,12994,0.00,1.02,0.00,0.000,4,0.000,0.052,2989,2477,1653,0,0,0,0,0,0
$GC,13114,0.69,299.5,366.3,13.6,1047,13118,0.00,1.05,0.00,0.000,6,0.000,0.042,2992,1779,1652,0,0,0,0,0,0
$GC,13446,0.70,314.2,323.7,11.2,1078,13468,0.00,1.10,13.43,0.884,4,0.000,0.046,2997,1069,1603,0,0,0,0,0,0
$GC,13502,0.73,335.2,317.4,10.9,1083,13528,0.00,1.08,20.50,0.905,6,0.000,0.041,2996,1781,1516,0,0,0,0,0,0
$GC,13854,0.74,335.2,274.1,12.6,1116,13858,0.00,1.08,0.00,0.000,4,0.000,0.050,2996,2488,1514,0,0,0,0,0,0
$GC,13958,0.76,335.2,261.5,12.6,1125,13962,0.00,1.08,0.00,0.000,6,0.000,0.041,2999,1772,1513,0,0,0,0,0,0
$GC,14282,0.77,335.2,220.1,12.9,1177,14290,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1771,1514,0,0,0,0,0,0
$GC,14611,0.78,335.2,177.9,12.9,1238,14618,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1771,1514,0,0,0,0,0,0
$GC,14935,0.83,357.2,140.6,10.9,1299,14965,0.00,1.10,20.88,0.740,4,0.000,0.046,2997,2490,1426,0,0,0,0,0,0
$GC,15057,0.97,439.3,129.8,8.4,1319,15133,0.12,1.08,70.75,0.750,6,0.042,0.040,3078,1774,1093,0,0,0,0,0,0
$GC,15455,0.97,439.3,64.8,14.6,1389,15463,0.00,1.08,0.00,0.000,4,0.000,0.044,3078,2488,1089,0,0,0,0,0,0
$GC,15496,0.98,439.3,59.1,14.5,1395,15504,0.00,1.05,0.00,0.000,6,0.000,0.038,3082,1790,1089,0,0,0,0,0,0
$GC,15826,0.98,439.3,15.2,13.3,1456,15834,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1790,1089,0,0,0,0,0,0
$STATE,15919,end climb,SURFACE_DEPTH_REACHED
$STATE,15919,begin surface coast
$FINISH,1.3,1.009103
$STATE,15942,end surface coast,CONTROL_FINISHED_OK
$STATE,15942,begin surface
$SM_CCo,15960,17.60,0.104,1,0,1048,450.13
$SM_GC,2.31,0.00,0.00,17.60,0.000,0.000,0.104,144,1601,1048,-8.13,-0.25,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2328.57,12256.40,101011,080834
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.47
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.50
$XPDR_PINGS,111
$24V_AH,22.8,84.979
$10V_AH,9.8,59.824
$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,19.650,75.175,575.875,17.600,0.000,30.246,19.200,185.159,27.750,0.000,13.374,3706.638,7839.992,680.602,3658.837,494.038,0.000,2114.037,0.000,3422.441,0.000,0.540,0.000
$DEVICE_MAMPS,218.025,71.910,1449.675,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.191,1513.115,1760.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330580
$DATA_FILE_SIZE,83525,1477
$CAP_FILE_SIZE,175869,0
$CFSIZE,260165632,115748864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135,119.9,1
$GPS,101011,173807,2336.471,12305.181,39,1.0,39,-3.3