version: 66.09
glider: 166
mission: 6
dive: 358
start: 10 11 111 12 8 31
data:
$ID,166
$MISSION,6
$DIVE,358
$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,-24849.953
$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,55
$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
$GPS1,111011,120037,2339.705,12317.755,27,1.5,27,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-70.3
$GPS2,111011,120808,2339.715,12317.809,14,1.5,14,-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,47.8,65821,-18.1,-11.786
$D_GRID,3999
$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,-88.15,0.000,2,0.000,0.000,124,1597,3193,0,0,0,0,0,0
$GC,111,-0.64,-194.6,6.3,-10.4,12,135,9.38,1.10,-9.20,0.000,4,0.215,0.067,2526,2308,3681,0,0,0,0,0,0
$GC,192,-0.53,-194.6,38.8,-30.3,25,201,0.12,1.05,0.00,0.000,6,0.147,0.037,2564,1604,3682,0,0,0,0,0,0
$GC,520,-0.52,-194.6,103.4,-11.5,86,529,0.00,1.00,0.00,0.000,4,0.000,0.037,2562,911,3684,0,0,0,0,0,0
$GC,560,-0.52,-194.6,109.3,-13.9,92,568,0.00,1.02,0.00,0.000,6,0.000,0.033,2557,1614,3684,0,0,0,0,0,0
$GC,888,-0.52,-194.6,158.4,-14.4,153,896,0.00,1.00,0.00,0.000,4,0.000,0.040,2552,2307,3685,0,0,0,0,0,0
$GC,1060,-0.53,-194.6,182.8,-14.8,184,1068,0.00,1.02,0.00,0.000,6,0.000,0.036,2552,1608,3685,0,0,0,0,0,0
$GC,1387,-0.54,-194.6,224.5,-11.1,245,1395,0.00,1.05,0.00,0.000,4,0.000,0.041,2547,2296,3685,0,0,0,0,0,0
$GC,1420,-0.55,-194.6,228.6,-11.4,250,1429,0.00,1.00,0.00,0.000,6,0.000,0.035,2547,1611,3685,0,0,0,0,0,0
$GC,1759,-0.55,-194.6,267.3,-10.9,298,1762,0.00,1.05,0.00,0.000,4,0.000,0.041,2542,2302,3685,0,0,0,0,0,0
$GC,1818,-0.57,-194.6,274.0,-10.3,303,1822,0.00,1.02,0.00,0.000,6,0.000,0.037,2542,1609,3685,0,0,0,0,0,0
$GC,2149,-0.59,-194.6,307.7,-11.9,334,2153,0.00,1.02,0.00,0.000,4,0.000,0.042,2538,2295,3685,0,0,0,0,0,0
$GC,2199,-0.62,-194.6,313.6,-11.5,338,2207,0.00,1.00,0.00,0.000,6,0.000,0.036,2538,1612,3685,0,0,0,0,0,0
$GC,2525,-0.64,-194.6,351.8,-11.6,369,2529,0.00,1.02,0.00,0.000,4,0.000,0.043,2534,2301,3684,0,0,0,0,0,0
$GC,2564,-0.66,-194.6,356.1,-10.6,372,2570,0.00,1.02,0.00,0.000,6,0.000,0.038,2535,1610,3685,0,0,0,0,0,0
$GC,2890,-0.68,-194.6,389.1,-10.5,403,2894,0.00,1.02,0.00,0.000,4,0.000,0.043,2533,2298,3683,0,0,0,0,0,0
$GC,2937,-0.71,-194.6,393.9,-10.5,407,2941,0.00,1.02,0.00,0.000,6,0.000,0.037,2533,1607,3683,0,0,0,0,0,0
$GC,3269,-0.73,-194.6,430.9,-11.3,438,3273,0.00,1.02,0.00,0.000,4,0.000,0.041,2535,910,3681,0,0,0,0,0,0
$GC,3386,-0.76,-194.6,444.6,-11.2,448,3394,0.08,1.02,0.00,0.000,6,0.059,0.038,2487,1604,3681,0,0,0,0,0,0
$GC,3712,-0.73,-194.6,490.3,-13.7,479,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1604,3679,0,0,0,0,0,0
$GC,4032,-0.71,-194.6,532.0,-13.3,509,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1605,3677,0,0,0,0,0,0
$GC,4353,-0.69,-194.6,571.1,-12.1,539,4357,0.12,1.10,0.00,0.000,4,0.168,0.047,2521,910,3676,0,0,0,0,0,0
$GC,4391,-0.69,-194.6,576.2,-11.6,542,4399,0.00,1.05,0.00,0.000,6,0.000,0.041,2518,1597,3675,0,0,0,0,0,0
$GC,4717,-0.71,-194.6,612.0,-11.4,568,4721,0.00,1.08,0.00,0.000,4,0.000,0.052,2513,2307,3672,0,0,0,0,0,0
$GC,4764,-0.73,-194.6,617.5,-10.8,570,4768,0.00,1.05,0.00,0.000,6,0.000,0.045,2513,1623,3672,0,0,0,0,0,0
$GC,5099,-0.74,-194.6,652.0,-9.7,586,5103,0.00,1.05,0.00,0.000,4,0.000,0.052,2508,2300,3669,0,0,0,0,0,0
$GC,5150,-0.76,-194.6,657.0,-9.2,588,5154,0.00,1.08,0.00,0.000,6,0.000,0.044,2508,1603,3669,0,0,0,0,0,0
$GC,5480,-0.77,-194.6,691.7,-10.7,604,5483,0.00,1.05,0.00,0.000,4,0.000,0.050,2508,913,3666,0,0,0,0,0,0
$GC,5564,-0.78,-194.6,701.2,-11.1,607,5571,0.00,1.08,0.00,0.000,6,0.000,0.047,2503,1607,3666,0,0,0,0,0,0
$GC,5880,-0.78,-194.6,737.7,-12.0,623,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1607,3663,0,0,0,0,0,0
$GC,6191,-0.78,-194.6,774.1,-11.3,638,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1607,3661,0,0,0,0,0,0
$GC,6499,-0.79,-194.6,806.4,-10.4,653,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1607,3659,0,0,0,0,0,0
$GC,6810,-0.81,-194.6,839.9,-11.1,668,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1607,3657,0,0,0,0,0,0
$GC,7118,-0.82,-194.6,872.0,-10.2,683,7122,0.00,1.10,0.00,0.000,4,0.000,0.054,2503,911,3654,0,0,0,0,0,0
$GC,7236,-0.84,-194.6,884.4,-10.3,688,7240,0.00,1.10,0.00,0.000,6,0.000,0.050,2498,1610,3654,0,0,0,0,0,0
$GC,7566,-0.85,-194.6,917.2,-9.7,704,7569,0.00,1.12,0.00,0.000,4,0.000,0.054,2498,911,3652,0,0,0,0,0,0
$GC,7599,-0.86,-194.6,920.8,-9.7,705,7603,0.00,1.10,0.00,0.000,6,0.000,0.051,2493,1608,3652,0,0,0,0,0,0
$GC,7924,-0.87,-194.6,954.2,-10.6,721,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1608,3650,0,0,0,0,0,0
$GC,8231,-0.89,-194.6,989.6,-11.7,736,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1608,3648,0,0,0,0,0,0
$STATE,8248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8248,begin apogee
$GC,8254,-0.11,0.0,992.1,11.8,737,8427,0.65,0.00,167.25,1.447,6,0.127,0.000,2701,1785,2883,0,0,0,0,0,0
$STATE,8428,end apogee,CONTROL_FINISHED_OK
$STATE,8428,begin climb
$GC,8430,0.64,194.6,1000.0,0.0,745,8619,0.70,0.00,181.20,1.395,6,0.070,0.000,2953,1785,2090,0,0,0,0,0,0
$GC,8924,0.62,194.6,949.8,12.4,769,8928,0.00,1.08,0.00,0.000,4,0.000,0.060,2952,2486,2081,0,0,0,0,0,0
$GC,8996,0.60,194.6,940.9,12.8,772,9000,0.00,1.10,0.00,0.000,6,0.000,0.050,2957,1785,2081,0,0,0,0,0,0
$GC,9329,0.57,194.6,895.5,13.7,788,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1785,2079,0,0,0,0,0,0
$GC,9638,0.54,194.6,852.7,13.5,803,9642,0.12,1.10,0.00,0.000,4,0.180,0.052,2928,1069,2078,0,0,0,0,0,0
$GC,9678,0.54,194.6,847.7,12.1,804,9686,0.00,1.10,0.00,0.000,6,0.000,0.047,2929,1777,2078,0,0,0,0,0,0
$GC,9994,0.54,194.6,808.3,12.7,820,9998,0.00,1.08,0.00,0.000,4,0.000,0.055,2928,2487,2076,0,0,0,0,0,0
$GC,10049,0.54,194.6,800.8,13.0,822,10053,0.00,1.10,0.00,0.000,6,0.000,0.047,2932,1777,2076,0,0,0,0,0,0
$GC,10373,0.54,194.6,761.2,11.8,838,10377,0.00,1.10,0.00,0.000,4,0.000,0.054,2932,2491,2075,0,0,0,0,0,0
$GC,10434,0.55,201.9,753.7,11.5,840,10445,0.00,1.10,5.50,0.963,6,0.000,0.047,2937,1781,2060,0,0,0,0,0,0
$GC,10777,0.61,246.5,718.5,10.0,857,10823,0.00,0.00,42.95,1.268,6,0.000,0.000,2937,1781,1878,0,0,0,0,0,0
$GC,11133,0.64,261.8,680.6,11.2,874,11155,0.00,1.12,14.93,1.160,4,0.000,0.053,2942,1073,1816,0,0,0,0,0,0
$GC,11182,0.67,271.5,674.8,11.4,876,11197,0.00,1.12,10.75,1.092,6,0.000,0.044,2942,1796,1776,0,0,0,0,0,0
$GC,11515,0.69,271.7,635.3,11.8,892,11519,0.00,1.05,0.00,0.000,4,0.000,0.054,2942,2481,1773,0,0,0,0,0,0
$GC,11550,0.71,273.6,631.1,11.7,893,11554,0.00,1.10,0.00,0.000,6,0.000,0.044,2947,1772,1773,0,0,0,0,0,0
$GC,11873,0.73,273.6,591.3,11.9,912,11878,0.10,1.08,0.00,0.000,4,0.104,0.052,3007,1077,1771,0,0,0,0,0,0
$GC,11898,0.72,273.6,588.1,12.7,914,11902,0.08,1.08,0.00,0.000,6,0.152,0.043,2983,1785,1772,0,0,0,0,0,0
$GC,12229,0.70,273.6,539.8,14.6,945,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1785,1771,0,0,0,0,0,0
$GC,12552,0.69,273.6,492.1,14.8,975,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1788,1770,0,0,0,0,0,0
$GC,12879,0.69,273.6,447.8,11.9,1006,12883,0.00,1.10,0.00,0.000,4,0.000,0.049,2987,1070,1770,0,0,0,0,0,0
$GC,12942,0.71,285.3,440.5,11.3,1011,12961,0.00,1.08,13.60,0.991,6,0.000,0.042,2984,1779,1720,0,0,0,0,0,0
$GC,13277,0.71,285.3,403.4,12.0,1043,13281,0.00,1.08,0.00,0.000,4,0.000,0.047,2987,1076,1717,0,0,0,0,0,0
$GC,13363,0.71,285.3,392.5,12.8,1050,13372,0.00,1.08,0.00,0.000,6,0.000,0.041,2984,1786,1717,0,0,0,0,0,0
$GC,13688,0.73,302.4,354.5,11.1,1081,13711,0.00,1.08,16.83,0.930,4,0.000,0.044,2987,1065,1649,0,0,0,0,0,0
$GC,13762,0.75,315.3,346.5,11.3,1087,13785,0.00,1.08,13.38,0.891,6,0.000,0.041,2984,1775,1597,0,0,0,0,0,0
$GC,14104,0.77,315.3,306.0,11.9,1119,14108,0.00,1.05,0.00,0.000,4,0.000,0.050,2980,2475,1596,0,0,0,0,0,0
$GC,14162,0.80,315.3,298.9,12.0,1124,14166,0.00,1.08,0.00,0.000,6,0.000,0.042,2983,1768,1595,0,0,0,0,0,0
$GC,14496,0.82,315.3,259.8,12.0,1155,14500,0.00,1.05,0.00,0.000,4,0.000,0.045,2988,1069,1596,0,0,0,0,0,0
$GC,14650,0.84,315.3,239.7,13.6,1175,14658,0.00,1.08,0.00,0.000,6,0.000,0.038,2985,1789,1596,0,0,0,0,0,0
$GC,14980,0.91,354.2,202.7,10.2,1236,15020,0.15,0.00,35.42,0.818,6,0.079,0.000,3064,1790,1440,0,0,0,0,0,0
$GC,15340,0.88,354.2,142.2,15.5,1301,15348,0.12,1.10,0.00,0.000,4,0.168,0.045,3035,1078,1437,0,0,0,0,0,0
$GC,15395,0.88,354.2,135.0,12.5,1310,15403,0.00,1.05,0.00,0.000,6,0.000,0.037,3032,1785,1436,0,0,0,0,0,0
$GC,15724,0.92,366.9,94.7,11.3,1371,15740,0.00,0.00,12.40,0.664,6,0.000,0.000,3032,1785,1387,0,0,0,0,0,0
$GC,16062,1.06,443.1,59.4,8.7,1433,16136,0.15,1.12,65.32,0.691,4,0.077,0.040,3124,1073,1075,0,0,0,0,0,0
$GC,16198,1.04,443.1,39.4,16.1,1454,16209,0.12,1.08,0.00,0.000,6,0.133,0.035,3082,1794,1073,0,0,0,0,0,0
$STATE,16490,end climb,SURFACE_DEPTH_REACHED
$STATE,16490,begin surface coast
$FINISH,1.5,1.022037
$STATE,16514,end surface coast,CONTROL_FINISHED_OK
$STATE,16514,begin surface
$SM_CCo,16534,13.98,0.063,0,0,1049,450.13
$SM_GC,1.80,0.00,0.00,13.98,0.000,0.000,0.063,126,1583,1049,-8.18,-0.76,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,11856.88,111011,070736
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.58
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.70
$XPDR_PINGS,111
$24V_AH,22.7,86.084
$10V_AH,9.8,60.649
$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,19.500,62.375,579.525,13.975,0.000,28.357,54.786,195.692,27.750,0.000,15.320,3757.113,8483.353,646.503,3596.418,496.164,0.000,2033.223,0.000,3325.432,0.000,0.541,0.000
$DEVICE_MAMPS,214.965,71.910,1447.380,63.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.929,1547.596,1714.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330448
$DATA_FILE_SIZE,83530,1512
$CAP_FILE_SIZE,173561,0
$CFSIZE,260165632,115298304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,120.0,1
$GPS,111011,164537,2340.502,12321.986,36,1.1,36,-3.3