version: 66.09
glider: 166
mission: 6
dive: 362
start: 10 12 111 6 48 54
data:
$ID,166
$MISSION,6
$DIVE,362
$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,-24854.982
$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,58
$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
$GPS1,121011,064100,2344.359,12335.060,39,1.3,44,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.6
$GPS2,121011,064831,2344.357,12335.156,15,1.5,32,-3.4
$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,57.1,35203,-18.1,-11.786
$D_GRID,3379
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.64,-194.6,0.0,0.0,0,105,0.00,0.00,-84.53,0.000,2,0.000,0.000,128,1609,3099,0,0,0,0,0,0
$GC,108,-0.64,-194.6,5.6,-8.2,12,133,9.48,1.10,-11.32,0.000,4,0.220,0.069,2524,2305,3679,0,0,0,0,0,0
$GC,170,-0.49,-194.6,30.0,-35.3,21,178,0.17,1.05,0.00,0.000,6,0.154,0.037,2578,1603,3681,0,0,0,0,0,0
$GC,495,-0.47,-194.6,98.0,-16.7,82,504,0.00,1.02,0.00,0.000,4,0.000,0.041,2575,2296,3682,0,0,0,0,0,0
$GC,668,-0.49,-194.6,123.0,-12.5,113,676,0.00,1.02,0.00,0.000,6,0.000,0.036,2575,1600,3683,0,0,0,0,0,0
$GC,996,-0.51,-194.6,164.3,-10.7,174,1005,0.00,1.02,0.00,0.000,4,0.000,0.038,2570,2298,3684,0,0,0,0,0,0
$GC,1070,-0.54,-194.6,171.9,-10.8,186,1079,0.00,1.00,0.00,0.000,6,0.000,0.035,2569,1612,3684,0,0,0,0,0,0
$GC,1397,-0.57,-194.6,211.1,-12.3,247,1405,0.00,1.02,0.00,0.000,4,0.000,0.039,2569,911,3684,0,0,0,0,0,0
$GC,1440,-0.61,-194.6,216.9,-12.9,254,1449,0.00,1.00,0.00,0.000,6,0.000,0.033,2564,1605,3684,0,0,0,0,0,0
$GC,1775,-0.64,-194.6,257.3,-10.7,310,1778,0.00,1.00,0.00,0.000,4,0.000,0.039,2559,2302,3683,0,0,0,0,0,0
$GC,1926,-0.68,-194.6,271.0,-9.1,323,1931,0.08,1.02,0.00,0.000,6,0.048,0.037,2482,1605,3683,0,0,0,0,0,0
$GC,2257,-0.64,-194.6,326.8,-17.6,354,2261,0.20,1.02,0.00,0.000,4,0.151,0.034,2544,907,3683,0,0,0,0,0,0
$GC,2339,-0.67,-194.6,336.9,-11.2,361,2342,0.00,1.02,0.00,0.000,6,0.000,0.034,2541,1612,3683,0,0,0,0,0,0
$GC,2670,-0.69,-194.6,375.0,-11.0,392,2674,0.00,1.00,0.00,0.000,4,0.000,0.041,2537,2302,3682,0,0,0,0,0,0
$GC,2790,-0.73,-194.6,387.2,-9.9,402,2798,0.00,1.02,0.00,0.000,6,0.000,0.036,2539,1604,3681,0,0,0,0,0,0
$GC,3118,-0.76,-194.6,419.0,-9.4,433,3122,0.15,1.05,0.00,0.000,4,0.073,0.042,2470,907,3679,0,0,0,0,0,0
$GC,3135,-0.76,-194.6,421.3,-10.1,434,3143,0.10,1.02,0.00,0.000,6,0.152,0.036,2499,1601,3679,0,0,0,0,0,0
$GC,3460,-0.73,-194.6,465.6,-13.0,465,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1602,3677,0,0,0,0,0,0
$GC,3785,-0.71,-194.6,509.3,-13.9,495,3788,0.00,1.02,0.00,0.000,4,0.000,0.044,2496,2298,3675,0,0,0,0,0,0
$GC,3842,-0.71,-194.6,517.9,-12.9,500,3845,0.00,1.02,0.00,0.000,6,0.000,0.039,2496,1609,3675,0,0,0,0,0,0
$GC,4173,-0.69,-194.6,562.4,-12.9,531,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1609,3673,0,0,0,0,0,0
$GC,4495,-0.68,-194.6,600.5,-12.0,561,4499,0.00,1.02,0.00,0.000,4,0.000,0.043,2496,917,3670,0,0,0,0,0,0
$GC,4567,-0.67,-194.6,610.4,-12.4,564,4572,0.10,1.02,0.00,0.000,6,0.139,0.038,2525,1605,3669,0,0,0,0,0,0
$GC,4896,-0.69,-194.6,642.9,-10.1,580,4900,0.00,1.02,0.00,0.000,4,0.000,0.047,2522,2299,3667,0,0,0,0,0,0
$GC,4932,-0.71,-194.6,646.7,-10.1,581,4936,0.00,1.02,0.00,0.000,6,0.000,0.040,2522,1612,3666,0,0,0,0,0,0
$GC,5254,-0.73,-194.6,683.3,-11.5,597,5258,0.00,1.05,0.00,0.000,4,0.000,0.046,2521,914,3664,0,0,0,0,0,0
$GC,5284,-0.75,-194.6,686.9,-11.7,598,5287,0.00,1.05,0.00,0.000,6,0.000,0.041,2517,1607,3664,0,0,0,0,0,0
$GC,5611,-0.76,-194.6,727.6,-12.5,614,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1607,3661,0,0,0,0,0,0
$GC,5920,-0.78,-194.6,766.0,-12.3,629,5924,0.00,1.05,0.00,0.000,4,0.000,0.048,2517,917,3658,0,0,0,0,0,0
$GC,5969,-0.80,-194.6,771.4,-12.1,631,5973,0.00,1.05,0.00,0.000,6,0.000,0.044,2511,1608,3658,0,0,0,0,0,0
$GC,6303,-0.82,-194.6,808.6,-10.6,647,6307,0.00,1.08,0.00,0.000,4,0.000,0.050,2511,916,3655,0,0,0,0,0,0
$GC,6384,-0.83,-194.6,817.2,-10.8,650,6388,0.00,1.05,0.00,0.000,6,0.000,0.046,2506,1600,3655,0,0,0,0,0,0
$GC,6706,-0.84,-194.6,850.4,-10.1,666,6709,0.00,1.08,0.00,0.000,4,0.000,0.051,2506,913,3653,0,0,0,0,0,0
$GC,6739,-0.86,-194.6,853.9,-10.0,667,6743,0.00,1.08,0.00,0.000,6,0.000,0.047,2502,1606,3653,0,0,0,0,0,0
$GC,7064,-0.86,-194.6,885.9,-10.3,683,7067,0.00,1.08,0.00,0.000,4,0.000,0.052,2501,916,3651,0,0,0,0,0,0
$GC,7103,-0.87,-194.6,890.6,-10.9,684,7110,0.00,1.08,0.00,0.000,6,0.000,0.048,2496,1607,3650,0,0,0,0,0,0
$GC,7421,-0.87,-194.6,925.8,-11.4,700,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1607,3649,0,0,0,0,0,0
$GC,7729,-0.87,-194.6,961.1,-11.5,715,7733,0.00,1.08,0.00,0.000,4,0.000,0.054,2496,921,3647,0,0,0,0,0,0
$GC,7775,-0.87,-194.6,966.5,-11.9,717,7779,0.00,1.08,0.00,0.000,6,0.000,0.051,2491,1608,3646,0,0,0,0,0,0
$STATE,7982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7982,begin apogee
$GC,7990,-0.11,0.0,991.1,11.9,727,8163,0.65,0.00,166.48,1.450,6,0.126,0.000,2700,1782,2883,0,0,0,0,0,0
$STATE,8163,end apogee,CONTROL_FINISHED_OK
$STATE,8163,begin climb
$GC,8168,0.64,194.6,998.8,0.0,735,8357,0.70,1.20,179.02,1.390,4,0.069,0.060,2953,2486,2089,0,0,0,0,0,0
$GC,8400,0.62,194.6,979.0,13.1,745,8407,0.00,1.12,0.00,0.000,6,0.000,0.051,2958,1792,2085,0,0,0,0,0,0
$GC,8716,0.59,194.6,937.3,13.0,761,8720,0.00,1.08,0.00,0.000,4,0.000,0.060,2958,2476,2081,0,0,0,0,0,0
$GC,8786,0.56,194.6,928.3,12.9,764,8790,0.10,1.10,0.00,0.000,6,0.151,0.051,2932,1772,2080,0,0,0,0,0,0
$GC,9121,0.58,203.5,889.5,11.4,780,9132,0.00,1.15,7.62,1.112,4,0.000,0.060,2931,2482,2054,0,0,0,0,0,0
$GC,9162,0.59,215.4,884.3,11.3,782,9183,0.00,1.10,12.95,1.232,6,0.000,0.050,2934,1778,2005,0,0,0,0,0,0
$GC,9494,0.59,215.4,843.7,12.2,798,9498,0.00,1.10,0.00,0.000,4,0.000,0.059,2934,2484,2000,0,0,0,0,0,0
$GC,9532,0.60,226.4,838.9,11.3,799,9548,0.00,1.10,11.65,1.204,6,0.000,0.048,2938,1775,1959,0,0,0,0,0,0
$GC,9875,0.62,236.3,800.5,11.4,816,9889,0.00,1.10,9.98,1.162,4,0.000,0.054,2943,1067,1919,0,0,0,0,0,0
$GC,9923,0.63,250.8,794.3,11.2,818,9943,0.00,1.10,15.50,1.228,6,0.000,0.047,2943,1777,1861,0,0,0,0,0,0
$GC,10275,0.63,250.9,753.6,11.8,835,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1777,1856,0,0,0,0,0,0
$GC,10580,0.63,250.9,713.9,13.4,850,10584,0.00,1.10,0.00,0.000,4,0.000,0.052,2947,1065,1855,0,0,0,0,0,0
$GC,10604,0.63,250.9,710.6,14.2,851,10607,0.00,1.10,0.00,0.000,6,0.000,0.045,2947,1785,1855,0,0,0,0,0,0
$GC,10938,0.63,250.9,666.1,12.5,867,10942,0.00,1.05,0.00,0.000,4,0.000,0.055,2947,2483,1855,0,0,0,0,0,0
$GC,10988,0.63,250.9,659.5,12.1,869,10992,0.00,1.08,0.00,0.000,6,0.000,0.047,2951,1780,1854,0,0,0,0,0,0
$GC,11315,0.63,250.9,620.5,12.0,885,11319,0.00,1.08,0.00,0.000,4,0.000,0.054,2951,2484,1853,0,0,0,0,0,0
$GC,11373,0.63,250.9,613.7,11.8,887,11377,0.00,1.10,0.00,0.000,6,0.000,0.047,2955,1769,1853,0,0,0,0,0,0
$GC,11703,0.63,250.9,572.7,13.3,913,11707,0.00,1.05,0.00,0.000,4,0.000,0.051,2960,1069,1853,0,0,0,0,0,0
$GC,11751,0.63,250.9,566.0,13.4,917,11755,0.00,1.08,0.00,0.000,6,0.000,0.044,2957,1777,1853,0,0,0,0,0,0
$GC,12083,0.64,253.3,524.4,11.7,948,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1777,1852,0,0,0,0,0,0
$GC,12405,0.64,257.7,487.3,11.6,978,12413,0.00,0.00,6.47,0.890,6,0.000,0.000,2957,1778,1833,0,0,0,0,0,0
$GC,12730,0.70,308.0,453.0,9.7,1009,12786,0.00,1.10,48.30,1.075,4,0.000,0.054,2956,2477,1627,0,0,0,0,0,0
$GC,12831,0.79,357.1,443.2,9.8,1017,12884,0.08,1.08,45.85,1.040,6,0.054,0.044,3014,1779,1428,0,0,0,0,0,0
$GC,13203,0.77,357.1,383.2,17.4,1052,13207,0.00,1.05,0.00,0.000,4,0.000,0.047,3019,1081,1422,0,0,0,0,0,0
$GC,13306,0.76,357.1,365.0,17.2,1061,13310,0.00,1.08,0.00,0.000,6,0.000,0.041,3019,1787,1421,0,0,0,0,0,0
$GC,13638,0.74,357.1,314.1,13.7,1092,13640,0.12,0.00,0.00,0.000,6,0.165,0.000,2987,1791,1421,0,0,0,0,0,0
$GC,13958,0.76,357.1,272.5,15.0,1122,13961,0.00,1.10,0.00,0.000,4,0.000,0.046,2990,1077,1420,0,0,0,0,0,0
$GC,14047,0.78,357.1,260.1,13.2,1130,14050,0.00,1.08,0.00,0.000,6,0.000,0.040,2986,1792,1420,0,0,0,0,0,0
$GC,14373,0.85,398.4,225.0,10.1,1183,14418,0.00,1.12,36.30,0.851,4,0.000,0.046,2990,1082,1259,0,0,0,0,0,0
$GC,14482,0.89,398.4,212.4,12.6,1200,14491,0.10,1.05,0.00,0.000,6,0.053,0.040,3061,1775,1257,0,0,0,0,0,0
$GC,14816,0.86,398.4,150.0,17.0,1261,14824,0.15,1.08,0.00,0.000,4,0.158,0.047,3024,1081,1257,0,0,0,0,0,0
$GC,14845,0.86,398.4,144.4,17.1,1265,14853,0.00,1.05,0.00,0.000,6,0.000,0.037,3020,1787,1256,0,0,0,0,0,0
$GC,15172,0.95,448.4,103.2,9.8,1326,15226,0.00,1.05,43.50,0.741,4,0.000,0.047,3020,2473,1053,0,0,0,0,0,0
$GC,15234,1.03,469.0,96.1,10.9,1334,15261,0.12,1.08,19.00,0.693,6,0.041,0.039,3111,1773,969,0,0,0,0,0,0
$GC,15582,1.03,469.0,40.5,13.4,1397,15590,0.12,1.05,0.00,0.000,4,0.158,0.046,3080,1080,966,0,0,0,0,0,0
$GC,15649,1.07,472.1,32.6,11.7,1408,15657,0.00,1.02,0.00,0.000,6,0.000,0.036,3080,1776,965,0,0,0,0,0,0
$STATE,15897,end climb,SURFACE_DEPTH_REACHED
$STATE,15897,begin surface coast
$FINISH,1.3,1.015524
$STATE,15928,end surface coast,CONTROL_FINISHED_OK
$STATE,15928,begin surface
$SM_CCo,16007,0.00,0.000,0,0,964,470.98
$SM_GC,2.05,7.50,0.00,0.00,0.033,0.000,0.000,136,1603,964,-8.04,-0.17,470.98,0,0,0,0,0,0
$IRIDIUM_FIX,2335.63,12331.62,121011,010105
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.78
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.30
$XPDR_PINGS,108
$24V_AH,22.9,86.979
$10V_AH,9.8,61.324
$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,19.925,70.600,602.625,0.000,0.000,26.343,20.117,211.507,27.000,0.000,33.589,3645.870,8097.349,624.784,3554.509,513.437,0.000,2029.091,0.000,3295.503,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,71.145,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,999.681,1496.876,1679.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,83421,1460
$CAP_FILE_SIZE,174727,0
$CFSIZE,260165632,114929664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.238, 76.8,1
$GPS,121011,111700,2346.261,12339.808,40,1.0,40,-3.4