version: 66.09
glider: 166
mission: 6
dive: 368
start: 10 13 111 9 40 31
data:
$ID,166
$MISSION,6
$DIVE,368
$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,-24862.535
$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,50
$R_STBD_OVSHOOT,53
$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
$GPS1,131011,093236,2350.917,12356.943,26,1.9,26,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-73.1
$GPS2,131011,094007,2350.952,12357.084,29,1.2,29,-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,244.9,3947,-18.1,-11.786
$D_GRID,2718
$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,-194.6,0.0,0.0,0,109,0.00,0.00,-89.55,0.000,2,0.000,0.000,137,1595,3074,0,0,0,0,0,0
$GC,112,-0.64,-194.6,5.7,-7.8,12,143,9.38,1.08,-11.85,0.000,4,0.216,0.068,2534,902,3681,0,0,0,0,0,0
$GC,263,-0.54,-194.6,55.2,-26.5,38,273,0.10,1.05,0.00,0.000,6,0.155,0.037,2561,1601,3683,0,0,0,0,0,0
$GC,591,-0.51,-194.6,118.2,-16.5,99,598,0.00,1.05,0.00,0.000,4,0.000,0.041,2556,2310,3684,0,0,0,0,0,0
$GC,749,-0.51,-194.6,140.8,-13.4,127,757,0.00,1.05,0.00,0.000,6,0.000,0.036,2554,1600,3684,0,0,0,0,0,0
$GC,1075,-0.51,-194.6,184.1,-12.3,188,1083,0.00,1.05,0.00,0.000,4,0.000,0.038,2548,2315,3685,0,0,0,0,0,0
$GC,1146,-0.53,-194.6,192.1,-11.6,200,1154,0.00,1.05,0.00,0.000,6,0.000,0.034,2548,1600,3685,0,0,0,0,0,0
$GC,1476,-0.54,-194.6,231.7,-11.1,261,1484,0.00,1.08,0.00,0.000,4,0.000,0.040,2543,2316,3685,0,0,0,0,0,0
$GC,1519,-0.56,-194.6,236.9,-10.8,268,1527,0.00,1.05,0.00,0.000,6,0.000,0.034,2543,1603,3685,0,0,0,0,0,0
$GC,1847,-0.56,-194.6,278.5,-13.4,309,1851,0.00,1.08,0.00,0.000,4,0.000,0.039,2539,2316,3685,0,0,0,0,0,0
$GC,1997,-0.58,-194.6,293.7,-10.1,322,2001,0.00,1.05,0.00,0.000,6,0.000,0.034,2539,1598,3685,0,0,0,0,0,0
$GC,2328,-0.60,-194.6,327.0,-9.7,353,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1598,3684,0,0,0,0,0,0
$GC,2651,-0.63,-194.6,358.4,-10.0,383,2654,0.00,1.08,0.00,0.000,4,0.000,0.041,2534,2313,3682,0,0,0,0,0,0
$GC,2708,-0.65,-194.6,364.6,-10.2,388,2712,0.00,1.02,0.00,0.000,6,0.000,0.035,2534,1615,3682,0,0,0,0,0,0
$GC,3039,-0.67,-194.6,399.8,-10.3,419,3043,0.00,1.05,0.00,0.000,4,0.000,0.041,2530,2316,3680,0,0,0,0,0,0
$GC,3075,-0.70,-194.6,403.3,-9.9,422,3078,0.00,1.05,0.00,0.000,6,0.000,0.037,2530,1604,3680,0,0,0,0,0,0
$GC,3406,-0.73,-194.6,440.1,-10.6,453,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1604,3679,0,0,0,0,0,0
$GC,3727,-0.75,-194.6,472.2,-9.2,483,3731,0.00,1.02,0.00,0.000,4,0.000,0.042,2533,908,3676,0,0,0,0,0,0
$GC,3813,-0.78,-194.6,481.0,-9.9,490,3821,0.10,1.05,0.00,0.000,6,0.053,0.037,2479,1622,3675,0,0,0,0,0,0
$GC,4139,-0.74,-194.6,529.2,-15.6,521,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1622,3674,0,0,0,0,0,0
$GC,4462,-0.71,-194.6,579.4,-15.3,551,4468,0.12,0.00,0.00,0.000,6,0.170,0.000,2513,1622,3672,0,0,0,0,0,0
$GC,4784,-0.71,-194.6,620.9,-12.2,574,4787,0.00,1.00,0.00,0.000,4,0.000,0.047,2510,2296,3670,0,0,0,0,0,0
$GC,4817,-0.71,-194.6,625.3,-11.9,575,4821,0.00,1.02,0.00,0.000,6,0.000,0.039,2510,1607,3669,0,0,0,0,0,0
$GC,5139,-0.71,-194.6,662.8,-11.3,591,5143,0.00,1.05,0.00,0.000,4,0.000,0.047,2505,2293,3667,0,0,0,0,0,0
$GC,5175,-0.72,-194.6,666.4,-11.0,592,5179,0.00,1.02,0.00,0.000,6,0.000,0.040,2505,1607,3666,0,0,0,0,0,0
$GC,5497,-0.72,-194.6,699.8,-10.1,608,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1607,3665,0,0,0,0,0,0
$GC,5807,-0.72,-194.6,732.0,-10.4,623,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1607,3662,0,0,0,0,0,0
$GC,6118,-0.72,-194.6,765.6,-11.1,638,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1607,3660,0,0,0,0,0,0
$GC,6427,-0.73,-194.6,800.8,-11.4,653,6431,0.00,1.05,0.00,0.000,4,0.000,0.049,2505,917,3657,0,0,0,0,0,0
$GC,6507,-0.74,-194.6,810.8,-12.2,656,6511,0.00,1.05,0.00,0.000,6,0.000,0.046,2501,1603,3657,0,0,0,0,0,0
$GC,6829,-0.74,-194.6,850.8,-12.7,672,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1603,3655,0,0,0,0,0,0
$GC,7139,-0.75,-194.6,889.1,-12.2,687,7142,0.00,1.08,0.00,0.000,4,0.000,0.052,2499,919,3653,0,0,0,0,0,0
$GC,7247,-0.75,-194.6,902.7,-12.9,691,7254,0.00,1.08,0.00,0.000,6,0.000,0.049,2495,1606,3652,0,0,0,0,0,0
$GC,7564,-0.75,-194.6,939.0,-11.0,707,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1606,3651,0,0,0,0,0,0
$GC,7875,-0.75,-194.6,971.5,-10.1,722,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1607,3649,0,0,0,0,0,0
$STATE,8076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8076,begin apogee
$GC,8082,-0.11,0.0,991.5,9.7,732,8256,0.65,0.00,167.68,1.439,6,0.125,0.000,2704,1783,2883,0,0,0,0,0,0
$STATE,8257,end apogee,CONTROL_FINISHED_OK
$STATE,8257,begin climb
$GC,8261,0.64,194.6,993.9,0.0,740,8448,0.68,0.00,180.27,1.375,6,0.066,0.000,2952,1783,2089,0,0,0,0,0,0
$GC,8756,0.62,194.6,932.8,13.6,764,8760,0.00,1.08,0.00,0.000,4,0.000,0.060,2952,2484,2081,0,0,0,0,0,0
$GC,8817,0.60,194.6,923.9,13.7,766,8824,0.00,1.08,0.00,0.000,6,0.000,0.050,2956,1795,2080,0,0,0,0,0,0
$GC,9135,0.57,194.6,883.4,12.2,782,9139,0.00,1.10,0.00,0.000,4,0.000,0.054,2962,1074,2078,0,0,0,0,0,0
$GC,9191,0.54,194.6,876.2,12.5,784,9195,0.12,1.10,0.00,0.000,6,0.147,0.048,2922,1780,2078,0,0,0,0,0,0
$GC,9512,0.63,265.4,847.6,8.9,800,9579,0.00,0.00,64.90,1.333,6,0.000,0.000,2922,1780,1802,0,0,0,0,0,0
$GC,9884,0.71,313.4,811.6,9.8,818,9933,0.15,0.00,46.17,1.294,6,0.081,0.000,2995,1780,1606,0,0,0,0,0,0
$GC,10232,0.68,313.4,753.0,17.1,835,10236,0.00,1.10,0.00,0.000,4,0.000,0.057,2995,2480,1600,0,0,0,0,0,0
$GC,10262,0.65,313.4,747.7,17.3,836,10267,0.12,1.10,0.00,0.000,6,0.149,0.047,2961,1769,1600,0,0,0,0,0,0
$GC,10588,0.65,313.4,702.5,13.9,852,10592,0.00,1.05,0.00,0.000,4,0.000,0.052,2964,1078,1598,0,0,0,0,0,0
$GC,10636,0.65,313.4,696.2,13.6,854,10640,0.00,1.08,0.00,0.000,6,0.000,0.044,2961,1782,1597,0,0,0,0,0,0
$GC,10969,0.65,313.4,648.0,14.3,870,10973,0.00,1.05,0.00,0.000,4,0.000,0.056,2961,2474,1597,0,0,0,0,0,0
$GC,10994,0.65,313.4,644.6,14.7,871,10997,0.00,1.08,0.00,0.000,6,0.000,0.045,2964,1766,1597,0,0,0,0,0,0
$GC,11316,0.65,313.4,598.4,14.0,887,11317,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1766,1596,0,0,0,0,0,0
$GC,11637,0.65,313.4,556.4,12.5,917,11638,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1766,1596,0,0,0,0,0,0
$GC,11957,0.67,313.4,516.6,12.5,947,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1766,1595,0,0,0,0,0,0
$GC,12284,0.68,313.4,472.7,13.7,978,12288,0.00,1.05,0.00,0.000,4,0.000,0.049,2969,1075,1594,0,0,0,0,0,0
$GC,12325,0.69,313.4,466.9,14.0,981,12332,0.00,1.08,0.00,0.000,6,0.000,0.042,2966,1785,1595,0,0,0,0,0,0
$GC,12651,0.71,319.0,424.4,11.6,1012,12664,0.00,1.10,4.60,0.715,4,0.000,0.047,2969,1084,1583,0,0,0,0,0,0
$GC,12748,0.76,341.5,413.8,10.9,1020,12775,0.00,1.05,22.45,0.999,6,0.000,0.042,2966,1776,1491,0,0,0,0,0,0
$GC,13104,0.78,342.9,374.0,11.7,1053,13108,0.00,1.08,0.00,0.000,4,0.000,0.047,2970,1078,1488,0,0,0,0,0,0
$GC,13132,0.81,342.9,370.0,12.0,1055,13140,0.08,1.05,0.00,0.000,6,0.057,0.041,3029,1776,1488,0,0,0,0,0,0
$GC,13460,0.78,342.9,315.5,17.3,1086,13464,0.12,1.08,0.00,0.000,4,0.166,0.050,2992,2480,1488,0,0,0,0,0,0
$GC,13565,0.78,342.9,300.2,13.4,1095,13572,0.00,1.05,0.00,0.000,6,0.000,0.041,2995,1781,1488,0,0,0,0,0,0
$GC,13891,0.78,342.9,258.2,13.2,1126,13894,0.00,1.05,0.00,0.000,4,0.000,0.046,3000,1076,1488,0,0,0,0,0,0
$GC,13965,0.78,342.9,247.7,14.1,1134,13973,0.00,1.05,0.00,0.000,6,0.000,0.039,2997,1782,1488,0,0,0,0,0,0
$GC,14296,0.79,342.9,202.0,13.7,1195,14304,0.00,1.02,0.00,0.000,4,0.000,0.048,2993,2473,1488,0,0,0,0,0,0
$GC,14344,0.81,342.9,195.5,12.5,1203,14352,0.00,1.05,0.00,0.000,6,0.000,0.041,2996,1772,1488,0,0,0,0,0,0
$GC,14678,0.84,353.2,155.8,11.4,1264,14695,0.00,1.12,11.98,0.719,4,0.000,0.047,2993,2482,1444,0,0,0,0,0,0
$GC,14719,0.91,381.6,151.0,10.6,1270,14751,0.08,1.05,26.58,0.757,6,0.056,0.040,3057,1787,1328,0,0,0,0,0,0
$GC,15070,0.91,381.6,99.4,13.5,1334,15078,0.00,1.05,0.00,0.000,4,0.000,0.044,3063,1081,1325,0,0,0,0,0,0
$GC,15146,0.92,381.6,89.6,12.4,1347,15154,0.00,1.05,0.00,0.000,6,0.000,0.037,3062,1786,1324,0,0,0,0,0,0
$GC,15477,1.00,419.0,55.6,10.3,1408,15516,0.00,1.12,33.03,0.672,4,0.000,0.044,3066,1077,1175,0,0,0,0,0,0
$GC,15546,1.08,449.5,48.0,10.6,1418,15577,0.00,1.05,27.10,0.656,6,0.000,0.034,3065,1784,1050,0,0,0,0,0,0
$GC,15899,1.19,499.9,11.4,9.7,1482,15952,0.17,1.10,42.22,0.630,4,0.066,0.044,3160,1078,845,0,0,0,0,0,0
$STATE,15958,end climb,SURFACE_DEPTH_REACHED
$STATE,15959,begin surface coast
$FINISH,1.3,1.004914
$STATE,15981,end surface coast,CONTROL_FINISHED_OK
$STATE,15981,begin surface
$SM_CCo,16060,0.00,0.000,0,0,841,501.15
$SM_GC,2.12,7.82,0.00,0.00,0.034,0.000,0.000,136,1650,841,-8.05,1.13,501.15,0,0,0,0,0,0
$IRIDIUM_FIX,2342.70,12351.20,131011,040403
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.01
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.20
$XPDR_PINGS,118
$24V_AH,22.8,88.192
$10V_AH,9.8,62.339
$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,19.700,57.300,626.975,0.000,0.000,27.934,42.863,200.393,29.500,0.000,30.503,3683.857,8114.379,682.564,3527.543,483.197,0.000,2022.011,0.000,3258.625,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,69.615,1438.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.024,1528.591,1747.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330388
$DATA_FILE_SIZE,83466,1493
$CAP_FILE_SIZE,165916,0
$CFSIZE,260165632,114397184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.269, 52.6,1
$GPS,131011,140936,2351.070,12356.445,41,1.3,46,-3.4