version: 66.09
glider: 166
mission: 6
dive: 369
start: 10 13 111 14 19 45
data:
$ID,166
$MISSION,6
$DIVE,369
$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,-24863.797
$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,41
$R_STBD_OVSHOOT,80
$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
$GPS1,131011,140936,2351.070,12356.445,41,1.3,46,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-71.2
$GPS2,131011,141920,2351.180,12356.467,36,1.8,36,-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,235.4,3310,-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,-194.6,0.0,0.0,0,110,0.00,0.00,-90.55,0.000,2,0.000,0.000,135,1651,3022,0,0,0,0,0,0
$GC,115,-0.64,-194.6,5.5,-8.3,13,147,9.25,1.17,-12.70,0.000,4,0.212,0.066,2531,895,3682,0,0,0,0,0,0
$GC,386,-0.57,-194.6,87.1,-20.5,62,395,0.08,1.00,0.00,0.000,6,0.161,0.032,2552,1583,3683,0,0,0,0,0,0
$GC,716,-0.55,-194.6,142.0,-14.6,123,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1585,3684,0,0,0,0,0,0
$GC,1049,-0.55,-194.6,192.5,-13.0,184,1057,0.00,1.02,0.00,0.000,4,0.000,0.037,2546,2299,3685,0,0,0,0,0,0
$GC,1140,-0.57,-194.6,203.6,-12.3,200,1149,0.00,1.02,0.00,0.000,6,0.000,0.035,2547,1597,3685,0,0,0,0,0,0
$GC,1469,-0.58,-194.6,246.8,-12.7,261,1477,0.00,1.05,0.00,0.000,4,0.000,0.038,2541,2311,3684,0,0,0,0,0,0
$GC,1587,-0.60,-194.6,261.2,-11.4,273,1594,0.00,1.02,0.00,0.000,6,0.000,0.034,2542,1607,3684,0,0,0,0,0,0
$GC,1913,-0.61,-194.6,302.4,-11.9,304,1917,0.00,1.00,0.00,0.000,4,0.000,0.038,2541,919,3684,0,0,0,0,0,0
$GC,1998,-0.63,-194.6,312.0,-10.6,311,2005,0.00,1.00,0.00,0.000,6,0.000,0.032,2536,1613,3684,0,0,0,0,0,0
$GC,2325,-0.64,-194.6,346.5,-10.5,342,2329,0.00,1.00,0.00,0.000,4,0.000,0.039,2530,2305,3682,0,0,0,0,0,0
$GC,2480,-0.67,-194.6,362.1,-10.2,355,2488,0.00,1.02,0.00,0.000,6,0.000,0.036,2531,1610,3681,0,0,0,0,0,0
$GC,2806,-0.68,-194.6,398.6,-11.0,386,2810,0.00,1.05,0.00,0.000,4,0.000,0.041,2531,914,3680,0,0,0,0,0,0
$GC,2881,-0.70,-194.6,406.8,-10.9,392,2888,0.00,1.02,0.00,0.000,6,0.000,0.036,2526,1608,3679,0,0,0,0,0,0
$GC,3207,-0.72,-194.6,438.3,-8.5,423,3211,0.00,1.02,0.00,0.000,4,0.000,0.042,2522,2311,3678,0,0,0,0,0,0
$GC,3259,-0.75,-194.6,442.7,-8.5,427,3267,0.00,1.02,0.00,0.000,6,0.000,0.037,2523,1612,3677,0,0,0,0,0,0
$GC,3585,-0.76,-194.6,474.5,-10.2,458,3589,0.00,1.02,0.00,0.000,4,0.000,0.043,2531,2299,3675,0,0,0,0,0,0
$GC,3622,-0.79,-194.6,477.9,-10.0,461,3626,0.10,1.00,0.00,0.000,6,0.046,0.037,2463,1618,3675,0,0,0,0,0,0
$GC,3953,-0.73,-194.6,529.3,-15.4,492,3957,0.15,1.08,0.00,0.000,4,0.164,0.043,2504,905,3673,0,0,0,0,0,0
$GC,4057,-0.72,-194.6,542.7,-12.5,501,4061,0.00,1.05,0.00,0.000,6,0.000,0.038,2501,1608,3672,0,0,0,0,0,0
$GC,4388,-0.71,-194.6,583.7,-11.8,532,4392,0.00,1.02,0.00,0.000,4,0.000,0.045,2496,2305,3669,0,0,0,0,0,0
$GC,4423,-0.71,-194.6,588.0,-12.2,535,4427,0.00,1.02,0.00,0.000,6,0.000,0.040,2497,1614,3668,0,0,0,0,0,0
$GC,4748,-0.70,-194.6,629.9,-12.7,555,4751,0.00,1.05,0.00,0.000,4,0.000,0.044,2497,904,3666,0,0,0,0,0,0
$GC,4822,-0.68,-194.6,639.7,-12.7,558,4827,0.08,1.05,0.00,0.000,6,0.145,0.039,2518,1605,3666,0,0,0,0,0,0
$GC,5152,-0.70,-194.6,675.5,-11.4,574,5156,0.00,1.05,0.00,0.000,4,0.000,0.045,2518,911,3663,0,0,0,0,0,0
$GC,5213,-0.71,-194.6,683.1,-11.6,576,5219,0.00,1.05,0.00,0.000,6,0.000,0.041,2515,1607,3663,0,0,0,0,0,0
$GC,5532,-0.72,-194.6,719.7,-11.6,592,5536,0.00,1.05,0.00,0.000,4,0.000,0.048,2510,2308,3660,0,0,0,0,0,0
$GC,5583,-0.75,-194.6,726.0,-10.9,594,5587,0.00,1.05,0.00,0.000,6,0.000,0.041,2509,1612,3660,0,0,0,0,0,0
$GC,5913,-0.76,-194.6,763.1,-11.1,610,5917,0.00,1.05,0.00,0.000,4,0.000,0.048,2509,917,3657,0,0,0,0,0,0
$GC,5963,-0.76,-194.6,769.3,-11.4,612,5967,0.00,1.05,0.00,0.000,6,0.000,0.044,2505,1612,3657,0,0,0,0,0,0
$GC,6293,-0.76,-194.6,805.0,-10.6,628,6296,0.00,1.08,0.00,0.000,4,0.000,0.048,2505,916,3654,0,0,0,0,0,0
$GC,6348,-0.76,-194.6,811.4,-10.6,630,6352,0.00,1.05,0.00,0.000,6,0.000,0.045,2500,1601,3654,0,0,0,0,0,0
$GC,6670,-0.76,-194.6,843.8,-9.9,646,6674,0.00,1.05,0.00,0.000,4,0.000,0.050,2500,920,3652,0,0,0,0,0,0
$GC,6750,-0.76,-194.6,852.0,-10.3,649,6754,0.00,1.05,0.00,0.000,6,0.000,0.047,2494,1603,3651,0,0,0,0,0,0
$GC,7072,-0.76,-194.6,884.7,-10.2,665,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1602,3650,0,0,0,0,0,0
$GC,7384,-0.76,-194.6,917.5,-10.9,680,7388,0.00,1.08,0.00,0.000,4,0.000,0.053,2495,911,3648,0,0,0,0,0,0
$GC,7479,-0.76,-194.6,929.4,-12.3,684,7483,0.00,1.10,0.00,0.000,6,0.000,0.050,2490,1610,3647,0,0,0,0,0,0
$GC,7807,-0.76,-194.6,968.6,-11.9,700,7810,0.00,1.10,0.00,0.000,4,0.000,0.054,2490,919,3645,0,0,0,0,0,0
$GC,7864,-0.76,-194.6,975.5,-11.9,702,7868,0.00,1.08,0.00,0.000,6,0.000,0.050,2485,1605,3645,0,0,0,0,0,0
$STATE,7998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7998,begin apogee
$GC,8004,-0.11,0.0,991.8,11.8,709,8176,0.68,0.00,166.65,1.439,6,0.126,0.000,2701,1795,2884,0,0,0,0,0,0
$STATE,8177,end apogee,CONTROL_FINISHED_OK
$STATE,8177,begin climb
$GC,8179,0.64,194.6,997.2,0.0,717,8372,0.70,1.17,179.93,1.384,4,0.070,0.060,2952,2485,2089,0,0,0,0,0,0
$GC,8409,0.62,194.6,974.1,14.6,727,8413,0.00,1.12,0.00,0.000,6,0.000,0.050,2957,1789,2085,0,0,0,0,0,0
$GC,8731,0.59,194.6,926.0,14.9,743,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1789,2081,0,0,0,0,0,0
$GC,9043,0.56,194.6,881.7,14.3,758,9048,0.12,1.08,0.00,0.000,4,0.177,0.057,2922,2476,2079,0,0,0,0,0,0
$GC,9089,0.56,194.6,875.4,12.5,760,9093,0.00,1.10,0.00,0.000,6,0.000,0.048,2924,1765,2078,0,0,0,0,0,0
$GC,9424,0.56,194.6,835.0,12.2,776,9427,0.00,1.12,0.00,0.000,4,0.000,0.057,2924,2487,2077,0,0,0,0,0,0
$GC,9457,0.56,194.6,830.5,12.2,777,9461,0.00,1.08,0.00,0.000,6,0.000,0.047,2927,1784,2077,0,0,0,0,0,0
$GC,9779,0.58,208.5,793.0,11.2,793,9792,0.00,0.00,11.98,1.193,6,0.000,0.000,2927,1784,2033,0,0,0,0,0,0
$GC,10090,0.62,247.8,760.7,10.2,808,10130,0.00,0.00,37.60,1.277,6,0.000,0.000,2927,1784,1873,0,0,0,0,0,0
$GC,10438,0.69,285.4,724.8,10.3,825,10483,0.12,0.00,36.35,1.245,6,0.088,0.000,2992,1784,1718,0,0,0,0,0,0
$GC,10795,0.66,285.4,667.3,16.8,842,10799,0.12,1.10,0.00,0.000,4,0.174,0.053,2957,2477,1713,0,0,0,0,0,0
$GC,10863,0.66,285.4,656.6,13.1,845,10866,0.00,1.08,0.00,0.000,6,0.000,0.045,2960,1781,1713,0,0,0,0,0,0
$GC,11198,0.66,285.4,610.1,13.9,861,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1781,1712,0,0,0,0,0,0
$GC,11511,0.66,285.4,568.1,13.1,887,11515,0.00,1.08,0.00,0.000,4,0.000,0.052,2957,2477,1711,0,0,0,0,0,0
$GC,11539,0.66,285.4,564.5,12.8,889,11546,0.00,1.08,0.00,0.000,6,0.000,0.044,2961,1780,1710,0,0,0,0,0,0
$GC,11864,0.66,285.4,523.9,12.7,920,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1780,1710,0,0,0,0,0,0
$GC,12188,0.66,285.4,484.1,11.9,950,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1780,1710,0,0,0,0,0,0
$GC,12515,0.66,285.4,444.7,12.0,981,12519,0.00,1.08,0.00,0.000,4,0.000,0.052,2958,2477,1709,0,0,0,0,0,0
$GC,12589,0.69,288.9,435.8,11.6,987,12595,0.00,1.08,0.00,0.000,6,0.000,0.044,2961,1777,1709,0,0,0,0,0,0
$GC,12915,0.72,305.0,399.2,11.1,1018,12937,0.00,1.10,17.77,0.974,4,0.000,0.050,2966,1074,1640,0,0,0,0,0,0
$GC,12970,0.77,330.3,393.4,10.8,1023,13004,0.00,1.10,24.17,0.980,6,0.000,0.042,2963,1794,1537,0,0,0,0,0,0
$GC,13321,0.81,341.9,354.1,11.3,1056,13338,0.12,1.10,11.95,0.885,4,0.090,0.044,3038,1071,1489,0,0,0,0,0,0
$GC,13375,0.77,341.9,345.6,18.3,1060,13380,0.12,1.08,0.00,0.000,6,0.145,0.042,2998,1781,1488,0,0,0,0,0,0
$GC,13709,0.77,341.9,296.4,14.7,1091,13712,0.00,1.02,0.00,0.000,4,0.000,0.049,2993,2469,1487,0,0,0,0,0,0
$GC,13756,0.78,341.9,289.3,13.9,1095,13760,0.00,1.05,0.00,0.000,6,0.000,0.043,2996,1777,1487,0,0,0,0,0,0
$GC,14085,0.78,341.9,245.5,13.6,1128,14092,0.00,1.05,0.00,0.000,4,0.000,0.047,3002,1077,1487,0,0,0,0,0,0
$GC,14174,0.78,341.9,232.4,14.4,1144,14182,0.00,1.05,0.00,0.000,6,0.000,0.039,2998,1780,1487,0,0,0,0,0,0
$GC,14505,0.80,341.9,190.0,12.9,1205,14514,0.00,1.10,0.00,0.000,4,0.000,0.047,3002,1071,1487,0,0,0,0,0,0
$GC,14549,0.81,341.9,183.6,13.5,1212,14557,0.00,1.05,0.00,0.000,6,0.000,0.039,2998,1775,1487,0,0,0,0,0,0
$GC,14878,0.87,372.0,144.8,10.6,1273,14910,0.00,1.12,27.95,0.763,4,0.000,0.044,3002,1065,1367,0,0,0,0,0,0
$GC,15031,0.91,372.9,127.6,11.8,1299,15040,0.05,1.08,0.00,0.000,6,0.072,0.038,3050,1785,1364,0,0,0,0,0,0
$GC,15360,0.93,372.9,81.2,12.1,1360,15369,0.00,1.02,0.00,0.000,4,0.000,0.045,3050,2480,1364,0,0,0,0,0,0
$GC,15414,0.95,372.9,74.6,12.0,1369,15423,0.00,1.05,0.00,0.000,6,0.000,0.040,3055,1776,1364,0,0,0,0,0,0
$GC,15744,1.08,450.1,42.5,8.6,1430,15820,0.10,1.08,66.80,0.675,4,0.098,0.041,3128,1072,1046,0,0,0,0,0,0
$GC,15868,1.06,450.1,23.9,16.8,1448,15877,0.12,1.05,0.00,0.000,6,0.136,0.035,3088,1785,1044,0,0,0,0,0,0
$STATE,16035,end climb,SURFACE_DEPTH_REACHED
$STATE,16035,begin surface coast
$FINISH,1.2,1.010849
$STATE,16057,end surface coast,CONTROL_FINISHED_OK
$STATE,16058,begin surface
$SM_CCo,16135,0.00,0.000,0,0,1041,452.09
$SM_GC,2.02,7.62,0.00,0.00,0.037,0.000,0.000,125,1610,1041,-8.06,0.00,452.09,0,0,0,0,0,0
$IRIDIUM_FIX,2340.34,12354.47,131011,141407
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.56
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.70
$XPDR_PINGS,129
$24V_AH,22.9,88.413
$10V_AH,9.8,62.506
$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,19.550,68.425,581.150,0.000,0.000,62.348,78.119,195.277,32.250,0.000,37.107,3699.906,8202.283,645.847,3665.786,487.278,0.000,2049.587,0.000,3314.653,0.000,0.541,0.000
$DEVICE_MAMPS,211.905,68.850,1438.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.903,1515.383,1676.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330376
$DATA_FILE_SIZE,83410,1482
$CAP_FILE_SIZE,174855,0
$CFSIZE,260165632,114302976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.314, 67.7,1
$GPS,131011,185000,2350.651,12356.944,41,1.8,41,-3.4