version: 66.09
glider: 166
mission: 6
dive: 372
start: 10 14 111 4 14 13
data:
$ID,166
$MISSION,6
$DIVE,372
$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,-24867.576
$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,57
$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
$GPS1,141011,040458,2350.582,12356.737,35,99.0,54,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-73.0
$GPS2,141011,041349,2350.735,12356.962,39,1.2,51,-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,249.5,3592,-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,-194.6,0.0,0.0,0,115,0.00,0.00,-95.93,0.000,2,0.000,0.000,124,1591,3135,0,0,0,0,0,0
$GC,118,-0.64,-194.6,5.8,-7.8,13,144,9.38,1.08,-10.55,0.000,4,0.216,0.067,2534,896,3680,0,0,0,0,0,0
$GC,176,-0.48,-194.6,29.0,-38.8,21,185,0.17,1.05,0.00,0.000,6,0.154,0.038,2582,1592,3681,0,0,0,0,0,0
$GC,503,-0.45,-194.6,101.3,-19.9,82,511,0.00,1.05,0.00,0.000,4,0.000,0.042,2577,2309,3683,0,0,0,0,0,0
$GC,543,-0.45,-194.6,108.7,-17.7,88,551,0.00,1.05,0.00,0.000,6,0.000,0.037,2571,1603,3683,0,0,0,0,0,0
$GC,872,-0.46,-194.6,149.6,-9.7,149,880,0.00,1.08,0.00,0.000,4,0.000,0.043,2566,2312,3684,0,0,0,0,0,0
$GC,997,-0.50,-194.6,161.0,-9.8,171,1006,0.00,1.05,0.00,0.000,6,0.000,0.038,2566,1611,3684,0,0,0,0,0,0
$GC,1327,-0.52,-194.6,193.5,-10.3,232,1335,0.00,1.05,0.00,0.000,4,0.000,0.045,2565,913,3684,0,0,0,0,0,0
$GC,1349,-0.55,-194.6,196.5,-11.1,235,1358,0.00,1.05,0.00,0.000,6,0.000,0.039,2560,1612,3684,0,0,0,0,0,0
$GC,1677,-0.57,-194.6,231.9,-10.8,296,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1612,3684,0,0,0,0,0,0
$GC,2013,-0.60,-194.6,265.0,-9.0,343,2016,0.00,1.02,0.00,0.000,4,0.000,0.046,2555,2304,3684,0,0,0,0,0,0
$GC,2082,-0.64,-194.6,271.2,-8.6,349,2086,0.00,1.05,0.00,0.000,6,0.000,0.042,2557,1612,3684,0,0,0,0,0,0
$GC,2414,-0.67,-194.6,304.3,-10.7,380,2418,0.00,1.05,0.00,0.000,4,0.000,0.047,2552,2305,3683,0,0,0,0,0,0
$GC,2462,-0.71,-194.6,309.2,-10.4,384,2466,0.08,1.05,0.00,0.000,6,0.049,0.043,2477,1610,3682,0,0,0,0,0,0
$GC,2792,-0.66,-194.6,365.4,-16.9,415,2797,0.17,1.08,0.00,0.000,4,0.155,0.049,2525,2303,3681,0,0,0,0,0,0
$GC,2826,-0.66,-194.6,370.3,-14.3,418,2830,0.00,1.05,0.00,0.000,6,0.000,0.044,2524,1609,3680,0,0,0,0,0,0
$GC,3157,-0.67,-194.6,411.1,-11.8,449,3161,0.00,1.05,0.00,0.000,4,0.000,0.049,2520,2297,3679,0,0,0,0,0,0
$GC,3225,-0.68,-194.6,418.9,-11.5,455,3229,0.00,1.02,0.00,0.000,6,0.000,0.042,2520,1613,3679,0,0,0,0,0,0
$GC,3556,-0.68,-194.6,458.4,-12.3,486,3560,0.00,1.05,0.00,0.000,4,0.000,0.049,2520,911,3677,0,0,0,0,0,0
$GC,3594,-0.68,-194.6,463.2,-12.2,489,3601,0.00,1.05,0.00,0.000,6,0.000,0.043,2516,1608,3677,0,0,0,0,0,0
$GC,3922,-0.68,-194.6,504.8,-13.1,520,3926,0.00,1.05,0.00,0.000,4,0.000,0.050,2511,2310,3674,0,0,0,0,0,0
$GC,3994,-0.70,-194.6,514.2,-12.0,526,4001,0.00,1.05,0.00,0.000,6,0.000,0.044,2511,1615,3674,0,0,0,0,0,0
$GC,4322,-0.70,-194.6,550.9,-10.5,557,4325,0.00,1.05,0.00,0.000,4,0.000,0.053,2521,2296,3672,0,0,0,0,0,0
$GC,4395,-0.72,-194.6,558.0,-9.0,563,4402,0.00,1.05,0.00,0.000,6,0.000,0.044,2522,1602,3672,0,0,0,0,0,0
$GC,4723,-0.73,-194.6,591.2,-10.7,594,4727,0.00,1.05,0.00,0.000,4,0.000,0.051,2524,907,3670,0,0,0,0,0,0
$GC,4796,-0.74,-194.6,599.8,-11.3,600,4803,0.00,1.08,0.00,0.000,6,0.000,0.045,2519,1608,3669,0,0,0,0,0,0
$GC,5112,-0.74,-194.6,636.3,-11.8,616,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1608,3667,0,0,0,0,0,0
$GC,5424,-0.75,-194.6,670.3,-10.8,631,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1608,3664,0,0,0,0,0,0
$GC,5731,-0.77,-194.6,704.5,-11.0,646,5735,0.00,1.08,0.00,0.000,4,0.000,0.051,2519,914,3662,0,0,0,0,0,0
$GC,5863,-0.78,-194.6,718.6,-10.4,651,5873,0.00,1.08,0.00,0.000,6,0.000,0.047,2514,1609,3661,0,0,0,0,0,0
$GC,6180,-0.79,-194.6,750.0,-10.2,667,6183,0.00,1.10,0.00,0.000,4,0.000,0.055,2508,2315,3658,0,0,0,0,0,0
$GC,6228,-0.81,-194.6,754.7,-10.1,669,6232,0.00,1.08,0.00,0.000,6,0.000,0.047,2509,1611,3658,0,0,0,0,0,0
$GC,6561,-0.81,-194.6,790.1,-10.2,685,6565,0.00,1.08,0.00,0.000,4,0.000,0.054,2509,910,3656,0,0,0,0,0,0
$GC,6645,-0.81,-194.6,799.5,-11.4,688,6652,0.00,1.10,0.00,0.000,6,0.000,0.049,2504,1613,3656,0,0,0,0,0,0
$GC,6964,-0.81,-194.6,833.5,-10.8,704,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1613,3653,0,0,0,0,0,0
$GC,7271,-0.81,-194.6,866.8,-10.5,719,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1613,3651,0,0,0,0,0,0
$GC,7582,-0.82,-194.6,899.6,-10.5,734,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1613,3650,0,0,0,0,0,0
$GC,7889,-0.83,-194.6,931.0,-10.0,749,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1613,3648,0,0,0,0,0,0
$GC,8199,-0.85,-194.6,959.5,-9.1,764,8203,0.00,1.10,0.00,0.000,4,0.000,0.055,2504,913,3646,0,0,0,0,0,0
$GC,8248,-0.86,-194.6,963.9,-9.5,766,8252,0.00,1.10,0.00,0.000,6,0.000,0.051,2499,1611,3645,0,0,0,0,0,0
$STATE,8537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8537,begin apogee
$GC,8543,-0.11,0.0,990.9,9.1,780,8715,0.62,0.00,166.77,1.447,6,0.125,0.000,2700,1786,2884,0,0,0,0,0,0
$STATE,8716,end apogee,CONTROL_FINISHED_OK
$STATE,8716,begin climb
$GC,8719,0.64,194.6,995.5,0.0,788,8912,0.73,1.17,181.38,1.392,4,0.070,0.060,2953,2475,2088,0,0,0,0,0,0
$GC,9011,0.62,194.6,963.6,14.3,801,9019,0.00,1.10,0.00,0.000,6,0.000,0.051,2958,1786,2083,0,0,0,0,0,0
$GC,9330,0.59,194.6,918.8,14.3,817,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1786,2080,0,0,0,0,0,0
$GC,9637,0.56,194.6,875.3,14.1,832,9639,0.12,0.00,0.00,0.000,6,0.179,0.000,2927,1786,2079,0,0,0,0,0,0
$GC,9946,0.56,194.6,836.2,13.2,847,9949,0.00,1.08,0.00,0.000,4,0.000,0.058,2926,2474,2077,0,0,0,0,0,0
$GC,10017,0.56,194.6,827.0,13.7,850,10021,0.00,1.08,0.00,0.000,6,0.000,0.047,2929,1776,2077,0,0,0,0,0,0
$GC,10350,0.56,194.6,781.6,13.2,866,10354,0.00,1.08,0.00,0.000,4,0.000,0.054,2934,1072,2075,0,0,0,0,0,0
$GC,10388,0.56,194.6,776.4,13.4,867,10395,0.00,1.10,0.00,0.000,6,0.000,0.047,2933,1782,2075,0,0,0,0,0,0
$GC,10706,0.57,202.7,737.9,11.5,883,10714,0.00,0.00,6.15,1.001,6,0.000,0.000,2934,1782,2057,0,0,0,0,0,0
$GC,11014,0.62,243.2,705.2,10.1,898,11055,0.00,0.00,39.05,1.256,6,0.000,0.000,2934,1782,1892,0,0,0,0,0,0
$GC,11365,0.67,272.9,668.7,10.6,915,11399,0.00,1.17,28.25,1.203,4,0.000,0.053,2939,1066,1770,0,0,0,0,0,0
$GC,11464,0.71,290.1,657.4,11.1,919,11485,0.00,1.12,17.48,1.145,6,0.000,0.046,2938,1785,1701,0,0,0,0,0,0
$GC,11806,0.75,300.7,618.3,11.4,936,11820,0.12,0.00,11.12,1.073,6,0.086,0.000,3006,1785,1657,0,0,0,0,0,0
$GC,12144,0.71,300.7,561.1,16.8,962,12149,0.12,1.08,0.00,0.000,4,0.172,0.055,2971,2484,1653,0,0,0,0,0,0
$GC,12172,0.70,300.7,556.6,15.0,964,12179,0.00,1.08,0.00,0.000,6,0.000,0.045,2974,1781,1652,0,0,0,0,0,0
$GC,12497,0.70,300.7,514.4,12.8,995,12500,0.00,1.08,0.00,0.000,4,0.000,0.054,2973,2483,1652,0,0,0,0,0,0
$GC,12524,0.70,300.7,510.7,12.3,997,12532,0.00,1.08,0.00,0.000,6,0.000,0.045,2977,1775,1652,0,0,0,0,0,0
$GC,12849,0.70,300.7,469.2,13.8,1028,12853,0.00,1.05,0.00,0.000,4,0.000,0.050,2983,1075,1652,0,0,0,0,0,0
$GC,12879,0.70,300.7,465.0,14.5,1030,12886,0.00,1.08,0.00,0.000,6,0.000,0.043,2982,1783,1652,0,0,0,0,0,0
$GC,13204,0.70,300.7,420.1,12.9,1061,13207,0.00,1.05,0.00,0.000,4,0.000,0.052,2982,2486,1652,0,0,0,0,0,0
$GC,13252,0.70,300.7,414.6,11.9,1065,13256,0.00,1.08,0.00,0.000,6,0.000,0.044,2986,1779,1651,0,0,0,0,0,0
$GC,13582,0.70,300.7,375.3,11.8,1096,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1779,1651,0,0,0,0,0,0
$GC,13905,0.70,300.7,335.7,12.7,1126,13909,0.00,1.08,0.00,0.000,4,0.000,0.050,2983,2479,1651,0,0,0,0,0,0
$GC,13952,0.71,300.7,329.3,12.8,1130,13956,0.00,1.08,0.00,0.000,6,0.000,0.044,2986,1767,1651,0,0,0,0,0,0
$GC,14285,0.71,300.7,287.6,12.6,1161,14288,0.00,1.10,0.00,0.000,4,0.000,0.049,2983,2492,1652,0,0,0,0,0,0
$GC,14322,0.72,300.7,282.4,12.2,1164,14330,0.00,1.08,0.00,0.000,6,0.000,0.043,2986,1777,1651,0,0,0,0,0,0
$GC,14649,0.75,323.7,246.4,10.9,1198,14679,0.00,0.00,21.50,0.848,6,0.000,0.000,2986,1777,1563,0,0,0,0,0,0
$GC,15001,0.80,353.8,209.3,10.6,1262,15032,0.00,0.00,27.70,0.819,6,0.000,0.000,2986,1777,1441,0,0,0,0,0,0
$GC,15352,0.85,366.8,167.6,11.3,1326,15369,0.00,1.10,12.80,0.732,4,0.000,0.047,2992,1069,1388,0,0,0,0,0,0
$GC,15405,0.91,385.6,161.1,11.0,1334,15428,0.10,1.08,18.08,0.748,6,0.053,0.038,3063,1788,1311,0,0,0,0,0,0
$GC,15754,0.91,385.6,106.8,12.8,1397,15762,0.00,1.00,0.00,0.000,4,0.000,0.045,3063,2476,1310,0,0,0,0,0,0
$GC,15830,0.91,385.6,96.6,13.1,1410,15838,0.00,1.05,0.00,0.000,6,0.000,0.040,3067,1777,1309,0,0,0,0,0,0
$GC,16158,0.91,385.6,53.6,13.2,1471,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1777,1309,0,0,0,0,0,0
$GC,16486,0.98,417.0,21.2,10.5,1532,16517,0.00,0.00,27.85,0.641,6,0.000,0.000,3067,1777,1183,0,0,0,0,0,0
$STATE,16659,end climb,SURFACE_DEPTH_REACHED
$STATE,16659,begin surface coast
$FINISH,1.2,1.021876
$STATE,16686,end surface coast,CONTROL_FINISHED_OK
$STATE,16686,begin surface
$SM_CCo,16706,35.95,0.398,1,0,1048,450.13
$SM_GC,2.09,0.00,0.00,35.95,0.000,0.000,0.398,126,1604,1048,-8.18,-0.17,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2340.34,12359.70,131011,232329
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.36
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.80
$XPDR_PINGS,113
$24V_AH,22.7,89.095
$10V_AH,9.8,63.021
$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,19.150,60.425,558.125,35.950,0.000,30.705,41.510,236.573,28.250,0.000,52.450,3892.696,8367.259,671.726,3817.889,509.476,0.000,2087.479,0.000,3481.562,0.000,0.542,0.000
$DEVICE_MAMPS,215.730,71.910,1447.380,397.800,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.663,1606.930,1902.542,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86809,1568
$CAP_FILE_SIZE,174694,0
$CFSIZE,260165632,114028544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.315, 79.6,1
$GPS,141011,085457,2350.105,12357.248,34,2.2,53,-3.4