version: 66.09
glider: 166
mission: 6
dive: 332
start: 10 6 111 11 11 21
data:
$ID,166
$MISSION,6
$DIVE,332
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$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,595.83368
$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,-24817.238
$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
$GPS1,061011,105045,2314.759,12154.248,46,1.9,55,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-61.1
$GPS2,061011,111058,2315.201,12154.311,17,2.3,36,-3.1
$SPEED_LIMITS,0.204,0.374
$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,109.4,214373,-14.6,-11.786
$D_GRID,3852
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.68,-292.0,0.0,0.0,0,131,0.00,0.00,-109.30,0.000,2,0.000,0.000,151,1604,3046,0,0,0,0,0,0
$GC,134,-0.68,-292.0,5.3,-6.2,15,167,9.68,1.10,-17.77,0.000,4,0.231,0.069,2520,897,3964,0,0,0,0,0,0
$GC,253,-0.58,-292.0,42.9,-25.6,34,262,0.10,1.05,0.00,0.000,6,0.142,0.041,2545,1588,3965,0,0,0,0,0,0
$GC,581,-0.53,-292.0,112.3,-17.5,95,589,0.10,0.00,0.00,0.000,6,0.179,0.000,2572,1589,3965,0,0,0,0,0,0
$GC,908,-0.53,-292.0,159.1,-12.9,156,917,0.00,1.08,0.00,0.000,4,0.000,0.043,2568,2320,3965,0,0,0,0,0,0
$GC,1050,-0.53,-292.0,176.5,-12.2,181,1058,0.00,1.08,0.00,0.000,6,0.000,0.040,2565,1604,3965,0,0,0,0,0,0
$GC,1379,-0.54,-292.0,214.6,-9.5,242,1387,0.00,1.08,0.00,0.000,4,0.000,0.045,2560,2313,3965,0,0,0,0,0,0
$GC,1515,-0.57,-292.0,226.9,-9.8,266,1523,0.00,1.05,0.00,0.000,6,0.000,0.041,2560,1614,3965,0,0,0,0,0,0
$GC,1847,-0.59,-292.0,260.6,-8.7,317,1850,0.00,1.08,0.00,0.000,4,0.000,0.047,2555,2311,3964,0,0,0,0,0,0
$GC,1987,-0.62,-292.0,272.5,-8.9,329,1991,0.00,1.08,0.00,0.000,6,0.000,0.042,2555,1603,3963,0,0,0,0,0,0
$GC,2321,-0.64,-292.0,307.5,-11.1,360,2325,0.00,1.08,0.00,0.000,4,0.000,0.047,2551,2311,3961,0,0,0,0,0,0
$GC,2514,-0.67,-292.0,325.5,-9.0,377,2518,0.00,1.05,0.00,0.000,6,0.000,0.041,2553,1613,3959,0,0,0,0,0,0
$GC,2845,-0.69,-292.0,358.6,-10.3,408,2850,0.15,1.10,0.00,0.000,4,0.073,0.050,2478,2316,3957,0,0,0,0,0,0
$GC,2929,-0.63,-292.0,371.8,-16.4,415,2936,0.17,1.08,0.00,0.000,6,0.130,0.043,2536,1605,3956,0,0,0,0,0,0
$GC,3255,-0.63,-292.0,411.3,-11.2,446,3258,0.00,1.08,0.00,0.000,4,0.000,0.049,2533,2305,3954,0,0,0,0,0,0
$GC,3371,-0.64,-292.0,422.2,-9.3,456,3374,0.00,1.05,0.00,0.000,6,0.000,0.043,2533,1610,3953,0,0,0,0,0,0
$GC,3701,-0.64,-292.0,463.0,-12.4,487,3705,0.00,1.10,0.00,0.000,4,0.000,0.053,2529,2310,3950,0,0,0,0,0,0
$GC,3821,-0.65,-292.0,475.4,-10.1,497,3828,0.00,1.08,0.00,0.000,6,0.000,0.044,2529,1604,3949,0,0,0,0,0,0
$GC,4147,-0.65,-292.0,511.5,-10.8,528,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1604,3946,0,0,0,0,0,0
$GC,4471,-0.65,-292.0,544.0,-9.7,558,4474,0.00,1.08,0.00,0.000,4,0.000,0.053,2524,2301,3944,0,0,0,0,0,0
$GC,4608,-0.67,-292.0,556.7,-8.8,570,4612,0.00,1.05,0.00,0.000,6,0.000,0.046,2524,1612,3942,0,0,0,0,0,0
$GC,4940,-0.67,-292.0,593.9,-11.9,601,4943,0.00,1.08,0.00,0.000,4,0.000,0.053,2524,910,3939,0,0,0,0,0,0
$GC,4975,-0.67,-292.0,598.0,-11.6,604,4978,0.00,1.08,0.00,0.000,6,0.000,0.048,2518,1607,3939,0,0,0,0,0,0
$GC,5310,-0.67,-292.0,636.9,-11.7,621,5313,0.00,1.05,0.00,0.000,4,0.000,0.054,2513,2300,3936,0,0,0,0,0,0
$GC,5371,-0.67,-292.0,644.0,-10.5,623,5378,0.00,1.05,0.00,0.000,6,0.000,0.047,2513,1615,3936,0,0,0,0,0,0
$GC,5687,-0.67,-292.0,680.5,-11.3,639,5691,0.00,1.08,0.00,0.000,4,0.000,0.057,2509,2304,3933,0,0,0,0,0,0
$GC,5744,-0.67,-292.0,686.8,-10.7,641,5748,0.00,1.08,0.00,0.000,6,0.000,0.049,2508,1608,3933,0,0,0,0,0,0
$GC,6066,-0.67,-292.0,723.6,-11.7,657,6070,0.00,1.08,0.00,0.000,4,0.000,0.055,2509,906,3931,0,0,0,0,0,0
$GC,6119,-0.67,-292.0,729.8,-11.9,659,6122,0.00,1.10,0.00,0.000,6,0.000,0.050,2504,1609,3930,0,0,0,0,0,0
$GC,6446,-0.65,-292.0,768.0,-11.6,675,6451,0.10,1.08,0.00,0.000,4,0.177,0.058,2527,2298,3928,0,0,0,0,0,0
$GC,6485,-0.67,-292.0,772.3,-10.5,676,6493,0.00,1.08,0.00,0.000,6,0.000,0.047,2527,1601,3927,0,0,0,0,0,0
$GC,6804,-0.69,-292.0,803.4,-10.0,692,6808,0.00,1.10,0.00,0.000,4,0.000,0.057,2522,2303,3925,0,0,0,0,0,0
$GC,6838,-0.71,-292.0,807.1,-10.1,693,6841,0.00,1.08,0.00,0.000,6,0.000,0.050,2522,1610,3925,0,0,0,0,0,0
$GC,7163,-0.72,-292.0,839.5,-10.0,709,7166,0.00,1.12,0.00,0.000,4,0.000,0.061,2517,2308,3923,0,0,0,0,0,0
$GC,7202,-0.74,-292.0,843.6,-9.3,710,7209,0.00,1.08,0.00,0.000,6,0.000,0.052,2517,1614,3922,0,0,0,0,0,0
$GC,7518,-0.74,-292.0,874.1,-9.6,726,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1614,3921,0,0,0,0,0,0
$GC,7830,-0.74,-292.0,902.7,-9.0,741,7834,0.00,1.10,0.00,0.000,4,0.000,0.063,2512,2309,3918,0,0,0,0,0,0
$GC,7891,-0.76,-292.0,908.3,-8.5,743,7898,0.00,1.10,0.00,0.000,6,0.000,0.053,2512,1609,3918,0,0,0,0,0,0
$GC,8209,-0.76,-292.0,937.9,-9.5,759,8213,0.00,1.10,0.00,0.000,4,0.000,0.063,2507,2302,3917,0,0,0,0,0,0
$GC,8242,-0.76,-292.0,941.3,-9.4,760,8246,0.00,1.08,0.00,0.000,6,0.000,0.053,2507,1613,3917,0,0,0,0,0,0
$GC,8564,-0.76,-292.0,973.7,-10.4,776,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1612,3915,0,0,0,0,0,0
$STATE,8726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8727,begin apogee
$GC,8735,-0.11,0.0,991.2,10.7,784,8970,0.60,0.00,224.98,1.442,6,0.119,0.000,2703,1782,2883,0,0,0,0,0,0
$STATE,8975,end apogee,CONTROL_FINISHED_OK
$STATE,8975,begin climb
$GC,8977,0.68,292.0,1002.6,0.0,795,9265,0.73,1.23,273.30,1.381,4,0.050,0.061,2978,2481,1693,0,0,0,0,0,0
$GC,9287,0.61,292.0,962.6,18.4,809,9291,0.12,1.15,0.00,0.000,6,0.155,0.050,2947,1788,1692,0,0,0,0,0,0
$GC,9611,0.57,292.0,912.5,15.4,825,9615,0.00,1.12,0.00,0.000,4,0.000,0.060,2944,2487,1687,0,0,0,0,0,0
$GC,9679,0.53,292.0,901.8,14.9,828,9683,0.00,1.10,0.00,0.000,6,0.000,0.050,2947,1781,1687,0,0,0,0,0,0
$GC,10012,0.49,292.0,853.0,14.5,844,10016,0.15,1.10,0.00,0.000,4,0.165,0.057,2903,2482,1685,0,0,0,0,0,0
$GC,10060,0.52,318.9,847.4,11.1,846,10090,0.00,1.08,25.77,1.295,6,0.000,0.047,2905,1783,1582,0,0,0,0,0,0
$GC,10413,0.59,362.4,810.4,10.6,863,10460,0.00,1.12,41.38,1.304,4,0.000,0.053,2910,1077,1406,0,0,0,0,0,0
$GC,10498,0.69,423.1,801.4,10.1,866,10562,0.12,1.12,57.47,1.286,6,0.047,0.044,2982,1793,1158,0,0,0,0,0,0
$GC,10881,0.64,423.1,727.1,19.9,885,10885,0.12,1.08,0.00,0.000,4,0.172,0.057,2947,2485,1153,0,0,0,0,0,0
$GC,11038,0.64,423.1,704.2,12.9,892,11042,0.00,1.10,0.00,0.000,6,0.000,0.046,2949,1772,1152,0,0,0,0,0,0
$GC,11372,0.64,423.1,659.4,13.3,908,11376,0.00,1.05,0.00,0.000,4,0.000,0.053,2954,1080,1150,0,0,0,0,0,0
$GC,11404,0.64,423.1,655.0,12.4,909,11409,0.00,1.08,0.00,0.000,6,0.000,0.044,2954,1784,1150,0,0,0,0,0,0
$GC,11729,0.64,423.1,613.1,13.4,925,11730,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1784,1150,0,0,0,0,0,0
$GC,12042,0.64,423.1,572.2,13.5,950,12045,0.00,1.10,0.00,0.000,4,0.000,0.050,2959,1068,1149,0,0,0,0,0,0
$GC,12080,0.64,423.1,566.7,13.7,953,12088,0.00,1.08,0.00,0.000,6,0.000,0.044,2959,1773,1149,0,0,0,0,0,0
$GC,12405,0.64,423.1,519.9,14.5,984,12409,0.00,1.08,0.00,0.000,4,0.000,0.054,2959,2482,1149,0,0,0,0,0,0
$GC,12432,0.64,423.1,515.9,13.9,986,12439,0.00,1.08,0.00,0.000,6,0.000,0.044,2963,1773,1149,0,0,0,0,0,0
$GC,12758,0.64,423.1,473.7,12.4,1017,12762,0.00,1.05,0.00,0.000,4,0.000,0.050,2967,1071,1149,0,0,0,0,0,0
$GC,12793,0.64,423.1,469.1,12.9,1020,12796,0.00,1.08,0.00,0.000,6,0.000,0.044,2967,1780,1149,0,0,0,0,0,0
$GC,13123,0.64,423.1,421.6,13.7,1051,13127,0.00,1.05,0.00,0.000,4,0.000,0.054,2967,2480,1149,0,0,0,0,0,0
$GC,13184,0.64,423.1,413.4,12.7,1056,13192,0.00,1.08,0.00,0.000,6,0.000,0.043,2971,1774,1149,0,0,0,0,0,0
$GC,13509,0.64,423.1,369.5,13.9,1087,13513,0.00,1.05,0.00,0.000,4,0.000,0.049,2976,1073,1149,0,0,0,0,0,0
$GC,13537,0.64,423.1,365.4,14.1,1089,13544,0.00,1.08,0.00,0.000,6,0.000,0.041,2976,1791,1148,0,0,0,0,0,0
$GC,13864,0.64,423.1,318.8,13.6,1120,13865,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1791,1148,0,0,0,0,0,0
$GC,14182,0.64,423.1,278.8,12.6,1150,14183,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1794,1148,0,0,0,0,0,0
$GC,14502,0.66,439.1,238.7,11.3,1188,14519,0.00,0.00,14.05,0.820,6,0.000,0.000,2976,1794,1093,0,0,0,0,0,0
$GC,14841,0.73,482.3,199.9,10.6,1250,14886,0.00,1.15,38.28,0.835,4,0.000,0.046,2980,1073,917,0,0,0,0,0,0
$GC,15023,0.93,610.4,184.2,8.3,1281,15144,0.15,1.08,108.45,0.795,6,0.037,0.038,3075,1791,454,0,0,0,0,1,0
$GC,15465,0.90,610.4,87.8,19.1,1357,15473,0.15,1.02,0.00,0.000,4,0.151,0.047,3029,2474,446,0,0,0,0,0,0
$GC,15662,1.11,731.8,67.2,8.5,1393,15671,0.15,1.05,0.00,0.000,6,0.036,0.040,3141,1777,442,0,0,0,0,0,0
$STATE,15991,end climb,SURFACE_DEPTH_REACHED
$STATE,15991,begin surface coast
$FINISH,1.4,1.022110
$STATE,16003,end surface coast,CONTROL_FINISHED_OK
$STATE,16003,begin surface
$SM_CCo,16081,0.00,0.000,0,0,436,600.49
$SM_GC,2.15,7.90,0.00,0.00,0.042,0.000,0.000,159,1607,436,-8.05,-0.08,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2307.44,12152.12,061011,111134
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,23.30
$XPDR_PINGS,104
$24V_AH,22.4,80.204
$10V_AH,9.8,56.260
$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,20.500,67.625,783.675,0.000,0.000,151.105,149.580,397.506,26.000,0.000,38.282,3603.968,8293.061,763.300,4097.246,513.912,0.000,2229.828,0.000,3317.948,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,75.735,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,997.442,1492.655,1608.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324600
$DATA_FILE_SIZE,83417,1456
$CAP_FILE_SIZE,178927,0
$CFSIZE,260165632,117620736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.314, 15.2,1
$GPS,061011,154057,2316.932,12157.932,36,99.0,55,-3.1