version: 66.09
glider: 166
mission: 6
dive: 324
start: 10 5 111 0 20 22
data:
$ID,166
$MISSION,6
$DIVE,324
$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,240
$T_MISSION,300
$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,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,-24807.08
$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,48
$R_STBD_OVSHOOT,64
$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,300
$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,4
$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
$GPS1,051011,001307,2303.851,12128.185,33,1.7,33,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.6
$GPS2,051011,001958,2303.815,12128.225,13,2.8,32,-3.0
$SPEED_LIMITS,0.238,0.395
$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,90.7,262948,-16.7,-13.750
$D_GRID,835
$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,-0.73,-292.0,0.0,0.0,0,114,0.00,0.00,-94.60,0.000,2,0.000,0.000,159,1603,2687,0,0,0,0,0,0
$GC,117,-0.73,-292.0,5.3,-6.2,13,157,9.20,1.08,-24.15,0.000,4,0.226,0.070,2489,898,3963,0,0,0,0,0,0
$GC,250,-0.59,-292.0,53.0,-33.4,35,260,0.20,1.02,0.00,0.000,6,0.152,0.035,2546,1596,3965,0,0,0,0,0,0
$GC,579,-0.58,-292.0,119.3,-14.6,96,587,0.00,1.02,0.00,0.000,4,0.000,0.041,2541,2306,3966,0,0,0,0,0,0
$GC,831,-0.60,-292.0,149.8,-10.8,142,839,0.00,1.02,0.00,0.000,6,0.000,0.037,2537,1600,3967,0,0,0,0,0,0
$GC,1161,-0.62,-292.0,187.8,-13.0,203,1170,0.00,1.05,0.00,0.000,4,0.000,0.041,2532,2313,3967,0,0,0,0,0,0
$GC,1261,-0.65,-292.0,200.0,-11.6,221,1270,0.00,1.02,0.00,0.000,6,0.000,0.036,2532,1609,3967,0,0,0,0,0,0
$GC,1589,-0.66,-292.0,240.6,-11.9,282,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1609,3967,0,0,0,0,0,0
$GC,1919,-0.68,-292.0,280.6,-11.7,319,1923,0.00,1.02,0.00,0.000,4,0.000,0.045,2529,2294,3966,0,0,0,0,0,0
$GC,2012,-0.71,-292.0,290.5,-9.6,327,2020,0.00,1.00,0.00,0.000,6,0.000,0.039,2530,1617,3966,0,0,0,0,0,0
$GC,2338,-0.73,-292.0,326.4,-12.0,358,2342,0.00,1.02,0.00,0.000,4,0.000,0.047,2527,2295,3964,0,0,0,0,0,0
$GC,2384,-0.77,-292.0,331.4,-10.6,362,2388,0.00,1.02,0.00,0.000,6,0.000,0.041,2527,1607,3964,0,0,0,0,0,0
$GC,2715,-0.79,-292.0,371.2,-12.6,393,2720,0.15,1.08,0.00,0.000,4,0.073,0.049,2459,908,3962,0,0,0,0,0,0
$GC,2776,-0.73,-292.0,381.8,-18.1,398,2783,0.15,1.05,0.00,0.000,6,0.145,0.043,2502,1599,3962,0,0,0,0,0,0
$GC,3101,-0.72,-292.0,429.6,-13.9,429,3105,0.00,1.05,0.00,0.000,4,0.000,0.050,2499,2305,3960,0,0,0,0,0,0
$GC,3182,-0.72,-292.0,441.0,-13.6,436,3185,0.00,1.05,0.00,0.000,6,0.000,0.044,2499,1612,3959,0,0,0,0,0,0
$GC,3515,-0.70,-292.0,491.2,-15.5,467,3519,0.00,1.08,0.00,0.000,4,0.000,0.051,2499,904,3957,0,0,0,0,0,0
$GC,3550,-0.69,-292.0,496.9,-15.4,470,3553,0.00,1.08,0.00,0.000,6,0.000,0.045,2494,1606,3956,0,0,0,0,0,0
$GC,3881,-0.67,-292.0,547.6,-16.5,501,3885,0.12,1.08,0.00,0.000,4,0.168,0.052,2525,2300,3954,0,0,0,0,0,0
$GC,3938,-0.71,-292.0,555.6,-12.7,506,3942,0.00,1.05,0.00,0.000,6,0.000,0.045,2525,1614,3954,0,0,0,0,0,0
$GC,4270,-0.73,-292.0,598.3,-12.5,537,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1614,3951,0,0,0,0,0,0
$GC,4580,-0.75,-292.0,636.9,-12.4,553,4583,0.00,1.08,0.00,0.000,4,0.000,0.056,2521,2298,3949,0,0,0,0,0,0
$GC,4617,-0.78,-292.0,641.0,-11.5,554,4621,0.00,1.05,0.00,0.000,6,0.000,0.047,2521,1619,3948,0,0,0,0,0,0
$GC,4939,-0.80,-292.0,676.4,-10.7,570,4941,0.10,0.00,0.00,0.000,6,0.100,0.000,2463,1619,3946,0,0,0,0,0,0
$GC,5250,-0.77,-292.0,724.6,-15.6,585,5255,0.12,1.10,0.00,0.000,4,0.170,0.054,2497,915,3943,0,0,0,0,0,0
$GC,5277,-0.75,-292.0,728.7,-14.6,586,5281,0.00,1.08,0.00,0.000,6,0.000,0.049,2494,1607,3943,0,0,0,0,0,0
$GC,5604,-0.75,-292.0,766.0,-11.3,602,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1607,3941,0,0,0,0,0,0
$GC,5916,-0.75,-292.0,803.4,-12.6,617,5919,0.00,1.08,0.00,0.000,4,0.000,0.053,2494,911,3939,0,0,0,0,0,0
$GC,5943,-0.75,-292.0,807.5,-12.8,618,5947,0.00,1.08,0.00,0.000,6,0.000,0.050,2489,1604,3938,0,0,0,0,0,0
$STATE,6165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6165,begin apogee
$GC,6173,-0.11,0.0,837.3,13.3,629,6399,0.65,0.00,219.68,1.320,6,0.123,0.000,2701,1784,2883,0,0,0,0,0,0
$STATE,6403,end apogee,CONTROL_FINISHED_OK
$STATE,6403,begin climb
$GC,6406,0.73,292.0,848.9,0.0,639,6667,0.77,0.00,257.75,1.270,6,0.054,0.000,2988,1782,1693,0,0,0,0,0,0
$GC,6969,0.67,292.0,766.7,16.4,667,6973,0.00,1.08,0.00,0.000,4,0.000,0.059,2987,2485,1687,0,0,0,0,0,0
$GC,7118,0.61,292.0,741.0,17.6,673,7123,0.12,1.08,0.00,0.000,6,0.151,0.048,2951,1782,1686,0,0,0,0,0,0
$GC,7440,0.59,292.0,694.1,14.3,689,7444,0.00,1.08,0.00,0.000,4,0.000,0.056,2949,2485,1684,0,0,0,0,0,0
$GC,7489,0.58,292.0,687.4,14.0,691,7492,0.00,1.08,0.00,0.000,6,0.000,0.046,2952,1783,1684,0,0,0,0,0,0
$GC,7822,0.56,292.0,636.2,14.9,707,7825,0.00,1.08,0.00,0.000,4,0.000,0.055,2951,2481,1683,0,0,0,0,0,0
$GC,7879,0.55,292.0,627.9,14.1,709,7883,0.08,1.08,0.00,0.000,6,0.151,0.044,2930,1781,1683,0,0,0,0,0,0
$GC,8205,0.71,406.0,592.7,10.1,728,8319,0.12,1.12,102.22,1.167,4,0.090,0.051,2996,2485,1228,0,0,0,0,0,0
$GC,8355,0.66,406.0,565.5,19.9,741,8359,0.12,1.10,0.00,0.000,6,0.147,0.044,2961,1781,1226,0,0,0,0,0,0
$GC,8685,0.66,406.0,516.3,14.3,772,8689,0.00,1.08,0.00,0.000,4,0.000,0.051,2957,2480,1223,0,0,0,0,0,0
$GC,8733,0.68,406.0,509.5,14.8,776,8736,0.00,1.08,0.00,0.000,6,0.000,0.044,2960,1776,1223,0,0,0,0,0,0
$GC,9064,0.69,411.9,461.2,13.6,807,9076,0.00,1.08,5.90,0.825,4,0.000,0.050,2959,2488,1203,0,0,0,0,0,0
$GC,9115,0.73,435.5,454.5,13.0,811,9142,0.00,1.08,22.08,1.040,6,0.000,0.044,2962,1782,1107,0,0,0,0,0,0
$GC,9470,0.74,435.5,405.4,14.4,844,9474,0.00,1.05,0.00,0.000,4,0.000,0.047,2967,1077,1105,0,0,0,0,0,0
$GC,9493,0.76,435.5,401.8,14.3,846,9497,0.00,1.08,0.00,0.000,6,0.000,0.041,2967,1787,1104,0,0,0,0,0,0
$GC,9825,0.77,435.5,353.2,13.8,877,9829,0.00,1.02,0.00,0.000,4,0.000,0.050,2967,2478,1104,0,0,0,0,0,0
$GC,9862,0.80,445.2,348.3,13.4,880,9876,0.00,1.05,9.20,0.873,6,0.000,0.041,2972,1777,1068,0,0,0,0,0,0
$GC,10193,0.82,445.2,301.7,15.3,911,10195,0.10,0.00,0.00,0.000,6,0.101,0.000,3035,1777,1067,0,0,0,0,0,0
$GC,10515,0.77,445.2,227.1,21.3,950,10524,0.15,1.08,0.00,0.000,4,0.159,0.050,2991,2475,1067,0,0,0,0,0,0
$GC,10624,0.78,445.2,209.3,14.1,969,10632,0.00,1.05,0.00,0.000,6,0.000,0.041,2993,1777,1066,0,0,0,0,0,0
$GC,10950,0.78,445.2,158.5,16.2,1030,10958,0.00,1.08,0.00,0.000,4,0.000,0.047,2992,2491,1066,0,0,0,0,0,0
$GC,10982,0.79,445.2,153.4,15.2,1035,10990,0.00,1.08,0.00,0.000,6,0.000,0.041,2996,1774,1066,0,0,0,0,0,0
$GC,11311,1.05,607.5,117.4,8.6,1096,11464,0.22,1.15,136.43,0.773,4,0.057,0.044,3114,2490,455,0,0,0,0,1,0
$GC,11498,1.05,607.5,81.7,17.3,1122,11507,0.12,1.10,0.00,0.000,6,0.125,0.041,3077,1781,453,0,0,0,0,0,0
$GC,11828,1.34,787.8,50.8,8.1,1183,11837,0.25,1.05,0.00,0.000,4,0.051,0.042,3220,1078,445,0,0,0,0,0,0
$STATE,12034,end climb,SURFACE_DEPTH_REACHED
$STATE,12034,begin surface coast
$FINISH,1.4,1.020968
$STATE,12045,end surface coast,CONTROL_FINISHED_OK
$STATE,12045,begin surface
$SM_CCo,12126,0.00,0.000,0,0,439,599.76
$SM_GC,2.05,7.97,0.00,0.00,0.034,0.000,0.000,158,1648,439,-8.04,1.07,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2255.72,12122.33,041011,222245
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.22
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.30
$XPDR_PINGS,108
$ALTIM_BOTTOM_PING,535.2,0.0
$24V_AH,23.5,77.793
$10V_AH,9.9,54.946
$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,20.750,51.050,753.250,0.000,0.000,24.902,42.955,183.034,27.250,0.000,34.243,2976.642,5379.834,766.407,3013.123,395.992,0.000,1916.950,0.000,2753.317,0.000,6.664,0.000
$DEVICE_MAMPS,225.675,70.380,1319.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.305,1251.417,1567.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324660
$DATA_FILE_SIZE,70148,1223
$CAP_FILE_SIZE,137310,0
$CFSIZE,260165632,118403072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,341.2,1
$GPS,051011,034337,2304.477,12130.503,32,1.5,32,-3.0