version: 66.09
glider: 166
mission: 6
dive: 328
start: 10 5 111 16 11 56
data:
$ID,166
$MISSION,6
$DIVE,328
$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,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,-24812.109
$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,43
$R_STBD_OVSHOOT,50
$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
$GPS1,051011,160424,2308.952,12139.731,41,2.0,58,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-63.3
$GPS2,051011,161132,2309.054,12139.761,14,2.0,14,-3.0
$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,105.1,241328,-14.6,-11.786
$D_GRID,1587
$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,-0.68,-292.0,0.0,0.0,0,129,0.00,0.00,-109.35,0.000,2,0.000,0.000,152,1591,3040,0,0,0,0,0,0
$GC,132,-0.68,-292.0,5.3,-5.4,15,164,9.43,1.08,-17.92,0.000,4,0.223,0.070,2511,903,3963,0,0,0,0,0,0
$GC,270,-0.56,-292.0,52.4,-33.9,38,279,0.17,1.05,0.00,0.000,6,0.143,0.040,2559,1597,3965,0,0,0,0,0,0
$GC,597,-0.52,-292.0,116.3,-16.3,99,605,0.00,1.05,0.00,0.000,4,0.000,0.041,2554,2320,3965,0,0,0,0,0,0
$GC,849,-0.53,-292.0,149.2,-11.0,145,858,0.00,1.05,0.00,0.000,6,0.000,0.036,2552,1605,3966,0,0,0,0,0,0
$GC,1178,-0.53,-292.0,188.8,-11.8,206,1186,0.00,1.05,0.00,0.000,4,0.000,0.042,2547,2311,3966,0,0,0,0,0,0
$GC,1431,-0.55,-292.0,214.9,-9.4,252,1439,0.00,1.02,0.00,0.000,6,0.000,0.037,2546,1614,3966,0,0,0,0,0,0
$GC,1758,-0.55,-292.0,248.7,-10.2,313,1767,0.00,1.05,0.00,0.000,4,0.000,0.042,2542,2313,3966,0,0,0,0,0,0
$GC,1889,-0.58,-292.0,261.3,-9.1,325,1896,0.00,1.05,0.00,0.000,6,0.000,0.036,2542,1603,3966,0,0,0,0,0,0
$GC,2214,-0.58,-292.0,296.5,-10.4,356,2218,0.00,1.08,0.00,0.000,4,0.000,0.044,2538,2316,3964,0,0,0,0,0,0
$GC,2298,-0.60,-292.0,305.7,-9.9,363,2305,0.00,1.05,0.00,0.000,6,0.000,0.037,2539,1607,3963,0,0,0,0,0,0
$GC,2626,-0.61,-292.0,343.3,-11.0,394,2630,0.00,1.05,0.00,0.000,4,0.000,0.045,2551,2304,3962,0,0,0,0,0,0
$GC,2753,-0.64,-292.0,355.4,-9.0,405,2756,0.00,1.02,0.00,0.000,6,0.000,0.041,2551,1622,3960,0,0,0,0,0,0
$GC,3084,-0.65,-292.0,387.2,-9.3,436,3088,0.00,1.05,0.00,0.000,4,0.000,0.047,2547,2315,3958,0,0,0,0,0,0
$GC,3179,-0.68,-292.0,395.7,-8.3,444,3186,0.00,1.08,0.00,0.000,6,0.000,0.041,2547,1603,3958,0,0,0,0,0,0
$GC,3504,-0.68,-292.0,428.4,-10.2,475,3508,0.00,1.08,0.00,0.000,4,0.000,0.050,2542,2308,3956,0,0,0,0,0,0
$GC,3555,-0.70,-292.0,433.6,-9.8,479,3561,0.00,1.05,0.00,0.000,6,0.000,0.043,2542,1611,3954,0,0,0,0,0,0
$GC,3880,-0.70,-292.0,467.3,-10.5,510,3884,0.00,1.05,0.00,0.000,4,0.000,0.050,2542,920,3952,0,0,0,0,0,0
$GC,3910,-0.71,-292.0,470.4,-10.2,512,3917,0.00,1.05,0.00,0.000,6,0.000,0.044,2537,1607,3952,0,0,0,0,0,0
$GC,4235,-0.71,-292.0,506.7,-11.4,543,4239,0.00,1.05,0.00,0.000,4,0.000,0.052,2532,2303,3949,0,0,0,0,0,0
$GC,4353,-0.73,-292.0,519.3,-9.9,553,4361,0.00,1.05,0.00,0.000,6,0.000,0.046,2532,1621,3949,0,0,0,0,0,0
$GC,4679,-0.73,-292.0,555.5,-11.0,584,4682,0.00,1.08,0.00,0.000,4,0.000,0.054,2527,2312,3946,0,0,0,0,0,0
$GC,4718,-0.74,-292.0,560.0,-10.9,587,4725,0.00,1.08,0.00,0.000,6,0.000,0.046,2527,1610,3946,0,0,0,0,0,0
$GC,5044,-0.74,-292.0,597.8,-11.6,618,5047,0.00,1.10,0.00,0.000,4,0.000,0.057,2522,2301,3943,0,0,0,0,0,0
$GC,5077,-0.74,-292.0,601.7,-11.0,620,5081,0.00,1.05,0.00,0.000,6,0.000,0.048,2522,1618,3943,0,0,0,0,0,0
$GC,5401,-0.74,-292.0,636.5,-10.4,636,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1618,3940,0,0,0,0,0,0
$GC,5710,-0.74,-292.0,665.0,-8.9,651,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1618,3938,0,0,0,0,0,0
$GC,6018,-0.74,-292.0,693.2,-9.4,666,6021,0.00,1.10,0.00,0.000,4,0.000,0.060,2517,2310,3936,0,0,0,0,0,0
$GC,6092,-0.75,-292.0,700.1,-9.0,669,6096,0.00,1.10,0.00,0.000,6,0.000,0.050,2517,1610,3935,0,0,0,0,0,0
$GC,6420,-0.75,-292.0,731.6,-9.4,685,6423,0.00,1.12,0.00,0.000,4,0.000,0.057,2517,902,3934,0,0,0,0,0,0
$GC,6491,-0.75,-292.0,738.3,-9.7,688,6494,0.00,1.10,0.00,0.000,6,0.000,0.049,2511,1607,3933,0,0,0,0,0,0
$GC,6824,-0.75,-292.0,773.6,-10.9,704,6827,0.00,1.08,0.00,0.000,4,0.000,0.059,2506,2306,3931,0,0,0,0,0,0
$GC,6862,-0.75,-292.0,777.7,-10.1,705,6870,0.00,1.08,0.00,0.000,6,0.000,0.050,2506,1610,3931,0,0,0,0,0,0
$GC,7180,-0.75,-292.0,814.6,-12.1,721,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1610,3930,0,0,0,0,0,0
$GC,7488,-0.75,-292.0,850.4,-11.6,736,7492,0.00,1.12,0.00,0.000,4,0.000,0.062,2501,2305,3928,0,0,0,0,0,0
$GC,7521,-0.75,-292.0,854.3,-11.3,737,7525,0.00,1.08,0.00,0.000,6,0.000,0.054,2501,1616,3928,0,0,0,0,0,0
$GC,7844,-0.75,-292.0,891.8,-12.1,753,7848,0.00,1.10,0.00,0.000,4,0.000,0.058,2501,907,3926,0,0,0,0,0,0
$GC,7913,-0.75,-292.0,900.7,-13.0,756,7916,0.00,1.10,0.00,0.000,6,0.000,0.051,2496,1607,3925,0,0,0,0,0,0
$GC,8248,-0.75,-292.0,939.6,-10.7,772,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1607,3924,0,0,0,0,0,0
$GC,8555,-0.75,-292.0,972.5,-10.6,787,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1608,3922,0,0,0,0,0,0
$STATE,8738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8738,begin apogee
$GC,8746,-0.11,0.0,991.9,10.4,796,8980,0.62,0.00,227.73,1.442,6,0.122,0.000,2700,1783,2884,0,0,0,0,0,0
$STATE,8985,end apogee,CONTROL_FINISHED_OK
$STATE,8985,begin climb
$GC,8987,0.68,292.0,1001.0,0.0,807,9276,0.73,1.15,277.83,1.377,4,0.054,0.060,2968,2477,1694,0,0,0,0,0,0
$GC,9339,0.62,292.0,954.6,17.2,823,9343,0.00,1.12,0.00,0.000,6,0.000,0.051,2974,1788,1691,0,0,0,0,0,0
$GC,9662,0.56,292.0,899.2,16.8,839,9666,0.17,1.12,0.00,0.000,4,0.166,0.061,2924,2486,1688,0,0,0,0,0,0
$GC,9702,0.53,292.0,893.5,13.4,840,9709,0.00,1.12,0.00,0.000,6,0.000,0.050,2927,1771,1686,0,0,0,0,0,0
$GC,10019,0.53,301.5,856.2,11.5,856,10033,0.00,1.15,9.18,1.146,4,0.000,0.060,2927,2488,1654,0,0,0,0,0,0
$GC,10075,0.55,330.7,849.9,11.0,858,10109,0.00,1.12,29.60,1.300,6,0.000,0.049,2931,1772,1534,0,0,0,0,0,0
$GC,10422,0.57,352.2,811.0,11.2,875,10447,0.00,1.15,20.88,1.258,4,0.000,0.057,2931,2482,1447,0,0,0,0,0,0
$GC,10516,0.63,404.8,800.5,10.4,879,10576,0.00,1.10,50.40,1.293,6,0.000,0.047,2935,1785,1232,0,0,0,0,0,0
$GC,10884,0.63,404.8,755.7,13.1,897,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1785,1229,0,0,0,0,0,0
$GC,11195,0.63,404.8,717.9,11.8,912,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1785,1227,0,0,0,0,0,0
$GC,11503,0.65,420.1,681.8,11.4,927,11523,0.00,0.00,14.27,1.157,6,0.000,0.000,2935,1785,1171,0,0,0,0,0,0
$GC,11835,0.66,420.1,642.6,12.3,943,11839,0.00,1.10,0.00,0.000,4,0.000,0.054,2935,2492,1169,0,0,0,0,0,0
$GC,11873,0.68,420.1,637.3,12.0,944,11883,0.00,1.10,0.00,0.000,6,0.000,0.045,2938,1783,1169,0,0,0,0,0,0
$GC,12189,0.70,420.1,598.3,12.2,960,12193,0.00,1.08,0.00,0.000,4,0.000,0.051,2943,1074,1168,0,0,0,0,0,0
$GC,12227,0.71,420.1,594.0,12.2,963,12231,0.00,1.08,0.00,0.000,6,0.000,0.044,2943,1783,1168,0,0,0,0,0,0
$GC,12558,0.71,420.1,551.5,13.2,994,12561,0.00,1.05,0.00,0.000,4,0.000,0.054,2943,2478,1168,0,0,0,0,0,0
$GC,12606,0.73,420.1,545.3,13.4,998,12610,0.00,1.08,0.00,0.000,6,0.000,0.044,2948,1776,1168,0,0,0,0,0,0
$GC,12936,0.73,420.1,503.0,11.9,1029,12940,0.00,1.05,0.00,0.000,4,0.000,0.051,2953,1078,1168,0,0,0,0,0,0
$GC,12976,0.74,420.1,498.1,12.1,1032,12983,0.00,1.08,0.00,0.000,6,0.000,0.042,2953,1786,1168,0,0,0,0,0,0
$GC,13302,0.74,420.1,460.1,12.6,1063,13306,0.00,1.02,0.00,0.000,4,0.000,0.054,2953,2475,1168,0,0,0,0,0,0
$GC,13348,0.74,420.1,454.6,12.1,1067,13351,0.00,1.08,0.00,0.000,6,0.000,0.044,2957,1769,1168,0,0,0,0,0,0
$GC,13678,0.74,420.1,412.3,13.3,1098,13682,0.00,1.05,0.00,0.000,4,0.000,0.048,2963,1072,1168,0,0,0,0,0,0
$GC,13702,0.74,420.1,409.3,13.2,1100,13705,0.00,1.08,0.00,0.000,6,0.000,0.042,2963,1782,1168,0,0,0,0,0,0
$GC,14033,0.74,420.1,366.6,12.4,1131,14034,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1782,1168,0,0,0,0,0,0
$GC,14353,0.77,446.6,327.9,11.1,1161,14386,0.00,1.10,24.73,0.957,4,0.000,0.051,2963,2480,1061,0,0,0,0,0,0
$GC,14405,0.84,487.9,321.9,10.7,1165,14449,0.10,1.08,37.78,0.950,6,0.049,0.042,3034,1785,893,0,0,0,0,0,0
$GC,14775,0.78,487.9,245.4,21.0,1201,14783,0.15,1.08,0.00,0.000,4,0.158,0.050,2989,2471,888,0,0,0,0,0,0
$GC,14887,0.79,487.9,227.9,13.0,1221,14895,0.00,1.08,0.00,0.000,6,0.000,0.043,2993,1762,887,0,0,0,0,0,0
$GC,15215,0.79,487.9,183.6,11.9,1282,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1762,886,0,0,0,0,0,0
$GC,15540,0.79,487.9,138.7,14.5,1343,15548,0.00,1.10,0.00,0.000,4,0.000,0.047,2992,2486,886,0,0,0,0,0,0
$GC,15640,0.86,502.3,126.3,11.4,1360,15663,0.00,1.05,12.60,0.728,6,0.000,0.041,2995,1790,834,0,0,0,0,0,0
$GC,15985,1.14,677.1,97.9,7.0,1423,16080,0.28,1.10,85.88,0.742,4,0.053,0.042,3153,1080,454,0,0,0,0,0,0
$GC,16155,1.08,677.1,63.1,17.9,1449,16164,0.17,1.08,0.00,0.000,6,0.134,0.037,3096,1796,447,0,0,0,0,0,0
$GC,16486,1.08,677.1,15.1,16.4,1510,16494,0.00,1.10,0.00,0.000,4,0.000,0.044,3101,1069,438,0,0,0,0,0,0
$GC,16524,1.08,677.1,9.1,14.0,1516,16532,0.00,1.05,0.00,0.000,6,0.000,0.037,3100,1771,437,0,0,0,0,0,0
$STATE,16573,end climb,SURFACE_DEPTH_REACHED
$STATE,16573,begin surface coast
$FINISH,1.1,1.022063
$STATE,16591,end surface coast,CONTROL_FINISHED_OK
$STATE,16591,begin surface
$SM_CCo,16671,0.00,0.000,0,0,435,600.74
$SM_GC,1.96,7.57,0.00,0.00,0.028,0.000,0.000,160,1603,435,-8.04,-0.20,600.74,0,0,0,0,0,0
$IRIDIUM_FIX,2300.41,12140.44,051011,121256
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.27
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,24.00
$XPDR_PINGS,122
$24V_AH,22.2,78.981
$10V_AH,9.8,55.583
$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,19.400,69.500,790.850,0.000,0.000,30.856,43.218,189.730,30.500,0.000,15.581,3764.862,8336.930,816.548,3669.693,492.534,0.000,2298.100,0.000,3410.477,0.000,0.540,0.000
$DEVICE_MAMPS,222.615,73.440,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1046.981,1562.228,1719.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,86847,1527
$CAP_FILE_SIZE,177024,0
$CFSIZE,260165632,118001664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.315,  9.7,1
$GPS,051011,205106,2310.897,12143.444,40,1.2,40,-3.1