version: 66.09
glider: 166
mission: 6
dive: 329
start: 10 5 111 21 2 46
data:
$ID,166
$MISSION,6
$DIVE,329
$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,-24813.463
$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,44
$R_STBD_OVSHOOT,44
$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
$GPS1,051011,205106,2310.897,12143.444,40,1.2,40,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-62.4
$GPS2,051011,210219,2311.335,12143.564,9,1.4,14,-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,120.3,233892,-14.6,-11.786
$D_GRID,2627
$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,-292.0,0.0,0.0,0,132,0.00,0.00,-112.22,0.000,2,0.000,0.000,137,1602,3134,0,0,0,0,0,0
$GC,135,-0.68,-292.0,5.7,-8.2,15,167,9.52,1.08,-15.52,0.000,4,0.225,0.067,2516,897,3964,0,0,0,0,0,0
$GC,273,-0.58,-292.0,53.1,-26.9,38,282,0.12,1.08,0.00,0.000,6,0.142,0.039,2551,1608,3966,0,0,0,0,0,0
$GC,601,-0.53,-292.0,119.7,-16.9,99,609,0.00,1.02,0.00,0.000,4,0.000,0.042,2547,2314,3966,0,0,0,0,0,0
$GC,737,-0.53,-292.0,135.4,-10.4,123,745,0.00,1.05,0.00,0.000,6,0.000,0.037,2544,1600,3966,0,0,0,0,0,0
$GC,1066,-0.51,-292.0,179.3,-14.9,184,1075,0.12,1.08,0.00,0.000,4,0.154,0.043,2576,2310,3967,0,0,0,0,0,0
$GC,1212,-0.56,-292.0,193.2,-8.6,210,1220,0.00,1.02,0.00,0.000,6,0.000,0.038,2576,1617,3967,0,0,0,0,0,0
$GC,1542,-0.60,-292.0,220.2,-7.0,271,1550,0.00,1.02,0.00,0.000,4,0.000,0.045,2572,2305,3966,0,0,0,0,0,0
$GC,1666,-0.65,-292.0,228.5,-6.3,293,1676,0.08,1.05,0.00,0.000,6,0.048,0.040,2491,1599,3966,0,0,0,0,0,0
$GC,1998,-0.60,-292.0,278.4,-16.0,337,2002,0.20,1.08,0.00,0.000,4,0.145,0.043,2547,2307,3965,0,0,0,0,0,0
$GC,2138,-0.63,-292.0,291.9,-8.2,349,2142,0.00,1.05,0.00,0.000,6,0.000,0.042,2547,1608,3965,0,0,0,0,0,0
$GC,2472,-0.66,-292.0,326.4,-10.2,380,2475,0.00,1.08,0.00,0.000,4,0.000,0.049,2546,2314,3963,0,0,0,0,0,0
$GC,2563,-0.69,-292.0,335.1,-9.5,388,2567,0.00,1.05,0.00,0.000,6,0.000,0.042,2546,1616,3962,0,0,0,0,0,0
$GC,2895,-0.72,-292.0,367.9,-9.4,419,2899,0.12,1.08,0.00,0.000,4,0.080,0.050,2483,2307,3959,0,0,0,0,0,0
$GC,3012,-0.67,-292.0,385.8,-15.1,429,3021,0.12,1.08,0.00,0.000,6,0.132,0.044,2525,1604,3958,0,0,0,0,0,0
$GC,3338,-0.65,-292.0,430.7,-14.1,460,3342,0.00,1.10,0.00,0.000,4,0.000,0.050,2522,2310,3956,0,0,0,0,0,0
$GC,3376,-0.65,-292.0,436.0,-13.2,463,3383,0.00,1.08,0.00,0.000,6,0.000,0.044,2522,1608,3956,0,0,0,0,0,0
$GC,3702,-0.64,-292.0,479.7,-13.0,494,3706,0.00,1.08,0.00,0.000,4,0.000,0.052,2517,2303,3953,0,0,0,0,0,0
$GC,3741,-0.64,-292.0,485.0,-12.8,497,3749,0.00,1.05,0.00,0.000,6,0.000,0.045,2517,1615,3953,0,0,0,0,0,0
$GC,4067,-0.62,-292.0,527.6,-13.2,528,4071,0.00,1.05,0.00,0.000,4,0.000,0.054,2512,2296,3950,0,0,0,0,0,0
$GC,4117,-0.62,-292.0,534.1,-12.0,532,4125,0.08,1.05,0.00,0.000,6,0.125,0.045,2540,1607,3949,0,0,0,0,0,0
$GC,4443,-0.64,-292.0,568.2,-9.9,563,4447,0.00,1.08,0.00,0.000,4,0.000,0.054,2537,2301,3947,0,0,0,0,0,0
$GC,4514,-0.66,-292.0,574.7,-9.2,569,4517,0.00,1.05,0.00,0.000,6,0.000,0.047,2537,1615,3946,0,0,0,0,0,0
$GC,4853,-0.68,-292.0,608.3,-9.9,597,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1615,3944,0,0,0,0,0,0
$GC,5163,-0.69,-292.0,638.8,-9.8,612,5166,0.00,1.08,0.00,0.000,4,0.000,0.057,2532,2303,3940,0,0,0,0,0,0
$GC,5237,-0.72,-292.0,645.9,-9.4,615,5241,0.00,1.08,0.00,0.000,6,0.000,0.050,2532,1610,3940,0,0,0,0,0,0
$GC,5565,-0.73,-292.0,679.7,-10.1,631,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1610,3938,0,0,0,0,0,0
$GC,5875,-0.75,-292.0,710.2,-9.8,646,5879,0.00,1.10,0.00,0.000,4,0.000,0.060,2527,2295,3936,0,0,0,0,0,0
$GC,5955,-0.77,-292.0,717.9,-9.2,649,5959,0.00,1.05,0.00,0.000,6,0.000,0.050,2527,1615,3935,0,0,0,0,0,0
$GC,6277,-0.78,-292.0,750.9,-10.4,665,6279,0.10,0.00,0.00,0.000,6,0.100,0.000,2468,1615,3933,0,0,0,0,0,0
$GC,6588,-0.74,-292.0,798.4,-15.6,680,6590,0.15,0.00,0.00,0.000,6,0.160,0.000,2502,1615,3930,0,0,0,0,0,0
$GC,6895,-0.74,-292.0,835.7,-11.9,695,6896,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1615,3929,0,0,0,0,0,0
$GC,7205,-0.74,-292.0,871.7,-11.4,710,7209,0.00,1.08,0.00,0.000,4,0.000,0.061,2499,2297,3927,0,0,0,0,0,0
$GC,7263,-0.74,-292.0,878.3,-11.2,712,7267,0.00,1.08,0.00,0.000,6,0.000,0.050,2501,1606,3927,0,0,0,0,0,0
$GC,7584,-0.74,-292.0,914.3,-10.9,728,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1605,3925,0,0,0,0,0,0
$GC,7896,-0.74,-292.0,946.8,-10.5,743,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1605,3924,0,0,0,0,0,0
$GC,8203,-0.74,-292.0,979.2,-10.4,758,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1605,3922,0,0,0,0,0,0
$STATE,8324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8324,begin apogee
$GC,8330,-0.11,0.0,992.1,10.5,764,8563,0.62,0.00,227.00,1.437,6,0.113,0.000,2702,1779,2884,0,0,0,0,0,0
$STATE,8565,end apogee,CONTROL_FINISHED_OK
$STATE,8565,begin climb
$GC,8567,0.68,292.0,1004.5,0.0,774,8854,0.73,1.17,276.33,1.377,4,0.046,0.054,2990,1080,1692,0,0,0,0,0,0
$GC,9061,0.60,292.0,934.9,18.1,797,9065,0.15,1.10,0.00,0.000,6,0.151,0.052,2943,1768,1688,0,0,0,0,0,0
$GC,9390,0.56,292.0,888.7,14.0,813,9394,0.00,1.12,0.00,0.000,4,0.000,0.060,2941,2494,1685,0,0,0,0,0,0
$GC,9473,0.52,292.0,875.9,14.6,816,9481,0.08,1.10,0.00,0.000,6,0.151,0.049,2919,1782,1685,0,0,0,0,0,0
$GC,9793,0.49,292.0,834.7,13.6,832,9796,0.00,1.10,0.00,0.000,4,0.000,0.057,2919,2491,1684,0,0,0,0,0,0
$GC,9865,0.48,292.0,824.1,13.5,835,9869,0.00,1.10,0.00,0.000,6,0.000,0.048,2922,1780,1684,0,0,0,0,0,0
$GC,10192,0.46,292.0,780.4,13.6,851,10196,0.00,1.10,0.00,0.000,4,0.000,0.058,2922,2491,1682,0,0,0,0,0,0
$GC,10250,0.44,292.0,772.7,13.3,853,10254,0.10,1.10,0.00,0.000,6,0.133,0.047,2893,1776,1682,0,0,0,0,0,0
$GC,10573,0.54,360.2,739.2,9.9,869,10638,0.00,0.00,63.65,1.279,6,0.000,0.000,2893,1776,1415,0,0,0,0,0,0
$GC,10944,0.68,446.2,703.6,9.5,887,11026,0.20,0.00,79.05,1.239,6,0.065,0.000,2987,1776,1065,0,0,0,0,0,0
$GC,11333,0.62,446.2,625.8,20.8,906,11337,0.15,1.12,0.00,0.000,4,0.163,0.055,2942,2493,1060,0,0,0,0,0,0
$GC,11429,0.63,446.2,611.1,12.4,910,11433,0.00,1.10,0.00,0.000,6,0.000,0.044,2946,1776,1060,0,0,0,0,0,0
$GC,11754,0.63,446.2,567.8,13.4,936,11758,0.00,1.05,0.00,0.000,4,0.000,0.050,2952,1077,1059,0,0,0,0,0,0
$GC,11783,0.63,446.2,563.6,13.6,938,11790,0.00,1.10,0.00,0.000,6,0.000,0.043,2953,1797,1058,0,0,0,0,0,0
$GC,12108,0.63,446.2,515.9,14.9,969,12112,0.00,1.02,0.00,0.000,4,0.000,0.055,2953,2482,1058,0,0,0,0,0,0
$GC,12145,0.63,446.2,510.7,14.9,972,12149,0.00,1.08,0.00,0.000,6,0.000,0.044,2957,1773,1058,0,0,0,0,0,0
$GC,12476,0.63,446.2,462.1,14.3,1003,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1773,1058,0,0,0,0,0,0
$GC,12798,0.63,446.2,416.3,13.8,1033,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1773,1058,0,0,0,0,0,0
$GC,13125,0.63,446.2,373.7,12.2,1064,13129,0.00,1.10,0.00,0.000,4,0.000,0.054,2963,2490,1058,0,0,0,0,0,0
$GC,13178,0.68,477.8,367.6,10.9,1068,13209,0.00,1.08,27.67,0.989,6,0.000,0.044,2968,1780,936,0,0,0,0,0,0
$GC,13535,0.68,477.8,322.8,12.6,1102,13539,0.00,1.08,0.00,0.000,4,0.000,0.049,2974,1080,932,0,0,0,0,0,0
$GC,13561,0.68,477.8,319.6,12.7,1104,13564,0.00,1.08,0.00,0.000,6,0.000,0.040,2973,1795,932,0,0,0,0,0,0
$GC,13893,0.68,477.8,276.2,12.7,1135,13896,0.00,1.10,0.00,0.000,4,0.000,0.047,2977,1072,931,0,0,0,0,0,0
$GC,13942,0.70,477.8,270.6,12.0,1139,13945,0.00,1.05,0.00,0.000,6,0.000,0.039,2977,1780,931,0,0,0,0,0,0
$GC,14269,0.78,531.7,233.8,10.3,1183,14321,0.00,0.00,47.75,0.878,6,0.000,0.000,2977,1781,715,0,0,0,0,0,0
$GC,14644,0.82,531.7,190.9,12.6,1250,14652,0.00,1.08,0.00,0.000,4,0.000,0.047,2982,1075,706,0,0,0,0,0,0
$GC,14698,0.87,543.6,184.4,11.5,1259,14715,0.10,1.05,11.15,0.747,6,0.045,0.036,3057,1788,665,0,0,0,0,0,0
$GC,15034,0.84,543.6,116.9,13.3,1321,15043,0.15,1.00,0.00,0.000,4,0.148,0.048,3012,2461,660,0,0,0,0,0,0
$GC,15134,1.04,664.8,107.0,8.5,1338,15191,0.15,1.02,50.67,0.757,6,0.041,0.041,3114,1773,454,0,0,0,0,0,0
$GC,15515,1.01,664.8,44.9,15.5,1405,15524,0.15,1.05,0.00,0.000,4,0.151,0.044,3075,1077,439,0,0,0,0,0,0
$GC,15644,1.24,815.9,29.3,7.7,1428,15652,0.15,1.02,0.00,0.000,6,0.037,0.036,3177,1780,437,0,0,0,0,0,0
$STATE,15776,end climb,SURFACE_DEPTH_REACHED
$STATE,15776,begin surface coast
$FINISH,1.4,1.011333
$STATE,15788,end surface coast,CONTROL_FINISHED_OK
$STATE,15789,begin surface
$SM_CCo,15866,0.00,0.000,0,0,436,600.49
$SM_GC,2.00,7.93,0.00,0.00,0.037,0.000,0.000,159,1602,436,-8.05,-0.23,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2300.41,12142.44,051011,202042
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.70
$XPDR_PINGS,132
$24V_AH,22.3,79.288
$10V_AH,9.8,55.750
$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,21.275,58.400,783.275,0.000,0.000,53.254,85.623,290.200,33.000,0.000,15.447,3600.617,7953.870,778.328,3677.262,512.574,0.000,2184.088,0.000,3269.678,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,71.910,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.673,1489.239,1663.926,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,80122,1454
$CAP_FILE_SIZE,171722,0
$CFSIZE,260165632,117923840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.340, 16.4,1
$GPS,061011,012831,2312.654,12147.079,40,1.6,40,-3.1