version: 66.09
glider: 166
mission: 6
dive: 330
start: 10 6 111 1 36 14
data:
$ID,166
$MISSION,6
$DIVE,330
$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,-24814.723
$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
$GPS1,061011,012831,2312.654,12147.079,40,1.6,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-60.9
$GPS2,061011,013550,2312.770,12147.088,11,1.6,11,-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,120.4,227397,-14.6,-11.786
$D_GRID,3105
$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,16,-0.68,-292.0,0.0,0.0,0,134,0.00,0.00,-115.07,0.000,2,0.000,0.000,151,1600,3211,0,0,0,0,0,0
$GC,137,-0.68,-292.0,6.6,-11.2,15,169,9.57,1.08,-13.38,0.000,4,0.228,0.063,2508,890,3963,0,0,0,0,0,0
$GC,249,-0.57,-292.0,51.9,-31.8,33,259,0.15,1.08,0.00,0.000,6,0.141,0.039,2552,1598,3965,0,0,0,0,0,0
$GC,578,-0.53,-292.0,124.9,-16.5,94,586,0.00,1.05,0.00,0.000,4,0.000,0.037,2550,898,3965,0,0,0,0,0,0
$GC,658,-0.51,-292.0,137.1,-14.3,108,666,0.00,1.08,0.00,0.000,6,0.000,0.033,2546,1632,3966,0,0,0,0,0,0
$GC,987,-0.51,-292.0,178.5,-11.6,169,996,0.12,0.98,0.00,0.000,4,0.157,0.041,2579,2296,3967,0,0,0,0,0,0
$GC,1077,-0.57,-292.0,186.4,-8.1,184,1086,0.00,1.02,0.00,0.000,6,0.000,0.035,2579,1593,3967,0,0,0,0,0,0
$GC,1406,-0.61,-292.0,213.5,-7.2,245,1415,0.00,1.05,0.00,0.000,4,0.000,0.040,2574,2305,3966,0,0,0,0,0,0
$GC,1534,-0.66,-292.0,222.2,-6.2,268,1543,0.10,1.00,0.00,0.000,6,0.043,0.035,2485,1615,3966,0,0,0,0,0,0
$GC,1871,-0.60,-292.0,274.9,-14.9,315,1875,0.20,1.02,0.00,0.000,4,0.145,0.038,2542,2296,3966,0,0,0,0,0,0
$GC,2051,-0.63,-292.0,291.6,-8.4,331,2054,0.00,1.00,0.00,0.000,6,0.000,0.037,2542,1615,3965,0,0,0,0,0,0
$GC,2385,-0.64,-292.0,324.3,-9.6,362,2389,0.00,1.00,0.00,0.000,4,0.000,0.042,2540,2293,3963,0,0,0,0,0,0
$GC,2469,-0.67,-292.0,331.8,-8.3,369,2476,0.00,1.00,0.00,0.000,6,0.000,0.037,2541,1611,3963,0,0,0,0,0,0
$GC,2797,-0.67,-292.0,364.0,-10.5,400,2800,0.00,1.02,0.00,0.000,4,0.000,0.044,2551,2297,3960,0,0,0,0,0,0
$GC,2950,-0.69,-292.0,379.7,-10.0,413,2957,0.00,1.00,0.00,0.000,6,0.000,0.037,2551,1616,3959,0,0,0,0,0,0
$GC,3276,-0.70,-292.0,412.7,-9.4,444,3279,0.00,1.02,0.00,0.000,4,0.000,0.044,2547,2301,3957,0,0,0,0,0,0
$GC,3345,-0.73,-292.0,418.9,-8.6,450,3350,0.08,1.02,0.00,0.000,6,0.050,0.038,2480,1608,3957,0,0,0,0,0,0
$GC,3676,-0.67,-292.0,474.2,-16.8,481,3680,0.15,1.05,0.00,0.000,4,0.159,0.044,2524,915,3955,0,0,0,0,0,0
$GC,3714,-0.66,-292.0,480.0,-13.5,484,3721,0.00,1.02,0.00,0.000,6,0.000,0.038,2522,1604,3955,0,0,0,0,0,0
$GC,4040,-0.65,-292.0,518.5,-11.5,515,4043,0.00,1.02,0.00,0.000,4,0.000,0.046,2516,2297,3953,0,0,0,0,0,0
$GC,4086,-0.65,-292.0,523.8,-11.3,519,4089,0.00,1.02,0.00,0.000,6,0.000,0.039,2516,1607,3951,0,0,0,0,0,0
$GC,4418,-0.63,-292.0,562.3,-11.6,550,4421,0.00,1.05,0.00,0.000,4,0.000,0.047,2511,2298,3949,0,0,0,0,0,0
$GC,4498,-0.63,-292.0,571.4,-11.0,557,4501,0.00,1.02,0.00,0.000,6,0.000,0.041,2511,1618,3949,0,0,0,0,0,0
$GC,4841,-0.62,-292.0,610.6,-11.4,585,4845,0.12,1.08,0.00,0.000,4,0.153,0.049,2547,916,3946,0,0,0,0,0,0
$GC,4879,-0.64,-292.0,614.8,-9.9,586,4886,0.00,1.05,0.00,0.000,6,0.000,0.042,2544,1606,3946,0,0,0,0,0,0
$GC,5199,-0.67,-292.0,643.5,-9.1,602,5202,0.00,1.05,0.00,0.000,4,0.000,0.051,2539,2302,3944,0,0,0,0,0,0
$GC,5291,-0.70,-292.0,651.6,-8.3,606,5295,0.00,1.05,0.00,0.000,6,0.000,0.045,2539,1613,3942,0,0,0,0,0,0
$GC,5626,-0.73,-292.0,683.3,-9.6,622,5630,0.00,1.08,0.00,0.000,4,0.000,0.054,2534,2305,3940,0,0,0,0,0,0
$GC,5654,-0.75,-292.0,686.2,-9.5,623,5658,0.00,1.08,0.00,0.000,6,0.000,0.047,2534,1608,3940,0,0,0,0,0,0
$GC,5982,-0.77,-292.0,718.2,-10.1,639,5987,0.10,1.10,0.00,0.000,4,0.101,0.055,2470,2299,3938,0,0,0,0,0,0
$GC,6017,-0.75,-292.0,722.4,-12.0,640,6021,0.08,1.08,0.00,0.000,6,0.138,0.048,2497,1604,3938,0,0,0,0,0,0
$GC,6338,-0.74,-292.0,763.2,-12.7,656,6342,0.00,1.08,0.00,0.000,4,0.000,0.054,2497,906,3936,0,0,0,0,0,0
$GC,6401,-0.72,-292.0,771.1,-12.8,658,6408,0.00,1.10,0.00,0.000,6,0.000,0.050,2494,1605,3935,0,0,0,0,0,0
$GC,6718,-0.70,-292.0,810.1,-12.0,674,6722,0.00,1.08,0.00,0.000,4,0.000,0.058,2489,2305,3933,0,0,0,0,0,0
$GC,6756,-0.69,-292.0,814.8,-11.8,675,6764,0.10,1.08,0.00,0.000,6,0.129,0.050,2523,1613,3933,0,0,0,0,0,0
$GC,7076,-0.70,-292.0,844.4,-9.5,691,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1613,3931,0,0,0,0,0,0
$GC,7383,-0.72,-292.0,874.9,-9.6,706,7386,0.00,1.10,0.00,0.000,4,0.000,0.063,2520,2305,3929,0,0,0,0,0,0
$GC,7424,-0.74,-292.0,878.8,-9.3,707,7430,0.00,1.10,0.00,0.000,6,0.000,0.052,2520,1605,3929,0,0,0,0,0,0
$GC,7740,-0.76,-292.0,908.4,-9.3,723,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1605,3928,0,0,0,0,0,0
$GC,8052,-0.77,-292.0,937.5,-9.4,738,8056,0.00,1.12,0.00,0.000,4,0.000,0.062,2515,2309,3927,0,0,0,0,0,0
$GC,8099,-0.79,-292.0,942.1,-9.6,740,8102,0.00,1.10,0.00,0.000,6,0.000,0.052,2515,1607,3926,0,0,0,0,0,0
$GC,8432,-0.81,-292.0,973.4,-9.0,756,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1607,3925,0,0,0,0,0,0
$STATE,8636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8636,begin apogee
$GC,8644,-0.11,0.0,990.7,8.2,766,8880,0.57,0.00,227.52,1.437,6,0.116,0.000,2704,1778,2883,0,0,0,0,0,0
$STATE,8884,end apogee,CONTROL_FINISHED_OK
$STATE,8884,begin climb
$GC,8887,0.68,292.0,997.8,0.0,777,9175,0.73,1.20,276.05,1.367,4,0.052,0.061,2971,2477,1692,0,0,0,0,0,0
$GC,9233,0.62,292.0,945.7,19.2,793,9237,0.08,1.15,0.00,0.000,6,0.158,0.051,2953,1779,1690,0,0,0,0,0,0
$GC,9569,0.57,292.0,887.7,17.0,809,9573,0.00,1.12,0.00,0.000,4,0.000,0.060,2951,2489,1686,0,0,0,0,0,0
$GC,9647,0.54,292.0,874.5,15.8,812,9651,0.10,1.12,0.00,0.000,6,0.141,0.051,2922,1771,1685,0,0,0,0,0,0
$GC,9970,0.55,300.6,835.8,11.6,828,9984,0.00,1.17,8.00,1.094,4,0.000,0.060,2922,2492,1658,0,0,0,0,0,0
$GC,10038,0.57,316.8,827.8,11.3,831,10061,0.00,1.12,17.50,1.235,6,0.000,0.050,2924,1772,1591,0,0,0,0,0,0
$GC,10374,0.63,365.1,791.4,10.5,847,10424,0.00,1.20,45.95,1.285,4,0.000,0.059,2924,2487,1395,0,0,0,0,0,0
$GC,10452,0.70,420.2,782.5,10.3,850,10512,0.08,1.12,51.97,1.261,6,0.057,0.048,2981,1781,1170,0,0,0,0,0,0
$GC,10820,0.65,420.2,717.2,18.7,868,10823,0.00,1.10,0.00,0.000,4,0.000,0.058,2981,2486,1166,0,0,0,0,0,0
$GC,10881,0.60,420.2,705.7,18.3,870,10888,0.12,1.10,0.00,0.000,6,0.142,0.047,2945,1776,1166,0,0,0,0,0,0
$GC,11200,0.60,420.2,664.7,12.9,886,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1776,1165,0,0,0,0,0,0
$GC,11506,0.60,420.2,624.6,12.9,901,11510,0.00,1.05,0.00,0.000,4,0.000,0.052,2948,1081,1164,0,0,0,0,0,0
$GC,11533,0.60,420.2,621.0,12.7,902,11537,0.00,1.08,0.00,0.000,6,0.000,0.044,2948,1786,1163,0,0,0,0,0,0
$GC,11857,0.60,420.2,579.5,11.9,925,11861,0.00,1.05,0.00,0.000,4,0.000,0.055,2948,2478,1163,0,0,0,0,0,0
$GC,11896,0.61,420.2,574.3,12.0,928,11902,0.00,1.08,0.00,0.000,6,0.000,0.044,2952,1774,1163,0,0,0,0,0,0
$GC,12221,0.64,438.6,535.5,11.3,959,12241,0.00,0.00,17.12,1.084,6,0.000,0.000,2952,1773,1094,0,0,0,0,0,0
$GC,12559,0.64,438.6,496.3,11.9,991,12563,0.00,1.05,0.00,0.000,4,0.000,0.050,2957,1083,1092,0,0,0,0,0,0
$GC,12608,0.68,467.1,491.1,11.0,995,12643,0.00,1.08,26.55,1.075,6,0.000,0.044,2957,1782,977,0,0,0,0,0,0
$GC,12962,0.73,490.3,451.6,11.2,1028,12990,0.00,0.00,21.58,1.028,6,0.000,0.000,2957,1782,883,0,0,0,0,0,0
$GC,13309,0.76,490.3,410.0,11.9,1061,13313,0.10,1.10,0.00,0.000,4,0.101,0.050,3024,1084,879,0,0,0,0,0,0
$GC,13405,0.72,490.3,393.2,19.3,1069,13413,0.12,1.08,0.00,0.000,6,0.132,0.043,2983,1790,879,0,0,0,0,0,0
$GC,13730,0.72,490.3,341.5,14.6,1100,13734,0.00,1.05,0.00,0.000,4,0.000,0.051,2982,2488,879,0,0,0,0,0,0
$GC,13793,0.72,490.3,332.9,13.0,1105,13801,0.00,1.08,0.00,0.000,6,0.000,0.043,2985,1783,879,0,0,0,0,0,0
$GC,14120,0.72,490.3,285.4,13.1,1136,14121,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1783,879,0,0,0,0,0,0
$GC,14442,0.72,490.3,242.1,13.2,1171,14450,0.00,1.08,0.00,0.000,4,0.000,0.048,2990,1068,879,0,0,0,0,0,0
$GC,14499,0.72,490.3,234.9,12.2,1181,14508,0.00,1.08,0.00,0.000,6,0.000,0.040,2989,1787,878,0,0,0,0,0,0
$GC,14828,0.72,490.3,192.5,13.2,1242,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1788,879,0,0,0,0,0,0
$GC,15153,0.77,524.5,150.2,10.9,1303,15190,0.00,0.00,30.85,0.790,6,0.000,0.000,2989,1790,742,0,0,0,0,0,0
$GC,15514,0.96,611.3,123.0,9.4,1368,15589,0.20,1.12,66.35,0.764,4,0.079,0.044,3067,1080,454,0,0,0,0,0,0
$GC,15746,1.12,611.3,95.4,12.9,1406,15755,0.08,1.05,0.00,0.000,6,0.099,0.037,3099,1785,443,0,0,0,0,0,0
$GC,16082,1.29,615.9,54.7,11.7,1467,16091,0.17,1.10,0.00,0.000,4,0.106,0.045,3162,1075,438,0,0,0,0,0,0
$GC,16225,1.24,615.9,35.0,18.2,1492,16233,0.00,1.02,0.00,0.000,6,0.000,0.034,3162,1787,437,0,0,0,0,0,0
$STATE,16370,end climb,SURFACE_DEPTH_REACHED
$STATE,16370,begin surface coast
$FINISH,1.5,1.022064
$STATE,16382,end surface coast,CONTROL_FINISHED_OK
$STATE,16382,begin surface
$SM_CCo,16462,0.00,0.000,0,0,435,600.74
$SM_GC,1.92,7.82,0.00,0.00,0.037,0.000,0.000,145,1600,435,-8.04,-0.31,600.74,0,0,0,0,0,0
$IRIDIUM_FIX,2300.41,12142.44,051011,202030
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.78
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,23.30
$XPDR_PINGS,121
$24V_AH,22.3,79.586
$10V_AH,9.8,55.925
$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,20.950,69.025,789.450,0.000,0.000,25.599,24.617,207.337,30.250,0.000,12.270,3788.574,8050.068,812.555,3731.155,497.360,0.000,2310.810,0.000,3465.043,0.000,0.539,0.000
$DEVICE_MAMPS,227.970,69.615,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.209,1555.742,1770.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324608
$DATA_FILE_SIZE,83427,1521
$CAP_FILE_SIZE,182062,0
$CFSIZE,260165632,117817344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.355, 18.6,1
$GPS,061011,061154,2313.944,12150.562,39,1.3,39,-3.1