version: 66.09
glider: 166
mission: 6
dive: 333
start: 10 6 111 15 49 44
data:
$ID,166
$MISSION,6
$DIVE,333
$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,-24818.502
$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,33
$R_STBD_OVSHOOT,54
$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
$GPS1,061011,154057,2316.932,12157.932,36,99.0,55,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-64.9
$GPS2,061011,154921,2317.065,12157.899,15,99.0,34,-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,121.0,207542,-14.6,-11.786
$D_GRID,4267
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.68,-292.0,0.0,0.0,0,130,0.00,0.00,-108.75,0.000,2,0.000,0.000,159,1605,2969,0,0,0,0,0,0
$GC,135,-0.68,-292.0,5.1,-6.7,14,173,9.62,1.08,-19.33,0.000,4,0.230,0.067,2513,891,3965,0,0,0,0,0,0
$GC,323,-0.55,-292.0,66.2,-29.3,47,331,0.17,1.08,0.00,0.000,6,0.136,0.039,2559,1606,3965,0,0,0,0,0,0
$GC,649,-0.50,-292.0,124.9,-15.9,108,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1606,3966,0,0,0,0,0,0
$GC,979,-0.48,-292.0,168.9,-12.3,169,988,0.10,1.05,0.00,0.000,4,0.169,0.041,2584,2319,3967,0,0,0,0,0,0
$GC,1205,-0.52,-292.0,191.4,-8.5,210,1213,0.00,1.08,0.00,0.000,6,0.000,0.035,2579,1592,3967,0,0,0,0,0,0
$GC,1536,-0.55,-292.0,222.7,-10.7,271,1543,0.00,1.08,0.00,0.000,4,0.000,0.041,2573,2316,3967,0,0,0,0,0,0
$GC,1686,-0.60,-292.0,236.2,-8.0,298,1694,0.00,1.05,0.00,0.000,6,0.000,0.036,2573,1599,3966,0,0,0,0,0,0
$GC,2020,-0.63,-292.0,265.6,-9.4,344,2024,0.00,1.05,0.00,0.000,4,0.000,0.041,2569,2309,3966,0,0,0,0,0,0
$GC,2163,-0.68,-292.0,276.6,-7.2,356,2172,0.10,1.02,0.00,0.000,6,0.042,0.037,2486,1614,3966,0,0,0,0,0,0
$GC,2490,-0.60,-292.0,334.7,-18.9,387,2494,0.20,1.05,0.00,0.000,4,0.151,0.041,2548,2306,3965,0,0,0,0,0,0
$GC,2648,-0.61,-292.0,352.2,-9.9,401,2651,0.00,1.02,0.00,0.000,6,0.000,0.039,2548,1618,3964,0,0,0,0,0,0
$GC,2978,-0.61,-292.0,393.5,-13.0,432,2982,0.00,1.02,0.00,0.000,4,0.000,0.044,2548,2303,3962,0,0,0,0,0,0
$GC,3050,-0.63,-292.0,402.5,-12.1,438,3057,0.00,1.02,0.00,0.000,6,0.000,0.039,2548,1611,3961,0,0,0,0,0,0
$GC,3377,-0.64,-292.0,436.3,-9.1,469,3380,0.00,1.05,0.00,0.000,4,0.000,0.044,2543,2307,3959,0,0,0,0,0,0
$GC,3537,-0.66,-292.0,450.1,-8.9,483,3540,0.00,1.05,0.00,0.000,6,0.000,0.039,2542,1605,3958,0,0,0,0,0,0
$GC,3868,-0.68,-292.0,486.0,-10.8,514,3872,0.00,1.05,0.00,0.000,4,0.000,0.045,2538,2305,3956,0,0,0,0,0,0
$GC,3939,-0.70,-292.0,493.3,-10.1,520,3942,0.00,1.02,0.00,0.000,6,0.000,0.041,2537,1618,3955,0,0,0,0,0,0
$GC,4270,-0.71,-292.0,530.7,-10.6,551,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1617,3953,0,0,0,0,0,0
$GC,4593,-0.72,-292.0,561.0,-9.2,581,4596,0.00,1.05,0.00,0.000,4,0.000,0.049,2533,2297,3950,0,0,0,0,0,0
$GC,4723,-0.75,-292.0,572.6,-8.5,592,4731,0.00,1.05,0.00,0.000,6,0.000,0.043,2533,1610,3949,0,0,0,0,0,0
$GC,5058,-0.75,-292.0,607.4,-10.7,621,5061,0.00,1.08,0.00,0.000,4,0.000,0.052,2528,2294,3946,0,0,0,0,0,0
$GC,5108,-0.77,-292.0,612.9,-10.3,623,5112,0.00,1.05,0.00,0.000,6,0.000,0.044,2528,1606,3946,0,0,0,0,0,0
$GC,5438,-0.77,-292.0,649.5,-11.6,639,5442,0.00,1.08,0.00,0.000,4,0.000,0.054,2523,2297,3943,0,0,0,0,0,0
$GC,5499,-0.78,-292.0,657.0,-11.6,641,5505,0.00,1.05,0.00,0.000,6,0.000,0.045,2523,1612,3943,0,0,0,0,0,0
$GC,5815,-0.78,-292.0,694.5,-11.6,657,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1612,3940,0,0,0,0,0,0
$GC,6126,-0.78,-292.0,729.4,-11.3,672,6130,0.00,1.08,0.00,0.000,4,0.000,0.057,2518,2295,3939,0,0,0,0,0,0
$GC,6188,-0.80,-292.0,736.2,-10.2,674,6195,0.00,1.05,0.00,0.000,6,0.000,0.048,2518,1616,3939,0,0,0,0,0,0
$GC,6506,-0.80,-292.0,769.2,-9.9,690,6510,0.00,1.08,0.00,0.000,4,0.000,0.059,2513,2298,3936,0,0,0,0,0,0
$GC,6552,-0.80,-292.0,773.7,-9.5,692,6556,0.00,1.08,0.00,0.000,6,0.000,0.050,2513,1603,3936,0,0,0,0,0,0
$GC,6885,-0.80,-292.0,805.6,-9.6,708,6888,0.00,1.10,0.00,0.000,4,0.000,0.060,2508,2297,3934,0,0,0,0,0,0
$GC,6956,-0.80,-292.0,812.0,-9.1,711,6959,0.00,1.08,0.00,0.000,6,0.000,0.050,2508,1607,3933,0,0,0,0,0,0
$GC,7288,-0.80,-292.0,846.0,-10.3,727,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1607,3931,0,0,0,0,0,0
$GC,7600,-0.80,-292.0,877.5,-10.0,742,7604,0.00,1.10,0.00,0.000,4,0.000,0.061,2503,2296,3929,0,0,0,0,0,0
$GC,7632,-0.80,-292.0,881.0,-10.0,743,7636,0.00,1.08,0.00,0.000,6,0.000,0.051,2503,1608,3929,0,0,0,0,0,0
$GC,7954,-0.80,-292.0,915.1,-10.6,759,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1608,3928,0,0,0,0,0,0
$GC,8266,-0.80,-292.0,947.5,-10.4,774,8269,0.00,1.10,0.00,0.000,4,0.000,0.063,2498,2296,3926,0,0,0,0,0,0
$GC,8304,-0.80,-292.0,951.8,-10.0,775,8314,0.00,1.08,0.00,0.000,6,0.000,0.052,2498,1607,3925,0,0,0,0,0,0
$GC,8620,-0.80,-292.0,984.8,-10.4,791,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1607,3924,0,0,0,0,0,0
$STATE,8680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8680,begin apogee
$GC,8688,-0.11,0.0,991.1,10.3,794,8922,0.62,0.00,228.23,1.441,6,0.125,0.000,2701,1765,2884,0,0,0,0,0,0
$STATE,8926,end apogee,CONTROL_FINISHED_OK
$STATE,8926,begin climb
$GC,8929,0.68,292.0,1000.3,0.0,805,9216,0.73,1.25,276.40,1.378,4,0.053,0.063,2970,2479,1693,0,0,0,0,0,0
$GC,9365,0.63,292.0,938.9,17.6,825,9369,0.00,1.10,0.00,0.000,6,0.000,0.051,2974,1788,1688,0,0,0,0,0,0
$GC,9701,0.57,292.0,878.6,17.5,841,9706,0.17,1.12,0.00,0.000,4,0.169,0.061,2924,2487,1686,0,0,0,0,0,0
$GC,9749,0.56,292.0,871.5,13.5,843,9752,0.00,1.10,0.00,0.000,6,0.000,0.050,2927,1785,1685,0,0,0,0,0,0
$GC,10084,0.55,303.6,831.6,11.5,859,10101,0.00,0.00,11.30,1.186,6,0.000,0.000,2927,1785,1646,0,0,0,0,0,0
$GC,10411,0.56,322.4,793.9,11.3,875,10434,0.00,1.15,19.25,1.249,4,0.000,0.054,2932,1068,1569,0,0,0,0,0,0
$GC,10461,0.63,381.4,788.7,10.2,877,10525,0.00,1.12,56.45,1.288,6,0.000,0.048,2932,1783,1328,0,0,0,0,0,0
$GC,10834,0.64,394.3,747.6,11.4,895,10856,0.00,1.12,12.73,1.157,4,0.000,0.057,2932,2485,1275,0,0,0,0,0,0
$GC,10908,0.68,416.1,739.1,11.2,898,10933,0.00,1.10,21.33,1.213,6,0.000,0.047,2937,1780,1187,0,0,0,0,0,0
$GC,11258,0.70,416.1,694.9,13.1,915,11261,0.00,1.10,0.00,0.000,4,0.000,0.054,2942,1073,1184,0,0,0,0,0,0
$GC,11341,0.71,416.1,684.0,12.7,918,11348,0.00,1.10,0.00,0.000,6,0.000,0.045,2942,1788,1183,0,0,0,0,0,0
$GC,11657,0.71,416.1,645.9,11.9,934,11660,0.00,1.10,0.00,0.000,4,0.000,0.050,2947,1072,1183,0,0,0,0,0,0
$GC,11686,0.71,416.1,642.5,11.9,935,11690,0.00,1.08,0.00,0.000,6,0.000,0.044,2947,1776,1182,0,0,0,0,0,0
$GC,12013,0.71,416.1,598.1,14.3,951,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1776,1182,0,0,0,0,0,0
$GC,12336,0.71,416.1,556.2,12.0,981,12340,0.00,1.08,0.00,0.000,4,0.000,0.050,2952,1075,1182,0,0,0,0,0,0
$GC,12370,0.71,416.1,551.7,11.9,984,12374,0.00,1.08,0.00,0.000,6,0.000,0.043,2952,1783,1182,0,0,0,0,0,0
$GC,12700,0.71,416.1,509.6,12.9,1015,12704,0.00,1.10,0.00,0.000,4,0.000,0.050,2957,1066,1182,0,0,0,0,0,0
$GC,12728,0.71,416.1,506.1,12.8,1017,12734,0.00,1.08,0.00,0.000,6,0.000,0.044,2957,1773,1181,0,0,0,0,0,0
$GC,13053,0.71,416.1,464.0,12.8,1048,13056,0.00,1.05,0.00,0.000,4,0.000,0.054,2957,2471,1182,0,0,0,0,0,0
$GC,13093,0.71,416.1,459.1,12.5,1051,13100,0.00,1.05,0.00,0.000,6,0.000,0.044,2962,1779,1181,0,0,0,0,0,0
$GC,13418,0.71,416.1,418.1,12.5,1082,13419,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1779,1181,0,0,0,0,0,0
$GC,13741,0.71,416.2,378.4,11.8,1112,13748,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1779,1181,0,0,0,0,0,0
$GC,14068,0.80,487.2,344.2,9.9,1143,14135,0.12,1.12,62.83,0.970,4,0.089,0.047,3040,1075,896,0,0,0,0,0,0
$GC,14156,0.74,487.2,329.8,19.0,1150,14163,0.17,1.10,0.00,0.000,6,0.136,0.041,2986,1784,894,0,0,0,0,0,0
$GC,14485,0.74,487.2,285.9,13.2,1181,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1787,890,0,0,0,0,0,0
$GC,14813,0.75,487.2,243.5,12.5,1216,14821,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1788,890,0,0,0,0,0,0
$GC,15141,0.76,487.2,202.5,12.9,1277,15148,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1787,890,0,0,0,0,0,0
$GC,15465,0.90,572.1,164.9,9.5,1338,15548,0.15,1.15,74.47,0.799,4,0.076,0.044,3076,1073,549,0,0,0,0,0,0
$GC,15583,0.85,572.1,142.8,21.7,1354,15591,0.17,1.08,0.00,0.000,6,0.131,0.038,3019,1784,544,0,0,0,0,0,0
$GC,15915,0.87,572.1,96.9,13.2,1415,15923,0.00,1.08,0.00,0.000,4,0.000,0.045,3023,1081,538,0,0,0,0,0,0
$GC,15968,0.90,572.1,89.4,12.4,1424,15977,0.00,1.02,0.00,0.000,6,0.000,0.036,3023,1779,538,0,0,0,0,0,0
$GC,16300,1.18,732.9,55.8,7.4,1485,16331,0.28,1.08,22.67,0.666,4,0.052,0.041,3184,1065,453,0,0,0,0,0,0
$GC,16406,1.09,732.9,31.8,27.7,1502,16415,0.28,1.05,0.00,0.000,6,0.145,0.037,3095,1780,445,0,0,0,0,0,0
$STATE,16575,end climb,SURFACE_DEPTH_REACHED
$STATE,16575,begin surface coast
$FINISH,1.5,1.022132
$STATE,16598,end surface coast,CONTROL_FINISHED_OK
$STATE,16598,begin surface
$SM_CCo,16678,0.00,0.000,0,0,441,599.27
$SM_GC,2.11,7.68,0.00,0.00,0.034,0.000,0.000,159,1588,441,-8.04,-0.59,599.27,0,0,0,0,0,0
$IRIDIUM_FIX,2307.44,12155.35,061011,111109
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.70
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.60
$XPDR_PINGS,128
$24V_AH,22.3,80.504
$10V_AH,9.8,56.436
$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,20.575,63.000,785.650,0.000,0.000,32.838,31.251,255.659,32.000,0.000,35.870,3795.558,8232.246,801.792,3819.928,512.105,0.000,2306.533,0.000,3492.894,0.000,0.540,0.000
$DEVICE_MAMPS,230.265,71.145,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.611,1575.068,1768.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,86828,1537
$CAP_FILE_SIZE,178057,0
$CFSIZE,260165632,117542912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.345, 21.9,1
$GPS,061011,202920,2318.228,12201.963,39,2.5,58,-3.1