version: 66.09
glider: 166
mission: 6
dive: 334
start: 10 6 111 20 37 49
data:
$ID,166
$MISSION,6
$DIVE,334
$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,200
$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,-24819.758
$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,50
$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
$GPS1,061011,202920,2318.228,12201.963,39,2.5,58,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-68.8
$GPS2,061011,203726,2318.410,12202.022,46,1.4,47,-3.1
$SPEED_LIMITS,0.204,0.313
$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,121.1,200134,-18.1,-11.786
$D_GRID,4522
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.64,-194.6,0.0,0.0,0,138,0.00,0.00,-117.60,0.000,2,0.000,0.000,158,1585,3265,0,0,0,0,0,0
$GC,144,-0.64,-194.6,6.2,-9.7,16,167,9.60,1.05,-7.35,0.000,4,0.227,0.067,2520,900,3680,0,0,0,0,0,0
$GC,260,-0.53,-194.6,53.2,-30.9,36,269,0.15,1.05,0.00,0.000,6,0.139,0.038,2562,1598,3682,0,0,0,0,0,0
$GC,587,-0.52,-194.6,110.9,-15.3,97,595,0.00,1.05,0.00,0.000,4,0.000,0.045,2557,2309,3683,0,0,0,0,0,0
$GC,636,-0.52,-194.6,118.8,-15.6,105,644,0.00,1.05,0.00,0.000,6,0.000,0.040,2554,1608,3683,0,0,0,0,0,0
$GC,962,-0.52,-194.6,162.6,-13.1,166,970,0.00,1.05,0.00,0.000,4,0.000,0.047,2550,2298,3684,0,0,0,0,0,0
$GC,1098,-0.52,-194.6,181.5,-13.6,190,1106,0.00,1.05,0.00,0.000,6,0.000,0.042,2549,1607,3684,0,0,0,0,0,0
$GC,1426,-0.52,-194.6,224.3,-14.7,251,1434,0.00,1.05,0.00,0.000,4,0.000,0.046,2545,2301,3684,0,0,0,0,0,0
$GC,1464,-0.53,-194.6,229.9,-14.1,257,1472,0.00,1.05,0.00,0.000,6,0.000,0.042,2545,1604,3684,0,0,0,0,0,0
$GC,1794,-0.53,-194.6,272.5,-12.1,302,1797,0.00,1.08,0.00,0.000,4,0.000,0.047,2540,2305,3684,0,0,0,0,0,0
$GC,1909,-0.55,-194.6,284.7,-10.0,312,1917,0.00,1.05,0.00,0.000,6,0.000,0.043,2540,1616,3684,0,0,0,0,0,0
$GC,2234,-0.57,-194.6,321.8,-12.2,343,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1616,3682,0,0,0,0,0,0
$GC,2557,-0.59,-194.6,358.4,-11.2,373,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1616,3681,0,0,0,0,0,0
$GC,2885,-0.61,-194.6,393.9,-10.2,404,2888,0.00,1.08,0.00,0.000,4,0.000,0.049,2538,2305,3679,0,0,0,0,0,0
$GC,2920,-0.64,-194.6,397.5,-9.9,407,2924,0.00,1.08,0.00,0.000,6,0.000,0.044,2539,1604,3679,0,0,0,0,0,0
$GC,3251,-0.67,-194.6,430.9,-10.2,438,3255,0.00,1.08,0.00,0.000,4,0.000,0.049,2545,2295,3676,0,0,0,0,0,0
$GC,3426,-0.71,-194.6,447.2,-9.2,453,3433,0.00,1.05,0.00,0.000,6,0.000,0.044,2549,1612,3675,0,0,0,0,0,0
$GC,3752,-0.74,-194.6,479.7,-9.5,484,3757,0.12,1.10,0.00,0.000,4,0.084,0.052,2474,2302,3673,0,0,0,0,0,0
$GC,3793,-0.71,-194.6,485.0,-14.0,487,3801,0.10,1.08,0.00,0.000,6,0.141,0.045,2511,1605,3673,0,0,0,0,0,0
$GC,4118,-0.71,-194.6,526.0,-12.3,518,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1604,3671,0,0,0,0,0,0
$GC,4443,-0.71,-194.6,563.9,-11.7,548,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1605,3669,0,0,0,0,0,0
$GC,4779,-0.71,-194.6,606.5,-13.0,578,4782,0.00,1.08,0.00,0.000,4,0.000,0.050,2511,904,3666,0,0,0,0,0,0
$GC,4842,-0.71,-194.6,614.9,-12.9,580,4848,0.00,1.08,0.00,0.000,6,0.000,0.047,2508,1600,3665,0,0,0,0,0,0
$GC,5161,-0.71,-194.6,654.2,-11.7,596,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1600,3663,0,0,0,0,0,0
$GC,5469,-0.71,-194.6,688.6,-10.9,611,5473,0.00,1.08,0.00,0.000,4,0.000,0.056,2503,2303,3661,0,0,0,0,0,0
$GC,5507,-0.71,-194.6,692.9,-10.0,612,5514,0.00,1.08,0.00,0.000,6,0.000,0.047,2503,1606,3661,0,0,0,0,0,0
$GC,5824,-0.71,-194.6,728.6,-12.2,628,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1606,3658,0,0,0,0,0,0
$GC,6135,-0.71,-194.6,766.7,-12.5,643,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1606,3656,0,0,0,0,0,0
$GC,6442,-0.71,-194.6,803.3,-11.6,658,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1605,3655,0,0,0,0,0,0
$GC,6751,-0.71,-194.6,838.9,-11.2,673,6755,0.00,1.08,0.00,0.000,4,0.000,0.054,2502,909,3652,0,0,0,0,0,0
$GC,6809,-0.71,-194.6,845.5,-11.9,675,6812,0.00,1.10,0.00,0.000,6,0.000,0.050,2497,1610,3652,0,0,0,0,0,0
$GC,7130,-0.71,-194.6,879.3,-9.9,691,7134,0.00,1.10,0.00,0.000,4,0.000,0.054,2497,910,3649,0,0,0,0,0,0
$GC,7261,-0.71,-194.6,893.1,-10.8,696,7268,0.00,1.10,0.00,0.000,6,0.000,0.050,2489,1611,3648,0,0,0,0,0,0
$GC,7578,-0.71,-194.6,926.7,-10.5,712,7580,0.10,0.00,0.00,0.000,6,0.184,0.000,2513,1611,3647,0,0,0,0,0,0
$GC,7887,-0.74,-194.6,955.5,-9.4,727,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1611,3645,0,0,0,0,0,0
$GC,8198,-0.77,-194.6,985.6,-9.6,742,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1611,3644,0,0,0,0,0,0
$STATE,8255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8255,begin apogee
$GC,8261,-0.11,0.0,991.6,9.8,745,8433,0.57,0.00,166.18,1.444,6,0.117,0.000,2699,1785,2884,0,0,0,0,0,0
$STATE,8434,end apogee,CONTROL_FINISHED_OK
$STATE,8434,begin climb
$GC,8436,0.64,194.6,998.4,0.0,753,8630,0.70,1.20,182.20,1.385,4,0.063,0.062,2954,2482,2090,0,0,0,0,0,0
$GC,8681,0.61,194.6,975.4,13.2,764,8685,0.00,1.12,0.00,0.000,6,0.000,0.052,2959,1794,2087,0,0,0,0,0,0
$GC,9011,0.57,194.6,930.4,13.4,780,9015,0.12,1.08,0.00,0.000,4,0.185,0.061,2924,2478,2082,0,0,0,0,0,0
$GC,9079,0.60,223.0,922.4,10.6,783,9109,0.00,1.10,26.25,1.312,6,0.000,0.051,2927,1780,1974,0,0,0,0,0,0
$GC,9432,0.61,228.2,882.4,11.6,800,9439,0.00,0.00,5.45,0.971,6,0.000,0.000,2927,1780,1953,0,0,0,0,0,0
$GC,9741,0.61,228.2,844.0,12.6,815,9745,0.00,1.10,0.00,0.000,4,0.000,0.053,2932,1059,1951,0,0,0,0,0,0
$GC,9773,0.61,228.2,839.6,12.6,816,9777,0.00,1.12,0.00,0.000,6,0.000,0.050,2932,1778,1950,0,0,0,0,0,0
$GC,10097,0.61,228.2,796.9,13.6,832,10101,0.00,1.08,0.00,0.000,4,0.000,0.059,2932,2488,1950,0,0,0,0,0,0
$GC,10130,0.61,228.2,791.9,13.7,833,10134,0.00,1.10,0.00,0.000,6,0.000,0.049,2936,1776,1949,0,0,0,0,0,0
$GC,10453,0.59,228.2,750.0,12.7,849,10456,0.00,1.10,0.00,0.000,4,0.000,0.057,2936,2486,1948,0,0,0,0,0,0
$GC,10527,0.59,228.2,740.5,12.7,852,10531,0.00,1.10,0.00,0.000,6,0.000,0.048,2939,1777,1948,0,0,0,0,0,0
$GC,10855,0.58,228.2,700.3,12.1,868,10859,0.00,1.10,0.00,0.000,4,0.000,0.056,2936,2489,1947,0,0,0,0,0,0
$GC,10962,0.58,228.2,686.7,12.8,872,10970,0.00,1.10,0.00,0.000,6,0.000,0.047,2939,1777,1947,0,0,0,0,0,0
$GC,11278,0.58,228.2,644.9,12.9,888,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1777,1946,0,0,0,0,0,0
$GC,11587,0.58,228.2,605.7,12.7,903,11591,0.00,1.10,0.00,0.000,4,0.000,0.054,2939,2486,1944,0,0,0,0,0,0
$GC,11658,0.58,228.2,596.5,13.4,907,11661,0.00,1.10,0.00,0.000,6,0.000,0.046,2941,1771,1944,0,0,0,0,0,0
$GC,11989,0.58,228.2,550.8,13.8,938,11990,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1771,1944,0,0,0,0,0,0
$GC,12311,0.58,228.2,508.2,12.3,968,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1771,1944,0,0,0,0,0,0
$GC,12638,0.62,256.7,470.3,10.6,999,12673,0.00,1.17,25.92,1.060,4,0.000,0.053,2945,2494,1837,0,0,0,0,0,0
$GC,12762,0.69,305.6,457.6,9.8,1009,12814,0.00,1.12,45.70,1.056,6,0.000,0.044,2948,1773,1637,0,0,0,0,0,0
$GC,13132,0.72,305.6,418.7,12.2,1044,13135,0.00,1.10,0.00,0.000,4,0.000,0.050,2949,2487,1632,0,0,0,0,0,0
$GC,13167,0.75,305.6,414.2,12.9,1047,13171,0.08,1.10,0.00,0.000,6,0.057,0.044,3006,1767,1632,0,0,0,0,0,0
$GC,13497,0.72,305.6,356.6,17.0,1078,13501,0.00,1.10,0.00,0.000,4,0.000,0.051,3006,2483,1632,0,0,0,0,0,0
$GC,13536,0.70,305.6,349.8,16.7,1081,13543,0.10,1.08,0.00,0.000,6,0.144,0.044,2977,1781,1632,0,0,0,0,0,0
$GC,13861,0.70,308.7,310.3,11.7,1112,13865,0.00,1.05,0.00,0.000,4,0.000,0.047,2981,1077,1631,0,0,0,0,0,0
$GC,13912,0.70,308.7,304.0,12.0,1116,13920,0.00,1.08,0.00,0.000,6,0.000,0.039,2981,1797,1631,0,0,0,0,0,0
$GC,14239,0.70,308.7,264.1,12.8,1147,14243,0.00,1.00,0.00,0.000,4,0.000,0.047,2981,2477,1631,0,0,0,0,0,0
$GC,14287,0.71,308.7,258.4,12.1,1151,14291,0.00,1.05,0.00,0.000,6,0.000,0.042,2985,1779,1631,0,0,0,0,0,0
$GC,14615,0.71,308.7,217.1,12.6,1205,14623,0.00,1.08,0.00,0.000,4,0.000,0.047,2982,2478,1631,0,0,0,0,0,0
$GC,14706,0.77,336.2,207.0,10.7,1221,14738,0.00,1.05,27.25,0.817,6,0.000,0.041,2986,1780,1513,0,0,0,0,0,0
$GC,15058,0.79,336.2,168.2,11.8,1285,15067,0.00,1.08,0.00,0.000,4,0.000,0.046,2991,1077,1510,0,0,0,0,0,0
$GC,15087,0.81,336.2,165.0,11.9,1289,15095,0.00,1.05,0.00,0.000,6,0.000,0.037,2987,1781,1510,0,0,0,0,0,0
$GC,15417,0.92,396.1,130.4,9.4,1350,15478,0.15,1.05,52.03,0.754,4,0.076,0.042,3068,2472,1269,0,0,0,0,0,0
$GC,15578,0.89,396.1,101.5,19.3,1376,15588,0.10,1.05,0.00,0.000,6,0.145,0.040,3038,1782,1267,0,0,0,0,0,0
$GC,15909,0.96,415.9,62.4,11.0,1437,15932,0.00,1.10,17.88,0.659,4,0.000,0.044,3042,1072,1188,0,0,0,0,0,0
$GC,15988,1.10,480.1,54.6,9.2,1450,16049,0.12,1.05,54.00,0.680,6,0.044,0.035,3127,1782,925,0,0,0,0,0,0
$STATE,16273,end climb,SURFACE_DEPTH_REACHED
$STATE,16273,begin surface coast
$FINISH,1.3,0.998033
$STATE,16293,end surface coast,CONTROL_FINISHED_OK
$STATE,16293,begin surface
$SM_CCo,16373,0.00,0.000,0,0,919,481.77
$SM_GC,1.99,7.85,0.00,0.00,0.040,0.000,0.000,159,1599,919,-8.03,-0.31,481.77,0,0,0,0,0,0
$IRIDIUM_FIX,2309.79,12155.35,061011,151542
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.32
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.20
$XPDR_PINGS,113
$24V_AH,22.5,80.724
$10V_AH,9.8,56.605
$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,19.875,61.025,602.850,0.000,0.000,29.646,23.507,227.823,28.250,0.000,47.888,3691.981,8376.917,651.907,3614.114,502.725,0.000,2065.485,0.000,3317.072,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,71.910,1444.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1028.452,1541.342,1696.942,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,83424,1503
$CAP_FILE_SIZE,169172,0
$CFSIZE,260165632,117465088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.283, 13.9,1
$GPS,071011,011220,2319.508,12205.283,39,3.3,58,-3.1