version: 66.09
glider: 166
mission: 6
dive: 337
start: 10 7 111 10 40 42
data:
$ID,166
$MISSION,6
$DIVE,337
$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,-24823.533
$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,47
$R_STBD_OVSHOOT,57
$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
$GPS1,071011,103300,2321.820,12211.826,40,1.3,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-68.1
$GPS2,071011,104019,2321.946,12211.859,15,2.0,15,-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,116.3,182288,-18.1,-11.786
$D_GRID,3664
$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,-0.64,-194.6,0.0,0.0,0,113,0.00,0.00,-93.90,0.000,2,0.000,0.000,132,1604,3162,0,0,0,0,0,0
$GC,116,-0.64,-194.6,6.2,-10.4,12,141,9.55,1.08,-9.98,0.000,4,0.223,0.067,2536,892,3681,0,0,0,0,0,0
$GC,236,-0.55,-194.6,47.2,-27.3,32,245,0.10,1.05,0.00,0.000,6,0.149,0.040,2561,1589,3683,0,0,0,0,0,0
$GC,563,-0.53,-194.6,107.4,-16.7,93,571,0.00,1.05,0.00,0.000,4,0.000,0.041,2557,2314,3684,0,0,0,0,0,0
$GC,666,-0.53,-194.6,123.9,-14.1,111,674,0.00,1.05,0.00,0.000,6,0.000,0.037,2552,1599,3684,0,0,0,0,0,0
$GC,994,-0.51,-194.6,176.7,-14.8,172,1002,0.00,1.00,0.00,0.000,4,0.000,0.041,2552,912,3684,0,0,0,0,0,0
$GC,1083,-0.51,-194.6,189.0,-13.8,187,1092,0.08,1.05,0.00,0.000,6,0.144,0.037,2573,1623,3685,0,0,0,0,0,0
$GC,1413,-0.54,-194.6,228.1,-11.9,248,1421,0.00,1.00,0.00,0.000,4,0.000,0.043,2570,2311,3685,0,0,0,0,0,0
$GC,1524,-0.58,-194.6,240.6,-10.7,268,1532,0.00,1.02,0.00,0.000,6,0.000,0.038,2571,1617,3685,0,0,0,0,0,0
$GC,1853,-0.62,-194.6,274.0,-10.7,307,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1617,3685,0,0,0,0,0,0
$GC,2183,-0.67,-194.6,307.0,-9.2,338,2187,0.12,1.05,0.00,0.000,4,0.083,0.047,2484,2300,3684,0,0,0,0,0,0
$GC,2308,-0.63,-194.6,323.9,-13.3,349,2312,0.15,1.02,0.00,0.000,6,0.132,0.042,2535,1614,3684,0,0,0,0,0,0
$GC,2639,-0.64,-194.6,359.3,-11.1,380,2642,0.00,1.08,0.00,0.000,4,0.000,0.048,2532,2307,3683,0,0,0,0,0,0
$GC,2729,-0.67,-194.6,369.7,-11.9,388,2733,0.00,1.05,0.00,0.000,6,0.000,0.043,2533,1611,3683,0,0,0,0,0,0
$GC,3061,-0.68,-194.6,410.3,-10.9,419,3065,0.00,1.05,0.00,0.000,4,0.000,0.049,2536,2293,3680,0,0,0,0,0,0
$GC,3108,-0.71,-194.6,415.5,-10.8,423,3112,0.00,1.05,0.00,0.000,6,0.000,0.043,2532,1603,3680,0,0,0,0,0,0
$GC,3440,-0.73,-194.6,450.0,-10.0,454,3444,0.00,1.05,0.00,0.000,4,0.000,0.048,2537,911,3678,0,0,0,0,0,0
$GC,3501,-0.75,-194.6,456.7,-10.7,459,3509,0.08,1.05,0.00,0.000,6,0.054,0.044,2486,1602,3678,0,0,0,0,0,0
$GC,3827,-0.72,-194.6,502.1,-14.8,490,3830,0.00,1.05,0.00,0.000,4,0.000,0.050,2482,2302,3678,0,0,0,0,0,0
$GC,3850,-0.69,-194.6,505.4,-14.6,492,3855,0.10,1.05,0.00,0.000,6,0.135,0.044,2516,1607,3677,0,0,0,0,0,0
$GC,4182,-0.69,-194.6,544.6,-11.7,523,4185,0.00,1.05,0.00,0.000,4,0.000,0.050,2516,917,3675,0,0,0,0,0,0
$GC,4220,-0.69,-194.6,549.5,-11.9,526,4228,0.00,1.05,0.00,0.000,6,0.000,0.044,2513,1605,3674,0,0,0,0,0,0
$GC,4546,-0.69,-194.6,585.5,-11.4,557,4550,0.00,1.08,0.00,0.000,4,0.000,0.050,2514,910,3672,0,0,0,0,0,0
$GC,4585,-0.69,-194.6,590.0,-11.2,560,4591,0.00,1.08,0.00,0.000,6,0.000,0.047,2508,1609,3671,0,0,0,0,0,0
$GC,4906,-0.69,-194.6,625.4,-10.9,580,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1609,3669,0,0,0,0,0,0
$GC,5214,-0.69,-194.6,660.0,-11.1,595,5217,0.00,1.08,0.00,0.000,4,0.000,0.053,2508,919,3666,0,0,0,0,0,0
$GC,5291,-0.69,-194.6,670.1,-12.6,598,5296,0.00,1.08,0.00,0.000,6,0.000,0.047,2504,1612,3666,0,0,0,0,0,0
$GC,5616,-0.69,-194.6,708.1,-11.8,614,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1611,3664,0,0,0,0,0,0
$GC,5923,-0.69,-194.6,742.9,-11.0,629,5926,0.00,1.10,0.00,0.000,4,0.000,0.054,2504,910,3661,0,0,0,0,0,0
$GC,6023,-0.69,-194.6,754.3,-11.5,633,6026,0.00,1.10,0.00,0.000,6,0.000,0.051,2499,1611,3660,0,0,0,0,0,0
$GC,6347,-0.69,-194.6,790.7,-11.4,649,6351,0.00,1.08,0.00,0.000,4,0.000,0.055,2499,923,3657,0,0,0,0,0,0
$GC,6416,-0.69,-194.6,799.2,-11.8,652,6420,0.00,1.08,0.00,0.000,6,0.000,0.052,2494,1610,3657,0,0,0,0,0,0
$GC,6751,-0.69,-194.6,836.1,-10.5,668,6753,0.10,0.00,0.00,0.000,6,0.179,0.000,2519,1610,3654,0,0,0,0,0,0
$GC,7059,-0.72,-194.6,863.4,-8.9,683,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1610,3653,0,0,0,0,0,0
$GC,7370,-0.75,-194.6,891.5,-9.2,698,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1610,3651,0,0,0,0,0,0
$GC,7677,-0.78,-194.6,920.4,-9.5,713,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1610,3649,0,0,0,0,0,0
$GC,7986,-0.81,-194.6,951.4,-10.1,728,7991,0.10,1.12,0.00,0.000,4,0.106,0.059,2467,912,3647,0,0,0,0,0,0
$GC,8068,-0.79,-194.6,962.1,-14.2,731,8071,0.00,1.10,0.00,0.000,6,0.000,0.054,2462,1606,3647,0,0,0,0,0,0
$STATE,8263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8263,begin apogee
$GC,8269,-0.11,0.0,990.3,13.8,741,8442,0.75,0.00,167.05,1.444,6,0.131,0.000,2700,1782,2884,0,0,0,0,0,0
$STATE,8443,end apogee,CONTROL_FINISHED_OK
$STATE,8443,begin climb
$GC,8445,0.64,194.6,997.8,0.0,749,8638,0.70,1.17,181.30,1.391,4,0.067,0.061,2953,2475,2089,0,0,0,0,0,0
$GC,8707,0.61,194.6,973.5,12.9,761,8711,0.00,1.10,0.00,0.000,6,0.000,0.050,2958,1791,2085,0,0,0,0,0,0
$GC,9042,0.58,194.6,928.4,13.8,777,9046,0.00,1.10,0.00,0.000,4,0.000,0.056,2963,1073,2080,0,0,0,0,0,0
$GC,9070,0.55,194.6,923.8,14.3,778,9074,0.12,1.10,0.00,0.000,6,0.149,0.050,2923,1777,2080,0,0,0,0,0,0
$GC,9397,0.55,196.5,885.4,11.7,794,9401,0.00,1.08,0.00,0.000,4,0.000,0.060,2922,2479,2079,0,0,0,0,0,0
$GC,9490,0.55,196.5,874.8,11.8,798,9494,0.00,1.10,0.00,0.000,6,0.000,0.048,2925,1769,2079,0,0,0,0,0,0
$GC,9823,0.55,196.5,834.3,12.1,814,9827,0.00,1.10,0.00,0.000,4,0.000,0.058,2925,2477,2077,0,0,0,0,0,0
$GC,9880,0.55,201.5,827.6,11.6,816,9893,0.00,1.08,5.47,0.980,6,0.000,0.047,2928,1781,2061,0,0,0,0,0,0
$GC,10201,0.55,201.5,789.4,11.9,832,10205,0.00,1.08,0.00,0.000,4,0.000,0.055,2928,2477,2060,0,0,0,0,0,0
$GC,10251,0.55,201.5,783.0,12.4,834,10255,0.00,1.08,0.00,0.000,6,0.000,0.046,2931,1776,2061,0,0,0,0,0,0
$GC,10581,0.55,201.5,744.6,11.8,850,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1776,2059,0,0,0,0,0,0
$GC,10888,0.55,201.5,708.2,11.9,865,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1776,2059,0,0,0,0,0,0
$GC,11199,0.59,227.3,673.8,10.7,880,11226,0.00,0.00,25.08,1.221,6,0.000,0.000,2931,1776,1957,0,0,0,0,0,0
$GC,11526,0.61,248.1,637.8,10.9,896,11552,0.00,1.12,20.17,1.173,4,0.000,0.055,2930,2483,1871,0,0,0,0,0,0
$GC,11606,0.64,253.4,629.1,11.6,899,11618,0.00,1.10,6.30,0.940,6,0.000,0.045,2933,1777,1851,0,0,0,0,0,0
$GC,11931,0.67,268.9,591.7,11.2,918,11949,0.00,0.00,16.12,1.122,6,0.000,0.000,2933,1777,1787,0,0,0,0,0,0
$GC,12268,0.71,289.3,553.5,11.0,950,12293,0.12,1.17,20.17,1.115,4,0.090,0.054,3000,2495,1704,0,0,0,0,0,0
$GC,12356,0.68,289.3,539.5,16.4,957,12363,0.12,1.12,0.00,0.000,6,0.152,0.044,2967,1777,1703,0,0,0,0,0,0
$GC,12681,0.68,289.3,495.7,13.4,988,12685,0.00,1.08,0.00,0.000,4,0.000,0.049,2970,1066,1700,0,0,0,0,0,0
$GC,12709,0.68,289.3,491.6,14.0,990,12716,0.00,1.10,0.00,0.000,6,0.000,0.044,2969,1785,1699,0,0,0,0,0,0
$GC,13035,0.68,289.3,446.5,13.0,1021,13039,0.00,1.05,0.00,0.000,4,0.000,0.054,2969,2482,1699,0,0,0,0,0,0
$GC,13081,0.68,289.3,440.1,13.5,1025,13085,0.00,1.08,0.00,0.000,6,0.000,0.044,2972,1779,1699,0,0,0,0,0,0
$GC,13411,0.68,289.3,398.0,12.9,1056,13415,0.00,1.08,0.00,0.000,4,0.000,0.047,2977,1065,1698,0,0,0,0,0,0
$GC,13483,0.68,289.3,388.3,13.2,1062,13491,0.00,1.10,0.00,0.000,6,0.000,0.043,2974,1787,1698,0,0,0,0,0,0
$GC,13809,0.68,289.3,344.7,12.3,1093,13812,0.00,1.05,0.00,0.000,4,0.000,0.051,2974,2489,1698,0,0,0,0,0,0
$GC,13900,0.69,300.1,334.2,11.3,1101,13915,0.00,1.08,10.73,0.873,6,0.000,0.043,2978,1785,1659,0,0,0,0,0,0
$GC,14242,0.69,300.1,291.4,12.7,1133,14246,0.00,1.05,0.00,0.000,4,0.000,0.048,2978,2478,1659,0,0,0,0,0,0
$GC,14314,0.71,300.1,281.8,12.9,1139,14321,0.00,1.08,0.00,0.000,6,0.000,0.041,2981,1771,1659,0,0,0,0,0,0
$GC,14645,0.71,300.1,239.3,12.7,1177,14653,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1771,1659,0,0,0,0,0,0
$GC,14973,0.73,300.1,200.0,12.0,1238,14980,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1771,1659,0,0,0,0,0,0
$GC,15298,0.77,321.2,161.6,10.9,1299,15321,0.00,0.00,20.55,0.768,6,0.000,0.000,2982,1771,1573,0,0,0,0,0,0
$GC,15644,0.90,392.3,127.1,8.9,1362,15714,0.15,1.12,62.12,0.757,4,0.075,0.044,3073,1068,1283,0,0,0,0,0,0
$GC,15792,0.86,392.3,102.6,17.8,1385,15801,0.15,1.10,0.00,0.000,6,0.138,0.037,3025,1795,1281,0,0,0,0,0,0
$GC,16123,1.00,462.7,67.3,8.9,1446,16192,0.12,1.05,58.67,0.695,4,0.084,0.042,3098,2475,996,0,0,0,0,0,0
$GC,16222,0.98,462.7,52.1,16.4,1459,16231,0.12,1.08,0.00,0.000,6,0.135,0.037,3062,1765,994,0,0,0,0,0,0
$GC,16555,1.02,462.7,11.0,12.9,1520,16563,0.00,1.00,0.00,0.000,4,0.000,0.042,3065,1087,992,0,0,0,0,0,0
$GC,16625,1.06,462.7,3.1,12.0,1532,16634,0.00,1.02,0.00,0.000,6,0.000,0.035,3062,1783,993,0,0,0,0,0,0
$STATE,16639,end climb,SURFACE_DEPTH_REACHED
$STATE,16640,begin surface coast
$FINISH,1.2,1.019842
$STATE,16670,end surface coast,CONTROL_FINISHED_OK
$STATE,16670,begin surface
$SM_CCo,16748,0.00,0.000,0,0,991,464.35
$SM_GC,2.16,7.57,0.00,0.00,0.035,0.000,0.000,157,1611,991,-8.05,0.03,464.35,0,0,0,0,0,0
$IRIDIUM_FIX,2312.13,12210.27,071011,050559
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.69
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.60
$XPDR_PINGS,117
$24V_AH,22.6,81.390
$10V_AH,9.8,57.122
$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,20.325,64.875,593.750,0.000,0.000,40.962,37.039,196.470,29.250,0.000,16.013,3820.962,8514.253,634.578,3695.412,502.915,0.000,2074.845,0.000,3435.561,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,71.910,1444.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.614,1576.713,1783.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,86811,1539
$CAP_FILE_SIZE,176166,0
$CFSIZE,260165632,117178368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263,  7.7,1
$GPS,071011,152126,2323.201,12214.926,35,99.0,54,-3.2