version: 66.09
glider: 166
mission: 6
dive: 338
start: 10 7 111 15 29 44
data:
$ID,166
$MISSION,6
$DIVE,338
$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,-24824.797
$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,42
$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
$GPS1,071011,152126,2323.201,12214.926,35,99.0,54,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-66.4
$GPS2,071011,152921,2323.339,12214.988,17,99.0,36,-3.2
$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,122.0,176475,-18.1,-11.786
$D_GRID,4465
$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,-194.6,0.0,0.0,0,108,0.00,0.00,-87.47,0.000,2,0.000,0.000,141,1609,3086,0,0,0,0,0,0
$GC,111,-0.64,-194.6,5.2,-6.3,12,142,9.50,1.08,-11.77,0.000,4,0.221,0.063,2529,894,3680,0,0,0,0,0,0
$GC,273,-0.53,-194.6,58.4,-30.0,40,282,0.12,1.05,0.00,0.000,6,0.148,0.035,2565,1604,3681,0,0,0,0,0,0
$GC,602,-0.51,-194.6,115.9,-15.8,101,609,0.00,1.02,0.00,0.000,4,0.000,0.039,2561,2313,3682,0,0,0,0,0,0
$GC,770,-0.51,-194.6,139.6,-13.1,131,779,0.00,1.05,0.00,0.000,6,0.000,0.034,2563,1597,3682,0,0,0,0,0,0
$GC,1099,-0.51,-194.6,179.1,-12.3,192,1107,0.00,1.05,0.00,0.000,4,0.000,0.039,2559,2310,3683,0,0,0,0,0,0
$GC,1258,-0.54,-194.6,198.6,-12.2,221,1266,0.00,1.02,0.00,0.000,6,0.000,0.037,2562,1611,3683,0,0,0,0,0,0
$GC,1590,-0.57,-194.6,236.6,-11.6,282,1598,0.00,1.02,0.00,0.000,4,0.000,0.041,2559,2302,3683,0,0,0,0,0,0
$GC,1656,-0.60,-194.6,243.5,-10.4,293,1665,0.00,1.02,0.00,0.000,6,0.000,0.037,2559,1608,3683,0,0,0,0,0,0
$GC,1992,-0.63,-194.6,279.5,-10.5,329,1995,0.00,1.05,0.00,0.000,4,0.000,0.041,2554,2308,3683,0,0,0,0,0,0
$GC,2121,-0.67,-194.6,293.2,-10.2,340,2129,0.00,1.05,0.00,0.000,6,0.000,0.037,2554,1604,3683,0,0,0,0,0,0
$GC,2447,-0.70,-194.6,326.4,-9.0,371,2451,0.10,1.08,0.00,0.000,4,0.097,0.042,2479,2309,3681,0,0,0,0,0,0
$GC,2629,-0.66,-194.6,350.6,-14.1,387,2633,0.12,1.02,0.00,0.000,6,0.131,0.037,2523,1611,3680,0,0,0,0,0,0
$GC,2962,-0.66,-194.6,387.7,-11.7,418,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1611,3679,0,0,0,0,0,0
$GC,3289,-0.67,-194.6,425.6,-11.4,449,3293,0.00,1.05,0.00,0.000,4,0.000,0.045,2538,2303,3678,0,0,0,0,0,0
$GC,3355,-0.70,-194.6,432.5,-10.5,454,3362,0.00,1.02,0.00,0.000,6,0.000,0.040,2538,1620,3677,0,0,0,0,0,0
$GC,3681,-0.72,-194.6,464.3,-9.4,485,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1620,3675,0,0,0,0,0,0
$GC,4004,-0.74,-194.6,496.2,-10.8,515,4008,0.00,1.02,0.00,0.000,4,0.000,0.047,2533,2297,3673,0,0,0,0,0,0
$GC,4065,-0.77,-194.6,503.6,-10.6,520,4073,0.08,1.02,0.00,0.000,6,0.052,0.040,2470,1609,3672,0,0,0,0,0,0
$GC,4391,-0.73,-194.6,554.4,-15.2,551,4395,0.12,1.08,0.00,0.000,4,0.168,0.049,2504,915,3670,0,0,0,0,0,0
$GC,4418,-0.71,-194.6,558.6,-14.4,553,4425,0.00,1.05,0.00,0.000,6,0.000,0.044,2501,1604,3670,0,0,0,0,0,0
$GC,4743,-0.71,-194.6,598.4,-12.0,584,4747,0.00,1.05,0.00,0.000,4,0.000,0.047,2501,919,3668,0,0,0,0,0,0
$GC,4770,-0.71,-194.6,602.1,-12.0,586,4774,0.00,1.05,0.00,0.000,6,0.000,0.044,2496,1606,3668,0,0,0,0,0,0
$GC,5101,-0.70,-194.6,643.0,-13.1,602,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1606,3664,0,0,0,0,0,0
$GC,5407,-0.70,-194.6,684.3,-13.0,617,5411,0.00,1.08,0.00,0.000,4,0.000,0.052,2496,916,3662,0,0,0,0,0,0
$GC,5476,-0.70,-194.6,692.9,-12.8,620,5480,0.00,1.08,0.00,0.000,6,0.000,0.048,2491,1608,3662,0,0,0,0,0,0
$GC,5811,-0.70,-194.6,734.2,-12.5,636,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1608,3659,0,0,0,0,0,0
$GC,6117,-0.70,-194.6,771.9,-12.2,651,6121,0.00,1.08,0.00,0.000,4,0.000,0.053,2491,921,3656,0,0,0,0,0,0
$GC,6243,-0.70,-194.6,788.3,-13.4,656,6247,0.08,1.08,0.00,0.000,6,0.148,0.049,2511,1610,3655,0,0,0,0,0,0
$GC,6567,-0.72,-194.6,825.9,-11.6,672,6571,0.00,1.10,0.00,0.000,4,0.000,0.054,2512,921,3653,0,0,0,0,0,0
$GC,6664,-0.74,-194.6,837.5,-11.7,676,6668,0.00,1.08,0.00,0.000,6,0.000,0.048,2509,1611,3652,0,0,0,0,0,0
$GC,6992,-0.76,-194.6,872.9,-10.5,692,6995,0.00,1.08,0.00,0.000,4,0.000,0.059,2504,2309,3650,0,0,0,0,0,0
$GC,7048,-0.78,-194.6,878.9,-10.3,694,7052,0.00,1.08,0.00,0.000,6,0.000,0.049,2504,1616,3650,0,0,0,0,0,0
$GC,7372,-0.80,-194.6,911.8,-9.8,710,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1616,3648,0,0,0,0,0,0
$GC,7679,-0.82,-194.6,943.5,-10.4,725,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1616,3646,0,0,0,0,0,0
$GC,7991,-0.83,-194.6,975.3,-10.1,740,7995,0.00,1.10,0.00,0.000,4,0.000,0.057,2504,905,3644,0,0,0,0,0,0
$GC,8047,-0.85,-194.6,981.8,-11.1,742,8051,0.00,1.10,0.00,0.000,6,0.000,0.051,2499,1607,3644,0,0,0,0,0,0
$STATE,8140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8140,begin apogee
$GC,8146,-0.11,0.0,992.1,11.0,747,8318,0.62,0.00,166.65,1.448,6,0.119,0.000,2703,1783,2884,0,0,0,0,0,0
$STATE,8319,end apogee,CONTROL_FINISHED_OK
$STATE,8319,begin climb
$GC,8321,0.64,194.6,997.9,0.0,755,8515,0.70,1.20,180.90,1.388,4,0.067,0.060,2956,2477,2089,0,0,0,0,0,0
$GC,8541,0.61,194.6,977.8,13.5,765,8545,0.00,1.12,0.00,0.000,6,0.000,0.050,2960,1790,2087,0,0,0,0,0,0
$GC,8876,0.57,194.6,929.0,15.0,781,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1790,2081,0,0,0,0,0,0
$GC,9184,0.54,194.6,882.6,15.0,796,9188,0.15,1.10,0.00,0.000,4,0.173,0.060,2916,2485,2079,0,0,0,0,0,0
$GC,9259,0.55,203.3,873.3,11.4,799,9271,0.00,1.10,7.47,1.097,6,0.000,0.049,2919,1780,2055,0,0,0,0,0,0
$GC,9581,0.57,222.8,837.1,11.0,814,9606,0.00,1.12,19.67,1.277,4,0.000,0.058,2917,2480,1975,0,0,0,0,0,0
$GC,9689,0.63,257.1,825.9,10.4,818,9726,0.00,1.10,33.17,1.298,6,0.000,0.047,2920,1777,1835,0,0,0,0,0,0
$GC,10049,0.69,290.5,787.7,10.4,836,10086,0.15,1.15,32.12,1.278,4,0.080,0.054,2999,1069,1699,0,0,0,0,0,0
$GC,10138,0.65,290.5,773.9,18.0,839,10142,0.12,1.12,0.00,0.000,6,0.151,0.047,2960,1785,1696,0,0,0,0,0,0
$GC,10470,0.65,290.5,723.0,14.9,855,10474,0.00,1.05,0.00,0.000,4,0.000,0.057,2956,2479,1694,0,0,0,0,0,0
$GC,10505,0.65,290.5,718.0,14.3,856,10508,0.00,1.08,0.00,0.000,6,0.000,0.046,2958,1780,1693,0,0,0,0,0,0
$GC,10827,0.65,290.5,670.6,14.5,872,10830,0.00,1.10,0.00,0.000,4,0.000,0.056,2956,2475,1692,0,0,0,0,0,0
$GC,10876,0.65,290.5,663.5,13.6,874,10880,0.00,1.08,0.00,0.000,6,0.000,0.045,2959,1774,1692,0,0,0,0,0,0
$GC,11206,0.65,290.5,619.1,13.4,890,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1774,1691,0,0,0,0,0,0
$GC,11518,0.65,290.5,578.3,13.2,912,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1774,1691,0,0,0,0,0,0
$GC,11840,0.65,290.5,538.0,12.8,942,11843,0.00,1.10,0.00,0.000,4,0.000,0.054,2957,2486,1690,0,0,0,0,0,0
$GC,11891,0.66,290.5,531.1,12.0,946,11897,0.00,1.08,0.00,0.000,6,0.000,0.045,2960,1785,1690,0,0,0,0,0,0
$GC,12216,0.66,290.5,488.8,13.5,977,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1786,1690,0,0,0,0,0,0
$GC,12536,0.66,290.5,445.3,13.6,1007,12540,0.00,1.08,0.00,0.000,4,0.000,0.053,2960,2485,1690,0,0,0,0,0,0
$GC,12577,0.66,290.5,439.8,13.1,1010,12583,0.00,1.08,0.00,0.000,6,0.000,0.044,2963,1784,1690,0,0,0,0,0,0
$GC,12902,0.66,290.5,397.7,11.8,1041,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1784,1690,0,0,0,0,0,0
$GC,13225,0.66,290.5,358.1,13.3,1071,13229,0.00,1.08,0.00,0.000,4,0.000,0.052,2961,2481,1690,0,0,0,0,0,0
$GC,13271,0.68,290.5,351.6,12.7,1075,13275,0.00,1.08,0.00,0.000,6,0.000,0.043,2964,1779,1690,0,0,0,0,0,0
$GC,13602,0.70,299.5,314.0,11.4,1106,13614,0.00,0.00,8.27,0.819,6,0.000,0.000,2964,1779,1662,0,0,0,0,0,0
$GC,13935,0.77,336.1,278.0,10.3,1137,13973,0.00,1.12,34.42,0.907,4,0.000,0.047,2961,2486,1512,0,0,0,0,0,0
$GC,14052,0.88,392.5,266.6,9.5,1147,14112,0.15,1.10,51.10,0.891,6,0.043,0.043,3051,1770,1282,0,0,0,0,0,0
$GC,14429,0.84,392.5,197.1,19.1,1208,14437,0.12,1.10,0.00,0.000,4,0.171,0.048,3014,2478,1278,0,0,0,0,0,0
$GC,14567,0.85,392.5,178.3,12.7,1232,14575,0.00,1.05,0.00,0.000,6,0.000,0.041,3017,1785,1277,0,0,0,0,0,0
$GC,14895,0.87,392.5,130.2,14.1,1293,14903,0.00,1.05,0.00,0.000,4,0.000,0.045,3022,1075,1277,0,0,0,0,0,0
$GC,14938,0.88,392.5,123.7,14.5,1300,14946,0.00,1.05,0.00,0.000,6,0.000,0.037,3019,1786,1277,0,0,0,0,0,0
$GC,15267,0.97,436.8,81.1,10.0,1361,15312,0.12,0.00,37.45,0.714,6,0.086,0.000,3088,1786,1103,0,0,0,0,0,0
$GC,15633,0.97,436.8,26.2,14.8,1427,15642,0.00,1.08,0.00,0.000,4,0.000,0.043,3093,1072,1101,0,0,0,0,0,0
$GC,15665,0.96,436.8,21.8,15.8,1431,15674,0.10,1.05,0.00,0.000,6,0.128,0.037,3059,1787,1100,0,0,0,0,0,0
$STATE,15818,end climb,SURFACE_DEPTH_REACHED
$STATE,15818,begin surface coast
$FINISH,1.3,1.022412
$STATE,15846,end surface coast,CONTROL_FINISHED_OK
$STATE,15847,begin surface
$SM_CCo,15866,26.75,0.308,1,0,1047,450.13
$SM_GC,1.99,0.00,0.00,26.75,0.000,0.000,0.308,135,1597,1047,-8.16,-0.40,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2312.13,12213.51,071011,101040
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.58
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.10
$XPDR_PINGS,116
$24V_AH,22.6,81.613
$10V_AH,9.8,57.287
$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,19.825,60.625,571.250,26.750,0.000,22.723,24.770,229.204,29.000,0.000,37.873,3655.839,7988.741,638.555,3572.937,498.578,0.000,2020.362,0.000,3281.227,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,71.910,1448.145,308.295,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.844,1498.057,1653.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83439,1464
$CAP_FILE_SIZE,169474,0
$CFSIZE,260165632,117096448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.230, 11.8,1
$GPS,071011,195624,2323.963,12217.901,42,1.5,60,-3.2