version: 66.09
glider: 166
mission: 6
dive: 339
start: 10 7 111 20 5 6
data:
$ID,166
$MISSION,6
$DIVE,339
$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,-24826.053
$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,49
$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
$GPS1,071011,195624,2323.963,12217.901,42,1.5,60,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-68.7
$GPS2,071011,200443,2324.043,12217.959,18,1.5,35,-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,117.3,171278,-18.1,-11.786
$D_GRID,4570
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-81.57,0.000,2,0.000,0.000,129,1594,2976,0,0,0,0,0,0
$GC,104,-0.64,-194.6,5.1,-5.1,11,135,9.50,1.00,-14.40,0.000,4,0.222,0.063,2536,895,3678,0,0,0,0,0,0
$GC,192,-0.57,-194.6,33.6,-26.8,25,201,0.00,1.05,0.00,0.000,6,0.000,0.038,2531,1592,3679,0,0,0,0,0,0
$GC,519,-0.51,-194.6,110.2,-17.7,86,528,0.17,1.05,0.00,0.000,4,0.160,0.041,2580,909,3680,0,0,0,0,0,0
$GC,575,-0.51,-194.6,118.9,-13.4,95,583,0.00,1.05,0.00,0.000,6,0.000,0.037,2577,1618,3681,0,0,0,0,0,0
$GC,902,-0.53,-194.6,161.2,-12.7,156,910,0.00,1.00,0.00,0.000,4,0.000,0.043,2572,2304,3682,0,0,0,0,0,0
$GC,967,-0.57,-194.6,168.5,-10.8,167,975,0.00,1.05,0.00,0.000,6,0.000,0.038,2571,1601,3682,0,0,0,0,0,0
$GC,1295,-0.59,-194.6,205.8,-11.2,228,1303,0.00,1.05,0.00,0.000,4,0.000,0.043,2567,2303,3682,0,0,0,0,0,0
$GC,1375,-0.64,-194.6,213.3,-9.7,241,1384,0.00,1.02,0.00,0.000,6,0.000,0.040,2567,1616,3682,0,0,0,0,0,0
$GC,1708,-0.67,-194.6,248.5,-10.5,302,1716,0.12,1.05,0.00,0.000,4,0.080,0.045,2476,2299,3682,0,0,0,0,0,0
$GC,1825,-0.62,-194.6,268.6,-17.3,313,1830,0.20,1.02,0.00,0.000,6,0.130,0.041,2542,1617,3682,0,0,0,0,0,0
$GC,2156,-0.62,-194.6,310.2,-12.1,344,2159,0.00,1.08,0.00,0.000,4,0.000,0.047,2542,907,3682,0,0,0,0,0,0
$GC,2194,-0.64,-194.6,315.2,-12.8,347,2201,0.00,1.05,0.00,0.000,6,0.000,0.041,2539,1604,3682,0,0,0,0,0,0
$GC,2521,-0.65,-194.6,354.0,-11.4,378,2524,0.00,1.05,0.00,0.000,4,0.000,0.047,2534,2311,3681,0,0,0,0,0,0
$GC,2686,-0.69,-194.6,370.1,-9.1,392,2693,0.00,1.08,0.00,0.000,6,0.000,0.041,2535,1607,3680,0,0,0,0,0,0
$GC,3012,-0.71,-194.6,402.0,-9.8,423,3016,0.00,1.08,0.00,0.000,4,0.000,0.048,2534,2303,3679,0,0,0,0,0,0
$GC,3099,-0.74,-194.6,410.4,-9.3,430,3105,0.00,1.05,0.00,0.000,6,0.000,0.043,2536,1613,3679,0,0,0,0,0,0
$GC,3424,-0.76,-194.6,446.7,-11.6,461,3429,0.15,1.08,0.00,0.000,4,0.072,0.049,2464,919,3676,0,0,0,0,0,0
$GC,3506,-0.71,-194.6,459.7,-17.2,468,3510,0.15,1.05,0.00,0.000,6,0.142,0.044,2508,1606,3676,0,0,0,0,0,0
$GC,3836,-0.69,-194.6,508.1,-14.0,499,3840,0.00,1.05,0.00,0.000,4,0.000,0.050,2505,2303,3674,0,0,0,0,0,0
$GC,3940,-0.69,-194.6,521.6,-12.7,508,3944,0.00,1.05,0.00,0.000,6,0.000,0.045,2505,1619,3673,0,0,0,0,0,0
$GC,4271,-0.68,-194.6,568.0,-14.1,539,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1619,3671,0,0,0,0,0,0
$GC,4601,-0.68,-194.6,612.2,-13.3,566,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1619,3669,0,0,0,0,0,0
$GC,4907,-0.68,-194.6,651.2,-12.4,581,4911,0.00,1.10,0.00,0.000,4,0.000,0.051,2505,907,3667,0,0,0,0,0,0
$GC,4964,-0.68,-194.6,658.1,-12.4,583,4968,0.00,1.10,0.00,0.000,6,0.000,0.048,2500,1613,3666,0,0,0,0,0,0
$GC,5285,-0.68,-194.6,697.1,-12.1,599,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1613,3663,0,0,0,0,0,0
$GC,5595,-0.68,-194.6,733.2,-11.4,614,5599,0.00,1.05,0.00,0.000,4,0.000,0.057,2495,2299,3661,0,0,0,0,0,0
$GC,5666,-0.68,-194.6,740.8,-10.6,617,5670,0.00,1.08,0.00,0.000,6,0.000,0.048,2495,1604,3660,0,0,0,0,0,0
$GC,5999,-0.68,-194.6,780.3,-11.8,633,6004,0.10,1.10,0.00,0.000,4,0.170,0.054,2522,907,3658,0,0,0,0,0,0
$GC,6062,-0.71,-194.6,787.1,-10.5,635,6069,0.00,1.10,0.00,0.000,6,0.000,0.050,2519,1608,3657,0,0,0,0,0,0
$GC,6379,-0.73,-194.6,818.0,-9.4,651,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1608,3655,0,0,0,0,0,0
$GC,6691,-0.76,-194.6,845.7,-9.0,666,6695,0.00,1.10,0.00,0.000,4,0.000,0.055,2519,911,3653,0,0,0,0,0,0
$GC,6759,-0.79,-194.6,852.7,-10.0,669,6763,0.00,1.10,0.00,0.000,6,0.000,0.051,2513,1613,3652,0,0,0,0,0,0
$GC,7093,-0.81,-194.6,886.2,-10.3,685,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1613,3650,0,0,0,0,0,0
$GC,7404,-0.83,-194.6,917.9,-10.4,700,7409,0.10,1.12,0.00,0.000,4,0.102,0.057,2458,913,3648,0,0,0,0,0,0
$GC,7451,-0.81,-194.6,924.3,-14.3,702,7455,0.08,1.10,0.00,0.000,6,0.155,0.052,2477,1611,3648,0,0,0,0,0,0
$GC,7786,-0.81,-194.6,966.3,-11.9,718,7789,0.00,1.10,0.00,0.000,4,0.000,0.057,2477,914,3646,0,0,0,0,0,0
$GC,7877,-0.81,-194.6,977.6,-12.0,722,7881,0.00,1.10,0.00,0.000,6,0.000,0.053,2474,1611,3645,0,0,0,0,0,0
$STATE,7982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7982,begin apogee
$GC,7988,-0.11,0.0,990.4,12.1,727,8161,0.70,0.00,166.32,1.440,6,0.126,0.000,2699,1786,2884,0,0,0,0,0,0
$STATE,8162,end apogee,CONTROL_FINISHED_OK
$STATE,8162,begin climb
$GC,8164,0.64,194.6,995.6,0.0,735,8356,0.70,1.20,180.40,1.380,4,0.067,0.061,2951,2482,2089,0,0,0,0,0,0
$GC,8412,0.62,194.6,970.3,13.9,746,8416,0.00,1.12,0.00,0.000,6,0.000,0.050,2955,1784,2085,0,0,0,0,0,0
$GC,8736,0.59,194.6,924.7,13.6,762,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1784,2081,0,0,0,0,0,0
$GC,9044,0.56,194.6,884.2,13.2,777,9046,0.12,0.00,0.00,0.000,6,0.174,0.000,2924,1784,2079,0,0,0,0,0,0
$GC,9355,0.57,205.3,848.9,11.4,792,9366,0.00,0.00,9.35,1.155,6,0.000,0.000,2924,1784,2046,0,0,0,0,0,0
$GC,9662,0.59,223.7,814.8,11.0,807,9682,0.00,0.00,18.40,1.258,6,0.000,0.000,2923,1784,1972,0,0,0,0,0,0
$GC,9991,0.62,247.0,777.9,10.8,823,10017,0.00,1.15,22.27,1.253,4,0.000,0.057,2922,2486,1877,0,0,0,0,0,0
$GC,10042,0.67,273.7,772.3,10.7,825,10078,0.08,1.12,27.00,1.247,6,0.058,0.047,2978,1779,1767,0,0,0,0,0,0
$GC,10388,0.64,273.7,719.8,15.8,842,10391,0.00,1.10,0.00,0.000,4,0.000,0.056,2978,2480,1762,0,0,0,0,0,0
$GC,10449,0.62,273.7,709.5,15.2,844,10457,0.10,1.10,0.00,0.000,6,0.155,0.047,2951,1773,1763,0,0,0,0,0,0
$GC,10765,0.62,273.7,667.9,13.4,860,10769,0.00,1.10,0.00,0.000,4,0.000,0.057,2950,2484,1761,0,0,0,0,0,0
$GC,10813,0.62,273.7,661.9,13.2,862,10817,0.00,1.10,0.00,0.000,6,0.000,0.047,2953,1772,1761,0,0,0,0,0,0
$GC,11145,0.62,273.7,616.7,13.4,878,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1772,1760,0,0,0,0,0,0
$GC,11462,0.62,273.7,573.6,13.5,902,11466,0.00,1.10,0.00,0.000,4,0.000,0.056,2953,2480,1759,0,0,0,0,0,0
$GC,11500,0.62,273.7,567.6,14.0,905,11508,0.00,1.08,0.00,0.000,6,0.000,0.044,2957,1777,1759,0,0,0,0,0,0
$GC,11828,0.62,273.7,525.6,12.8,936,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1777,1759,0,0,0,0,0,0
$GC,12146,0.62,273.7,486.8,11.9,966,12149,0.00,1.08,0.00,0.000,4,0.000,0.053,2955,2476,1758,0,0,0,0,0,0
$GC,12254,0.64,273.7,473.5,12.7,975,12261,0.00,1.08,0.00,0.000,6,0.000,0.045,2958,1773,1758,0,0,0,0,0,0
$GC,12579,0.64,273.7,433.9,11.9,1006,12583,0.00,1.05,0.00,0.000,4,0.000,0.049,2963,1074,1758,0,0,0,0,0,0
$GC,12684,0.66,279.1,422.1,11.6,1015,12697,0.00,1.08,4.75,0.722,6,0.000,0.042,2960,1788,1745,0,0,0,0,0,0
$GC,13015,0.68,290.2,385.2,11.3,1046,13031,0.00,1.08,12.38,0.920,4,0.000,0.044,2963,1075,1700,0,0,0,0,0,0
$GC,13061,0.71,299.4,379.7,11.4,1049,13075,0.00,1.08,10.07,0.874,6,0.000,0.041,2960,1785,1663,0,0,0,0,0,0
$GC,13395,0.73,299.4,340.3,12.0,1080,13399,0.00,1.08,0.00,0.000,4,0.000,0.047,2964,1081,1661,0,0,0,0,0,0
$GC,13432,0.76,302.8,336.3,11.6,1083,13445,0.00,1.05,4.32,0.623,6,0.000,0.041,2961,1781,1649,0,0,0,0,0,0
$GC,13765,0.84,346.7,301.5,10.0,1114,13813,0.15,1.15,41.28,0.907,4,0.078,0.047,3048,1066,1469,0,0,0,0,0,0
$GC,13863,0.80,346.7,284.4,18.7,1122,13872,0.12,1.08,0.00,0.000,6,0.142,0.041,3008,1771,1467,0,0,0,0,0,0
$GC,14194,0.79,346.7,232.4,15.6,1163,14202,0.00,1.05,0.00,0.000,4,0.000,0.047,3004,2477,1466,0,0,0,0,0,0
$GC,14319,0.79,346.7,214.5,13.4,1186,14327,0.00,1.05,0.00,0.000,6,0.000,0.042,3007,1782,1467,0,0,0,0,0,0
$GC,14649,0.80,356.6,170.2,11.4,1247,14665,0.00,0.00,9.82,0.702,6,0.000,0.000,3007,1782,1430,0,0,0,0,0,0
$GC,14987,0.82,356.6,129.6,12.1,1309,14995,0.00,1.05,0.00,0.000,4,0.000,0.045,3004,2482,1429,0,0,0,0,0,0
$GC,15019,0.84,356.6,125.2,12.1,1314,15027,0.00,1.05,0.00,0.000,6,0.000,0.040,3007,1781,1429,0,0,0,0,0,0
$GC,15345,0.87,356.6,86.7,12.2,1375,15353,0.00,1.05,0.00,0.000,4,0.000,0.044,3012,1075,1429,0,0,0,0,0,0
$GC,15471,0.92,371.1,72.8,11.2,1397,15494,0.00,1.08,14.60,0.653,6,0.000,0.037,3009,1796,1369,0,0,0,0,0,0
$GC,15820,1.14,492.4,43.8,6.9,1460,15927,0.25,1.17,100.75,0.669,4,0.053,0.042,3154,1063,875,0,0,0,0,0,0
$STATE,16023,end climb,SURFACE_DEPTH_REACHED
$STATE,16023,begin surface coast
$FINISH,1.5,1.017325
$STATE,16035,end surface coast,CONTROL_FINISHED_OK
$STATE,16035,begin surface
$SM_CCo,16115,0.00,0.000,0,0,869,494.52
$SM_GC,2.01,8.02,0.00,0.00,0.044,0.000,0.000,157,1635,869,-8.06,0.71,494.52,0,0,0,0,0,0
$IRIDIUM_FIX,2312.13,12213.51,071011,151502
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.36
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.30
$XPDR_PINGS,111
$24V_AH,22.7,81.839
$10V_AH,9.8,57.457
$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,20.825,64.625,621.725,0.000,0.000,28.614,38.390,244.120,27.750,0.000,35.926,3712.442,8066.733,645.801,3679.207,490.002,0.000,2065.273,0.000,3354.944,0.000,0.540,0.000
$DEVICE_MAMPS,221.850,71.910,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.065,1530.616,1740.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,83288,1494
$CAP_FILE_SIZE,173007,0
$CFSIZE,260165632,117002240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.235,  5.6,1
$GPS,081011,003500,2324.967,12220.786,40,1.5,40,-3.2