version: 66.09
glider: 166
mission: 6
dive: 318
start: 10 4 111 7 39 51
data:
$ID,166
$MISSION,6
$DIVE,318
$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,240
$T_MISSION,300
$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,-24799.537
$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,44
$R_STBD_OVSHOOT,50
$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,500
$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,3
$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
$GPS1,041011,073232,2300.719,12134.303,42,2.0,49,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-64.0
$GPS2,041011,073926,2300.786,12134.292,14,1.7,14,-3.0
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,260.4,15316,-16.7,-13.750
$D_GRID,1901
$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,-0.73,-292.0,0.0,0.0,0,132,0.00,0.00,-113.15,0.000,2,0.000,0.000,148,1603,3146,0,0,0,0,0,0
$GC,135,-0.73,-292.0,6.1,-9.1,15,167,9.45,1.10,-14.75,0.000,4,0.226,0.068,2493,2314,3962,0,0,0,0,0,0
$GC,273,-0.57,-292.0,59.8,-37.5,38,282,0.22,1.05,0.00,0.000,6,0.164,0.035,2553,1599,3964,0,0,0,0,0,0
$GC,600,-0.56,-292.0,121.0,-14.0,99,608,0.00,1.00,0.00,0.000,4,0.000,0.042,2557,918,3965,0,0,0,0,0,0
$GC,635,-0.56,-292.0,125.7,-13.6,104,643,0.00,1.02,0.00,0.000,6,0.000,0.039,2554,1605,3965,0,0,0,0,0,0
$GC,963,-0.58,-292.0,169.1,-12.4,165,971,0.00,1.02,0.00,0.000,4,0.000,0.044,2553,920,3966,0,0,0,0,0,0
$GC,995,-0.60,-292.0,172.3,-11.3,169,1003,0.00,1.02,0.00,0.000,6,0.000,0.039,2548,1607,3966,0,0,0,0,0,0
$GC,1324,-0.62,-292.0,210.4,-11.2,230,1332,0.00,1.02,0.00,0.000,4,0.000,0.047,2543,2304,3966,0,0,0,0,0,0
$GC,1454,-0.66,-292.0,224.5,-11.4,253,1462,0.00,1.02,0.00,0.000,6,0.000,0.043,2544,1622,3966,0,0,0,0,0,0
$GC,1788,-0.69,-292.0,264.7,-10.9,303,1792,0.00,1.02,0.00,0.000,4,0.000,0.048,2539,2299,3966,0,0,0,0,0,0
$GC,1837,-0.74,-292.0,269.6,-10.2,307,1841,0.05,1.05,0.00,0.000,6,0.061,0.043,2474,1603,3965,0,0,0,0,0,0
$GC,2167,-0.69,-292.0,326.4,-17.1,338,2172,0.15,1.05,0.00,0.000,4,0.158,0.048,2520,916,3964,0,0,0,0,0,0
$GC,2226,-0.71,-292.0,334.4,-12.4,343,2229,0.00,1.05,0.00,0.000,6,0.000,0.043,2518,1606,3964,0,0,0,0,0,0
$GC,2557,-0.72,-292.0,368.0,-8.7,374,2561,0.00,1.05,0.00,0.000,4,0.000,0.050,2517,2303,3962,0,0,0,0,0,0
$GC,2666,-0.76,-292.0,377.2,-8.4,383,2672,0.00,1.05,0.00,0.000,6,0.000,0.044,2532,1619,3962,0,0,0,0,0,0
$GC,2991,-0.77,-292.0,412.2,-11.4,414,2996,0.10,1.10,0.00,0.000,4,0.098,0.053,2467,2312,3959,0,0,0,0,0,0
$GC,3043,-0.74,-292.0,419.5,-15.3,418,3051,0.10,1.08,0.00,0.000,6,0.141,0.045,2503,1612,3958,0,0,0,0,0,0
$GC,3368,-0.72,-292.0,466.9,-14.7,449,3372,0.00,1.08,0.00,0.000,4,0.000,0.050,2503,908,3956,0,0,0,0,0,0
$GC,3420,-0.72,-292.0,474.0,-13.5,453,3427,0.00,1.08,0.00,0.000,6,0.000,0.046,2499,1606,3956,0,0,0,0,0,0
$GC,3746,-0.71,-292.0,517.2,-13.0,484,3750,0.00,1.08,0.00,0.000,4,0.000,0.054,2495,2312,3953,0,0,0,0,0,0
$GC,3776,-0.71,-292.0,520.9,-12.3,486,3783,0.00,1.08,0.00,0.000,6,0.000,0.046,2495,1611,3953,0,0,0,0,0,0
$GC,4102,-0.69,-292.0,561.6,-12.0,517,4105,0.00,1.08,0.00,0.000,4,0.000,0.053,2495,910,3950,0,0,0,0,0,0
$GC,4154,-0.69,-292.0,568.0,-12.0,521,4161,0.08,1.10,0.00,0.000,6,0.148,0.049,2515,1611,3949,0,0,0,0,0,0
$GC,4480,-0.71,-292.0,600.7,-10.0,552,4483,0.00,1.08,0.00,0.000,4,0.000,0.056,2511,2312,3947,0,0,0,0,0,0
$GC,4510,-0.72,-292.0,603.8,-10.2,553,4514,0.00,1.08,0.00,0.000,6,0.000,0.048,2512,1613,3947,0,0,0,0,0,0
$GC,4836,-0.72,-292.0,643.1,-12.3,569,4840,0.00,1.10,0.00,0.000,4,0.000,0.059,2506,2314,3944,0,0,0,0,0,0
$GC,4887,-0.74,-292.0,649.4,-12.0,571,4890,0.00,1.10,0.00,0.000,6,0.000,0.049,2507,1603,3943,0,0,0,0,0,0
$GC,5217,-0.74,-292.0,688.8,-11.5,587,5221,0.00,1.10,0.00,0.000,4,0.000,0.058,2502,2306,3941,0,0,0,0,0,0
$GC,5245,-0.75,-292.0,692.3,-11.0,588,5249,0.00,1.08,0.00,0.000,6,0.000,0.050,2502,1610,3941,0,0,0,0,0,0
$GC,5575,-0.75,-292.0,733.7,-13.3,604,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1611,3938,0,0,0,0,0,0
$GC,5882,-0.75,-292.0,771.2,-11.4,619,5886,0.00,1.12,0.00,0.000,4,0.000,0.061,2497,2305,3937,0,0,0,0,0,0
$GC,5933,-0.76,-292.0,776.9,-10.7,621,5937,0.00,1.08,0.00,0.000,6,0.000,0.051,2497,1617,3936,0,0,0,0,0,0
$GC,6263,-0.76,-292.0,812.2,-10.5,637,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1618,3934,0,0,0,0,0,0
$GC,6570,-0.76,-292.0,845.6,-11.3,652,6574,0.00,1.10,0.00,0.000,4,0.000,0.062,2492,2308,3932,0,0,0,0,0,0
$GC,6628,-0.78,-292.0,851.8,-10.9,654,6631,0.00,1.10,0.00,0.000,6,0.000,0.052,2492,1607,3932,0,0,0,0,0,0
$GC,6949,-0.78,-292.0,887.6,-10.8,670,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1607,3930,0,0,0,0,0,0
$GC,7259,-0.78,-292.0,919.0,-9.6,685,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1607,3929,0,0,0,0,0,0
$GC,7571,-0.79,-292.0,948.7,-10.3,700,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1607,3927,0,0,0,0,0,0
$GC,7878,-0.81,-292.0,981.2,-11.0,715,7882,0.00,1.12,0.00,0.000,4,0.000,0.063,2487,2311,3925,0,0,0,0,0,0
$GC,7906,-0.82,-292.0,984.6,-11.3,716,7910,0.00,1.10,0.00,0.000,6,0.000,0.052,2487,1609,3926,0,0,0,0,0,0
$STATE,7963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7963,begin apogee
$GC,7971,-0.11,0.0,991.4,12.0,719,8206,0.68,0.00,227.68,1.437,6,0.122,0.000,2706,1781,2884,0,0,0,0,0,0
$STATE,8210,end apogee,CONTROL_FINISHED_OK
$STATE,8210,begin climb
$GC,8213,0.73,292.0,1003.9,0.0,730,8499,0.75,1.15,277.08,1.379,4,0.050,0.061,2985,2474,1692,0,0,0,0,0,0
$GC,8733,0.68,292.0,929.1,18.3,753,8739,0.00,1.10,0.00,0.000,6,0.000,0.054,2988,1787,1688,0,0,0,0,0,0
$GC,9053,0.63,292.0,867.3,20.1,769,9055,0.15,0.00,0.00,0.000,6,0.176,0.000,2950,1787,1686,0,0,0,0,0,0
$GC,9360,0.61,292.0,815.8,16.3,784,9364,0.00,1.10,0.00,0.000,4,0.000,0.059,2946,2485,1684,0,0,0,0,0,0
$GC,9421,0.61,292.0,805.5,15.2,786,9429,0.00,1.10,0.00,0.000,6,0.000,0.048,2948,1777,1684,0,0,0,0,0,0
$GC,9738,0.59,292.0,757.5,14.9,802,9742,0.00,1.10,0.00,0.000,4,0.000,0.057,2946,2486,1682,0,0,0,0,0,0
$GC,9790,0.59,292.0,749.9,14.4,804,9793,0.00,1.10,0.00,0.000,6,0.000,0.048,2949,1776,1683,0,0,0,0,0,0
$GC,10117,0.57,292.0,702.9,13.9,820,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1776,1682,0,0,0,0,0,0
$GC,10429,0.60,330.0,661.8,12.5,835,10473,0.00,1.15,35.15,1.227,4,0.000,0.057,2946,2484,1538,0,0,0,0,0,0
$GC,10506,0.67,382.1,651.5,12.1,838,10562,0.00,1.12,49.35,1.206,6,0.000,0.045,2949,1771,1325,0,0,0,0,0,0
$GC,10870,0.75,445.1,606.8,11.8,856,10937,0.10,1.17,56.92,1.177,4,0.104,0.057,3005,2485,1068,0,0,0,0,0,0
$GC,10975,0.71,445.1,587.1,20.0,863,10982,0.10,1.10,0.00,0.000,6,0.154,0.046,2979,1786,1066,0,0,0,0,0,0
$GC,11301,0.69,445.1,531.2,18.5,894,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1785,1063,0,0,0,0,0,0
$GC,11623,0.68,445.1,472.7,18.0,924,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1786,1063,0,0,0,0,0,0
$GC,11950,0.68,445.1,416.6,16.8,955,11953,0.00,1.08,0.00,0.000,4,0.000,0.052,2976,2483,1063,0,0,0,0,0,0
$GC,11984,0.68,445.1,410.5,16.5,958,11988,0.00,1.08,0.00,0.000,6,0.000,0.044,2979,1779,1063,0,0,0,0,0,0
$GC,12315,0.68,445.1,355.3,14.7,989,12318,0.00,1.10,0.00,0.000,4,0.000,0.052,2979,2496,1062,0,0,0,0,0,0
$GC,12353,0.68,445.1,349.5,14.1,992,12360,0.00,1.10,0.00,0.000,6,0.000,0.042,2983,1773,1062,0,0,0,0,0,0
$GC,12679,0.68,445.1,305.1,13.8,1023,12683,0.00,1.05,0.00,0.000,4,0.000,0.049,2988,1077,1062,0,0,0,0,0,0
$GC,12749,0.68,445.1,295.3,14.2,1029,12752,0.00,1.08,0.00,0.000,6,0.000,0.041,2987,1790,1061,0,0,0,0,0,0
$GC,13079,0.68,445.1,249.3,15.0,1060,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1792,1061,0,0,0,0,0,0
$GC,13405,0.69,445.1,206.0,14.4,1121,13414,0.00,1.08,0.00,0.000,4,0.000,0.047,2991,1080,1061,0,0,0,0,0,0
$GC,13570,0.72,445.1,181.6,14.2,1151,13578,0.00,1.05,0.00,0.000,6,0.000,0.040,2991,1785,1061,0,0,0,0,0,0
$GC,13902,0.87,534.5,141.5,10.9,1212,13987,0.10,1.08,76.47,0.809,4,0.100,0.057,3053,2477,703,0,0,0,0,0,0
$GC,14063,0.87,534.5,113.2,16.1,1237,14072,0.08,1.08,0.00,0.000,6,0.138,0.041,3031,1778,697,0,0,0,0,0,0
$GC,14393,1.29,810.1,77.3,5.0,1298,14463,0.30,1.12,59.58,0.708,4,0.047,0.044,3193,1062,454,0,0,0,0,1,0
$GC,14527,1.21,810.1,49.3,24.5,1318,14536,0.17,1.08,0.00,0.000,6,0.155,0.036,3139,1785,448,0,0,0,0,0,0
$STATE,14758,end climb,SURFACE_DEPTH_REACHED
$STATE,14758,begin surface coast
$FINISH,1.3,0.998921
$STATE,14775,end surface coast,CONTROL_FINISHED_OK
$STATE,14775,begin surface
$SM_CCo,14855,0.00,0.000,0,0,439,599.76
$SM_GC,1.97,7.88,0.00,0.00,0.039,0.000,0.000,154,1561,439,-8.04,-1.39,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2251.04,12134.76,041011,030340
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.57
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,23.30
$XPDR_PINGS,108
$ALTIM_BOTTOM_PING,594.3,0.0
$24V_AH,22.3,76.409
$10V_AH,9.8,54.161
$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,20.450,61.050,782.225,0.000,0.000,30.950,42.238,180.710,27.250,0.000,15.826,3358.698,7314.158,777.759,3339.689,462.656,0.000,2144.098,0.000,3097.525,0.000,2.867,0.000
$DEVICE_MAMPS,225.675,70.380,1437.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,934.960,1397.635,1595.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,76959,1364
$CAP_FILE_SIZE,162623,0
$CFSIZE,260165632,118759424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190, 43.3,1
$GPS,041011,114836,2301.339,12132.606,31,1.4,31,-3.0