version: 66.09
glider: 166
mission: 6
dive: 375
start: 10 14 111 17 23 26
data:
$ID,166
$MISSION,6
$DIVE,375
$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,270
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,240
$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,-24871.355
$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,52
$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
$GPS1,141011,171556,2346.567,12358.700,36,2.6,55,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-67.8
$GPS2,141011,172304,2346.532,12358.865,15,2.4,34,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2341.133,12348.652
$TGT_RADIUS,1852.000
$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,243.4,20000,-16.7,-13.750
$D_GRID,2987
$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,-292.0,0.0,0.0,0,133,0.00,0.00,-113.45,0.000,2,0.000,0.000,130,1600,3178,0,0,0,0,0,0
$GC,136,-0.73,-292.0,6.6,-10.9,16,167,9.43,1.02,-14.15,0.000,4,0.222,0.063,2503,898,3962,0,0,0,0,0,0
$GC,177,-0.33,-292.0,26.0,-44.0,21,186,0.45,1.05,0.00,0.000,6,0.167,0.033,2630,1613,3964,0,0,0,0,0,0
$GC,500,-0.36,-292.0,80.0,-11.4,82,508,0.00,1.05,0.00,0.000,4,0.000,0.040,2628,911,3965,0,0,0,0,0,0
$GC,644,-0.43,-292.0,94.0,-9.5,108,652,0.00,1.02,0.00,0.000,6,0.000,0.035,2625,1610,3965,0,0,0,0,0,0
$GC,966,-0.51,-292.0,122.6,-7.9,169,974,0.12,1.02,0.00,0.000,4,0.082,0.041,2525,2306,3966,0,0,0,0,0,0
$GC,1073,-0.49,-292.0,136.6,-14.0,188,1082,0.17,1.02,0.00,0.000,6,0.119,0.037,2583,1606,3966,0,0,0,0,0,0
$GC,1399,-0.54,-292.0,169.8,-10.8,249,1407,0.00,1.02,0.00,0.000,4,0.000,0.042,2580,2297,3967,0,0,0,0,0,0
$GC,1561,-0.60,-292.0,186.8,-9.9,278,1569,0.00,1.00,0.00,0.000,6,0.000,0.037,2580,1622,3966,0,0,0,0,0,0
$GC,1886,-0.66,-292.0,217.8,-9.3,339,1895,0.12,1.02,0.00,0.000,4,0.080,0.042,2487,2300,3966,0,0,0,0,0,0
$GC,1979,-0.62,-292.0,231.5,-15.5,356,1988,0.15,1.02,0.00,0.000,6,0.128,0.039,2538,1608,3966,0,0,0,0,0,0
$GC,2314,-0.62,-292.0,272.8,-12.9,401,2317,0.00,1.05,0.00,0.000,4,0.000,0.046,2535,2298,3966,0,0,0,0,0,0
$GC,2405,-0.64,-292.0,283.6,-11.4,409,2409,0.00,1.02,0.00,0.000,6,0.000,0.040,2536,1611,3966,0,0,0,0,0,0
$GC,2736,-0.66,-292.0,322.0,-10.8,440,2739,0.00,1.02,0.00,0.000,4,0.000,0.047,2531,2294,3965,0,0,0,0,0,0
$GC,2820,-0.69,-292.0,330.7,-9.9,447,2826,0.00,1.02,0.00,0.000,6,0.000,0.040,2531,1606,3965,0,0,0,0,0,0
$GC,3146,-0.71,-292.0,369.9,-12.5,478,3150,0.00,1.05,0.00,0.000,4,0.000,0.047,2526,2296,3963,0,0,0,0,0,0
$GC,3262,-0.73,-292.0,383.7,-12.0,488,3267,0.00,1.02,0.00,0.000,6,0.000,0.041,2526,1616,3962,0,0,0,0,0,0
$GC,3594,-0.75,-292.0,427.7,-13.2,519,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1616,3961,0,0,0,0,0,0
$GC,3916,-0.77,-292.0,462.9,-9.5,549,3920,0.00,1.02,0.00,0.000,4,0.000,0.049,2522,2289,3959,0,0,0,0,0,0
$GC,3985,-0.81,-292.0,469.3,-8.6,555,3990,0.08,1.02,0.00,0.000,6,0.050,0.043,2461,1611,3958,0,0,0,0,0,0
$GC,4316,-0.76,-292.0,520.2,-16.3,586,4320,0.00,1.08,0.00,0.000,4,0.000,0.049,2476,907,3956,0,0,0,0,0,0
$GC,4351,-0.73,-292.0,525.9,-16.8,589,4356,0.10,1.05,0.00,0.000,6,0.140,0.044,2504,1587,3956,0,0,0,0,0,0
$GC,4682,-0.73,-292.0,573.4,-14.7,620,4686,0.00,1.10,0.00,0.000,4,0.000,0.052,2501,2313,3954,0,0,0,0,0,0
$GC,4797,-0.73,-292.0,588.8,-13.3,630,4801,0.00,1.08,0.00,0.000,6,0.000,0.044,2500,1609,3952,0,0,0,0,0,0
$GC,5123,-0.73,-292.0,634.1,-13.2,649,5127,0.00,1.10,0.00,0.000,4,0.000,0.053,2496,2317,3950,0,0,0,0,0,0
$GC,5192,-0.73,-292.0,642.6,-11.7,652,5195,0.00,1.08,0.00,0.000,6,0.000,0.044,2495,1609,3949,0,0,0,0,0,0
$GC,5527,-0.73,-292.0,684.9,-12.6,668,5530,0.00,1.10,0.00,0.000,4,0.000,0.054,2491,2316,3947,0,0,0,0,0,0
$GC,5599,-0.73,-292.0,694.2,-11.9,671,5603,0.00,1.08,0.00,0.000,6,0.000,0.045,2491,1610,3946,0,0,0,0,0,0
$GC,5926,-0.73,-292.0,738.8,-13.9,687,5930,0.00,1.10,0.00,0.000,4,0.000,0.054,2491,906,3943,0,0,0,0,0,0
$GC,5978,-0.73,-292.0,746.4,-14.9,689,5982,0.00,1.10,0.00,0.000,6,0.000,0.047,2486,1619,3942,0,0,0,0,0,0
$GC,6305,-0.72,-292.0,793.1,-13.8,705,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1619,3940,0,0,0,0,0,0
$GC,6617,-0.72,-292.0,833.9,-12.9,720,6620,0.00,1.05,0.00,0.000,4,0.000,0.057,2481,2303,3937,0,0,0,0,0,0
$GC,6655,-0.72,-292.0,839.6,-13.1,721,6663,0.08,1.05,0.00,0.000,6,0.135,0.049,2507,1616,3937,0,0,0,0,0,0
$GC,6974,-0.74,-292.0,874.3,-10.9,737,6977,0.00,1.08,0.00,0.000,4,0.000,0.059,2505,2302,3934,0,0,0,0,0,0
$GC,7032,-0.77,-292.0,880.2,-9.7,739,7035,0.00,1.08,0.00,0.000,6,0.000,0.049,2505,1607,3934,0,0,0,0,0,0
$GC,7354,-0.79,-292.0,914.9,-10.7,755,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1607,3932,0,0,0,0,0,0
$GC,7665,-0.81,-292.0,947.4,-10.3,770,7669,0.00,1.10,0.00,0.000,4,0.000,0.060,2500,2300,3929,0,0,0,0,0,0
$GC,7721,-0.83,-292.0,953.2,-9.5,772,7725,0.00,1.08,0.00,0.000,6,0.000,0.050,2500,1612,3929,0,0,0,0,0,0
$GC,8044,-0.85,-292.0,984.4,-9.6,788,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1612,3928,0,0,0,0,0,0
$STATE,8102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8102,begin apogee
$GC,8111,-0.11,0.0,990.1,9.3,791,8345,0.62,0.00,227.10,1.431,6,0.119,0.000,2704,1783,2883,0,0,0,0,0,0
$STATE,8350,end apogee,CONTROL_FINISHED_OK
$STATE,8350,begin climb
$GC,8352,0.73,292.0,997.8,0.0,802,8626,0.75,0.00,268.58,1.374,6,0.057,0.000,2983,1783,1692,0,0,0,0,0,0
$GC,8927,0.69,292.0,903.2,18.6,830,8930,0.00,1.10,0.00,0.000,4,0.000,0.055,2988,1083,1687,0,0,0,0,0,0
$GC,8956,0.65,292.0,897.6,18.8,831,8960,0.08,1.10,0.00,0.000,6,0.154,0.051,2961,1780,1686,0,0,0,0,0,0
$GC,9287,0.63,292.0,846.4,14.7,847,9290,0.00,1.08,0.00,0.000,4,0.000,0.059,2958,2480,1685,0,0,0,0,0,0
$GC,9348,0.63,293.8,837.1,13.7,849,9355,0.00,1.08,0.00,0.000,6,0.000,0.048,2960,1782,1685,0,0,0,0,0,0
$GC,9666,0.64,312.3,795.1,13.2,865,9688,0.00,0.00,19.33,1.243,6,0.000,0.000,2961,1782,1611,0,0,0,0,0,0
$GC,9993,0.66,334.4,752.2,13.0,881,10017,0.00,0.00,22.30,1.233,6,0.000,0.000,2961,1782,1520,0,0,0,0,0,0
$GC,10325,0.68,345.3,708.0,13.4,897,10340,0.00,1.05,11.10,1.122,4,0.000,0.048,2965,1071,1476,0,0,0,0,0,0
$GC,10368,0.69,358.7,701.6,13.3,898,10386,0.00,1.12,14.38,1.151,6,0.000,0.046,2966,1791,1420,0,0,0,0,0,0
$GC,10698,0.70,366.4,657.3,13.5,914,10711,0.00,1.10,8.32,1.027,4,0.000,0.056,2966,2489,1390,0,0,0,0,0,0
$GC,10765,0.72,377.4,647.7,13.4,917,10781,0.00,1.10,11.98,1.096,6,0.000,0.046,2969,1782,1345,0,0,0,0,0,0
$GC,11094,0.72,377.4,599.8,14.7,932,11097,0.00,1.08,0.00,0.000,4,0.000,0.050,2974,1071,1342,0,0,0,0,0,0
$GC,11112,0.72,377.4,596.7,15.0,933,11118,0.00,1.10,0.00,0.000,6,0.000,0.044,2974,1789,1342,0,0,0,0,0,0
$GC,11437,0.74,395.2,551.0,13.2,964,11460,0.00,1.10,17.42,1.092,4,0.000,0.054,2973,2488,1273,0,0,0,0,0,0
$GC,11511,0.79,426.3,541.9,12.8,970,11545,0.00,1.10,29.67,1.110,6,0.000,0.044,2977,1779,1145,0,0,0,0,0,0
$GC,11865,0.79,430.9,494.9,13.6,1003,11877,0.00,1.10,5.38,0.805,4,0.000,0.047,2983,1067,1126,0,0,0,0,0,0
$GC,11925,0.79,430.9,486.3,14.3,1008,11929,0.00,1.10,0.00,0.000,6,0.000,0.044,2982,1783,1125,0,0,0,0,0,0
$GC,12259,0.80,430.9,436.9,15.5,1039,12263,0.00,1.05,0.00,0.000,4,0.000,0.052,2982,2484,1125,0,0,0,0,0,0
$GC,12339,0.85,448.6,425.4,13.2,1046,12362,0.00,1.08,17.12,0.990,6,0.000,0.043,2986,1779,1054,0,0,0,0,0,0
$GC,12681,0.88,457.6,378.0,13.5,1078,12694,0.12,1.10,9.35,0.872,4,0.088,0.047,3061,1074,1017,0,0,0,0,0,0
$GC,12722,0.83,457.6,370.1,19.1,1081,12730,0.15,1.08,0.00,0.000,6,0.142,0.042,3014,1784,1016,0,0,0,0,0,0
$GC,13048,0.82,457.6,317.4,16.1,1112,13051,0.00,1.02,0.00,0.000,4,0.000,0.049,3010,2475,1015,0,0,0,0,0,0
$GC,13132,0.85,472.9,305.4,13.3,1119,13153,0.00,1.05,14.85,0.873,6,0.000,0.042,3013,1780,954,0,0,0,0,0,0
$GC,13472,0.85,477.7,256.7,13.6,1151,13484,0.00,1.02,5.62,0.667,4,0.000,0.043,3018,1069,934,0,0,0,0,0,0
$GC,13520,0.85,477.7,250.1,14.1,1155,13524,0.00,1.05,0.00,0.000,6,0.000,0.038,3016,1774,934,0,0,0,0,0,0
$GC,13841,0.85,477.7,203.0,14.4,1215,13849,0.00,1.02,0.00,0.000,4,0.000,0.047,3016,2473,933,0,0,0,0,0,0
$GC,13875,0.87,477.7,198.4,14.7,1220,13883,0.00,1.05,0.00,0.000,6,0.000,0.041,3019,1776,933,0,0,0,0,0,0
$GC,14198,0.88,477.7,154.1,13.9,1281,14206,0.00,1.05,0.00,0.000,4,0.000,0.045,3024,1065,933,0,0,0,0,0,0
$GC,14251,0.94,505.6,146.8,12.9,1290,14281,0.00,1.05,25.20,0.763,6,0.000,0.037,3024,1783,822,0,0,0,0,0,0
$GC,14600,1.15,634.4,109.2,9.7,1354,14692,0.25,1.12,82.65,0.734,4,0.054,0.040,3163,1072,454,0,0,0,0,0,0
$GC,14761,1.09,634.4,71.0,23.1,1379,14770,0.17,1.05,0.00,0.000,6,0.138,0.036,3103,1784,446,0,0,0,0,0,0
$GC,15086,1.20,692.7,23.1,11.9,1440,15094,0.00,1.00,0.00,0.000,4,0.000,0.044,3102,2471,438,0,0,0,0,0,0
$GC,15120,1.31,748.1,18.9,12.0,1445,15129,0.15,1.05,0.00,0.000,6,0.041,0.039,3188,1766,438,0,0,0,0,0,0
$STATE,15196,end climb,SURFACE_DEPTH_REACHED
$STATE,15196,begin surface coast
$FINISH,1.3,1.021168
$STATE,15213,end surface coast,CONTROL_FINISHED_OK
$STATE,15213,begin surface
$SM_CCo,15291,0.00,0.000,0,0,435,600.74
$SM_GC,1.96,7.85,0.00,0.00,0.036,0.000,0.000,144,1602,435,-8.04,-0.17,600.74,0,0,0,0,0,0
$IRIDIUM_FIX,2337.99,12356.43,141011,131316
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.00
$XPDR_PINGS,129
$24V_AH,22.9,89.968
$10V_AH,9.8,63.491
$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,20.850,68.425,790.350,0.000,0.000,41.190,17.567,187.010,32.250,0.000,36.480,3433.934,7366.671,798.186,3608.688,492.322,0.000,2219.060,0.000,3351.397,0.000,0.540,0.000
$DEVICE_MAMPS,221.850,68.850,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,997.055,1494.917,1838.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330448
$DATA_FILE_SIZE,80324,1461
$CAP_FILE_SIZE,175457,0
$CFSIZE,260165632,113770496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141011,213936,2345.642,12359.154,40,1.6,40,-3.4