version: 66.09
glider: 166
mission: 6
dive: 393
start: 10 17 111 20 58 54
data:
$ID,166
$MISSION,6
$DIVE,393
$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,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,-24897.758
$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,75
$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
$GPS1,171011,205036,2333.713,12350.059,31,1.3,31,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-58.8
$GPS2,171011,205832,2333.733,12350.064,13,1.6,13,-3.3
$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,260.5,252017,-16.7,-13.750
$D_GRID,3368
$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,18,-0.73,-292.0,0.0,0.0,0,132,0.00,0.00,-111.50,0.000,2,0.000,0.000,142,1556,3117,0,0,0,0,0,0
$GC,138,-0.73,-292.0,5.8,-8.2,15,169,9.35,1.10,-15.15,0.000,4,0.222,0.064,2498,2307,3962,0,0,0,0,0,0
$GC,277,-0.61,-292.0,57.9,-30.2,39,286,0.15,1.00,0.00,0.000,6,0.152,0.041,2545,1642,3963,0,0,0,0,0,0
$GC,603,-0.58,-292.0,125.9,-15.7,100,611,0.00,1.10,0.00,0.000,4,0.000,0.044,2547,911,3964,0,0,0,0,0,0
$GC,627,-0.56,-292.0,129.8,-15.9,103,635,0.00,1.05,0.00,0.000,6,0.000,0.040,2543,1607,3964,0,0,0,0,0,0
$GC,956,-0.54,-292.0,181.4,-15.3,164,964,0.00,1.02,0.00,0.000,4,0.000,0.045,2538,2302,3965,0,0,0,0,0,0
$GC,1108,-0.54,-292.0,201.4,-12.5,191,1116,0.08,1.05,0.00,0.000,6,0.128,0.042,2566,1605,3965,0,0,0,0,0,0
$GC,1439,-0.57,-292.0,238.1,-10.4,252,1447,0.00,1.05,0.00,0.000,4,0.000,0.047,2562,2299,3965,0,0,0,0,0,0
$GC,1509,-0.62,-292.0,245.3,-9.7,264,1517,0.00,1.02,0.00,0.000,6,0.000,0.042,2562,1617,3965,0,0,0,0,0,0
$GC,1843,-0.65,-292.0,281.0,-11.0,299,1847,0.00,1.05,0.00,0.000,4,0.000,0.047,2557,2304,3964,0,0,0,0,0,0
$GC,1970,-0.70,-292.0,293.4,-10.1,310,1974,0.08,1.05,0.00,0.000,6,0.050,0.044,2482,1610,3964,0,0,0,0,0,0
$GC,2301,-0.65,-292.0,355.8,-19.4,341,2305,0.17,1.08,0.00,0.000,4,0.155,0.050,2531,2303,3962,0,0,0,0,0,0
$GC,2349,-0.67,-292.0,362.6,-13.1,345,2353,0.00,1.05,0.00,0.000,6,0.000,0.044,2531,1612,3962,0,0,0,0,0,0
$GC,2680,-0.69,-292.0,403.5,-12.0,376,2684,0.00,1.08,0.00,0.000,4,0.000,0.050,2526,2304,3961,0,0,0,0,0,0
$GC,2762,-0.72,-292.0,412.3,-10.2,383,2766,0.00,1.05,0.00,0.000,6,0.000,0.044,2526,1615,3960,0,0,0,0,0,0
$GC,3094,-0.74,-292.0,448.1,-10.9,414,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1615,3959,0,0,0,0,0,0
$GC,3415,-0.76,-292.0,484.1,-11.8,444,3419,0.00,1.05,0.00,0.000,4,0.000,0.051,2521,2297,3956,0,0,0,0,0,0
$GC,3570,-0.80,-292.0,501.5,-10.7,457,3578,0.08,1.05,0.00,0.000,6,0.050,0.044,2456,1612,3955,0,0,0,0,0,0
$GC,3895,-0.76,-292.0,556.7,-17.7,488,3900,0.15,1.10,0.00,0.000,4,0.161,0.053,2496,2302,3953,0,0,0,0,0,0
$GC,3922,-0.76,-292.0,561.1,-14.8,490,3930,0.00,1.08,0.00,0.000,6,0.000,0.045,2496,1601,3953,0,0,0,0,0,0
$GC,4248,-0.76,-292.0,600.9,-12.0,521,4252,0.00,1.08,0.00,0.000,4,0.000,0.052,2492,2296,3950,0,0,0,0,0,0
$GC,4310,-0.78,-292.0,608.2,-11.0,523,4317,0.00,1.05,0.00,0.000,6,0.000,0.045,2492,1610,3950,0,0,0,0,0,0
$GC,4628,-0.78,-292.0,646.4,-12.2,539,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1610,3947,0,0,0,0,0,0
$GC,4936,-0.79,-292.0,682.7,-11.8,554,4940,0.00,1.08,0.00,0.000,4,0.000,0.057,2497,2299,3944,0,0,0,0,0,0
$GC,4963,-0.80,-292.0,685.4,-11.7,555,4966,0.00,1.05,0.00,0.000,6,0.000,0.048,2496,1617,3945,0,0,0,0,0,0
$GC,5296,-0.80,-292.0,726.5,-12.3,571,5299,0.00,1.08,0.00,0.000,4,0.000,0.058,2494,2299,3940,0,0,0,0,0,0
$GC,5331,-0.81,-292.0,731.0,-12.8,572,5334,0.00,1.08,0.00,0.000,6,0.000,0.048,2495,1604,3940,0,0,0,0,0,0
$GC,5655,-0.81,-292.0,772.7,-12.8,588,5658,0.00,1.10,0.00,0.000,4,0.000,0.058,2495,2303,3938,0,0,0,0,0,0
$GC,5695,-0.83,-292.0,778.1,-12.3,589,5702,0.00,1.08,0.00,0.000,6,0.000,0.050,2495,1608,3938,0,0,0,0,0,0
$GC,6013,-0.83,-292.0,819.2,-13.1,605,6017,0.00,1.08,0.00,0.000,4,0.000,0.060,2491,2291,3935,0,0,0,0,0,0
$GC,6045,-0.83,-292.0,823.9,-12.8,606,6049,0.00,1.05,0.00,0.000,6,0.000,0.050,2491,1610,3935,0,0,0,0,0,0
$GC,6368,-0.83,-292.0,865.7,-12.8,622,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1611,3932,0,0,0,0,0,0
$GC,6679,-0.83,-292.0,903.2,-12.0,637,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1611,3930,0,0,0,0,0,0
$GC,6986,-0.83,-292.0,940.2,-11.8,652,6989,0.00,1.10,0.00,0.000,4,0.000,0.062,2486,2295,3928,0,0,0,0,0,0
$GC,7033,-0.84,-292.0,945.4,-11.3,654,7037,0.00,1.08,0.00,0.000,6,0.000,0.051,2486,1608,3927,0,0,0,0,0,0
$GC,7369,-0.84,-292.0,985.4,-12.1,670,7372,0.00,1.08,0.00,0.000,4,0.000,0.056,2486,915,3925,0,0,0,0,0,0
$STATE,7405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7405,begin apogee
$GC,7412,-0.11,0.0,990.7,12.4,671,7644,0.70,0.00,225.68,1.427,6,0.127,0.000,2704,1771,2883,0,0,0,0,0,0
$STATE,7646,end apogee,CONTROL_FINISHED_OK
$STATE,7646,begin climb
$GC,7649,0.73,292.0,1001.0,0.0,682,7926,0.75,1.15,267.55,1.372,4,0.056,0.057,2984,2481,1692,0,0,0,0,0,0
$GC,7978,0.70,292.0,958.9,16.5,697,7982,0.00,1.12,0.00,0.000,6,0.000,0.050,2988,1780,1690,0,0,0,0,0,0
$GC,8305,0.65,292.0,903.2,17.0,713,8309,0.12,1.12,0.00,0.000,4,0.177,0.059,2952,2487,1686,0,0,0,0,0,0
$GC,8362,0.66,295.2,894.8,13.6,715,8366,0.00,1.10,0.00,0.000,6,0.000,0.049,2955,1781,1685,0,0,0,0,0,0
$GC,8684,0.65,301.0,850.8,13.6,731,8695,0.00,0.00,8.55,1.118,6,0.000,0.000,2955,1782,1656,0,0,0,0,0,0
$GC,8995,0.67,317.6,810.0,13.2,746,9014,0.00,0.00,17.42,1.237,6,0.000,0.000,2955,1782,1589,0,0,0,0,0,0
$GC,9322,0.68,322.8,765.2,13.6,762,9332,0.00,1.10,6.35,0.998,4,0.000,0.051,2952,2488,1566,0,0,0,0,0,0
$GC,9365,0.69,332.4,759.8,13.4,764,9380,0.00,1.10,10.73,1.135,6,0.000,0.047,2955,1775,1528,0,0,0,0,0,0
$GC,9701,0.71,351.1,715.7,13.2,780,9722,0.00,0.00,18.38,1.201,6,0.000,0.000,2955,1775,1452,0,0,0,0,0,0
$GC,10032,0.75,381.2,671.8,12.8,796,10067,0.00,1.12,29.08,1.204,4,0.000,0.052,2960,1075,1329,0,0,0,0,0,0
$GC,10100,0.82,428.4,663.5,12.3,799,10149,0.12,1.10,44.65,1.196,6,0.054,0.044,3032,1787,1136,0,0,0,0,0,0
$GC,10465,0.78,428.4,592.7,19.3,818,10469,0.12,1.08,0.00,0.000,4,0.166,0.054,2994,2489,1132,0,0,0,0,0,0
$GC,10522,0.78,428.4,583.0,14.4,823,10525,0.00,1.10,0.00,0.000,6,0.000,0.046,2998,1768,1132,0,0,0,0,0,0
$GC,10855,0.77,428.4,531.4,15.6,854,10859,0.00,1.02,0.00,0.000,4,0.000,0.050,3003,1083,1131,0,0,0,0,0,0
$GC,10912,0.77,428.4,522.0,15.7,859,10916,0.00,1.05,0.00,0.000,6,0.000,0.043,2999,1778,1130,0,0,0,0,0,0
$GC,11244,0.77,428.4,469.0,15.9,890,11248,0.00,1.08,0.00,0.000,4,0.000,0.049,3003,1077,1130,0,0,0,0,0,0
$GC,11283,0.77,428.4,462.1,16.3,893,11290,0.00,1.05,0.00,0.000,6,0.000,0.041,3000,1780,1129,0,0,0,0,0,0
$GC,11609,0.77,428.4,410.6,15.3,924,11612,0.00,1.10,0.00,0.000,4,0.000,0.050,3004,1077,1129,0,0,0,0,0,0
$GC,11645,0.77,428.4,405.5,14.7,927,11649,0.00,1.05,0.00,0.000,6,0.000,0.041,3001,1781,1129,0,0,0,0,0,0
$GC,11976,0.77,428.4,357.5,14.5,958,11980,0.00,1.08,0.00,0.000,4,0.000,0.048,3004,1075,1129,0,0,0,0,0,0
$GC,12047,0.77,428.4,347.5,14.7,964,12050,0.00,1.05,0.00,0.000,6,0.000,0.041,3001,1779,1129,0,0,0,0,0,0
$GC,12377,0.77,428.4,301.3,14.2,995,12381,0.00,1.08,0.00,0.000,4,0.000,0.047,3005,1074,1129,0,0,0,0,0,0
$GC,12413,0.77,428.4,296.3,15.0,998,12418,0.00,1.05,0.00,0.000,6,0.000,0.039,3001,1782,1129,0,0,0,0,0,0
$GC,12746,0.83,476.3,251.3,12.2,1029,12794,0.00,1.08,40.83,0.866,4,0.000,0.044,3005,1075,942,0,0,0,0,0,0
$GC,12840,0.88,504.3,239.9,12.9,1042,12871,0.00,1.05,25.90,0.828,6,0.000,0.037,3001,1776,827,0,0,0,0,0,0
$GC,13193,1.00,568.0,197.4,11.7,1106,13260,0.20,1.10,57.47,0.806,4,0.065,0.042,3107,1083,565,0,0,0,0,0,0
$GC,13340,0.96,568.0,166.0,23.3,1129,13349,0.15,1.05,0.00,0.000,6,0.145,0.037,3058,1783,559,0,0,0,0,0,0
$GC,13672,0.96,568.0,110.8,14.7,1190,13680,0.00,1.02,0.00,0.000,4,0.000,0.047,3051,2469,555,0,0,0,0,0,0
$GC,13715,0.98,568.0,104.0,14.4,1197,13723,0.00,1.05,0.00,0.000,6,0.000,0.040,3049,1778,555,0,0,0,0,0,0
$GC,14044,1.18,688.4,65.8,9.9,1258,14076,0.20,1.10,26.15,0.672,4,0.061,0.044,3164,1072,454,0,0,0,0,0,0
$GC,14162,1.13,688.4,42.5,22.2,1277,14170,0.15,1.05,0.00,0.000,6,0.138,0.036,3113,1789,444,0,0,0,0,0,0
$STATE,14395,end climb,SURFACE_DEPTH_REACHED
$STATE,14395,begin surface coast
$FINISH,1.3,1.021794
$STATE,14413,end surface coast,CONTROL_FINISHED_OK
$STATE,14413,begin surface
$SM_CCo,14493,0.00,0.000,0,0,440,599.51
$SM_GC,1.85,7.70,0.00,0.00,0.037,0.000,0.000,123,1573,440,-8.06,-1.05,599.51,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12349.23,171011,161613
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.30
$XPDR_PINGS,107
$24V_AH,23.0,95.269
$10V_AH,9.8,66.208
$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,20.275,64.825,778.725,0.000,0.000,24.396,46.643,235.307,26.750,0.000,14.351,3274.400,7159.414,746.890,3277.857,490.391,0.000,2082.689,0.000,2994.698,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,64.260,1427.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.437,1358.556,1534.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,73409,1324
$CAP_FILE_SIZE,161215,0
$CFSIZE,260165632,112246784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232, 52.3,1
$GPS,181011,010154,2334.618,12348.597,31,1.9,48,-3.3