version: 66.09
glider: 166
mission: 6
dive: 314
start: 10 3 111 14 16 28
data:
$ID,166
$MISSION,6
$DIVE,314
$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,260
$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,250
$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,-24794.504
$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,55
$R_STBD_OVSHOOT,53
$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,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
$GPS1,031011,140825,2255.427,12142.730,45,1.9,45,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-55.8
$GPS2,031011,141604,2255.477,12142.685,49,99.0,68,-3.0
$SPEED_LIMITS,0.220,0.354
$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,273.2,32408,-17.2,-12.692
$D_GRID,3311
$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,-0.68,-243.3,0.0,0.0,0,132,0.00,0.00,-112.75,0.000,2,0.000,0.000,138,1581,3313,0,0,0,0,0,0
$GC,135,-0.68,-243.3,6.6,-10.3,15,161,9.55,1.12,-10.00,0.000,4,0.227,0.068,2507,2313,3880,0,0,0,0,0,0
$GC,224,-0.52,-243.3,48.4,-39.4,29,234,0.22,1.05,0.00,0.000,6,0.162,0.041,2570,1609,3882,0,0,0,0,0,0
$GC,553,-0.50,-243.3,119.0,-16.9,90,561,0.00,1.02,0.00,0.000,4,0.000,0.044,2566,2296,3884,0,0,0,0,0,0
$GC,661,-0.50,-243.3,133.6,-12.7,109,669,0.00,1.02,0.00,0.000,6,0.000,0.037,2564,1606,3884,0,0,0,0,0,0
$GC,988,-0.52,-243.3,176.1,-13.0,170,996,0.00,1.02,0.00,0.000,4,0.000,0.044,2564,917,3885,0,0,0,0,0,0
$GC,1033,-0.53,-243.3,181.7,-13.1,177,1045,0.00,1.02,0.00,0.000,6,0.000,0.038,2559,1603,3885,0,0,0,0,0,0
$GC,1362,-0.55,-243.3,220.2,-11.1,238,1369,0.00,1.02,0.00,0.000,4,0.000,0.046,2554,2296,3885,0,0,0,0,0,0
$GC,1568,-0.59,-243.3,241.1,-10.7,276,1576,0.00,1.02,0.00,0.000,6,0.000,0.041,2554,1618,3884,0,0,0,0,0,0
$GC,1902,-0.63,-243.3,276.1,-8.6,314,1906,0.00,1.08,0.00,0.000,4,0.000,0.047,2554,905,3884,0,0,0,0,0,0
$GC,1973,-0.68,-243.3,283.5,-10.3,320,1981,0.00,1.05,0.00,0.000,6,0.000,0.040,2550,1604,3883,0,0,0,0,0,0
$GC,2299,-0.71,-243.3,316.1,-9.5,351,2304,0.10,1.05,0.00,0.000,4,0.097,0.047,2477,2299,3882,0,0,0,0,0,0
$GC,2382,-0.69,-243.3,326.9,-14.6,358,2386,0.10,1.05,0.00,0.000,6,0.135,0.043,2517,1601,3881,0,0,0,0,0,0
$GC,2712,-0.69,-243.3,375.2,-15.0,389,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1601,3879,0,0,0,0,0,0
$GC,3035,-0.70,-243.3,418.2,-13.0,419,3038,0.00,1.08,0.00,0.000,4,0.000,0.050,2526,2300,3877,0,0,0,0,0,0
$GC,3073,-0.71,-243.3,424.0,-13.1,422,3080,0.00,1.05,0.00,0.000,6,0.000,0.043,2526,1607,3877,0,0,0,0,0,0
$GC,3399,-0.73,-243.3,461.7,-11.8,453,3403,0.00,1.05,0.00,0.000,4,0.000,0.049,2526,917,3875,0,0,0,0,0,0
$GC,3451,-0.74,-243.3,467.8,-12.0,457,3459,0.00,1.05,0.00,0.000,6,0.000,0.044,2521,1604,3874,0,0,0,0,0,0
$GC,3777,-0.75,-243.3,506.2,-11.6,488,3780,0.00,1.08,0.00,0.000,4,0.000,0.051,2516,2315,3872,0,0,0,0,0,0
$GC,3847,-0.78,-243.3,514.2,-11.0,494,3851,0.00,1.08,0.00,0.000,6,0.000,0.044,2516,1606,3871,0,0,0,0,0,0
$GC,4177,-0.78,-243.3,555.4,-12.8,525,4181,0.00,1.10,0.00,0.000,4,0.000,0.054,2511,2316,3868,0,0,0,0,0,0
$GC,4239,-0.80,-243.3,563.2,-12.5,530,4245,0.00,1.08,0.00,0.000,6,0.000,0.045,2511,1610,3868,0,0,0,0,0,0
$GC,4566,-0.80,-243.3,605.7,-13.0,559,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1609,3864,0,0,0,0,0,0
$GC,4873,-0.80,-243.3,646.0,-12.6,574,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1609,3863,0,0,0,0,0,0
$GC,5182,-0.81,-243.3,683.0,-11.6,589,5186,0.00,1.08,0.00,0.000,4,0.000,0.054,2511,912,3860,0,0,0,0,0,0
$GC,5303,-0.83,-243.3,697.3,-12.1,594,5306,0.00,1.10,0.00,0.000,6,0.000,0.048,2506,1616,3859,0,0,0,0,0,0
$GC,5631,-0.84,-243.3,732.8,-10.7,610,5635,0.00,1.05,0.00,0.000,4,0.000,0.058,2501,2302,3856,0,0,0,0,0,0
$GC,5702,-0.86,-243.3,739.7,-9.7,613,5705,0.00,1.05,0.00,0.000,6,0.000,0.049,2501,1621,3856,0,0,0,0,0,0
$GC,6035,-0.86,-243.3,774.6,-10.4,629,6038,0.00,1.10,0.00,0.000,4,0.000,0.054,2501,904,3854,0,0,0,0,0,0
$GC,6098,-0.87,-243.3,781.6,-11.5,631,6105,0.00,1.10,0.00,0.000,6,0.000,0.050,2496,1607,3853,0,0,0,0,0,0
$GC,6414,-0.87,-243.3,818.7,-11.9,647,6418,0.00,1.10,0.00,0.000,4,0.000,0.055,2496,905,3851,0,0,0,0,0,0
$GC,6442,-0.87,-243.3,822.3,-11.9,648,6446,0.00,1.10,0.00,0.000,6,0.000,0.050,2491,1610,3851,0,0,0,0,0,0
$GC,6772,-0.87,-243.3,861.0,-11.6,664,6775,0.00,1.10,0.00,0.000,4,0.000,0.060,2486,2306,3849,0,0,0,0,0,0
$GC,6821,-0.89,-243.3,867.4,-11.6,666,6825,0.00,1.08,0.00,0.000,6,0.000,0.050,2485,1613,3849,0,0,0,0,0,0
$GC,7151,-0.89,-243.3,908.8,-12.8,682,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1613,3847,0,0,0,0,0,0
$GC,7458,-0.89,-243.3,947.7,-12.2,697,7462,0.00,1.10,0.00,0.000,4,0.000,0.057,2486,910,3845,0,0,0,0,0,0
$GC,7519,-0.89,-243.3,955.1,-11.9,699,7526,0.00,1.10,0.00,0.000,6,0.000,0.052,2480,1610,3845,0,0,0,0,0,0
$STATE,7833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7833,begin apogee
$GC,7841,-0.11,0.0,992.1,11.5,715,8058,0.70,0.00,209.52,1.437,6,0.124,0.000,2706,1785,2883,0,0,0,0,0,0
$STATE,8059,end apogee,CONTROL_FINISHED_OK
$STATE,8059,begin climb
$GC,8064,0.68,243.3,1001.3,0.0,725,8299,0.75,1.20,227.05,1.379,4,0.052,0.054,2984,1074,1893,0,0,0,0,0,0
$GC,8334,0.63,243.3,967.5,18.5,738,8339,0.10,1.17,0.00,0.000,6,0.154,0.050,2955,1773,1889,0,0,0,0,0,0
$GC,8663,0.61,243.3,914.6,16.3,754,8667,0.00,1.10,0.00,0.000,4,0.000,0.055,2958,1074,1885,0,0,0,0,0,0
$GC,8689,0.58,243.3,910.4,16.2,755,8693,0.00,1.12,0.00,0.000,6,0.000,0.050,2957,1788,1884,0,0,0,0,0,0
$GC,9025,0.56,243.3,855.8,15.2,771,9029,0.00,1.05,0.00,0.000,4,0.000,0.059,2956,2478,1883,0,0,0,0,0,0
$GC,9053,0.54,243.3,851.1,14.7,772,9057,0.12,1.08,0.00,0.000,6,0.148,0.049,2919,1784,1882,0,0,0,0,0,0
$GC,9384,0.57,265.5,812.3,11.9,788,9409,0.00,1.12,21.00,1.268,4,0.000,0.054,2918,2498,1800,0,0,0,0,0,0
$GC,9484,0.63,288.6,799.7,11.9,792,9511,0.00,1.12,23.08,1.257,6,0.000,0.047,2921,1780,1707,0,0,0,0,0,0
$GC,9827,0.68,311.1,760.8,11.9,808,9854,0.12,1.15,22.38,1.244,4,0.088,0.054,2991,1064,1615,0,0,0,0,0,0
$GC,9914,0.65,311.1,745.9,17.5,812,9919,0.10,1.12,0.00,0.000,6,0.150,0.045,2959,1789,1613,0,0,0,0,0,0
$GC,10254,0.65,311.1,698.1,13.5,828,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1789,1611,0,0,0,0,0,0
$GC,10557,0.65,312.8,658.7,12.6,843,10560,0.00,1.10,0.00,0.000,4,0.000,0.052,2963,1077,1610,0,0,0,0,0,0
$GC,10642,0.65,312.8,648.0,12.9,846,10649,0.00,1.08,0.00,0.000,6,0.000,0.045,2961,1776,1609,0,0,0,0,0,0
$GC,10958,0.65,312.8,603.5,14.8,862,10961,0.00,1.05,0.00,0.000,4,0.000,0.055,2961,2476,1608,0,0,0,0,0,0
$GC,11016,0.65,312.8,595.2,14.7,865,11019,0.00,1.08,0.00,0.000,6,0.000,0.046,2963,1774,1608,0,0,0,0,0,0
$GC,11347,0.65,312.8,545.5,14.9,896,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1774,1608,0,0,0,0,0,0
$GC,11669,0.65,312.8,495.5,14.9,926,11672,0.00,1.08,0.00,0.000,4,0.000,0.053,2961,2475,1608,0,0,0,0,0,0
$GC,11718,0.65,315.2,488.2,12.6,930,11726,0.00,1.08,4.03,0.695,6,0.000,0.044,2964,1772,1598,0,0,0,0,0,0
$GC,12046,0.68,335.5,449.6,12.0,961,12072,0.00,1.08,20.33,1.043,4,0.000,0.050,2969,1080,1515,0,0,0,0,0,0
$GC,12170,0.69,348.0,434.0,12.3,972,12186,0.00,1.08,12.68,0.972,6,0.000,0.042,2966,1785,1465,0,0,0,0,0,0
$GC,12506,0.73,379.0,392.8,11.6,1003,12540,0.00,1.15,28.70,1.008,4,0.000,0.049,2969,1074,1339,0,0,0,0,0,0
$GC,12580,0.82,439.0,384.6,10.6,1009,12643,0.10,1.08,54.12,1.001,6,0.054,0.041,3032,1773,1093,0,0,0,0,0,0
$GC,12961,0.78,439.0,312.1,20.8,1045,12965,0.12,1.10,0.00,0.000,4,0.163,0.048,3003,1071,1090,0,0,0,0,0,0
$GC,13012,0.78,439.0,302.6,17.2,1049,13018,0.00,1.08,0.00,0.000,6,0.000,0.041,3001,1783,1089,0,0,0,0,0,0
$GC,13337,0.78,439.0,248.9,17.1,1080,13345,0.00,1.08,0.00,0.000,4,0.000,0.048,3004,1077,1088,0,0,0,0,0,0
$GC,13376,0.78,439.0,242.4,17.7,1086,13384,0.00,1.05,0.00,0.000,6,0.000,0.041,3001,1779,1088,0,0,0,0,0,0
$GC,13706,0.79,439.0,191.4,14.1,1147,13715,0.00,1.08,0.00,0.000,4,0.000,0.047,3005,1071,1088,0,0,0,0,0,0
$GC,13744,0.81,439.0,185.6,13.9,1153,13752,0.00,1.05,0.00,0.000,6,0.000,0.040,3001,1777,1088,0,0,0,0,0,0
$GC,14075,0.82,439.0,138.6,13.0,1214,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1777,1087,0,0,0,0,0,0
$GC,14402,0.99,529.8,104.0,9.5,1275,14484,0.17,1.15,75.70,0.759,4,0.067,0.046,3102,1072,722,0,0,0,0,0,0
$GC,14648,0.99,529.8,63.4,14.8,1316,14657,0.10,1.05,0.00,0.000,6,0.131,0.037,3068,1776,716,0,0,0,0,0,0
$GC,14978,1.03,529.8,24.0,13.7,1377,14986,0.00,1.08,0.00,0.000,4,0.000,0.045,3071,1069,714,0,0,0,0,0,0
$GC,15048,1.28,688.9,18.0,7.1,1389,15115,0.20,1.05,59.50,0.659,6,0.037,0.038,3183,1773,453,0,0,0,0,0,0
$STATE,15121,end climb,SURFACE_DEPTH_REACHED
$STATE,15121,begin surface coast
$FINISH,1.2,1.022080
$STATE,15137,end surface coast,CONTROL_FINISHED_OK
$STATE,15137,begin surface
$SM_CCo,15215,0.00,0.000,0,0,444,598.29
$SM_GC,1.84,8.20,0.00,0.00,0.047,0.000,0.000,148,1597,444,-8.05,-0.37,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2244.02,12143.96,031011,090948
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.05
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,24.20
$XPDR_PINGS,114
$24V_AH,22.5,75.283
$10V_AH,9.8,53.532
$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,20.775,67.475,758.075,0.000,0.000,23.514,20.476,191.085,28.500,0.000,70.640,3460.980,7477.654,788.648,3453.109,473.108,0.000,2157.674,0.000,3170.943,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,71.910,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.712,1436.453,1646.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,76951,1401
$CAP_FILE_SIZE,167182,0
$CFSIZE,260165632,119095296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189, 16.1,1
$GPS,031011,183136,2257.183,12140.194,43,1.7,54,-3.0