version: 66.09
glider: 166
mission: 6
dive: 64
start: 8 15 111 19 10 18
data:
$ID,166
$MISSION,6
$DIVE,64
$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,310
$T_MISSION,330
$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,475
$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,-24464.619
$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,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,37
$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
$GPS1,150811,190156,2330.672,12253.051,47,99.0,66,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.3
$GPS2,150811,190952,2330.747,12253.056,49,2.1,68,-3.2
$SPEED_LIMITS,0.184,0.333
$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,101.5,110830,-14.7,-10.645
$D_GRID,2787
$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,-0.83,-243.3,0.0,0.0,0,107,0.00,0.00,-87.88,0.000,2,0.000,0.000,154,1476,3080,0,0,0,0,0,0
$GC,110,-0.83,-243.3,5.5,-9.7,12,142,8.88,2.20,-14.90,0.000,4,0.220,0.052,2462,2924,3877,0,0,0,0,0,0
$GC,242,-0.58,-243.3,64.1,-36.3,34,252,0.30,2.15,0.00,0.000,6,0.155,0.036,2548,1515,3879,0,0,0,0,0,0
$GC,569,-0.43,-243.3,153.8,-27.1,95,578,0.20,2.00,0.00,0.000,4,0.155,0.040,2614,196,3882,0,0,0,0,0,0
$GC,636,-0.47,-243.3,166.4,-14.4,106,645,0.00,1.98,0.00,0.000,6,0.000,0.031,2606,1515,3882,0,0,0,0,0,0
$GC,963,-0.47,-243.3,211.2,-12.8,167,971,0.00,2.08,0.00,0.000,4,0.000,0.042,2597,2898,3882,0,0,0,0,0,0
$GC,1068,-0.53,-243.3,221.8,-9.3,185,1076,0.00,2.10,0.00,0.000,6,0.000,0.033,2599,1491,3882,0,0,0,0,0,0
$GC,1396,-0.55,-243.3,260.0,-10.8,238,1400,0.00,2.10,0.00,0.000,4,0.000,0.040,2592,2902,3881,0,0,0,0,0,0
$GC,1447,-0.61,-243.3,265.0,-9.3,242,1452,0.12,2.08,0.00,0.000,6,0.081,0.032,2510,1495,3881,0,0,0,0,0,0
$GC,1775,-0.49,-243.3,330.2,-20.0,272,1779,0.22,2.12,0.00,0.000,4,0.149,0.041,2573,2898,3880,0,0,0,0,0,0
$GC,1804,-0.44,-243.3,335.6,-17.7,274,1808,0.10,2.08,0.00,0.000,6,0.153,0.034,2601,1494,3880,0,0,0,0,0,0
$GC,2131,-0.49,-243.3,369.1,-10.2,304,2135,0.00,2.12,0.00,0.000,4,0.000,0.044,2595,2899,3879,0,0,0,0,0,0
$GC,2161,-0.55,-243.3,372.4,-10.1,306,2165,0.00,2.10,0.00,0.000,6,0.000,0.034,2595,1486,3879,0,0,0,0,0,0
$GC,2489,-0.59,-243.3,406.2,-9.9,336,2493,0.12,2.15,0.00,0.000,4,0.081,0.046,2505,2898,3877,0,0,0,0,0,0
$GC,2540,-0.53,-243.3,413.4,-14.9,340,2545,0.22,2.10,0.00,0.000,6,0.137,0.037,2573,1495,3876,0,0,0,0,0,0
$GC,2866,-0.55,-243.3,451.4,-10.5,370,2870,0.00,2.15,0.00,0.000,4,0.000,0.047,2565,2907,3874,0,0,0,0,0,0
$GC,2906,-0.59,-243.3,455.3,-9.7,373,2910,0.00,2.10,0.00,0.000,6,0.000,0.037,2566,1501,3874,0,0,0,0,0,0
$GC,3232,-0.61,-243.3,489.6,-10.6,403,3236,0.00,2.10,0.00,0.000,4,0.000,0.049,2556,2896,3873,0,0,0,0,0,0
$GC,3289,-0.65,-243.3,495.4,-9.8,407,3295,0.00,2.10,0.00,0.000,6,0.000,0.037,2556,1495,3872,0,0,0,0,0,0
$GC,3614,-0.65,-243.3,527.5,-9.3,438,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1495,3869,0,0,0,0,0,0
$GC,3934,-0.65,-243.3,556.1,-8.8,468,3938,0.00,2.15,0.00,0.000,4,0.000,0.052,2544,2896,3867,0,0,0,0,0,0
$GC,3992,-0.68,-243.3,561.1,-8.6,472,3999,0.00,2.10,0.00,0.000,6,0.000,0.040,2544,1504,3866,0,0,0,0,0,0
$GC,4317,-0.68,-243.3,595.8,-11.4,503,4321,0.00,2.15,0.00,0.000,4,0.000,0.054,2533,2898,3863,0,0,0,0,0,0
$GC,4351,-0.68,-243.3,599.8,-11.7,505,4358,0.00,2.12,0.00,0.000,6,0.000,0.041,2533,1495,3863,0,0,0,0,0,0
$GC,4667,-0.68,-243.3,637.9,-11.9,521,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1494,3860,0,0,0,0,0,0
$GC,4976,-0.68,-243.3,674.1,-11.5,536,4980,0.00,2.17,0.00,0.000,4,0.000,0.057,2511,2898,3858,0,0,0,0,0,0
$GC,5001,-0.68,-243.3,676.8,-11.5,537,5005,0.00,2.10,0.00,0.000,6,0.000,0.042,2513,1498,3857,0,0,0,0,0,0
$GC,5329,-0.66,-243.3,712.2,-10.3,553,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1498,3854,0,0,0,0,0,0
$GC,5638,-0.66,-243.3,744.0,-10.1,568,5642,0.00,2.17,0.00,0.000,4,0.000,0.058,2499,2896,3852,0,0,0,0,0,0
$GC,5672,-0.66,-243.3,747.5,-10.3,569,5680,0.10,2.12,0.00,0.000,6,0.165,0.044,2526,1498,3852,0,0,0,0,0,0
$GC,5990,-0.68,-243.3,777.3,-9.3,585,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1498,3849,0,0,0,0,0,0
$GC,6300,-0.70,-243.3,806.9,-9.9,600,6304,0.00,2.17,0.00,0.000,4,0.000,0.059,2517,2893,3846,0,0,0,0,0,0
$GC,6374,-0.75,-243.3,814.2,-9.7,603,6378,0.00,2.12,0.00,0.000,6,0.000,0.045,2517,1503,3846,0,0,0,0,0,0
$GC,6690,-0.75,-243.3,848.1,-10.6,618,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1502,3844,0,0,0,0,0,0
$GC,7001,-0.75,-243.3,878.3,-9.4,633,7005,0.00,2.17,0.00,0.000,4,0.000,0.060,2507,2892,3842,0,0,0,0,0,0
$GC,7063,-0.78,-243.3,884.0,-8.7,636,7067,0.00,2.12,0.00,0.000,6,0.000,0.046,2506,1498,3841,0,0,0,0,0,0
$GC,7392,-0.78,-243.3,914.3,-9.2,652,7396,0.00,2.17,0.00,0.000,4,0.000,0.060,2496,2892,3839,0,0,0,0,0,0
$GC,7449,-0.80,-243.3,919.7,-9.1,654,7453,0.00,2.12,0.00,0.000,6,0.000,0.047,2496,1491,3839,0,0,0,0,0,0
$GC,7764,-0.80,-243.3,953.2,-11.2,669,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1491,3838,0,0,0,0,0,0
$GC,8075,-0.80,-243.3,989.5,-11.7,684,8079,0.00,1.98,0.00,0.000,4,0.000,0.060,2496,201,3835,0,0,0,0,0,0
$STATE,8084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8084,begin apogee
$GC,8092,-0.18,0.0,991.2,11.8,684,8295,0.60,0.00,197.18,1.443,6,0.122,0.000,2685,1839,2884,0,0,0,0,0,0
$STATE,8296,end apogee,CONTROL_FINISHED_OK
$STATE,8296,begin climb
$GC,8298,0.83,243.3,1001.6,0.0,694,8525,0.88,2.47,216.02,1.381,4,0.053,0.057,3026,434,1891,0,0,0,0,0,0
$GC,8562,0.63,243.3,959.8,23.5,706,8567,0.28,2.35,0.00,0.000,6,0.170,0.047,2949,1853,1887,0,0,0,0,0,0
$GC,8887,0.51,243.3,902.5,17.6,722,8891,0.15,2.22,0.00,0.000,4,0.180,0.060,2906,3259,1883,0,0,0,0,0,0
$GC,8971,0.47,243.3,889.5,13.5,726,8975,0.00,2.17,0.00,0.000,6,0.000,0.041,2915,1835,1882,0,0,0,0,0,0
$GC,9300,0.40,243.3,844.6,13.5,742,9302,0.15,0.00,0.00,0.000,6,0.172,0.000,2875,1834,1881,0,0,0,0,0,0
$GC,9607,0.40,243.3,812.5,10.7,757,9611,0.00,2.15,0.00,0.000,4,0.000,0.053,2884,440,1879,0,0,0,0,0,0
$GC,9630,0.40,243.3,810.0,10.8,758,9634,0.00,2.15,0.00,0.000,6,0.000,0.041,2879,1859,1879,0,0,0,0,0,0
$GC,9958,0.40,243.3,773.4,11.0,774,9962,0.00,2.17,0.00,0.000,4,0.000,0.058,2879,3261,1878,0,0,0,0,0,0
$GC,10024,0.40,243.3,765.5,11.4,777,10029,0.00,2.17,0.00,0.000,6,0.000,0.041,2887,1852,1878,0,0,0,0,0,0
$GC,10354,0.38,243.3,729.2,10.8,793,10358,0.00,2.20,0.00,0.000,4,0.000,0.053,2898,437,1877,0,0,0,0,0,0
$GC,10381,0.38,257.9,726.0,10.2,794,10401,0.12,2.17,12.25,1.193,6,0.157,0.041,2864,1851,1831,0,0,0,0,0,0
$GC,10723,0.49,326.4,696.4,8.6,811,10790,0.12,0.00,63.60,1.260,6,0.090,0.000,2926,1853,1553,0,0,0,0,0,0
$GC,11095,0.44,326.4,638.6,16.1,829,11100,0.15,2.22,0.00,0.000,4,0.163,0.057,2877,3268,1547,0,0,0,0,0,0
$GC,11118,0.44,326.4,634.7,15.4,830,11123,0.00,2.20,0.00,0.000,6,0.000,0.039,2885,1836,1547,0,0,0,0,0,0
$GC,11446,0.49,346.9,599.7,10.0,846,11470,0.00,2.28,18.58,1.148,4,0.000,0.052,2896,437,1469,0,0,0,0,0,0
$GC,11530,0.55,363.4,591.4,10.2,853,11554,0.00,2.22,15.98,1.112,6,0.000,0.038,2896,1868,1401,0,0,0,0,0,0
$GC,11872,0.64,410.1,557.7,9.3,885,11921,0.15,2.28,41.75,1.147,4,0.077,0.054,2968,3250,1211,0,0,0,0,0,0
$GC,11957,0.58,410.1,544.2,17.8,892,11965,0.17,2.20,0.00,0.000,6,0.171,0.039,2933,1850,1210,0,0,0,0,0,0
$GC,12286,0.55,410.1,496.4,15.1,923,12290,0.00,2.22,0.00,0.000,4,0.000,0.051,2942,444,1209,0,0,0,0,0,0
$GC,12317,0.55,410.1,491.7,14.6,925,12321,0.00,2.17,0.00,0.000,6,0.000,0.039,2939,1849,1207,0,0,0,0,0,0
$GC,12642,0.53,410.1,446.4,13.1,955,12647,0.00,2.17,0.00,0.000,4,0.000,0.055,2940,3267,1207,0,0,0,0,0,0
$GC,12696,0.55,410.1,439.4,13.1,959,12700,0.00,2.17,0.00,0.000,6,0.000,0.039,2948,1842,1207,0,0,0,0,0,0
$GC,13023,0.51,410.1,389.9,16.0,989,13028,0.15,2.17,0.00,0.000,4,0.161,0.050,2916,440,1206,0,0,0,0,0,0
$GC,13044,0.51,410.1,386.4,14.6,990,13052,0.00,2.17,0.00,0.000,6,0.000,0.037,2916,1857,1205,0,0,0,0,0,0
$GC,13371,0.58,428.6,354.5,10.1,1021,13390,0.00,0.00,16.02,0.933,6,0.000,0.000,2916,1858,1136,0,0,0,0,0,0
$GC,13709,0.72,482.4,322.6,9.1,1053,13766,0.17,2.33,46.00,0.933,4,0.070,0.049,3024,442,915,0,0,0,0,0,0
$GC,13786,0.62,482.4,308.2,24.2,1059,13795,0.28,2.20,0.00,0.000,6,0.142,0.037,2945,1853,914,0,0,0,0,0,0
$GC,14112,0.65,482.4,265.8,11.8,1090,14116,0.00,2.15,0.00,0.000,4,0.000,0.050,2950,3252,912,0,0,0,0,0,0
$GC,14168,0.76,498.3,259.9,10.2,1094,14189,0.00,2.15,14.35,0.817,6,0.000,0.035,2955,1850,851,0,0,0,0,0,0
$GC,14505,0.86,537.8,228.2,9.5,1147,14545,0.17,2.28,33.45,0.829,4,0.067,0.047,3062,439,689,0,0,0,0,0,0
$GC,14619,0.78,537.8,205.3,21.4,1165,14627,0.17,2.20,0.00,0.000,6,0.129,0.035,3004,1855,686,0,0,0,0,0,0
$GC,14948,0.76,537.8,147.5,16.8,1226,14956,0.00,2.15,0.00,0.000,4,0.000,0.048,3004,3247,685,0,0,0,0,0,0
$GC,15025,0.81,537.8,136.6,11.9,1239,15034,0.00,2.12,0.00,0.000,6,0.000,0.034,3017,1850,684,0,0,0,0,0,0
$GC,15353,0.81,537.8,87.8,15.6,1300,15361,0.00,2.17,0.00,0.000,4,0.000,0.046,3027,445,685,0,0,0,0,0,0
$GC,15422,0.84,537.8,77.6,14.0,1312,15429,0.00,2.12,0.00,0.000,6,0.000,0.033,3028,1851,684,0,0,0,0,0,0
$GC,15750,0.92,550.8,36.6,10.3,1373,15766,0.00,0.00,11.65,0.618,6,0.000,0.000,3027,1854,637,0,0,0,0,0,0
$GC,16086,1.18,666.0,12.1,7.3,1435,16133,0.25,2.25,37.03,0.638,4,0.057,0.044,3172,444,450,0,0,0,0,0,0
$STATE,16139,end climb,SURFACE_DEPTH_REACHED
$STATE,16139,begin surface coast
$FINISH,1.3,1.021495
$STATE,16155,end surface coast,CONTROL_FINISHED_OK
$STATE,16155,begin surface
$SM_CCo,16233,0.00,0.000,0,0,445,598.29
$SM_GC,1.79,7.97,0.00,0.00,0.037,0.000,0.000,154,1522,445,-8.05,0.62,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12248.63,150811,141429
$TT8_MAMPS,0.026215,0.026215
$HUMID,32.55
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,26.00
$XPDR_PINGS,78
$24V_AH,23.4,17.289
$10V_AH,10.3,11.580
$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,22.225,146.850,723.850,0.000,0.000,30.059,46.550,187.681,19.500,0.000,72.480,3605.303,8399.025,760.241,3473.649,453.008,0.000,2147.392,0.000,3155.951,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,60.435,1442.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,985.958,1479.520,1536.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324460
$DATA_FILE_SIZE,80096,1444
$CAP_FILE_SIZE,178777,0
$CFSIZE,260165632,141660160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,346.4,1
$GPS,150811,234237,2331.043,12255.939,68,1.3,68,-3.2