version: 66.09
glider: 166
mission: 6
dive: 65
start: 8 15 111 23 52 7
data:
$ID,166
$MISSION,6
$DIVE,65
$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,-24465.879
$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,38
$R_STBD_OVSHOOT,57
$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
$GPS1,150811,234237,2331.043,12255.939,68,1.3,68,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-67.6
$GPS2,150811,235143,2331.106,12255.876,13,1.3,30,-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,91.9,106096,-14.7,-10.645
$D_GRID,2786
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.83,-243.3,0.0,0.0,0,130,0.00,0.00,-109.70,0.000,2,0.000,0.000,154,1523,3109,0,0,0,0,0,0
$GC,133,-0.83,-243.3,5.5,-8.1,15,165,9.12,2.10,-14.25,0.000,4,0.230,0.050,2463,2898,3877,0,0,0,0,0,0
$GC,249,-0.57,-243.3,56.3,-35.9,34,258,0.28,2.15,0.00,0.000,6,0.157,0.037,2555,1502,3879,0,0,0,0,0,0
$GC,576,-0.41,-243.3,140.7,-25.3,95,584,0.20,2.00,0.00,0.000,4,0.158,0.039,2602,190,3880,0,0,0,0,0,0
$GC,631,-0.41,-243.3,150.7,-15.0,104,639,0.00,1.95,0.00,0.000,6,0.000,0.032,2595,1492,3880,0,0,0,0,0,0
$GC,960,-0.38,-243.3,193.8,-13.5,165,969,0.00,2.15,0.00,0.000,4,0.000,0.041,2584,2905,3881,0,0,0,0,0,0
$GC,1060,-0.41,-243.3,205.2,-11.0,182,1069,0.00,2.12,0.00,0.000,6,0.000,0.033,2586,1493,3880,0,0,0,0,0,0
$GC,1388,-0.41,-243.3,249.2,-11.6,243,1396,0.00,1.95,0.00,0.000,4,0.000,0.042,2594,208,3880,0,0,0,0,0,0
$GC,1417,-0.41,-243.3,253.5,-12.8,246,1425,0.00,1.92,0.00,0.000,6,0.000,0.032,2585,1495,3879,0,0,0,0,0,0
$GC,1745,-0.41,-243.3,291.8,-11.9,277,1749,0.00,2.10,0.00,0.000,4,0.000,0.043,2576,2905,3878,0,0,0,0,0,0
$GC,1883,-0.45,-243.3,305.0,-8.3,289,1891,0.00,2.08,0.00,0.000,6,0.000,0.034,2580,1495,3878,0,0,0,0,0,0
$GC,2209,-0.45,-243.3,338.8,-9.9,320,2213,0.00,2.15,0.00,0.000,4,0.000,0.043,2571,2904,3876,0,0,0,0,0,0
$GC,2249,-0.47,-243.3,342.5,-9.4,323,2253,0.00,2.08,0.00,0.000,6,0.000,0.034,2571,1495,3876,0,0,0,0,0,0
$GC,2574,-0.47,-243.3,376.9,-11.0,353,2578,0.00,2.12,0.00,0.000,4,0.000,0.044,2560,2899,3874,0,0,0,0,0,0
$GC,2626,-0.49,-243.3,382.5,-10.9,357,2630,0.00,2.08,0.00,0.000,6,0.000,0.035,2560,1494,3874,0,0,0,0,0,0
$GC,2956,-0.47,-243.3,424.7,-13.0,388,2958,0.10,0.00,0.00,0.000,6,0.170,0.000,2586,1494,3872,0,0,0,0,0,0
$GC,3276,-0.51,-243.3,456.4,-9.1,418,3280,0.00,2.15,0.00,0.000,4,0.000,0.049,2580,2905,3869,0,0,0,0,0,0
$GC,3322,-0.57,-243.3,460.4,-8.4,421,3330,0.00,2.10,0.00,0.000,6,0.000,0.037,2580,1502,3869,0,0,0,0,0,0
$GC,3648,-0.62,-243.3,487.6,-7.6,452,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1502,3866,0,0,0,0,0,0
$GC,3970,-0.66,-243.3,512.3,-8.0,482,3975,0.15,2.17,0.00,0.000,4,0.072,0.051,2484,2905,3865,0,0,0,0,0,0
$GC,4024,-0.60,-243.3,519.1,-13.9,486,4029,0.22,2.12,0.00,0.000,6,0.145,0.041,2551,1495,3864,0,0,0,0,0,0
$GC,4349,-0.60,-243.3,555.0,-11.4,516,4353,0.00,2.15,0.00,0.000,4,0.000,0.053,2542,2896,3862,0,0,0,0,0,0
$GC,4378,-0.60,-243.3,557.9,-10.9,518,4382,0.00,2.10,0.00,0.000,6,0.000,0.040,2541,1490,3861,0,0,0,0,0,0
$GC,4710,-0.60,-243.3,594.0,-10.1,549,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1490,3859,0,0,0,0,0,0
$GC,5019,-0.60,-243.3,624.5,-9.9,567,5023,0.00,2.17,0.00,0.000,4,0.000,0.055,2529,2900,3856,0,0,0,0,0,0
$GC,5071,-0.63,-243.3,629.3,-9.5,569,5074,0.00,2.12,0.00,0.000,6,0.000,0.042,2530,1494,3855,0,0,0,0,0,0
$GC,5392,-0.63,-243.3,667.3,-12.0,585,5396,0.00,1.98,0.00,0.000,4,0.000,0.054,2525,202,3853,0,0,0,0,0,0
$GC,5430,-0.63,-243.3,672.5,-13.3,586,5437,0.00,1.98,0.00,0.000,6,0.000,0.041,2515,1491,3852,0,0,0,0,0,0
$GC,5749,-0.61,-243.3,712.9,-12.8,602,5753,0.12,2.17,0.00,0.000,4,0.164,0.057,2540,2905,3850,0,0,0,0,0,0
$GC,5821,-0.67,-243.3,720.7,-9.5,605,5825,0.00,2.12,0.00,0.000,6,0.000,0.041,2542,1491,3849,0,0,0,0,0,0
$GC,6144,-0.69,-243.3,753.2,-10.3,621,6148,0.00,2.20,0.00,0.000,4,0.000,0.056,2528,2917,3846,0,0,0,0,0,0
$GC,6189,-0.74,-243.3,758.1,-10.2,623,6193,0.00,2.15,0.00,0.000,6,0.000,0.043,2527,1497,3846,0,0,0,0,0,0
$GC,6511,-0.75,-243.3,791.0,-9.6,639,6515,0.00,2.17,0.00,0.000,4,0.000,0.057,2515,2906,3844,0,0,0,0,0,0
$GC,6568,-0.78,-243.3,796.3,-9.3,641,6572,0.00,2.10,0.00,0.000,6,0.000,0.043,2516,1501,3843,0,0,0,0,0,0
$GC,6885,-0.78,-243.3,826.4,-9.3,656,6888,0.00,1.98,0.00,0.000,4,0.000,0.056,2514,198,3841,0,0,0,0,0,0
$GC,6914,-0.78,-243.3,829.3,-9.4,657,6918,0.00,2.00,0.00,0.000,6,0.000,0.043,2504,1514,3841,0,0,0,0,0,0
$GC,7241,-0.78,-243.3,862.2,-10.1,673,7245,0.00,2.15,0.00,0.000,4,0.000,0.057,2493,2913,3838,0,0,0,0,0,0
$GC,7296,-0.78,-243.3,867.6,-9.4,675,7303,0.00,2.15,0.00,0.000,6,0.000,0.044,2493,1491,3838,0,0,0,0,0,0
$GC,7615,-0.76,-243.3,900.2,-10.5,691,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1491,3837,0,0,0,0,0,0
$GC,7923,-0.75,-243.3,931.1,-9.7,706,7927,0.00,2.00,0.00,0.000,4,0.000,0.058,2493,214,3835,0,0,0,0,0,0
$GC,7986,-0.75,-243.3,937.5,-10.1,708,7992,0.00,1.98,0.00,0.000,6,0.000,0.045,2483,1502,3834,0,0,0,0,0,0
$GC,8302,-0.72,-243.3,967.9,-9.6,724,8307,0.12,2.17,0.00,0.000,4,0.173,0.058,2508,2903,3832,0,0,0,0,0,0
$GC,8359,-0.75,-243.3,972.2,-7.4,726,8366,0.00,2.12,0.00,0.000,6,0.000,0.044,2509,1504,3832,0,0,0,0,0,0
$STATE,8591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8591,begin apogee
$GC,8599,-0.18,0.0,991.1,8.4,738,8802,0.52,0.00,196.05,1.448,6,0.125,0.000,2681,1861,2884,0,0,0,0,0,0
$STATE,8803,end apogee,CONTROL_FINISHED_OK
$STATE,8803,begin climb
$GC,8807,0.83,243.3,998.4,0.0,747,9033,0.90,2.42,215.98,1.380,4,0.055,0.062,3012,3246,1891,0,0,0,0,0,0
$GC,9148,0.64,243.3,938.5,22.4,763,9153,0.25,2.22,0.00,0.000,6,0.183,0.044,2957,1853,1886,0,0,0,0,0,0
$GC,9466,0.52,243.3,883.0,17.5,778,9471,0.15,2.20,0.00,0.000,4,0.183,0.056,2926,442,1882,0,0,0,0,0,0
$GC,9490,0.42,243.3,878.6,17.6,779,9495,0.15,2.17,0.00,0.000,6,0.160,0.044,2885,1845,1882,0,0,0,0,0,0
$GC,9820,0.40,243.3,841.5,10.9,795,9824,0.00,2.22,0.00,0.000,4,0.000,0.060,2880,3266,1881,0,0,0,0,0,0
$GC,9863,0.40,243.3,836.1,10.9,797,9867,0.00,2.20,0.00,0.000,6,0.000,0.044,2888,1823,1880,0,0,0,0,0,0
$GC,10191,0.37,243.3,800.3,11.3,813,10195,0.00,2.12,0.00,0.000,4,0.000,0.054,2899,443,1879,0,0,0,0,0,0
$GC,10214,0.35,243.3,797.7,11.4,814,10219,0.15,2.17,0.00,0.000,6,0.153,0.044,2857,1853,1879,0,0,0,0,0,0
$GC,10543,0.43,287.5,766.8,9.3,830,10589,0.00,2.33,39.03,1.304,4,0.000,0.058,2857,3259,1711,0,0,0,0,0,0
$GC,10621,0.53,334.5,759.3,9.3,833,10671,0.15,2.22,43.85,1.265,6,0.073,0.041,2941,1848,1520,0,0,0,0,0,0
$GC,10980,0.46,334.5,699.6,17.3,850,10982,0.17,0.00,0.00,0.000,6,0.163,0.000,2894,1848,1512,0,0,0,0,0,0
$GC,11291,0.46,334.5,660.6,12.0,865,11295,0.00,2.22,0.00,0.000,4,0.000,0.057,2894,3270,1511,0,0,0,0,0,0
$GC,11318,0.48,334.5,656.7,12.0,866,11322,0.00,2.17,0.00,0.000,6,0.000,0.041,2902,1850,1511,0,0,0,0,0,0
$GC,11641,0.48,334.5,618.4,11.8,882,11645,0.00,2.17,0.00,0.000,4,0.000,0.054,2912,443,1510,0,0,0,0,0,0
$GC,11691,0.48,334.5,611.7,12.5,884,11695,0.00,2.17,0.00,0.000,6,0.000,0.042,2912,1872,1509,0,0,0,0,0,0
$GC,12025,0.46,334.5,570.4,12.0,911,12029,0.00,2.12,0.00,0.000,4,0.000,0.057,2912,3261,1509,0,0,0,0,0,0
$GC,12100,0.48,334.5,561.2,11.2,917,12105,0.00,2.15,0.00,0.000,6,0.000,0.041,2922,1843,1509,0,0,0,0,0,0
$GC,12428,0.46,334.5,522.8,11.0,947,12432,0.00,2.17,0.00,0.000,4,0.000,0.054,2922,3259,1509,0,0,0,0,0,0
$GC,12446,0.43,334.5,520.4,11.1,948,12451,0.17,2.12,0.00,0.000,6,0.163,0.040,2884,1852,1509,0,0,0,0,0,0
$GC,12774,0.59,425.2,494.5,8.0,978,12864,0.15,2.35,76.85,1.111,4,0.076,0.050,2972,443,1148,0,0,0,0,0,0
$GC,12921,0.56,425.2,471.8,15.6,991,12926,0.17,2.20,0.00,0.000,6,0.147,0.039,2924,1857,1145,0,0,0,0,0,0
$GC,13247,0.58,437.7,434.8,10.3,1021,13263,0.00,2.20,11.23,0.941,4,0.000,0.054,2922,3249,1099,0,0,0,0,0,0
$GC,13302,0.66,461.8,428.8,9.9,1025,13333,0.00,2.17,21.80,1.000,6,0.000,0.038,2930,1838,1000,0,0,0,0,0,0
$GC,13651,0.67,461.8,389.7,12.5,1058,13655,0.00,2.15,0.00,0.000,4,0.000,0.050,2943,440,998,0,0,0,0,0,0
$GC,13716,0.72,461.8,382.1,11.4,1063,13721,0.10,2.15,0.00,0.000,6,0.098,0.037,3006,1850,997,0,0,0,0,0,0
$GC,14042,0.61,461.8,308.0,23.7,1093,14046,0.22,2.17,0.00,0.000,4,0.156,0.051,2933,3254,997,0,0,0,0,0,0
$GC,14144,0.74,499.0,294.4,9.6,1101,14188,0.12,2.12,31.67,0.914,6,0.080,0.037,3025,1848,848,0,0,0,0,0,0
$GC,14506,0.63,499.0,211.8,22.7,1150,14514,0.25,2.22,0.00,0.000,4,0.155,0.048,2941,3258,845,0,0,0,0,0,0
$GC,14584,0.78,536.3,200.4,9.5,1163,14622,0.10,2.17,31.50,0.825,6,0.054,0.037,3024,1841,696,0,0,0,0,0,0
$GC,14946,0.71,536.3,128.5,21.0,1228,14954,0.17,0.00,0.00,0.000,6,0.145,0.000,2975,1841,693,0,0,0,0,0,0
$GC,15272,0.80,551.0,89.2,10.2,1289,15296,0.00,2.20,13.30,0.684,4,0.000,0.047,2990,446,635,0,0,0,0,0,0
$GC,15316,0.92,571.1,84.6,10.1,1295,15341,0.10,2.15,17.73,0.687,6,0.046,0.033,3076,1859,554,0,0,0,0,0,0
$GC,15662,0.90,571.1,17.5,15.2,1358,15671,0.15,2.15,0.00,0.000,4,0.149,0.047,3024,3246,550,0,0,0,0,0,0
$GC,15745,1.14,645.3,9.2,8.5,1372,15777,0.17,2.12,21.48,0.634,6,0.041,0.034,3138,1844,451,0,0,0,0,0,0
$STATE,15788,end climb,SURFACE_DEPTH_REACHED
$STATE,15788,begin surface coast
$FINISH,1.1,1.020250
$STATE,15814,end surface coast,CONTROL_FINISHED_OK
$STATE,15814,begin surface
$SM_CCo,15892,0.00,0.000,0,0,446,598.04
$SM_GC,1.79,7.85,0.00,0.00,0.034,0.000,0.000,155,1489,446,-8.04,-0.31,598.04,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12257.10,150811,232357
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.99
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.50
$XPDR_PINGS,72
$24V_AH,23.4,17.558
$10V_AH,10.3,11.734
$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,22.525,150.700,720.450,0.000,0.000,59.332,84.856,167.765,18.000,0.000,31.023,3468.634,8343.202,760.905,3402.664,443.134,0.000,2166.518,0.000,3065.235,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,61.965,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,943.802,1414.412,1366.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324488
$DATA_FILE_SIZE,76921,1382
$CAP_FILE_SIZE,180148,0
$CFSIZE,260165632,141574144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,316.6,1
$GPS,160811,041827,2331.632,12258.219,30,99.0,49,-3.2