version: 66.09
glider: 166
mission: 6
dive: 75
start: 8 17 111 21 49 14
data:
$ID,166
$MISSION,6
$DIVE,75
$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,-9
$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,-24483.865
$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,44
$R_STBD_OVSHOOT,47
$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
$GPS1,170811,213021,2339.826,12320.585,40,3.7,59,-3.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.8
$GPS2,170811,214849,2340.112,12320.731,15,1.5,33,-3.3
$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,99.0,60872,-14.7,-10.645
$D_GRID,3976
$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,-243.3,0.0,0.0,0,132,0.00,0.00,-112.47,0.000,2,0.000,0.000,154,1491,3232,0,0,0,0,0,0
$GC,136,-0.83,-243.3,6.5,-11.3,15,161,8.95,2.20,-10.88,0.000,4,0.223,0.053,2458,2905,3880,0,0,0,0,0,0
$GC,234,-0.56,-243.3,54.3,-39.1,31,243,0.38,2.15,0.00,0.000,6,0.155,0.036,2555,1510,3881,0,0,0,0,0,0
$GC,560,-0.42,-243.3,145.1,-23.9,92,568,0.17,2.03,0.00,0.000,4,0.162,0.041,2611,198,3883,0,0,0,0,0,0
$GC,595,-0.38,-243.3,152.2,-20.9,97,604,0.00,1.95,0.00,0.000,6,0.000,0.031,2604,1503,3883,0,0,0,0,0,0
$GC,923,-0.38,-243.3,198.2,-13.7,158,931,0.00,2.12,0.00,0.000,4,0.000,0.041,2594,2901,3882,0,0,0,0,0,0
$GC,1065,-0.44,-243.3,213.9,-10.2,183,1074,0.00,2.10,0.00,0.000,6,0.000,0.031,2594,1493,3883,0,0,0,0,0,0
$GC,1399,-0.46,-243.3,251.7,-11.5,244,1402,0.00,1.90,0.00,0.000,4,0.000,0.041,2595,206,3881,0,0,0,0,0,0
$GC,1422,-0.48,-243.3,254.7,-11.9,246,1426,0.00,1.90,0.00,0.000,6,0.000,0.031,2588,1499,3882,0,0,0,0,0,0
$GC,1754,-0.48,-243.3,293.0,-11.2,277,1758,0.00,2.05,0.00,0.000,4,0.000,0.041,2582,2904,3880,0,0,0,0,0,0
$GC,1861,-0.54,-243.3,302.0,-7.5,286,1865,0.00,2.08,0.00,0.000,6,0.000,0.032,2585,1495,3879,0,0,0,0,0,0
$GC,2192,-0.54,-243.3,331.7,-9.6,317,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1495,3878,0,0,0,0,0,0
$GC,2513,-0.57,-243.3,363.9,-10.1,347,2518,0.10,2.15,0.00,0.000,4,0.097,0.042,2518,2909,3876,0,0,0,0,0,0
$GC,2587,-0.51,-243.3,374.6,-15.5,353,2595,0.20,2.10,0.00,0.000,6,0.145,0.034,2576,1494,3874,0,0,0,0,0,0
$GC,2914,-0.51,-243.3,411.7,-10.2,384,2918,0.00,2.10,0.00,0.000,4,0.000,0.044,2566,2898,3873,0,0,0,0,0,0
$GC,2971,-0.55,-243.3,417.1,-8.9,389,2975,0.00,2.08,0.00,0.000,6,0.000,0.034,2566,1500,3873,0,0,0,0,0,0
$GC,3303,-0.55,-243.3,449.0,-9.3,420,3307,0.00,2.15,0.00,0.000,4,0.000,0.045,2557,2905,3870,0,0,0,0,0,0
$GC,3325,-0.55,-243.3,451.5,-9.6,421,3333,0.00,2.10,0.00,0.000,6,0.000,0.035,2557,1485,3870,0,0,0,0,0,0
$GC,3650,-0.55,-243.3,486.3,-11.0,452,3654,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,2898,3868,0,0,0,0,0,0
$GC,3681,-0.55,-243.3,489.5,-11.0,454,3685,0.00,2.05,0.00,0.000,6,0.000,0.036,2548,1501,3868,0,0,0,0,0,0
$GC,4007,-0.53,-243.3,530.2,-12.8,484,4010,0.00,1.95,0.00,0.000,4,0.000,0.049,2549,196,3865,0,0,0,0,0,0
$GC,4092,-0.53,-243.3,542.0,-13.3,491,4099,0.12,1.95,0.00,0.000,6,0.151,0.037,2575,1495,3865,0,0,0,0,0,0
$GC,4418,-0.56,-243.3,575.9,-9.8,522,4422,0.00,2.12,0.00,0.000,4,0.000,0.049,2566,2904,3862,0,0,0,0,0,0
$GC,4540,-0.62,-243.3,587.5,-9.2,532,4544,0.00,2.08,0.00,0.000,6,0.000,0.039,2566,1500,3861,0,0,0,0,0,0
$GC,4872,-0.65,-243.3,621.3,-10.0,553,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1500,3859,0,0,0,0,0,0
$GC,5182,-0.69,-243.3,651.8,-9.7,568,5187,0.12,2.17,0.00,0.000,4,0.083,0.054,2486,2904,3857,0,0,0,0,0,0
$GC,5223,-0.64,-243.3,657.0,-13.6,570,5228,0.17,2.12,0.00,0.000,6,0.151,0.042,2537,1492,3856,0,0,0,0,0,0
$GC,5552,-0.64,-243.3,695.2,-11.3,586,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1492,3854,0,0,0,0,0,0
$GC,5859,-0.64,-243.3,725.5,-9.1,601,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1492,3852,0,0,0,0,0,0
$GC,6168,-0.64,-243.3,753.2,-9.3,616,6172,0.00,2.20,0.00,0.000,4,0.000,0.058,2528,2905,3849,0,0,0,0,0,0
$GC,6220,-0.67,-243.3,757.9,-9.5,618,6224,0.00,2.12,0.00,0.000,6,0.000,0.044,2529,1503,3849,0,0,0,0,0,0
$GC,6541,-0.67,-243.3,793.7,-11.4,634,6545,0.00,2.17,0.00,0.000,4,0.000,0.057,2518,2902,3846,0,0,0,0,0,0
$GC,6563,-0.67,-243.3,796.2,-11.2,635,6567,0.00,2.12,0.00,0.000,6,0.000,0.045,2519,1492,3846,0,0,0,0,0,0
$GC,6893,-0.66,-243.3,832.2,-10.5,651,6897,0.00,2.20,0.00,0.000,4,0.000,0.058,2505,2904,3843,0,0,0,0,0,0
$GC,6920,-0.66,-243.3,835.5,-10.7,652,6924,0.00,2.15,0.00,0.000,6,0.000,0.044,2506,1509,3843,0,0,0,0,0,0
$GC,7250,-0.63,-243.3,868.6,-10.1,668,7255,0.12,2.20,0.00,0.000,4,0.164,0.057,2531,2908,3841,0,0,0,0,0,0
$GC,7277,-0.63,-243.3,871.4,-10.0,669,7281,0.00,2.15,0.00,0.000,6,0.000,0.044,2532,1496,3840,0,0,0,0,0,0
$GC,7595,-0.65,-243.3,899.9,-9.8,684,7599,0.00,2.20,0.00,0.000,4,0.000,0.059,2520,2907,3838,0,0,0,0,0,0
$GC,7637,-0.68,-243.3,904.1,-9.7,686,7641,0.00,2.12,0.00,0.000,6,0.000,0.045,2519,1496,3838,0,0,0,0,0,0
$GC,7964,-0.68,-243.3,942.5,-12.3,702,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1495,3835,0,0,0,0,0,0
$GC,8275,-0.68,-243.3,979.3,-11.5,717,8279,0.00,2.22,0.00,0.000,4,0.000,0.062,2507,2908,3833,0,0,0,0,0,0
$GC,8342,-0.70,-243.3,987.0,-10.8,720,8346,0.00,2.17,0.00,0.000,6,0.000,0.047,2507,1496,3833,0,0,0,0,0,0
$STATE,8372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8372,begin apogee
$GC,8378,-0.18,0.0,990.3,11.2,722,8581,0.52,0.00,195.85,1.446,6,0.123,0.000,2675,1845,2884,0,0,0,0,0,0
$STATE,8584,end apogee,CONTROL_FINISHED_OK
$STATE,8584,begin climb
$GC,8586,0.83,243.3,1000.0,0.0,731,8813,0.93,2.47,215.77,1.380,4,0.055,0.063,3018,3252,1891,0,0,0,0,0,0
$GC,8905,0.62,243.3,942.9,24.4,746,8911,0.30,2.25,0.00,0.000,6,0.184,0.047,2950,1855,1887,0,0,0,0,0,0
$GC,9222,0.50,243.3,883.4,18.3,761,9224,0.15,0.00,0.00,0.000,6,0.176,0.000,2909,1854,1883,0,0,0,0,0,0
$GC,9533,0.44,243.3,835.6,15.1,776,9537,0.00,2.22,0.00,0.000,4,0.000,0.060,2904,3257,1881,0,0,0,0,0,0
$GC,9560,0.39,243.3,830.9,15.4,777,9565,0.15,2.17,0.00,0.000,6,0.171,0.044,2873,1830,1881,0,0,0,0,0,0
$GC,9876,0.39,243.3,795.3,11.2,792,9880,0.00,2.12,0.00,0.000,4,0.000,0.054,2881,446,1879,0,0,0,0,0,0
$GC,9927,0.39,243.3,789.4,11.7,794,9931,0.00,2.15,0.00,0.000,6,0.000,0.043,2881,1846,1878,0,0,0,0,0,0
$GC,10248,0.39,243.3,753.8,11.0,810,10252,0.00,2.20,0.00,0.000,4,0.000,0.058,2880,3266,1878,0,0,0,0,0,0
$GC,10294,0.39,243.3,748.5,11.9,812,10298,0.00,2.15,0.00,0.000,6,0.000,0.042,2890,1839,1878,0,0,0,0,0,0
$GC,10616,0.38,257.6,713.6,10.2,828,10637,0.00,2.22,11.93,1.177,4,0.000,0.055,2900,445,1832,0,0,0,0,0,0
$GC,10662,0.42,284.4,708.9,9.9,830,10693,0.00,2.17,25.85,1.239,6,0.000,0.042,2900,1854,1724,0,0,0,0,0,0
$GC,11009,0.40,284.4,671.8,10.9,847,11013,0.00,2.20,0.00,0.000,4,0.000,0.057,2900,3257,1719,0,0,0,0,0,0
$GC,11031,0.38,284.4,669.3,11.0,848,11036,0.15,2.15,0.00,0.000,6,0.164,0.041,2871,1845,1719,0,0,0,0,0,0
$GC,11357,0.54,388.3,644.5,7.6,864,11457,0.15,2.35,91.40,1.214,4,0.076,0.053,2957,446,1300,0,0,0,0,0,0
$GC,11504,0.50,388.3,622.9,15.3,870,11512,0.17,2.25,0.00,0.000,6,0.145,0.041,2909,1856,1297,0,0,0,0,0,0
$GC,11824,0.50,388.3,587.0,10.9,891,11828,0.00,2.20,0.00,0.000,4,0.000,0.055,2908,3262,1295,0,0,0,0,0,0
$GC,11877,0.54,388.3,581.2,10.7,895,11882,0.00,2.17,0.00,0.000,6,0.000,0.040,2916,1845,1295,0,0,0,0,0,0
$GC,12208,0.54,388.3,540.9,12.1,926,12212,0.00,2.17,0.00,0.000,4,0.000,0.050,2926,434,1294,0,0,0,0,0,0
$GC,12235,0.54,388.3,537.1,12.4,928,12243,0.00,2.15,0.00,0.000,6,0.000,0.040,2926,1854,1294,0,0,0,0,0,0
$GC,12561,0.53,388.3,491.6,13.5,959,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1854,1294,0,0,0,0,0,0
$GC,12883,0.53,388.3,449.4,12.3,989,12887,0.00,2.12,0.00,0.000,4,0.000,0.054,2927,3255,1294,0,0,0,0,0,0
$GC,12922,0.53,388.3,444.3,12.0,992,12927,0.00,2.10,0.00,0.000,6,0.000,0.038,2940,1848,1294,0,0,0,0,0,0
$GC,13250,0.51,388.3,405.8,11.8,1022,13254,0.00,2.12,0.00,0.000,4,0.000,0.049,2953,443,1293,0,0,0,0,0,0
$GC,13279,0.51,388.3,402.1,11.5,1024,13284,0.15,2.12,0.00,0.000,6,0.138,0.037,2909,1857,1293,0,0,0,0,0,0
$GC,13607,0.69,478.4,376.3,8.0,1054,13687,0.17,0.00,74.80,0.981,6,0.069,0.000,3001,1860,932,0,0,0,0,0,0
$GC,14004,0.62,478.4,291.5,21.3,1092,14008,0.20,2.17,0.00,0.000,4,0.155,0.050,2947,3258,929,0,0,0,0,0,0
$GC,14070,0.70,478.4,281.4,12.0,1097,14078,0.00,2.15,0.00,0.000,6,0.000,0.037,2957,1849,928,0,0,0,0,0,0
$GC,14398,0.73,478.4,241.8,11.9,1134,14406,0.00,2.17,0.00,0.000,4,0.000,0.047,2969,446,927,0,0,0,0,0,0
$GC,14467,0.81,487.6,234.1,10.4,1146,14484,0.08,2.15,8.20,0.725,6,0.053,0.034,3037,1862,895,0,0,0,0,0,0
$GC,14805,0.74,487.6,167.0,18.8,1208,14813,0.20,2.15,0.00,0.000,4,0.145,0.047,2970,3248,894,0,0,0,0,0,0
$GC,14878,0.84,493.8,157.8,10.5,1220,14896,0.08,2.12,6.97,0.640,6,0.054,0.035,3048,1849,870,0,0,0,0,0,0
$GC,15215,0.79,493.8,93.1,17.6,1282,15224,0.17,2.17,0.00,0.000,4,0.143,0.046,3006,444,868,0,0,0,0,0,0
$GC,15265,0.85,493.8,87.0,12.1,1290,15273,0.00,2.12,0.00,0.000,6,0.000,0.033,3006,1853,868,0,0,0,0,0,0
$GC,15592,1.15,638.8,63.1,6.4,1351,15682,0.28,2.33,83.25,0.692,4,0.052,0.042,3171,436,452,0,0,0,0,0,0
$GC,15710,1.04,638.8,37.4,26.2,1367,15718,0.25,2.20,0.00,0.000,6,0.129,0.034,3084,1847,447,0,0,0,0,0,0
$STATE,15924,end climb,SURFACE_DEPTH_REACHED
$STATE,15924,begin surface coast
$FINISH,1.1,0.997322
$STATE,15947,end surface coast,CONTROL_FINISHED_OK
$STATE,15947,begin surface
$SM_CCo,16026,0.00,0.000,0,0,444,598.53
$SM_GC,1.79,7.70,0.00,0.00,0.035,0.000,0.000,154,1478,444,-8.05,-0.62,598.53,0,0,0,0,0,0
$IRIDIUM_FIX,2330.93,12319.87,170811,212144
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.17
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.80
$XPDR_PINGS,84
$24V_AH,23.4,20.222
$10V_AH,10.2,13.322
$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,22.150,146.900,714.025,0.000,0.000,116.435,140.407,429.348,21.000,0.000,33.895,3524.605,8529.825,743.503,3846.406,469.888,0.000,2137.372,0.000,3095.167,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,62.730,1445.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.778,1446.065,1442.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330192
$DATA_FILE_SIZE,80164,1411
$CAP_FILE_SIZE,181808,0
$CFSIZE,260165632,140677120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,341.8,1
$GPS,180811,021737,2341.229,12323.124,39,1.6,39,-3.3