version: 66.09
glider: 166
mission: 6
dive: 77
start: 8 18 111 7 7 49
data:
$ID,166
$MISSION,6
$DIVE,77
$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,-24486.387
$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,56
$R_STBD_OVSHOOT,41
$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
$GPS1,180811,065727,2341.921,12325.872,39,99.0,58,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.8
$GPS2,180811,070725,2341.981,12325.802,46,1.2,63,-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,112.4,51645,-14.7,-10.645
$D_GRID,4381
$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,-243.3,0.0,0.0,0,128,0.00,0.00,-107.53,0.000,2,0.000,0.000,149,1481,3144,0,0,0,0,0,0
$GC,131,-0.83,-243.3,6.0,-10.3,15,163,9.02,2.22,-13.20,0.000,4,0.224,0.055,2464,2912,3880,0,0,0,0,0,0
$GC,205,-0.51,-243.3,41.6,-45.3,26,214,0.32,2.15,0.00,0.000,6,0.155,0.037,2573,1514,3881,0,0,0,0,0,0
$GC,533,-0.37,-243.3,132.8,-22.8,87,541,0.17,2.00,0.00,0.000,4,0.158,0.041,2616,198,3883,0,0,0,0,0,0
$GC,588,-0.41,-243.3,142.6,-13.8,96,596,0.00,1.95,0.00,0.000,6,0.000,0.031,2608,1505,3883,0,0,0,0,0,0
$GC,916,-0.39,-243.3,188.0,-15.0,157,925,0.00,2.12,0.00,0.000,4,0.000,0.043,2598,2889,3883,0,0,0,0,0,0
$GC,1037,-0.44,-243.3,200.9,-9.4,178,1045,0.00,2.10,0.00,0.000,6,0.000,0.032,2601,1494,3883,0,0,0,0,0,0
$GC,1365,-0.46,-243.3,235.8,-10.9,239,1373,0.00,2.15,0.00,0.000,4,0.000,0.041,2593,2904,3882,0,0,0,0,0,0
$GC,1419,-0.52,-243.3,241.6,-10.4,248,1427,0.00,2.10,0.00,0.000,6,0.000,0.031,2592,1500,3882,0,0,0,0,0,0
$GC,1753,-0.54,-243.3,280.4,-10.5,286,1757,0.00,2.15,0.00,0.000,4,0.000,0.042,2587,2902,3881,0,0,0,0,0,0
$GC,1825,-0.60,-243.3,287.6,-9.3,292,1830,0.12,2.10,0.00,0.000,6,0.079,0.033,2496,1487,3880,0,0,0,0,0,0
$GC,2152,-0.47,-243.3,357.9,-21.4,322,2156,0.30,2.12,0.00,0.000,4,0.151,0.041,2586,2896,3879,0,0,0,0,0,0
$GC,2173,-0.39,-243.3,362.8,-21.2,323,2180,0.00,2.08,0.00,0.000,6,0.000,0.033,2588,1499,3879,0,0,0,0,0,0
$GC,2499,-0.41,-243.3,400.3,-11.8,354,2503,0.00,2.10,0.00,0.000,4,0.000,0.044,2575,2902,3877,0,0,0,0,0,0
$GC,2523,-0.45,-243.3,403.1,-12.0,356,2527,0.00,2.08,0.00,0.000,6,0.000,0.034,2575,1501,3877,0,0,0,0,0,0
$GC,2849,-0.48,-243.3,436.0,-8.9,386,2853,0.00,2.10,0.00,0.000,4,0.000,0.044,2563,2897,3875,0,0,0,0,0,0
$GC,2894,-0.53,-243.3,440.1,-8.7,389,2902,0.00,2.08,0.00,0.000,6,0.000,0.035,2564,1498,3875,0,0,0,0,0,0
$GC,3220,-0.55,-243.3,471.5,-10.0,420,3224,0.00,2.12,0.00,0.000,4,0.000,0.046,2558,2904,3873,0,0,0,0,0,0
$GC,3283,-0.60,-243.3,477.5,-9.5,425,3287,0.00,2.08,0.00,0.000,6,0.000,0.034,2558,1502,3872,0,0,0,0,0,0
$GC,3614,-0.62,-243.3,511.7,-10.6,456,3618,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,2904,3870,0,0,0,0,0,0
$GC,3648,-0.65,-243.3,515.4,-10.3,458,3655,0.00,2.10,0.00,0.000,6,0.000,0.037,2549,1496,3869,0,0,0,0,0,0
$GC,3973,-0.65,-243.3,549.0,-9.5,489,3977,0.00,2.15,0.00,0.000,4,0.000,0.049,2538,2898,3867,0,0,0,0,0,0
$GC,4029,-0.68,-243.3,554.2,-9.1,493,4037,0.00,2.10,0.00,0.000,6,0.000,0.037,2538,1497,3866,0,0,0,0,0,0
$GC,4354,-0.68,-243.3,587.7,-10.7,524,4357,0.00,1.95,0.00,0.000,4,0.000,0.050,2539,202,3864,0,0,0,0,0,0
$GC,4388,-0.68,-243.3,591.6,-11.2,527,4392,0.00,1.95,0.00,0.000,6,0.000,0.039,2529,1496,3863,0,0,0,0,0,0
$GC,4724,-0.68,-243.3,628.7,-11.6,547,4728,0.00,2.12,0.00,0.000,4,0.000,0.051,2518,2909,3860,0,0,0,0,0,0
$GC,4808,-0.68,-243.3,638.6,-11.4,551,4813,0.00,2.12,0.00,0.000,6,0.000,0.039,2519,1491,3859,0,0,0,0,0,0
$GC,5136,-0.65,-243.3,679.8,-12.6,567,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1491,3857,0,0,0,0,0,0
$GC,5447,-0.63,-243.3,717.7,-11.8,582,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1491,3854,0,0,0,0,0,0
$GC,5754,-0.63,-243.3,751.8,-10.7,597,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1491,3853,0,0,0,0,0,0
$GC,6066,-0.63,-243.3,783.3,-10.0,612,6070,0.00,2.00,0.00,0.000,4,0.000,0.056,2521,212,3850,0,0,0,0,0,0
$GC,6098,-0.63,-243.3,787.3,-10.7,613,6102,0.00,1.98,0.00,0.000,6,0.000,0.043,2512,1492,3849,0,0,0,0,0,0
$GC,6421,-0.62,-243.3,821.3,-10.8,629,6425,0.12,2.17,0.00,0.000,4,0.165,0.057,2533,2908,3847,0,0,0,0,0,0
$GC,6463,-0.66,-243.3,825.1,-9.4,631,6467,0.00,2.10,0.00,0.000,6,0.000,0.043,2530,1505,3846,0,0,0,0,0,0
$GC,6790,-0.68,-243.3,856.1,-9.7,647,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1504,3844,0,0,0,0,0,0
$GC,7102,-0.71,-243.3,886.4,-9.6,662,7106,0.00,2.17,0.00,0.000,4,0.000,0.060,2517,2905,3842,0,0,0,0,0,0
$GC,7185,-0.75,-243.3,894.5,-8.9,665,7193,0.00,2.15,0.00,0.000,6,0.000,0.044,2516,1495,3841,0,0,0,0,0,0
$GC,7502,-0.77,-243.3,923.4,-9.1,681,7506,0.00,2.20,0.00,0.000,4,0.000,0.060,2504,2904,3839,0,0,0,0,0,0
$GC,7576,-0.80,-243.3,929.6,-8.3,684,7580,0.00,2.12,0.00,0.000,6,0.000,0.044,2505,1495,3839,0,0,0,0,0,0
$GC,7897,-0.80,-243.3,959.8,-9.6,700,7901,0.00,2.22,0.00,0.000,4,0.000,0.060,2493,2914,3836,0,0,0,0,0,0
$GC,7940,-0.80,-243.3,963.7,-9.6,702,7944,0.00,2.17,0.00,0.000,6,0.000,0.046,2493,1492,3836,0,0,0,0,0,0
$STATE,8182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8182,begin apogee
$GC,8188,-0.18,0.0,990.4,11.3,714,8390,0.57,0.00,196.95,1.457,6,0.122,0.000,2683,1857,2884,0,0,0,0,0,0
$STATE,8393,end apogee,CONTROL_FINISHED_OK
$STATE,8393,begin climb
$GC,8395,0.83,243.3,1002.5,0.0,723,8618,0.90,0.00,218.18,1.386,6,0.055,0.000,3016,1857,1892,0,0,0,0,0,0
$GC,8917,0.62,243.3,908.2,22.3,749,8922,0.25,2.22,0.00,0.000,4,0.185,0.064,2936,3251,1884,0,0,0,0,0,0
$GC,8983,0.54,243.3,895.9,15.7,752,8987,0.00,2.20,0.00,0.000,6,0.000,0.044,2944,1844,1883,0,0,0,0,0,0
$GC,9308,0.43,243.3,844.8,16.2,768,9313,0.20,2.22,0.00,0.000,4,0.165,0.058,2880,3256,1881,0,0,0,0,0,0
$GC,9363,0.44,247.7,837.3,10.5,770,9371,0.00,2.17,0.00,0.000,6,0.000,0.043,2888,1841,1881,0,0,0,0,0,0
$GC,9682,0.47,288.3,806.0,9.5,786,9728,0.00,2.30,40.00,1.320,4,0.000,0.055,2898,447,1708,0,0,0,0,0,0
$GC,9756,0.51,326.4,798.3,9.5,789,9799,0.00,2.22,35.90,1.277,6,0.000,0.044,2898,1842,1551,0,0,0,0,0,0
$GC,10121,0.51,326.4,760.0,11.0,807,10125,0.00,2.28,0.00,0.000,4,0.000,0.060,2898,3269,1546,0,0,0,0,0,0
$GC,10160,0.51,326.4,755.2,11.7,809,10164,0.00,2.20,0.00,0.000,6,0.000,0.041,2908,1842,1546,0,0,0,0,0,0
$GC,10489,0.51,326.4,715.9,11.7,825,10493,0.00,2.17,0.00,0.000,4,0.000,0.054,2919,434,1545,0,0,0,0,0,0
$GC,10524,0.51,326.4,711.8,11.5,826,10531,0.00,2.20,0.00,0.000,6,0.000,0.044,2919,1862,1544,0,0,0,0,0,0
$GC,10841,0.49,326.4,671.9,13.1,842,10845,0.00,2.15,0.00,0.000,4,0.000,0.059,2919,3249,1544,0,0,0,0,0,0
$GC,10905,0.49,326.4,663.4,13.4,845,10909,0.00,2.12,0.00,0.000,6,0.000,0.041,2929,1848,1543,0,0,0,0,0,0
$GC,11232,0.45,326.4,619.5,13.0,861,11234,0.15,0.00,0.00,0.000,6,0.168,0.000,2888,1848,1544,0,0,0,0,0,0
$GC,11544,0.55,382.6,591.3,9.0,880,11595,0.00,0.00,48.28,1.191,6,0.000,0.000,2888,1848,1324,0,0,0,0,0,0
$GC,11913,0.68,447.2,559.0,8.7,915,11981,0.22,2.35,56.53,1.147,4,0.061,0.052,3003,446,1058,0,0,0,0,0,0
$GC,12029,0.63,447.2,536.8,20.1,925,12034,0.20,2.25,0.00,0.000,6,0.150,0.044,2949,1853,1056,0,0,0,0,0,0
$GC,12356,0.61,447.2,486.1,14.6,955,12360,0.00,2.17,0.00,0.000,4,0.000,0.057,2948,3256,1055,0,0,0,0,0,0
$GC,12407,0.61,447.2,478.5,14.2,959,12411,0.00,2.17,0.00,0.000,6,0.000,0.040,2956,1842,1055,0,0,0,0,0,0
$GC,12733,0.57,447.2,428.0,15.1,989,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1841,1054,0,0,0,0,0,0
$GC,13053,0.55,447.2,377.0,16.9,1019,13058,0.12,2.22,0.00,0.000,4,0.171,0.054,2914,3264,1054,0,0,0,0,0,0
$GC,13072,0.55,447.2,373.9,16.6,1020,13076,0.00,2.15,0.00,0.000,6,0.000,0.038,2922,1847,1054,0,0,0,0,0,0
$GC,13403,0.61,447.2,334.3,12.1,1051,13407,0.00,2.15,0.00,0.000,4,0.000,0.050,2935,437,1053,0,0,0,0,0,0
$GC,13445,0.68,447.2,329.5,11.9,1054,13451,0.00,2.15,0.00,0.000,6,0.000,0.037,2934,1862,1052,0,0,0,0,0,0
$GC,13772,0.81,496.6,294.8,9.2,1085,13820,0.20,2.25,40.53,0.918,4,0.063,0.046,3052,444,857,0,0,0,0,0,0
$GC,13859,0.72,496.6,278.6,22.4,1092,13864,0.22,2.17,0.00,0.000,6,0.142,0.039,2982,1846,855,0,0,0,0,0,0
$GC,14184,0.71,496.6,230.0,14.5,1135,14193,0.00,2.20,0.00,0.000,4,0.000,0.050,2973,3258,854,0,0,0,0,0,0
$GC,14263,0.77,496.6,219.5,11.2,1149,14273,0.00,2.17,0.00,0.000,6,0.000,0.037,2979,1841,853,0,0,0,0,0,0
$GC,14595,0.79,496.6,176.3,12.4,1210,14603,0.00,2.15,0.00,0.000,4,0.000,0.047,2991,448,853,0,0,0,0,0,0
$GC,14681,0.87,516.0,166.6,10.1,1225,14705,0.00,2.12,16.88,0.757,6,0.000,0.034,2995,1851,779,0,0,0,0,0,0
$GC,15025,0.89,516.0,127.5,11.8,1288,15034,0.10,2.17,0.00,0.000,4,0.097,0.047,3059,3250,777,0,0,0,0,0,0
$GC,15059,0.86,516.0,121.8,14.7,1293,15069,0.12,2.12,0.00,0.000,6,0.139,0.034,3025,1853,777,0,0,0,0,0,0
$GC,15391,0.95,549.9,74.7,9.6,1354,15429,0.00,2.22,28.48,0.698,4,0.000,0.046,3037,439,639,0,0,0,0,0,0
$GC,15464,1.14,636.0,68.1,8.1,1365,15511,0.17,2.15,39.12,0.688,6,0.035,0.032,3145,1857,452,0,0,0,0,0,0
$STATE,15741,end climb,SURFACE_DEPTH_REACHED
$STATE,15741,begin surface coast
$FINISH,1.1,1.006021
$STATE,15756,end surface coast,CONTROL_FINISHED_OK
$STATE,15756,begin surface
$SM_CCo,15834,0.00,0.000,0,0,443,598.78
$SM_GC,1.87,7.88,0.00,0.00,0.037,0.000,0.000,138,1480,443,-8.05,-0.57,598.78,0,0,0,0,0,0
$IRIDIUM_FIX,2333.28,12323.13,180811,020258
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.07
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.10
$XPDR_PINGS,78
$24V_AH,23.4,20.759
$10V_AH,10.3,13.646
$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,21.400,142.700,720.825,0.000,0.000,62.287,31.435,237.263,19.500,0.000,64.271,3517.917,8189.083,799.429,3475.072,432.594,0.000,2147.567,0.000,3092.258,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,64.260,1456.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,965.784,1449.250,1529.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,80017,1416
$CAP_FILE_SIZE,173518,0
$CFSIZE,260165632,140500992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,354.3,1
$GPS,180811,113345,2342.493,12328.535,64,2.6,83,-3.3