version: 66.09
glider: 166
mission: 6
dive: 79
start: 8 18 111 16 26 19
data:
$ID,166
$MISSION,6
$DIVE,79
$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,-24488.904
$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,40
$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
$GPS1,180811,161906,2343.941,12331.048,43,1.7,54,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.2
$GPS2,180811,162555,2343.990,12330.972,33,1.8,44,-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,123.0,42199,-14.7,-10.645
$D_GRID,3762
$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,16,-0.83,-243.3,0.0,0.0,0,111,0.00,0.00,-92.35,0.000,2,0.000,0.000,154,1501,3183,0,0,0,0,0,0
$GC,114,-0.83,-243.3,6.4,-11.1,13,139,8.98,0.00,-12.43,0.000,6,0.223,0.000,2472,1497,3879,0,0,0,0,0,0
$GC,457,-0.56,-243.3,148.7,-34.0,76,466,0.28,2.00,0.00,0.000,4,0.177,0.038,2546,198,3882,0,0,0,0,0,0
$GC,523,-0.47,-243.3,165.9,-22.6,87,533,0.15,1.98,0.00,0.000,6,0.131,0.033,2590,1502,3883,0,0,0,0,0,0
$GC,854,-0.44,-243.3,216.7,-15.1,148,862,0.00,2.15,0.00,0.000,4,0.000,0.043,2584,2905,3884,0,0,0,0,0,0
$GC,918,-0.46,-243.3,225.0,-11.7,159,927,0.00,2.12,0.00,0.000,6,0.000,0.032,2583,1495,3884,0,0,0,0,0,0
$GC,1249,-0.44,-243.3,270.3,-13.7,206,1253,0.00,2.10,0.00,0.000,4,0.000,0.041,2576,2905,3883,0,0,0,0,0,0
$GC,1344,-0.48,-243.3,282.3,-11.5,214,1348,0.00,2.10,0.00,0.000,6,0.000,0.032,2578,1490,3883,0,0,0,0,0,0
$GC,1669,-0.48,-243.3,326.1,-13.4,244,1673,0.00,1.92,0.00,0.000,4,0.000,0.042,2581,205,3882,0,0,0,0,0,0
$GC,1692,-0.48,-243.3,329.0,-12.8,246,1696,0.00,1.95,0.00,0.000,6,0.000,0.031,2574,1513,3883,0,0,0,0,0,0
$GC,2022,-0.48,-243.3,371.0,-11.9,277,2026,0.00,2.05,0.00,0.000,4,0.000,0.042,2569,2908,3882,0,0,0,0,0,0
$GC,2153,-0.51,-243.3,384.5,-9.9,288,2160,0.00,2.10,0.00,0.000,6,0.000,0.034,2568,1491,3881,0,0,0,0,0,0
$GC,2478,-0.51,-243.3,422.3,-11.2,319,2482,0.00,1.95,0.00,0.000,4,0.000,0.044,2568,196,3879,0,0,0,0,0,0
$GC,2512,-0.51,-243.3,426.3,-11.6,322,2516,0.00,1.92,0.00,0.000,6,0.000,0.033,2559,1497,3879,0,0,0,0,0,0
$GC,2843,-0.51,-243.3,466.7,-12.2,353,2847,0.00,2.10,0.00,0.000,4,0.000,0.045,2549,2902,3878,0,0,0,0,0,0
$GC,2940,-0.53,-243.3,476.6,-10.0,361,2944,0.00,2.10,0.00,0.000,6,0.000,0.035,2549,1491,3877,0,0,0,0,0,0
$GC,3265,-0.53,-243.3,513.9,-11.3,391,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1491,3875,0,0,0,0,0,0
$GC,3586,-0.53,-243.3,548.6,-11.5,421,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1490,3873,0,0,0,0,0,0
$GC,3917,-0.53,-243.3,589.2,-13.0,452,3921,0.00,2.15,0.00,0.000,4,0.000,0.050,2539,2907,3870,0,0,0,0,0,0
$GC,3972,-0.56,-243.3,596.6,-11.5,456,3979,0.00,2.12,0.00,0.000,6,0.000,0.038,2539,1492,3869,0,0,0,0,0,0
$GC,4301,-0.56,-243.3,637.0,-11.8,474,4305,0.00,2.17,0.00,0.000,4,0.000,0.053,2528,2896,3867,0,0,0,0,0,0
$GC,4323,-0.56,-243.3,639.9,-11.7,475,4328,0.12,2.12,0.00,0.000,6,0.145,0.039,2564,1501,3867,0,0,0,0,0,0
$GC,4652,-0.61,-243.3,666.6,-7.5,491,4656,0.00,2.15,0.00,0.000,4,0.000,0.054,2555,2907,3864,0,0,0,0,0,0
$GC,4723,-0.67,-243.3,671.5,-6.9,494,4727,0.00,2.12,0.00,0.000,6,0.000,0.041,2554,1498,3863,0,0,0,0,0,0
$GC,5056,-0.71,-243.3,697.7,-8.3,510,5061,0.10,2.17,0.00,0.000,4,0.097,0.055,2486,2905,3860,0,0,0,0,0,0
$GC,5130,-0.68,-243.3,706.0,-11.7,513,5135,0.12,2.12,0.00,0.000,6,0.159,0.042,2522,1490,3859,0,0,0,0,0,0
$GC,5451,-0.68,-243.3,744.2,-12.3,529,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1491,3857,0,0,0,0,0,0
$GC,5762,-0.68,-243.3,782.5,-12.2,544,5766,0.00,2.20,0.00,0.000,4,0.000,0.059,2512,2902,3854,0,0,0,0,0,0
$GC,5803,-0.68,-243.3,787.5,-11.8,546,5807,0.00,2.12,0.00,0.000,6,0.000,0.044,2511,1504,3854,0,0,0,0,0,0
$GC,6130,-0.68,-243.3,827.1,-11.8,562,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1504,3852,0,0,0,0,0,0
$GC,6441,-0.68,-243.3,861.3,-10.6,577,6445,0.00,2.17,0.00,0.000,4,0.000,0.061,2502,2894,3850,0,0,0,0,0,0
$GC,6485,-0.68,-243.3,866.2,-10.5,579,6489,0.00,2.15,0.00,0.000,6,0.000,0.046,2500,1491,3849,0,0,0,0,0,0
$GC,6815,-0.66,-243.3,900.3,-10.1,595,6817,0.12,0.00,0.00,0.000,6,0.164,0.000,2529,1491,3847,0,0,0,0,0,0
$GC,7123,-0.69,-243.3,924.0,-7.5,610,7127,0.00,2.17,0.00,0.000,4,0.000,0.061,2519,2895,3845,0,0,0,0,0,0
$GC,7190,-0.73,-243.3,929.1,-7.1,613,7194,0.00,2.15,0.00,0.000,6,0.000,0.047,2519,1494,3844,0,0,0,0,0,0
$GC,7513,-0.75,-243.3,956.6,-9.0,629,7517,0.00,2.20,0.00,0.000,4,0.000,0.062,2507,2899,3842,0,0,0,0,0,0
$GC,7575,-0.78,-243.3,962.4,-9.0,631,7583,0.00,2.15,0.00,0.000,6,0.000,0.046,2509,1494,3841,0,0,0,0,0,0
$STATE,7847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7847,begin apogee
$GC,7855,-0.18,0.0,990.3,10.4,645,8059,0.52,0.00,198.32,1.448,6,0.122,0.000,2680,1848,2884,0,0,0,0,0,0
$STATE,8059,end apogee,CONTROL_FINISHED_OK
$STATE,8060,begin climb
$GC,8064,0.83,243.3,1001.1,0.0,654,8289,0.90,0.00,218.02,1.385,6,0.053,0.000,3018,1848,1891,0,0,0,0,0,0
$GC,8608,0.62,243.3,903.8,21.6,681,8613,0.25,2.22,0.00,0.000,4,0.185,0.057,2937,3256,1884,0,0,0,0,0,0
$GC,8703,0.56,243.3,887.7,14.1,685,8707,0.00,2.20,0.00,0.000,6,0.000,0.044,2944,1846,1882,0,0,0,0,0,0
$GC,9021,0.46,243.3,839.0,15.7,700,9025,0.17,2.20,0.00,0.000,4,0.172,0.057,2887,3257,1881,0,0,0,0,0,0
$GC,9055,0.42,243.3,833.7,14.1,701,9059,0.00,2.17,0.00,0.000,6,0.000,0.043,2896,1839,1881,0,0,0,0,0,0
$GC,9377,0.39,243.3,795.4,12.3,717,9381,0.00,2.15,0.00,0.000,4,0.000,0.054,2906,438,1879,0,0,0,0,0,0
$GC,9419,0.37,243.3,790.4,12.2,719,9423,0.15,2.17,0.00,0.000,6,0.151,0.042,2861,1859,1879,0,0,0,0,0,0
$GC,9747,0.46,293.7,759.5,9.2,735,9799,0.00,2.33,44.55,1.300,4,0.000,0.058,2860,3257,1686,0,0,0,0,0,0
$GC,9825,0.59,364.1,752.6,8.6,738,9901,0.20,2.22,64.50,1.266,6,0.061,0.042,2965,1850,1398,0,0,0,0,0,0
$GC,10210,0.51,364.1,684.0,18.3,757,10214,0.20,2.22,0.00,0.000,4,0.161,0.054,2918,441,1392,0,0,0,0,0,0
$GC,10234,0.45,364.1,680.1,17.6,758,10239,0.00,2.20,0.00,0.000,6,0.000,0.041,2918,1849,1391,0,0,0,0,0,0
$GC,10562,0.44,364.1,638.2,12.9,774,10567,0.10,2.17,0.00,0.000,4,0.171,0.057,2885,3258,1391,0,0,0,0,0,0
$GC,10604,0.48,364.1,633.6,11.5,776,10608,0.00,2.17,0.00,0.000,6,0.000,0.041,2893,1834,1391,0,0,0,0,0,0
$GC,10933,0.53,372.3,599.8,10.4,792,10946,0.00,2.22,7.12,0.981,4,0.000,0.054,2903,440,1366,0,0,0,0,0,0
$GC,10998,0.57,372.3,592.7,10.8,797,11005,0.00,2.17,0.00,0.000,6,0.000,0.041,2903,1856,1365,0,0,0,0,0,0
$GC,11324,0.61,384.1,557.7,10.3,828,11339,0.12,0.00,12.07,1.068,6,0.086,0.000,2968,1856,1317,0,0,0,0,0,0
$GC,11654,0.54,384.1,500.4,18.2,859,11659,0.17,2.22,0.00,0.000,4,0.164,0.052,2929,442,1315,0,0,0,0,0,0
$GC,11684,0.52,384.1,495.6,16.5,861,11688,0.00,2.17,0.00,0.000,6,0.000,0.040,2929,1854,1314,0,0,0,0,0,0
$GC,12009,0.50,384.1,450.9,13.5,891,12013,0.00,2.20,0.00,0.000,4,0.000,0.055,2930,3267,1314,0,0,0,0,0,0
$GC,12071,0.54,384.1,442.9,12.0,896,12075,0.00,2.15,0.00,0.000,6,0.000,0.040,2943,1847,1314,0,0,0,0,0,0
$GC,12396,0.52,384.1,399.9,13.2,926,12400,0.00,2.12,0.00,0.000,4,0.000,0.051,2954,441,1314,0,0,0,0,0,0
$GC,12429,0.52,384.1,395.9,13.6,928,12434,0.15,2.15,0.00,0.000,6,0.141,0.040,2910,1859,1314,0,0,0,0,0,0
$GC,12754,0.58,384.1,360.7,10.7,958,12758,0.00,2.15,0.00,0.000,4,0.000,0.049,2922,443,1314,0,0,0,0,0,0
$GC,12777,0.66,387.3,358.2,10.6,959,12788,0.10,2.12,4.05,0.620,6,0.098,0.037,2987,1860,1304,0,0,0,0,0,0
$GC,13115,0.60,387.3,294.5,20.4,991,13120,0.17,2.12,0.00,0.000,4,0.152,0.057,2938,3254,1304,0,0,0,0,0,0
$GC,13168,0.64,387.3,285.7,14.5,995,13172,0.00,2.10,0.00,0.000,6,0.000,0.037,2947,1849,1304,0,0,0,0,0,0
$GC,13497,0.70,409.8,248.8,10.0,1026,13528,0.00,2.20,20.52,0.853,4,0.000,0.049,2958,441,1211,0,0,0,0,0,0
$GC,13595,0.84,469.8,240.0,8.9,1041,13656,0.12,2.15,50.72,0.860,6,0.041,0.036,3043,1846,966,0,0,0,0,0,0
$GC,13979,0.75,469.8,159.2,21.7,1109,13987,0.20,2.20,0.00,0.000,4,0.148,0.048,2977,3252,963,0,0,0,0,0,0
$GC,14092,0.83,469.8,143.2,11.1,1129,14100,0.00,2.15,0.00,0.000,6,0.000,0.036,2986,1849,963,0,0,0,0,0,0
$GC,14422,0.88,483.6,104.6,10.2,1190,14447,0.12,2.22,12.18,0.676,4,0.081,0.046,3073,426,910,0,0,0,0,0,0
$GC,14529,0.85,483.6,86.1,17.5,1208,14539,0.15,2.17,0.00,0.000,6,0.119,0.035,3022,1854,909,0,0,0,0,0,0
$GC,14863,1.01,558.6,46.8,8.4,1269,14931,0.15,2.20,60.97,0.682,4,0.073,0.044,3106,3259,603,0,0,0,0,0,0
$GC,14989,0.97,558.6,23.4,18.8,1288,14999,0.17,2.20,0.00,0.000,6,0.132,0.034,3059,1841,599,0,0,0,0,0,0
$STATE,15136,end climb,SURFACE_DEPTH_REACHED
$STATE,15136,begin surface coast
$FINISH,1.0,1.021577
$STATE,15158,end surface coast,CONTROL_FINISHED_OK
$STATE,15158,begin surface
$SM_CCo,15237,0.00,0.000,0,0,598,561.00
$SM_GC,1.87,7.62,0.00,0.00,0.034,0.000,0.000,154,1480,598,-8.06,-0.57,561.00,0,0,0,0,0,0
$IRIDIUM_FIX,2333.28,12326.39,180811,111106
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.32
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.50
$XPDR_PINGS,69
$24V_AH,23.3,21.250
$10V_AH,10.3,13.962
$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,21.650,133.975,693.050,0.000,0.000,24.281,25.156,168.934,17.250,0.000,45.235,3304.069,8031.275,731.911,3131.653,426.532,0.000,2026.582,0.000,2882.428,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,61.965,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.979,1351.215,1326.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330260
$DATA_FILE_SIZE,73549,1319
$CAP_FILE_SIZE,165275,0
$CFSIZE,260165632,140337152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,  8.1,1
$GPS,180811,204154,2344.181,12333.655,43,1.3,60,-3.4