version: 66.09
glider: 166
mission: 6
dive: 57
start: 8 14 111 9 51 43
data:
$ID,166
$MISSION,6
$DIVE,57
$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,200
$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,-24455.611
$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,47
$R_STBD_OVSHOOT,39
$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
$GPS1,140811,093451,2324.003,12234.114,39,99.0,58,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.2
$GPS2,140811,095120,2324.156,12234.073,38,1.9,38,-3.2
$SPEED_LIMITS,0.184,0.302
$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,119.0,145210,-16.6,-10.645
$D_GRID,4200
$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,18,-0.83,-194.6,0.0,0.0,0,106,0.00,0.00,-85.90,0.000,2,0.000,0.000,155,1483,3049,0,0,0,0,0,0
$GC,109,-0.83,-194.6,5.5,-9.5,11,141,8.90,2.22,-12.15,0.000,4,0.222,0.057,2456,2908,3680,0,0,0,0,0,0
$GC,242,-0.55,-194.6,63.4,-37.4,33,252,0.38,2.15,0.00,0.000,6,0.163,0.035,2561,1508,3682,0,0,0,0,0,0
$GC,568,-0.44,-194.6,141.2,-21.4,94,577,0.15,2.03,0.00,0.000,4,0.165,0.046,2609,196,3683,0,0,0,0,0,0
$GC,608,-0.42,-194.6,149.0,-18.5,100,616,0.00,1.98,0.00,0.000,6,0.000,0.035,2602,1499,3683,0,0,0,0,0,0
$GC,935,-0.42,-194.6,193.1,-12.5,161,944,0.00,2.12,0.00,0.000,4,0.000,0.046,2595,2896,3683,0,0,0,0,0,0
$GC,985,-0.45,-194.6,198.8,-11.8,169,994,0.00,2.12,0.00,0.000,6,0.000,0.036,2594,1503,3683,0,0,0,0,0,0
$GC,1310,-0.45,-194.6,238.4,-11.0,230,1318,0.00,2.15,0.00,0.000,4,0.000,0.047,2587,2905,3683,0,0,0,0,0,0
$GC,1334,-0.45,-194.6,240.7,-10.2,233,1343,0.00,2.12,0.00,0.000,6,0.000,0.037,2589,1506,3683,0,0,0,0,0,0
$GC,1664,-0.45,-194.6,278.3,-10.8,271,1668,0.00,1.95,0.00,0.000,4,0.000,0.047,2593,189,3683,0,0,0,0,0,0
$GC,1722,-0.47,-194.6,284.5,-11.1,276,1726,0.00,1.98,0.00,0.000,6,0.000,0.037,2587,1524,3683,0,0,0,0,0,0
$GC,2052,-0.47,-194.6,323.2,-11.8,307,2056,0.00,2.08,0.00,0.000,4,0.000,0.047,2579,2913,3681,0,0,0,0,0,0
$GC,2094,-0.50,-194.6,328.0,-12.2,310,2101,0.00,2.15,0.00,0.000,6,0.000,0.036,2579,1486,3680,0,0,0,0,0,0
$GC,2419,-0.50,-194.6,368.3,-11.3,341,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1486,3679,0,0,0,0,0,0
$GC,2742,-0.52,-194.6,402.3,-9.9,371,2746,0.00,2.15,0.00,0.000,4,0.000,0.049,2565,2908,3678,0,0,0,0,0,0
$GC,2803,-0.57,-194.6,408.4,-8.6,376,2810,0.00,2.12,0.00,0.000,6,0.000,0.038,2568,1496,3676,0,0,0,0,0,0
$GC,3129,-0.58,-194.6,441.4,-10.3,407,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1495,3675,0,0,0,0,0,0
$GC,3449,-0.60,-194.6,474.2,-10.4,437,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1496,3673,0,0,0,0,0,0
$GC,3770,-0.63,-194.6,504.6,-9.3,467,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1495,3670,0,0,0,0,0,0
$GC,4102,-0.67,-194.6,533.7,-8.5,498,4106,0.10,2.17,0.00,0.000,4,0.099,0.052,2496,2901,3668,0,0,0,0,0,0
$GC,4142,-0.64,-194.6,538.6,-11.6,501,4147,0.15,2.10,0.00,0.000,6,0.151,0.041,2540,1498,3666,0,0,0,0,0,0
$GC,4467,-0.64,-194.6,575.1,-11.5,531,4471,0.00,2.17,0.00,0.000,4,0.000,0.054,2530,2908,3665,0,0,0,0,0,0
$GC,4484,-0.64,-194.6,577.1,-11.2,532,4488,0.00,2.12,0.00,0.000,6,0.000,0.041,2531,1491,3664,0,0,0,0,0,0
$GC,4812,-0.64,-194.6,616.2,-12.2,557,4816,0.00,1.95,0.00,0.000,4,0.000,0.054,2530,198,3661,0,0,0,0,0,0
$GC,4896,-0.64,-194.6,627.6,-13.2,560,4903,0.00,1.98,0.00,0.000,6,0.000,0.039,2518,1510,3660,0,0,0,0,0,0
$GC,5212,-0.64,-194.6,665.9,-11.7,576,5216,0.00,2.12,0.00,0.000,4,0.000,0.059,2501,2907,3657,0,0,0,0,0,0
$GC,5263,-0.64,-194.6,671.4,-10.9,578,5268,0.12,2.10,0.00,0.000,6,0.153,0.041,2538,1494,3657,0,0,0,0,0,0
$GC,5587,-0.66,-194.6,702.0,-9.3,594,5591,0.00,2.17,0.00,0.000,4,0.000,0.059,2526,2913,3654,0,0,0,0,0,0
$GC,5620,-0.69,-194.6,705.3,-8.9,595,5624,0.00,2.12,0.00,0.000,6,0.000,0.041,2527,1502,3654,0,0,0,0,0,0
$GC,5939,-0.71,-194.6,733.5,-8.7,610,5943,0.00,2.15,0.00,0.000,4,0.000,0.060,2516,2904,3652,0,0,0,0,0,0
$GC,5989,-0.74,-194.6,737.9,-8.2,612,5993,0.00,2.12,0.00,0.000,6,0.000,0.041,2516,1496,3651,0,0,0,0,0,0
$GC,6313,-0.74,-194.6,766.1,-9.0,628,6317,0.00,2.17,0.00,0.000,4,0.000,0.055,2504,2905,3648,0,0,0,0,0,0
$GC,6345,-0.74,-194.6,769.3,-9.4,629,6353,0.00,2.12,0.00,0.000,6,0.000,0.042,2505,1495,3648,0,0,0,0,0,0
$GC,6661,-0.74,-194.6,800.6,-9.8,645,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1495,3646,0,0,0,0,0,0
$GC,6973,-0.74,-194.6,831.6,-10.1,660,6977,0.00,2.00,0.00,0.000,4,0.000,0.057,2503,208,3644,0,0,0,0,0,0
$GC,7000,-0.74,-194.6,835.2,-10.7,661,7004,0.00,1.98,0.00,0.000,6,0.000,0.042,2494,1490,3643,0,0,0,0,0,0
$GC,7328,-0.72,-194.6,874.7,-12.7,677,7332,0.00,2.17,0.00,0.000,4,0.000,0.056,2496,2904,3641,0,0,0,0,0,0
$GC,7369,-0.72,-194.6,879.7,-12.7,679,7373,0.00,2.15,0.00,0.000,6,0.000,0.043,2496,1494,3641,0,0,0,0,0,0
$GC,7697,-0.70,-194.6,922.0,-12.5,695,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1494,3639,0,0,0,0,0,0
$GC,8009,-0.68,-194.6,959.5,-12.3,710,8013,0.12,2.22,0.00,0.000,4,0.169,0.059,2517,2909,3637,0,0,0,0,0,0
$GC,8047,-0.70,-194.6,964.1,-11.0,711,8054,0.00,2.15,0.00,0.000,6,0.000,0.044,2517,1501,3637,0,0,0,0,0,0
$STATE,8319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8319,begin apogee
$GC,8325,-0.18,0.0,992.3,10.5,725,8488,0.50,0.00,155.45,1.460,6,0.126,0.000,2679,1854,2883,0,0,0,0,0,0
$STATE,8490,end apogee,CONTROL_FINISHED_OK
$STATE,8490,begin climb
$GC,8492,0.83,194.6,998.8,0.0,732,8676,0.95,2.45,173.32,1.391,4,0.073,0.062,3014,3256,2089,0,0,0,0,0,0
$GC,8765,0.66,194.6,956.7,21.7,745,8770,0.25,2.25,0.00,0.000,6,0.186,0.045,2961,1852,2085,0,0,0,0,0,0
$GC,9088,0.55,194.6,902.3,16.7,761,9093,0.12,2.25,0.00,0.000,4,0.191,0.059,2918,3260,2081,0,0,0,0,0,0
$GC,9160,0.51,194.6,891.0,14.0,764,9164,0.00,2.20,0.00,0.000,6,0.000,0.043,2925,1841,2079,0,0,0,0,0,0
$GC,9478,0.45,194.6,846.6,14.0,779,9480,0.12,0.00,0.00,0.000,6,0.182,0.000,2894,1841,2078,0,0,0,0,0,0
$GC,9786,0.45,194.6,811.0,11.4,794,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1841,2077,0,0,0,0,0,0
$GC,10096,0.45,194.6,777.7,10.7,809,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1841,2076,0,0,0,0,0,0
$GC,10404,0.45,194.6,744.8,10.7,824,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1840,2075,0,0,0,0,0,0
$GC,10714,0.46,206.1,712.5,10.2,839,10728,0.00,2.28,8.88,1.122,4,0.000,0.057,2890,3255,2043,0,0,0,0,0,0
$GC,10769,0.48,221.1,706.8,10.1,841,10790,0.00,2.15,15.15,1.202,6,0.000,0.042,2898,1842,1982,0,0,0,0,0,0
$GC,11114,0.49,227.1,670.6,10.4,858,11123,0.00,0.00,6.35,0.986,6,0.000,0.000,2898,1841,1958,0,0,0,0,0,0
$GC,11423,0.49,227.1,637.9,10.7,873,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1841,1955,0,0,0,0,0,0
$GC,11731,0.49,227.2,604.4,10.6,888,11735,0.00,2.15,0.00,0.000,4,0.000,0.052,2908,444,1955,0,0,0,0,0,0
$GC,11799,0.49,227.2,597.1,10.7,892,11804,0.00,2.15,0.00,0.000,6,0.000,0.042,2906,1843,1954,0,0,0,0,0,0
$GC,12125,0.50,238.1,563.5,10.2,922,12138,0.00,0.00,10.95,1.069,6,0.000,0.000,2906,1843,1913,0,0,0,0,0,0
$GC,12453,0.50,238.1,528.6,10.8,953,12457,0.00,2.17,0.00,0.000,4,0.000,0.056,2906,3264,1909,0,0,0,0,0,0
$GC,12561,0.52,238.1,516.3,11.3,962,12565,0.00,2.17,0.00,0.000,6,0.000,0.041,2915,1836,1909,0,0,0,0,0,0
$GC,12886,0.52,238.1,479.1,10.6,992,12887,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1836,1909,0,0,0,0,0,0
$GC,13207,0.57,280.1,448.5,9.1,1022,13246,0.00,0.00,37.58,1.073,6,0.000,0.000,2915,1836,1741,0,0,0,0,0,0
$GC,13564,0.60,284.8,412.7,10.5,1056,13576,0.00,2.25,5.32,0.768,4,0.000,0.053,2919,3267,1722,0,0,0,0,0,0
$GC,13600,0.62,284.8,408.7,10.7,1059,13605,0.00,2.17,0.00,0.000,6,0.000,0.037,2930,1851,1722,0,0,0,0,0,0
$GC,13926,0.62,284.8,369.4,11.8,1089,13930,0.00,2.20,0.00,0.000,4,0.000,0.050,2941,445,1722,0,0,0,0,0,0
$GC,13966,0.62,284.8,364.7,11.5,1092,13970,0.00,2.15,0.00,0.000,6,0.000,0.040,2941,1871,1721,0,0,0,0,0,0
$GC,14291,0.62,284.8,326.9,11.3,1122,14295,0.00,2.10,0.00,0.000,4,0.000,0.052,2942,3247,1721,0,0,0,0,0,0
$GC,14399,0.64,284.8,314.3,11.9,1131,14403,0.00,2.12,0.00,0.000,6,0.000,0.037,2950,1837,1721,0,0,0,0,0,0
$GC,14725,0.64,284.8,273.0,12.4,1161,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1837,1721,0,0,0,0,0,0
$GC,15043,0.64,284.8,232.0,12.3,1204,15051,0.00,2.15,0.00,0.000,4,0.000,0.048,2960,443,1721,0,0,0,0,0,0
$GC,15075,0.64,284.8,228.1,12.7,1209,15084,0.00,2.12,0.00,0.000,6,0.000,0.037,2962,1836,1721,0,0,0,0,0,0
$GC,15403,0.64,284.8,186.5,12.1,1270,15411,0.00,2.17,0.00,0.000,4,0.000,0.050,2959,3257,1721,0,0,0,0,0,0
$GC,15445,0.64,284.8,181.4,12.1,1277,15454,0.00,2.12,0.00,0.000,6,0.000,0.036,2966,1851,1721,0,0,0,0,0,0
$GC,15773,0.64,286.9,144.0,10.6,1338,15781,0.00,2.20,0.00,0.000,4,0.000,0.047,2969,3264,1721,0,0,0,0,0,0
$GC,15830,0.66,286.9,137.7,11.1,1347,15837,0.00,2.12,0.00,0.000,6,0.000,0.035,2985,1853,1721,0,0,0,0,0,0
$GC,16155,0.71,327.8,105.0,9.1,1408,16201,0.00,0.00,37.75,0.742,6,0.000,0.000,2981,1853,1546,0,0,0,0,0,0
$GC,16523,0.78,349.4,70.4,9.9,1474,16554,0.00,2.22,19.12,0.672,4,0.000,0.044,2998,439,1457,0,0,0,0,0,0
$GC,16594,0.88,380.1,63.4,9.5,1485,16632,0.00,2.17,26.75,0.679,6,0.000,0.033,2998,1862,1332,0,0,0,0,0,0
$GC,16955,1.13,485.9,35.8,6.8,1550,17044,0.25,0.00,85.45,0.666,6,0.054,0.000,3136,1862,901,0,0,0,0,0,0
$STATE,17125,end climb,SURFACE_DEPTH_REACHED
$STATE,17125,begin surface coast
$FINISH,1.2,1.021307
$STATE,17138,end surface coast,CONTROL_FINISHED_OK
$STATE,17138,begin surface
$SM_CCo,17215,0.00,0.000,0,0,895,487.90
$SM_GC,1.79,8.00,0.00,0.00,0.040,0.000,0.000,154,1480,895,-8.05,-0.57,487.90,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12235.65,140811,090930
$TT8_MAMPS,0.026215,0.026215
$HUMID,32.98
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,25.70
$XPDR_PINGS,87
$24V_AH,23.5,15.733
$10V_AH,10.3,10.422
$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,20.125,125.250,582.075,0.000,0.000,91.442,84.654,447.790,21.750,0.000,39.045,3894.148,9074.251,634.736,4102.494,480.870,0.000,2078.879,0.000,3413.062,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,61.965,1459.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.995,1616.045,1747.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324368
$DATA_FILE_SIZE,90253,1579
$CAP_FILE_SIZE,180587,0
$CFSIZE,260165632,142286848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,  4.0,1
$GPS,140811,144006,2324.884,12236.993,42,2.0,48,-3.2