version: 66.09
glider: 166
mission: 6
dive: 62
start: 8 15 111 9 37 32
data:
$ID,166
$MISSION,6
$DIVE,62
$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,-24462.002
$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,49
$R_STBD_OVSHOOT,43
$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
$GPS1,150811,092507,2328.877,12247.803,55,1.7,55,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.4
$GPS2,150811,093707,2329.028,12247.856,37,1.4,37,-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,109.2,120194,-16.6,-10.645
$D_GRID,3478
$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,-194.6,0.0,0.0,0,109,0.00,0.00,-89.78,0.000,2,0.000,0.000,154,1479,3174,0,0,0,0,0,0
$GC,112,-0.83,-194.6,6.4,-12.0,12,137,8.98,2.25,-9.12,0.000,4,0.223,0.054,2460,2916,3680,0,0,0,0,0,0
$GC,261,-0.54,-194.6,72.8,-36.9,38,270,0.32,2.17,0.00,0.000,6,0.170,0.034,2561,1503,3682,0,0,0,0,0,0
$GC,587,-0.43,-194.6,152.1,-19.5,99,595,0.15,1.98,0.00,0.000,4,0.165,0.042,2603,208,3683,0,0,0,0,0,0
$GC,643,-0.43,-194.6,162.1,-15.4,108,652,0.00,1.95,0.00,0.000,6,0.000,0.031,2597,1509,3683,0,0,0,0,0,0
$GC,968,-0.43,-194.6,206.9,-12.8,169,976,0.00,2.10,0.00,0.000,4,0.000,0.042,2588,2894,3683,0,0,0,0,0,0
$GC,1077,-0.46,-194.6,218.6,-9.9,188,1085,0.00,2.10,0.00,0.000,6,0.000,0.033,2588,1501,3683,0,0,0,0,0,0
$GC,1411,-0.46,-194.6,256.0,-10.9,245,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1501,3683,0,0,0,0,0,0
$GC,1738,-0.46,-194.6,290.7,-10.3,276,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1501,3683,0,0,0,0,0,0
$GC,2058,-0.48,-194.6,321.5,-9.9,306,2062,0.00,2.08,0.00,0.000,4,0.000,0.041,2587,2902,3682,0,0,0,0,0,0
$GC,2137,-0.54,-194.6,329.0,-8.8,312,2144,0.00,2.08,0.00,0.000,6,0.000,0.033,2588,1501,3681,0,0,0,0,0,0
$GC,2463,-0.56,-194.6,361.7,-9.8,343,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1501,3680,0,0,0,0,0,0
$GC,2784,-0.59,-194.6,395.8,-11.4,373,2789,0.10,1.95,0.00,0.000,4,0.099,0.044,2525,198,3677,0,0,0,0,0,0
$GC,2903,-0.53,-194.6,415.1,-16.5,383,2911,0.20,1.92,0.00,0.000,6,0.141,0.034,2574,1500,3677,0,0,0,0,0,0
$GC,3229,-0.56,-194.6,449.6,-9.9,414,3233,0.00,2.12,0.00,0.000,4,0.000,0.046,2567,2910,3675,0,0,0,0,0,0
$GC,3291,-0.62,-194.6,455.4,-9.0,419,3298,0.00,2.10,0.00,0.000,6,0.000,0.035,2566,1496,3674,0,0,0,0,0,0
$GC,3619,-0.64,-194.6,488.2,-9.3,450,3623,0.00,2.12,0.00,0.000,4,0.000,0.044,2557,2908,3673,0,0,0,0,0,0
$GC,3659,-0.67,-194.6,492.1,-9.3,453,3663,0.00,2.10,0.00,0.000,6,0.000,0.036,2557,1500,3673,0,0,0,0,0,0
$GC,3985,-0.67,-194.6,523.6,-9.2,483,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1500,3670,0,0,0,0,0,0
$GC,4305,-0.67,-194.6,554.7,-10.5,513,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1499,3668,0,0,0,0,0,0
$GC,4626,-0.69,-194.6,588.0,-10.6,543,4630,0.00,2.15,0.00,0.000,4,0.000,0.051,2542,2899,3665,0,0,0,0,0,0
$GC,4655,-0.72,-194.6,591.7,-11.0,545,4659,0.00,2.12,0.00,0.000,6,0.000,0.039,2544,1494,3665,0,0,0,0,0,0
$GC,4985,-0.72,-194.6,628.9,-11.0,564,4989,0.00,1.92,0.00,0.000,4,0.000,0.051,2542,207,3662,0,0,0,0,0,0
$GC,5046,-0.72,-194.6,636.5,-12.0,566,5054,0.00,1.92,0.00,0.000,6,0.000,0.039,2529,1496,3662,0,0,0,0,0,0
$GC,5362,-0.72,-194.6,671.2,-11.0,582,5366,0.00,2.15,0.00,0.000,4,0.000,0.054,2518,2911,3659,0,0,0,0,0,0
$GC,5449,-0.74,-194.6,680.2,-10.3,586,5453,0.00,2.10,0.00,0.000,6,0.000,0.041,2518,1503,3659,0,0,0,0,0,0
$GC,5776,-0.74,-194.6,716.3,-10.9,602,5780,0.00,1.98,0.00,0.000,4,0.000,0.054,2517,203,3657,0,0,0,0,0,0
$GC,5833,-0.74,-194.6,723.0,-12.2,604,5836,0.00,1.98,0.00,0.000,6,0.000,0.042,2504,1506,3656,0,0,0,0,0,0
$GC,6154,-0.72,-194.6,760.6,-12.0,620,6158,0.00,2.15,0.00,0.000,4,0.000,0.055,2488,2914,3653,0,0,0,0,0,0
$GC,6198,-0.72,-194.6,765.8,-11.4,622,6202,0.00,2.12,0.00,0.000,6,0.000,0.041,2488,1494,3653,0,0,0,0,0,0
$GC,6528,-0.69,-194.6,802.6,-10.7,638,6530,0.12,0.00,0.00,0.000,6,0.169,0.000,2523,1493,3651,0,0,0,0,0,0
$GC,6837,-0.71,-194.6,829.1,-8.2,653,6842,0.00,2.20,0.00,0.000,4,0.000,0.057,2514,2911,3649,0,0,0,0,0,0
$GC,6895,-0.75,-194.6,834.0,-8.2,655,6902,0.00,2.15,0.00,0.000,6,0.000,0.044,2514,1495,3648,0,0,0,0,0,0
$GC,7212,-0.75,-194.6,863.2,-9.3,671,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1495,3646,0,0,0,0,0,0
$GC,7523,-0.75,-194.6,893.1,-9.7,686,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1495,3644,0,0,0,0,0,0
$GC,7830,-0.77,-194.6,922.3,-9.1,701,7834,0.00,2.20,0.00,0.000,4,0.000,0.061,2503,2911,3642,0,0,0,0,0,0
$GC,7858,-0.78,-194.6,924.9,-9.3,702,7862,0.00,2.17,0.00,0.000,6,0.000,0.045,2504,1490,3642,0,0,0,0,0,0
$GC,8182,-0.78,-194.6,955.1,-9.2,718,8186,0.00,2.22,0.00,0.000,4,0.000,0.060,2493,2913,3641,0,0,0,0,0,0
$GC,8214,-0.78,-194.6,958.4,-9.0,719,8221,0.00,2.17,0.00,0.000,6,0.000,0.046,2493,1491,3640,0,0,0,0,0,0
$STATE,8529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8529,begin apogee
$GC,8536,-0.18,0.0,990.2,10.3,735,8699,0.57,0.00,155.73,1.451,6,0.129,0.000,2680,1859,2884,0,0,0,0,0,0
$STATE,8699,end apogee,CONTROL_FINISHED_OK
$STATE,8700,begin climb
$GC,8702,0.83,194.6,995.4,0.0,742,8886,0.93,2.42,173.57,1.389,4,0.072,0.063,3004,3247,2089,0,0,0,0,0,0
$GC,8982,0.66,194.6,951.0,21.2,755,8990,0.20,2.25,0.00,0.000,6,0.190,0.045,2964,1849,2084,0,0,0,0,0,0
$GC,9299,0.54,194.6,896.4,17.3,771,9303,0.15,2.22,0.00,0.000,4,0.186,0.060,2915,3250,2080,0,0,0,0,0,0
$GC,9387,0.50,194.6,882.4,14.9,775,9391,0.00,2.17,0.00,0.000,6,0.000,0.042,2923,1842,2079,0,0,0,0,0,0
$GC,9710,0.44,194.6,834.2,15.3,791,9715,0.12,2.15,0.00,0.000,4,0.181,0.054,2899,446,2078,0,0,0,0,0,0
$GC,9760,0.42,194.6,826.6,13.4,793,9763,0.00,2.15,0.00,0.000,6,0.000,0.044,2897,1847,2077,0,0,0,0,0,0
$GC,10084,0.40,194.6,785.9,12.0,809,10088,0.00,2.17,0.00,0.000,4,0.000,0.059,2897,3256,2076,0,0,0,0,0,0
$GC,10175,0.40,194.6,774.6,11.9,813,10179,0.12,2.12,0.00,0.000,6,0.179,0.043,2875,1851,2076,0,0,0,0,0,0
$GC,10508,0.44,233.6,743.2,9.2,829,10551,0.00,2.30,33.05,1.290,4,0.000,0.054,2884,446,1929,0,0,0,0,0,0
$GC,10561,0.50,277.8,737.9,9.0,831,10609,0.00,2.22,41.03,1.255,6,0.000,0.042,2884,1856,1750,0,0,0,0,0,0
$GC,10927,0.54,291.0,701.1,10.2,849,10950,0.10,2.30,12.40,1.147,4,0.102,0.057,2934,3264,1696,0,0,0,0,0,0
$GC,10983,0.52,291.0,692.9,15.1,851,10988,0.00,2.20,0.00,0.000,6,0.000,0.041,2942,1853,1696,0,0,0,0,0,0
$GC,11301,0.47,291.0,642.7,16.2,866,11303,0.17,0.00,0.00,0.000,6,0.170,0.000,2895,1853,1693,0,0,0,0,0,0
$GC,11609,0.49,291.0,606.3,11.3,881,11613,0.00,2.20,0.00,0.000,4,0.000,0.056,2893,3269,1692,0,0,0,0,0,0
$GC,11633,0.52,291.0,603.4,11.6,882,11637,0.00,2.17,0.00,0.000,6,0.000,0.041,2901,1842,1693,0,0,0,0,0,0
$GC,11957,0.52,291.0,566.2,11.0,911,11961,0.00,2.15,0.00,0.000,4,0.000,0.053,2912,435,1692,0,0,0,0,0,0
$GC,12002,0.54,295.7,561.4,10.5,914,12012,0.00,2.15,4.97,0.842,6,0.000,0.041,2911,1851,1677,0,0,0,0,0,0
$GC,12338,0.54,295.7,522.6,11.8,946,12342,0.00,2.15,0.00,0.000,4,0.000,0.056,2912,3261,1676,0,0,0,0,0,0
$GC,12370,0.54,295.7,518.6,11.9,948,12378,0.00,2.17,0.00,0.000,6,0.000,0.041,2921,1828,1676,0,0,0,0,0,0
$GC,12695,0.54,295.7,479.0,12.2,979,12700,0.00,2.22,0.00,0.000,4,0.000,0.054,2922,3262,1676,0,0,0,0,0,0
$GC,12728,0.54,295.7,474.8,12.4,981,12735,0.00,2.17,0.00,0.000,6,0.000,0.039,2932,1824,1676,0,0,0,0,0,0
$GC,13054,0.52,295.7,433.5,13.2,1012,13058,0.00,2.22,0.00,0.000,4,0.000,0.052,2933,3270,1676,0,0,0,0,0,0
$GC,13094,0.52,295.7,428.1,13.5,1015,13098,0.00,2.15,0.00,0.000,6,0.000,0.037,2942,1837,1676,0,0,0,0,0,0
$GC,13420,0.49,295.7,383.5,13.7,1045,13424,0.15,2.20,0.00,0.000,4,0.166,0.050,2891,3263,1676,0,0,0,0,0,0
$GC,13482,0.60,327.6,376.9,9.5,1050,13520,0.12,2.12,28.70,0.999,6,0.086,0.037,2969,1847,1548,0,0,0,0,0,0
$GC,13836,0.55,327.6,317.2,17.2,1083,13840,0.17,2.15,0.00,0.000,4,0.160,0.047,2931,446,1544,0,0,0,0,0,0
$GC,13923,0.65,364.5,307.7,9.3,1090,13961,0.00,2.12,32.30,0.928,6,0.000,0.037,2932,1857,1397,0,0,0,0,0,0
$GC,14289,0.72,392.0,273.3,9.6,1124,14319,0.12,2.17,24.38,0.874,4,0.085,0.050,3001,3255,1285,0,0,0,0,0,0
$GC,14346,0.66,392.0,263.9,17.2,1128,14356,0.15,2.17,0.00,0.000,6,0.150,0.037,2964,1861,1285,0,0,0,0,0,0
$GC,14672,0.66,392.0,217.9,12.8,1181,14680,0.00,2.20,0.00,0.000,4,0.000,0.047,2976,446,1283,0,0,0,0,0,0
$GC,14700,0.68,392.0,214.6,12.6,1185,14708,0.00,2.17,0.00,0.000,6,0.000,0.037,2969,1857,1282,0,0,0,0,0,0
$GC,15027,0.70,392.0,172.7,12.6,1246,15035,0.00,2.15,0.00,0.000,4,0.000,0.049,2970,3253,1282,0,0,0,0,0,0
$GC,15087,0.75,392.0,165.6,12.2,1256,15096,0.00,2.15,0.00,0.000,6,0.000,0.035,2981,1841,1282,0,0,0,0,0,0
$GC,15415,0.81,412.9,129.0,9.9,1317,15446,0.00,2.20,18.88,0.729,4,0.000,0.047,2993,445,1198,0,0,0,0,0,0
$GC,15470,0.87,417.2,122.9,10.5,1325,15486,0.00,2.15,4.88,0.526,6,0.000,0.034,2993,1850,1182,0,0,0,0,0,0
$GC,15808,0.97,461.1,88.7,9.0,1387,15854,0.17,0.00,37.12,0.708,6,0.067,0.000,3082,1850,1001,0,0,0,0,0,0
$GC,16176,0.93,461.1,22.4,17.8,1453,16183,0.15,0.00,0.00,0.000,6,0.161,0.000,3041,1853,1000,0,0,0,0,0,0
$STATE,16334,end climb,SURFACE_DEPTH_REACHED
$STATE,16334,begin surface coast
$FINISH,1.1,1.009837
$STATE,16362,end surface coast,CONTROL_FINISHED_OK
$STATE,16362,begin surface
$SM_CCo,16379,20.23,0.179,1,0,947,475.15
$SM_GC,1.74,0.00,0.00,20.23,0.000,0.000,0.179,155,1481,947,-8.10,-0.54,475.15,0,0,0,0,1,0
$IRIDIUM_FIX,2321.52,12249.90,150811,090905
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.60
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,25.70
$XPDR_PINGS,77
$24V_AH,23.5,16.815
$10V_AH,10.2,11.247
$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,20.850,138.325,567.000,20.225,0.000,81.914,76.595,245.192,19.250,0.000,38.001,3722.176,8532.396,670.022,3737.409,450.950,0.000,2083.314,0.000,3293.927,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,62.730,1451.205,179.010,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.548,1522.323,1608.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83604,1487
$CAP_FILE_SIZE,180472,0
$CFSIZE,260165632,141836288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,350.3,1
$GPS,150811,141207,2329.627,12250.372,27,1.5,27,-3.2