version: 66.09
glider: 166
mission: 6
dive: 456
start: 10 29 111 9 19 57
data:
$ID,166
$MISSION,6
$DIVE,456
$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,270
$T_MISSION,300
$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,450
$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,-24980.951
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,20
$C_ROLL_DIVE,1610
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,56
$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,5
$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
$GPS1,291011,090506,2328.390,12241.053,52,1.7,52,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-66.7
$GPS2,291011,091933,2328.434,12241.060,16,1.6,35,-3.2
$SPEED_LIMITS,0.212,0.316
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,220.8,136177,-18.6,-12.222
$D_GRID,3927
$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,-0.65,-194.6,0.0,0.0,0,112,0.00,0.00,-91.62,0.000,2,0.000,0.000,136,1606,3092,0,0,0,0,0,0
$GC,117,-0.65,-194.6,5.0,-4.7,13,143,9.50,1.10,-11.65,0.000,4,0.220,0.068,2546,904,3679,0,0,0,0,0,0
$GC,383,-0.59,-194.6,78.3,-19.8,61,391,0.00,1.05,0.00,0.000,6,0.000,0.040,2543,1594,3681,0,0,0,0,0,0
$GC,709,-0.56,-194.6,138.4,-17.8,122,717,0.00,1.08,0.00,0.000,4,0.000,0.045,2538,2314,3682,0,0,0,0,0,0
$GC,773,-0.54,-194.6,149.2,-17.0,132,782,0.12,1.08,0.00,0.000,6,0.129,0.041,2566,1609,3682,0,0,0,0,0,0
$GC,1104,-0.56,-194.6,191.6,-10.7,193,1112,0.00,1.05,0.00,0.000,4,0.000,0.047,2567,917,3683,0,0,0,0,0,0
$GC,1127,-0.59,-194.6,194.3,-10.3,196,1135,0.00,1.05,0.00,0.000,6,0.000,0.039,2563,1612,3683,0,0,0,0,0,0
$GC,1457,-0.61,-194.6,232.1,-11.6,257,1465,0.00,1.02,0.00,0.000,4,0.000,0.047,2568,2300,3683,0,0,0,0,0,0
$GC,1555,-0.65,-194.6,242.9,-10.8,274,1563,0.00,1.05,0.00,0.000,6,0.000,0.043,2575,1609,3683,0,0,0,0,0,0
$GC,1884,-0.67,-194.6,281.3,-11.1,310,1888,0.10,1.10,0.00,0.000,4,0.094,0.048,2498,2312,3682,0,0,0,0,0,0
$GC,1923,-0.64,-194.6,287.2,-16.4,313,1931,0.10,1.08,0.00,0.000,6,0.135,0.042,2532,1601,3682,0,0,0,0,0,0
$GC,2249,-0.63,-194.6,335.0,-13.6,344,2253,0.00,1.05,0.00,0.000,4,0.000,0.047,2537,910,3680,0,0,0,0,0,0
$GC,2286,-0.63,-194.6,339.6,-12.9,347,2290,0.00,1.05,0.00,0.000,6,0.000,0.041,2532,1603,3680,0,0,0,0,0,0
$GC,2617,-0.63,-194.6,378.9,-12.1,378,2621,0.00,1.05,0.00,0.000,4,0.000,0.047,2517,2301,3679,0,0,0,0,0,0
$GC,2703,-0.63,-194.6,389.1,-11.9,385,2709,0.00,1.05,0.00,0.000,6,0.000,0.043,2513,1615,3678,0,0,0,0,0,0
$GC,3029,-0.63,-194.6,431.1,-12.1,416,3033,0.12,1.08,0.00,0.000,4,0.155,0.049,2542,2300,3676,0,0,0,0,0,0
$GC,3047,-0.64,-194.6,433.2,-11.7,417,3054,0.00,1.05,0.00,0.000,6,0.000,0.044,2542,1611,3676,0,0,0,0,0,0
$GC,3374,-0.68,-194.6,461.9,-8.8,448,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1611,3674,0,0,0,0,0,0
$GC,3696,-0.73,-194.6,488.8,-8.8,478,3702,0.15,0.00,0.00,0.000,6,0.071,0.000,2478,1611,3673,0,0,0,0,0,0
$GC,4021,-0.69,-194.6,538.1,-15.5,509,4026,0.15,1.10,0.00,0.000,4,0.160,0.051,2520,910,3670,0,0,0,0,0,0
$GC,4171,-0.69,-194.6,558.2,-13.8,522,4175,0.00,1.08,0.00,0.000,6,0.000,0.044,2517,1608,3669,0,0,0,0,0,0
$GC,4514,-0.69,-194.6,603.6,-12.6,553,4518,0.00,1.08,0.00,0.000,4,0.000,0.052,2511,2313,3666,0,0,0,0,0,0
$GC,4615,-0.71,-194.6,615.8,-11.6,557,4619,0.00,1.08,0.00,0.000,6,0.000,0.045,2511,1618,3665,0,0,0,0,0,0
$GC,4937,-0.71,-194.6,654.3,-12.0,573,4940,0.00,1.08,0.00,0.000,4,0.000,0.054,2506,2304,3663,0,0,0,0,0,0
$GC,4973,-0.72,-194.6,658.5,-12.0,574,4976,0.00,1.08,0.00,0.000,6,0.000,0.047,2506,1610,3662,0,0,0,0,0,0
$GC,5294,-0.72,-194.6,695.7,-11.2,590,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1610,3659,0,0,0,0,0,0
$GC,5606,-0.72,-194.6,725.7,-9.6,605,5610,0.00,1.12,0.00,0.000,4,0.000,0.058,2501,2297,3657,0,0,0,0,0,0
$GC,5630,-0.73,-194.6,728.2,-9.9,606,5634,0.00,1.08,0.00,0.000,6,0.000,0.049,2501,1611,3657,0,0,0,0,0,0
$GC,5963,-0.73,-194.6,762.6,-10.7,622,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1611,3655,0,0,0,0,0,0
$GC,6274,-0.73,-194.6,795.7,-10.6,637,6278,0.00,1.08,0.00,0.000,4,0.000,0.054,2502,919,3652,0,0,0,0,0,0
$GC,6320,-0.73,-194.6,801.1,-11.5,639,6324,0.00,1.08,0.00,0.000,6,0.000,0.047,2497,1607,3652,0,0,0,0,0,0
$GC,6655,-0.73,-194.6,837.5,-10.9,655,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1607,3650,0,0,0,0,0,0
$GC,6962,-0.73,-194.6,872.7,-11.8,670,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1607,3648,0,0,0,0,0,0
$GC,7271,-0.73,-194.6,907.2,-11.0,685,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1607,3646,0,0,0,0,0,0
$GC,7584,-0.74,-194.6,941.7,-11.3,700,7588,0.00,1.10,0.00,0.000,4,0.000,0.055,2497,914,3644,0,0,0,0,0,0
$GC,7634,-0.74,-194.6,948.1,-11.8,702,7637,0.00,1.10,0.00,0.000,6,0.000,0.050,2492,1610,3643,0,0,0,0,0,0
$GC,7961,-0.74,-194.6,985.2,-11.3,718,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1610,3642,0,0,0,0,0,0
$STATE,8020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8020,begin apogee
$GC,8029,-0.11,0.0,992.1,11.2,721,8199,0.68,0.00,164.12,1.448,6,0.125,0.000,2705,1781,2884,0,0,0,0,0,0
$STATE,8200,end apogee,CONTROL_FINISHED_OK
$STATE,8200,begin climb
$GC,8205,0.65,194.6,998.6,0.0,729,8398,0.70,1.23,180.15,1.393,4,0.067,0.060,2958,2488,2089,0,0,0,0,0,0
$GC,8429,0.63,194.6,979.8,12.2,739,8433,0.00,1.15,0.00,0.000,6,0.000,0.052,2963,1791,2086,0,0,0,0,0,0
$GC,8757,0.60,194.6,937.4,12.9,755,8760,0.00,1.12,0.00,0.000,4,0.000,0.056,2969,1066,2081,0,0,0,0,0,0
$GC,8791,0.57,194.6,932.9,12.9,756,8796,0.12,1.12,0.00,0.000,6,0.149,0.053,2931,1773,2080,0,0,0,0,0,0
$GC,9117,0.60,224.0,897.8,11.0,772,9147,0.00,1.10,26.62,1.327,4,0.000,0.057,2930,2492,1969,0,0,0,0,0,0
$GC,9269,0.64,241.4,880.2,11.5,778,9289,0.00,1.12,16.52,1.265,6,0.000,0.050,2933,1781,1900,0,0,0,0,0,0
$GC,9604,0.65,250.1,841.2,11.9,794,9620,0.00,0.00,9.27,1.152,6,0.000,0.000,2933,1781,1864,0,0,0,0,0,0
$GC,9933,0.67,259.4,803.0,11.8,810,9947,0.00,1.10,10.38,1.170,4,0.000,0.051,2938,1073,1825,0,0,0,0,0,0
$GC,9977,0.70,275.1,797.4,11.6,812,10001,0.08,1.12,16.35,1.232,6,0.062,0.047,2986,1791,1761,0,0,0,0,0,0
$GC,10313,0.68,275.1,742.2,16.9,828,10316,0.00,1.05,0.00,0.000,4,0.000,0.056,2986,2483,1757,0,0,0,0,0,0
$GC,10340,0.65,275.1,736.8,16.4,829,10345,0.10,1.10,0.00,0.000,6,0.159,0.047,2961,1774,1758,0,0,0,0,0,0
$GC,10667,0.65,275.1,690.7,13.8,845,10670,0.00,1.08,0.00,0.000,4,0.000,0.050,2964,1066,1756,0,0,0,0,0,0
$GC,10702,0.65,275.1,685.8,14.1,846,10705,0.00,1.10,0.00,0.000,6,0.000,0.045,2964,1777,1756,0,0,0,0,0,0
$GC,11024,0.65,275.1,641.1,13.7,862,11027,0.00,1.08,0.00,0.000,4,0.000,0.055,2965,2485,1755,0,0,0,0,0,0
$GC,11079,0.65,275.1,633.3,13.3,864,11083,0.00,1.10,0.00,0.000,6,0.000,0.045,2969,1771,1755,0,0,0,0,0,0
$GC,11405,0.65,275.1,587.8,13.6,884,11409,0.00,1.10,0.00,0.000,4,0.000,0.054,2969,2483,1755,0,0,0,0,0,0
$GC,11456,0.65,275.1,580.2,14.2,888,11463,0.00,1.08,0.00,0.000,6,0.000,0.044,2973,1782,1755,0,0,0,0,0,0
$GC,11781,0.65,275.1,537.0,12.3,919,11785,0.00,1.08,0.00,0.000,4,0.000,0.050,2979,1070,1755,0,0,0,0,0,0
$GC,11820,0.66,284.7,532.2,11.8,922,11838,0.00,1.10,9.32,1.001,6,0.000,0.044,2975,1789,1722,0,0,0,0,0,0
$GC,12155,0.66,284.7,488.7,14.3,954,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1788,1721,0,0,0,0,0,0
$GC,12475,0.66,284.7,445.0,13.2,984,12479,0.00,1.10,0.00,0.000,4,0.000,0.048,2979,1071,1721,0,0,0,0,0,0
$GC,12594,0.66,284.7,429.9,12.5,994,12600,0.00,1.08,0.00,0.000,6,0.000,0.043,2975,1779,1720,0,0,0,0,0,0
$GC,12919,0.71,325.1,393.5,10.5,1025,12960,0.00,0.00,38.28,1.017,6,0.000,0.000,2975,1779,1558,0,0,0,0,0,0
$GC,13278,0.74,325.1,348.3,13.7,1059,13282,0.00,1.10,0.00,0.000,4,0.000,0.048,2978,1063,1554,0,0,0,0,0,0
$GC,13305,0.76,325.1,344.5,13.6,1061,13313,0.00,1.08,0.00,0.000,6,0.000,0.040,2974,1777,1554,0,0,0,0,0,0
$GC,13631,0.82,340.9,306.0,11.6,1092,13656,0.10,1.10,14.98,0.879,4,0.106,0.049,3040,1073,1493,0,0,0,0,0,0
$GC,13710,0.79,340.9,293.0,18.4,1098,13718,0.12,1.08,0.00,0.000,6,0.140,0.041,3000,1789,1492,0,0,0,0,0,0
$GC,14036,0.83,367.1,246.4,11.1,1132,14066,0.00,0.00,24.65,0.859,6,0.000,0.000,3000,1789,1387,0,0,0,0,0,0
$GC,14390,0.88,385.5,207.5,11.4,1196,14414,0.00,1.08,17.42,0.798,4,0.000,0.043,3006,1067,1310,0,0,0,0,0,0
$GC,14503,0.91,385.5,194.0,12.3,1215,14511,0.00,1.08,0.00,0.000,6,0.000,0.038,3003,1782,1310,0,0,0,0,0,0
$GC,14834,0.99,425.6,156.3,10.5,1276,14881,0.17,1.12,35.62,0.778,4,0.070,0.044,3097,1069,1147,0,0,0,0,0,0
$GC,14942,0.95,425.6,138.6,18.8,1292,14950,0.12,1.08,0.00,0.000,6,0.146,0.037,3058,1788,1146,0,0,0,0,0,0
$GC,15273,0.98,425.6,91.6,12.8,1353,15282,0.00,1.00,0.00,0.000,4,0.000,0.045,3053,2470,1146,0,0,0,0,0,0
$GC,15348,1.07,463.8,83.0,10.6,1366,15387,0.08,1.05,32.97,0.707,6,0.054,0.039,3117,1770,992,0,0,0,0,0,0
$GC,15711,1.07,463.8,31.1,16.6,1431,15719,0.00,1.02,0.00,0.000,4,0.000,0.044,3120,1078,990,0,0,0,0,0,0
$GC,15797,1.07,463.8,16.3,18.3,1446,15805,0.00,1.02,0.00,0.000,6,0.000,0.036,3114,1773,989,0,0,0,0,0,0
$STATE,15879,end climb,SURFACE_DEPTH_REACHED
$STATE,15879,begin surface coast
$FINISH,1.4,1.008840
$STATE,15906,end surface coast,CONTROL_FINISHED_OK
$STATE,15906,begin surface
$SM_CCo,15984,0.00,0.000,0,0,984,465.82
$SM_GC,2.10,7.68,0.00,0.00,0.034,0.000,0.000,134,1582,984,-8.04,-0.79,465.82,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12243.41,291011,090953
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.77
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.60
$XPDR_PINGS,118
$24V_AH,22.8,111.974
$10V_AH,9.8,76.187
$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,20.200,65.375,596.675,0.000,0.000,88.924,130.479,330.153,29.500,0.000,36.401,3641.616,8232.837,643.080,3761.288,554.136,0.000,2018.520,0.000,3239.138,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,71.145,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.842,1499.640,1668.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324768
$DATA_FILE_SIZE,83532,1465
$CAP_FILE_SIZE,172239,0
$CFSIZE,260165632,106737664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184,  9.9,1
$GPS,291011,134757,2328.028,12239.549,35,99.0,54,-3.2