version: 66.09
glider: 166
mission: 6
dive: 451
start: 10 28 111 10 6 55
data:
$ID,166
$MISSION,6
$DIVE,451
$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,-24974.666
$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,57
$R_STBD_OVSHOOT,51
$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
$GPS1,281011,095655,2327.999,12244.278,40,1.7,59,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-65.9
$GPS2,281011,100631,2328.039,12244.194,45,1.4,45,-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,213.8,140980,-18.6,-12.222
$D_GRID,3898
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.65,-194.6,0.0,0.0,0,119,0.00,0.00,-96.35,0.000,2,0.000,0.000,137,1579,3197,0,0,0,0,0,0
$GC,122,-0.65,-194.6,6.4,-10.5,13,147,9.45,1.05,-9.05,0.000,4,0.219,0.070,2527,908,3681,0,0,0,0,0,0
$GC,388,-0.60,-194.6,87.1,-18.7,61,396,0.00,1.05,0.00,0.000,6,0.000,0.039,2527,1604,3683,0,0,0,0,0,0
$GC,717,-0.55,-194.6,141.8,-18.6,122,725,0.15,1.08,0.00,0.000,4,0.164,0.045,2570,919,3685,0,0,0,0,0,0
$GC,791,-0.57,-194.6,152.9,-13.8,134,799,0.00,1.05,0.00,0.000,6,0.000,0.041,2573,1612,3685,0,0,0,0,0,0
$GC,1120,-0.58,-194.6,194.0,-11.9,195,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1612,3685,0,0,0,0,0,0
$GC,1447,-0.61,-194.6,232.6,-11.0,256,1455,0.00,1.02,0.00,0.000,4,0.000,0.046,2558,2303,3685,0,0,0,0,0,0
$GC,1588,-0.64,-194.6,246.9,-10.3,281,1596,0.00,1.02,0.00,0.000,6,0.000,0.044,2558,1631,3685,0,0,0,0,0,0
$GC,1923,-0.66,-194.6,286.4,-11.9,314,1927,0.00,1.10,0.00,0.000,4,0.000,0.046,2558,904,3685,0,0,0,0,0,0
$GC,1981,-0.69,-194.6,293.2,-12.1,319,1984,0.00,1.08,0.00,0.000,6,0.000,0.040,2552,1612,3685,0,0,0,0,0,0
$GC,2312,-0.72,-194.6,329.8,-9.8,350,2316,0.12,1.10,0.00,0.000,4,0.082,0.046,2469,912,3683,0,0,0,0,0,0
$GC,2369,-0.67,-194.6,338.5,-17.5,355,2373,0.17,1.08,0.00,0.000,6,0.137,0.041,2523,1616,3683,0,0,0,0,0,0
$GC,2699,-0.67,-194.6,377.8,-11.6,386,2703,0.00,1.02,0.00,0.000,4,0.000,0.049,2523,2302,3681,0,0,0,0,0,0
$GC,2853,-0.69,-194.6,395.3,-10.9,399,2860,0.00,1.05,0.00,0.000,6,0.000,0.044,2524,1614,3680,0,0,0,0,0,0
$GC,3178,-0.70,-194.6,436.1,-12.6,430,3182,0.00,1.08,0.00,0.000,4,0.000,0.050,2529,914,3680,0,0,0,0,0,0
$GC,3224,-0.71,-194.6,441.9,-13.0,434,3227,0.00,1.05,0.00,0.000,6,0.000,0.042,2530,1606,3679,0,0,0,0,0,0
$GC,3555,-0.71,-194.6,482.6,-12.1,465,3558,0.00,1.08,0.00,0.000,4,0.000,0.047,2533,903,3677,0,0,0,0,0,0
$GC,3601,-0.73,-194.6,488.1,-12.1,469,3605,0.00,1.08,0.00,0.000,6,0.000,0.041,2528,1609,3677,0,0,0,0,0,0
$GC,3933,-0.74,-194.6,524.2,-10.6,500,3937,0.00,1.05,0.00,0.000,4,0.000,0.050,2523,2308,3675,0,0,0,0,0,0
$GC,4018,-0.76,-194.6,532.5,-9.4,507,4026,0.00,1.08,0.00,0.000,6,0.000,0.045,2521,1611,3675,0,0,0,0,0,0
$GC,4344,-0.77,-194.6,568.5,-11.8,538,4347,0.00,1.08,0.00,0.000,4,0.000,0.052,2508,2305,3672,0,0,0,0,0,0
$GC,4417,-0.79,-194.6,577.3,-11.8,544,4424,0.00,1.08,0.00,0.000,6,0.000,0.047,2509,1608,3671,0,0,0,0,0,0
$GC,4753,-0.79,-194.6,614.3,-10.7,570,4757,0.00,1.08,0.00,0.000,4,0.000,0.051,2507,902,3669,0,0,0,0,0,0
$GC,4849,-0.80,-194.6,625.1,-10.4,574,4852,0.00,1.08,0.00,0.000,6,0.000,0.044,2501,1602,3668,0,0,0,0,0,0
$GC,5178,-0.80,-194.6,658.8,-10.2,590,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1602,3666,0,0,0,0,0,0
$GC,5486,-0.81,-194.6,691.2,-10.6,605,5489,0.00,1.08,0.00,0.000,4,0.000,0.054,2509,2304,3663,0,0,0,0,0,0
$GC,5574,-0.83,-194.6,700.9,-11.3,608,5580,0.00,1.08,0.00,0.000,6,0.000,0.048,2509,1609,3662,0,0,0,0,0,0
$GC,5890,-0.83,-194.6,740.5,-13.2,624,5894,0.00,1.10,0.00,0.000,4,0.000,0.057,2504,2305,3660,0,0,0,0,0,0
$GC,5936,-0.84,-194.6,746.9,-13.6,626,5940,0.00,1.08,0.00,0.000,6,0.000,0.049,2504,1611,3660,0,0,0,0,0,0
$GC,6271,-0.84,-194.6,789.8,-12.3,642,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1611,3658,0,0,0,0,0,0
$GC,6579,-0.86,-194.6,826.5,-11.7,657,6583,0.10,1.10,0.00,0.000,4,0.103,0.055,2448,913,3656,0,0,0,0,0,0
$GC,6608,-0.83,-194.6,830.4,-13.1,658,6613,0.10,1.08,0.00,0.000,6,0.151,0.049,2474,1599,3656,0,0,0,0,0,0
$GC,6937,-0.81,-194.6,875.4,-13.2,674,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1599,3654,0,0,0,0,0,0
$GC,7245,-0.81,-194.6,916.6,-13.3,689,7248,0.00,1.10,0.00,0.000,4,0.000,0.059,2471,2307,3652,0,0,0,0,0,0
$GC,7303,-0.81,-194.6,923.5,-12.0,691,7306,0.00,1.08,0.00,0.000,6,0.000,0.050,2471,1615,3652,0,0,0,0,0,0
$GC,7624,-0.80,-194.6,964.1,-12.2,707,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1615,3650,0,0,0,0,0,0
$STATE,7848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7849,begin apogee
$GC,7857,-0.11,0.0,991.4,12.1,718,8029,0.75,0.00,165.20,1.435,6,0.128,0.000,2706,1779,2884,0,0,0,0,0,0
$STATE,8030,end apogee,CONTROL_FINISHED_OK
$STATE,8030,begin climb
$GC,8032,0.65,194.6,996.7,0.0,726,8221,0.70,1.23,179.70,1.378,4,0.068,0.063,2958,2487,2089,0,0,0,0,0,0
$GC,8259,0.63,194.6,973.3,14.4,736,8266,0.00,1.15,0.00,0.000,6,0.000,0.063,2964,1784,2085,0,0,0,0,0,0
$GC,8578,0.60,194.6,926.5,14.7,752,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1784,2081,0,0,0,0,0,0
$GC,8885,0.58,194.6,883.1,13.7,767,8889,0.12,1.10,0.00,0.000,4,0.177,0.058,2929,2476,2079,0,0,0,0,0,0
$GC,8934,0.60,206.3,877.5,11.7,769,8949,0.00,1.10,10.43,1.184,6,0.000,0.049,2932,1771,2041,0,0,0,0,0,0
$GC,9269,0.63,226.1,839.6,11.4,785,9290,0.00,0.00,19.10,1.271,6,0.000,0.000,2931,1771,1962,0,0,0,0,0,0
$GC,9600,0.66,240.0,801.0,11.6,801,9617,0.00,0.00,13.80,1.211,6,0.000,0.000,2931,1771,1905,0,0,0,0,0,0
$GC,9927,0.72,279.3,765.0,10.6,817,9971,0.12,1.15,37.67,1.282,4,0.088,0.054,3000,1068,1744,0,0,0,0,0,0
$GC,10013,0.69,279.3,752.6,15.5,820,10020,0.08,1.12,0.00,0.000,6,0.152,0.049,2976,1778,1742,0,0,0,0,0,0
$GC,10329,0.69,279.3,709.8,13.4,836,10333,0.00,1.08,0.00,0.000,4,0.000,0.057,2971,2483,1739,0,0,0,0,0,0
$GC,10429,0.69,279.3,696.1,13.2,840,10434,0.00,1.10,0.00,0.000,6,0.000,0.045,2974,1772,1738,0,0,0,0,0,0
$GC,10754,0.69,279.3,651.4,13.9,856,10758,0.00,1.10,0.00,0.000,4,0.000,0.054,2971,2482,1737,0,0,0,0,0,0
$GC,10800,0.69,279.3,644.8,13.9,858,10804,0.00,1.08,0.00,0.000,6,0.000,0.045,2974,1785,1737,0,0,0,0,0,0
$GC,11135,0.69,279.3,597.9,14.4,874,11139,0.00,1.10,0.00,0.000,4,0.000,0.049,2980,1068,1737,0,0,0,0,0,0
$GC,11263,0.69,279.3,578.6,14.8,885,11270,0.00,1.10,0.00,0.000,6,0.000,0.043,2976,1787,1736,0,0,0,0,0,0
$GC,11589,0.69,279.3,534.6,13.1,916,11593,0.00,1.10,0.00,0.000,4,0.000,0.049,2980,1075,1736,0,0,0,0,0,0
$GC,11628,0.69,279.3,529.4,12.8,919,11636,0.00,1.08,0.00,0.000,6,0.000,0.042,2976,1782,1736,0,0,0,0,0,0
$GC,11953,0.71,291.4,492.1,11.7,950,11968,0.00,1.05,11.00,0.998,4,0.000,0.050,2971,2488,1696,0,0,0,0,0,0
$GC,11986,0.71,294.4,488.1,12.1,953,11999,0.00,1.10,4.85,0.760,6,0.000,0.044,2975,1773,1683,0,0,0,0,0,0
$GC,12317,0.71,294.4,448.2,12.3,984,12321,0.00,1.05,0.00,0.000,4,0.000,0.048,2980,1080,1681,0,0,0,0,0,0
$GC,12344,0.71,294.4,444.4,12.5,986,12351,0.00,1.08,0.00,0.000,6,0.000,0.042,2977,1786,1680,0,0,0,0,0,0
$GC,12673,0.74,311.0,405.2,11.5,1017,12696,0.00,1.08,16.27,0.982,4,0.000,0.045,2980,1071,1616,0,0,0,0,0,0
$GC,12778,0.76,316.0,392.4,12.0,1026,12790,0.00,1.08,6.38,0.799,6,0.000,0.042,2976,1779,1595,0,0,0,0,0,0
$GC,13109,0.80,332.5,354.1,11.5,1057,13132,0.00,1.10,16.35,0.933,4,0.000,0.046,2980,1063,1526,0,0,0,0,0,0
$GC,13146,0.84,345.8,349.8,11.7,1060,13168,0.10,1.10,13.38,0.892,6,0.056,0.041,3049,1787,1473,0,0,0,0,0,0
$GC,13487,0.81,345.8,291.5,17.9,1092,13491,0.15,1.05,0.00,0.000,4,0.164,0.050,2999,2474,1470,0,0,0,0,0,0
$GC,13625,0.81,345.8,271.6,13.5,1104,13636,0.00,1.05,0.00,0.000,6,0.000,0.041,2999,1782,1470,0,0,0,0,0,0
$GC,13950,0.82,352.7,230.7,11.9,1150,13966,0.00,1.08,7.53,0.719,4,0.000,0.045,2995,2477,1445,0,0,0,0,0,0
$GC,14014,0.87,383.4,223.8,10.9,1160,14048,0.00,1.05,28.27,0.837,6,0.000,0.041,2998,1782,1321,0,0,0,0,0,0
$GC,14372,0.92,404.0,182.2,11.4,1224,14403,0.12,1.10,19.50,0.776,4,0.087,0.046,3069,1070,1236,0,0,0,0,0,0
$GC,14467,0.88,404.0,167.9,17.1,1239,14477,0.10,1.08,0.00,0.000,6,0.145,0.039,3038,1788,1234,0,0,0,0,0,0
$GC,14798,0.88,404.0,115.0,15.4,1300,14806,0.00,1.08,0.00,0.000,4,0.000,0.044,3048,1076,1234,0,0,0,0,0,0
$GC,14892,0.90,404.0,100.6,14.6,1317,14900,0.00,1.05,0.00,0.000,6,0.000,0.036,3043,1787,1234,0,0,0,0,0,0
$GC,15225,1.00,448.5,56.7,10.3,1378,15271,0.00,1.15,38.45,0.692,4,0.000,0.044,3043,1065,1054,0,0,0,0,0,0
$GC,15334,1.22,565.3,47.9,7.3,1394,15438,0.22,1.08,97.78,0.679,6,0.035,0.037,3169,1787,577,0,0,0,0,0,0
$STATE,15549,end climb,SURFACE_DEPTH_REACHED
$STATE,15550,begin surface coast
$FINISH,1.3,1.022029
$STATE,15561,end surface coast,CONTROL_FINISHED_OK
$STATE,15562,begin surface
$SM_CCo,15642,0.00,0.000,0,0,569,567.87
$SM_GC,2.04,7.93,0.00,0.00,0.037,0.000,0.000,135,1608,569,-8.04,-0.06,567.87,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12243.41,281011,050526
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.00
$XPDR_PINGS,126
$24V_AH,22.9,110.799
$10V_AH,9.7,75.347
$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,20.500,67.550,685.650,0.000,0.000,25.038,34.779,300.624,31.500,0.000,46.239,3539.328,7864.937,719.481,3536.782,535.608,0.000,2102.086,0.000,3187.172,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,70.380,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,976.911,1465.510,1605.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80065,1431
$CAP_FILE_SIZE,169890,0
$CFSIZE,260165632,107196416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212,  4.1,1
$GPS,281011,142930,2327.683,12242.901,68,2.0,74,-3.2