version: 66.08
glider: 166
mission: 3
dive: 466
start: 11 8 110 1 34 29
data:
$ID,166
$MISSION,3
$DIVE,466
$N_DIVES,467
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,50
$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,240
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-22170.834
$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,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3072
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.567585
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,081110,012706,2114.649,12600.486,34,1.4,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.1
$GPS2,081110,013408,2114.533,12600.432,15,1.4,15,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,21.4,8195,-19.7,-13.889
$D_GRID,1000
$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,17,-1.16,-214.1,0.0,0.0,0,116,0.00,0.00,-96.60,0.000,2,0.000,0.000,130,1758,3198,0,0,0,0,0,0
$GC,119,-1.16,-214.1,5.2,-10.4,13,151,9.55,2.22,-14.62,0.000,4,0.231,0.056,2447,3201,3947,0,0,0,0,0,0
$GC,191,-0.89,-214.1,35.3,-40.9,24,200,0.30,2.15,0.00,0.000,6,0.166,0.034,2543,1797,3949,0,0,0,0,0,0
$GC,519,-0.75,-214.1,135.4,-26.9,85,527,0.17,2.20,0.00,0.000,4,0.178,0.045,2592,393,3951,0,0,0,0,0,0
$GC,538,-0.62,-214.1,140.8,-27.4,87,547,0.15,2.15,0.00,0.000,6,0.149,0.039,2631,1794,3951,0,0,0,0,0,0
$GC,876,-0.65,-214.1,190.2,-13.7,148,884,0.00,2.20,0.00,0.000,4,0.000,0.046,2631,393,3953,0,0,0,0,0,0
$GC,968,-0.75,-214.1,202.2,-11.7,164,976,0.00,2.15,0.00,0.000,6,0.000,0.037,2623,1800,3953,0,0,0,0,0,0
$GC,1302,-0.81,-214.1,241.8,-12.8,225,1309,0.12,2.17,0.00,0.000,4,0.089,0.047,2550,3215,3954,0,0,0,0,0,0
$GC,1329,-0.83,-214.1,245.5,-12.6,229,1336,0.00,2.12,0.00,0.000,6,0.000,0.033,2550,1792,3954,0,0,0,0,0,0
$GC,1661,-0.79,-214.1,303.7,-17.4,288,1669,0.12,0.00,0.00,0.000,6,0.174,0.000,2583,1791,3954,0,0,0,0,0,0
$GC,1990,-0.82,-214.1,346.9,-12.0,319,1994,0.00,2.20,0.00,0.000,4,0.000,0.047,2575,3208,3954,0,0,0,0,0,0
$GC,2053,-0.89,-214.1,354.1,-10.5,324,2057,0.00,2.10,0.00,0.000,6,0.000,0.033,2575,1792,3954,0,0,0,0,0,0
$GC,2381,-0.93,-214.1,395.2,-12.4,354,2385,0.00,2.15,0.00,0.000,4,0.000,0.047,2575,396,3953,0,0,0,0,0,0
$GC,2479,-0.97,-214.1,407.6,-12.2,362,2488,0.10,2.17,0.00,0.000,6,0.050,0.042,2507,1798,3952,0,0,0,0,0,0
$GC,2806,-0.91,-214.1,463.8,-18.3,393,2808,0.15,0.00,0.00,0.000,6,0.177,0.000,2546,1798,3951,0,0,0,0,0,0
$GC,3123,-0.91,-214.1,510.5,-14.2,423,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1798,3949,0,0,0,0,0,0
$GC,3445,-0.91,-214.1,554.6,-13.6,453,3449,0.00,2.15,0.00,0.000,4,0.000,0.049,2555,3208,3947,0,0,0,0,0,0
$GC,3487,-0.95,-214.1,560.4,-12.5,456,3491,0.00,2.12,0.00,0.000,6,0.000,0.035,2555,1800,3946,0,0,0,0,0,0
$GC,3822,-0.95,-214.1,602.7,-11.6,486,3826,0.00,2.20,0.00,0.000,4,0.000,0.050,2555,399,3944,0,0,0,0,0,0
$GC,3889,-0.95,-214.1,610.8,-11.5,489,3893,0.00,2.15,0.00,0.000,6,0.000,0.046,2555,1802,3943,0,0,0,0,0,0
$GC,4212,-0.95,-214.1,647.5,-12.0,505,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1802,3940,0,0,0,0,0,0
$GC,4520,-0.95,-214.1,689.3,-14.4,520,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1803,3938,0,0,0,0,0,0
$GC,4829,-0.96,-214.1,734.4,-14.5,535,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1803,3934,0,0,0,0,0,0
$GC,5141,-0.99,-214.1,777.7,-13.5,550,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1803,3932,0,0,0,0,0,0
$GC,5448,-1.01,-214.1,816.6,-12.5,565,5453,0.12,2.22,0.00,0.000,4,0.094,0.059,2488,3204,3929,0,0,0,0,0,0
$GC,5481,-0.98,-214.1,821.7,-15.8,566,5488,0.12,2.15,0.00,0.000,6,0.174,0.041,2519,1805,3928,0,0,0,0,0,0
$GC,5797,-0.96,-214.1,867.0,-14.4,582,5801,0.00,2.22,0.00,0.000,4,0.000,0.055,2521,393,3925,0,0,0,0,0,0
$GC,5897,-0.96,-214.1,881.7,-14.4,586,5904,0.00,2.17,0.00,0.000,6,0.000,0.049,2513,1799,3925,0,0,0,0,0,0
$GC,6215,-0.93,-214.1,927.5,-14.8,602,6219,0.00,2.22,0.00,0.000,4,0.000,0.055,2513,385,3922,0,0,0,0,0,0
$GC,6242,-0.89,-214.1,932.2,-15.7,603,6247,0.17,2.22,0.00,0.000,6,0.163,0.049,2551,1804,3922,0,0,0,0,0,0
$GC,6562,-0.92,-214.1,970.2,-12.0,618,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1803,3920,0,0,0,0,0,0
$STATE,6824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6824,begin apogee
$GC,6830,-0.23,0.0,1001.2,11.4,631,7023,0.65,0.00,186.30,1.441,6,0.129,0.000,2760,1748,3072,0,0,0,0,0,0
$STATE,7024,end apogee,CONTROL_FINISHED_OK
$STATE,7024,begin climb
$GC,7027,1.16,214.1,1009.0,0.0,640,7239,1.30,2.45,201.50,1.378,4,0.056,0.057,3227,346,2199,0,0,0,0,0,0
$GC,7263,0.83,214.1,965.8,30.8,651,7269,0.45,2.35,0.00,0.000,6,0.207,0.049,3114,1751,2197,0,0,0,0,0,0
$GC,7596,0.64,214.1,887.5,23.4,667,7600,0.25,2.20,0.00,0.000,4,0.187,0.053,3031,3173,2191,0,0,0,0,0,0
$GC,7662,0.56,214.1,873.8,16.6,670,7666,0.00,2.17,0.00,0.000,6,0.000,0.042,3039,1737,2189,0,0,0,0,0,0
$GC,7987,0.48,214.1,823.1,15.3,686,7992,0.15,2.17,0.00,0.000,4,0.181,0.054,3008,346,2189,0,0,0,0,0,0
$GC,8016,0.42,214.1,818.4,14.9,687,8021,0.12,2.17,0.00,0.000,6,0.174,0.044,2976,1761,2189,0,0,0,0,0,0
$GC,8332,0.51,285.4,784.3,10.8,702,8404,0.00,2.28,65.28,1.295,4,0.000,0.054,2977,3149,1907,0,0,0,0,0,0
$GC,8449,0.63,349.8,771.1,11.1,707,8517,0.17,2.17,60.80,1.260,6,0.067,0.044,3068,1750,1644,0,0,0,0,0,0
$GC,8835,0.56,349.8,695.5,19.2,726,8837,0.17,0.00,0.00,0.000,6,0.171,0.000,3021,1751,1640,0,0,0,0,0,0
$GC,9142,0.56,349.8,648.0,15.4,741,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1750,1637,0,0,0,0,0,0
$GC,9455,0.56,349.8,600.8,15.1,756,9459,0.00,2.17,0.00,0.000,4,0.000,0.054,3021,3158,1635,0,0,0,0,0,0
$GC,9477,0.56,349.8,596.7,15.1,757,9484,0.00,2.15,0.00,0.000,6,0.000,0.042,3029,1750,1635,0,0,0,0,0,0
$GC,9803,0.56,349.8,548.2,15.0,788,9807,0.00,2.20,0.00,0.000,4,0.000,0.057,3040,349,1634,0,0,0,0,0,0
$GC,9845,0.56,349.8,542.0,15.2,791,9849,0.00,2.15,0.00,0.000,6,0.000,0.043,3040,1748,1633,0,0,0,0,0,0
$GC,10171,0.54,349.8,489.0,16.6,821,10175,0.00,2.17,0.00,0.000,4,0.000,0.053,3040,3163,1633,0,0,0,0,0,0
$GC,10269,0.54,349.8,473.5,15.9,829,10274,0.12,2.15,0.00,0.000,6,0.171,0.040,3017,1746,1633,0,0,0,0,0,0
$GC,10596,0.60,373.6,429.2,12.9,859,10622,0.00,2.30,20.60,1.028,4,0.000,0.057,3026,348,1549,0,0,0,0,0,0
$GC,10680,0.74,433.5,418.8,11.3,866,10744,0.15,2.17,56.05,1.030,6,0.076,0.039,3104,1760,1303,0,0,0,0,0,0
$GC,11071,0.65,433.5,334.1,23.4,902,11076,0.20,2.17,0.00,0.000,4,0.163,0.050,3046,3159,1299,0,0,0,0,0,0
$GC,11105,0.65,433.5,327.7,17.7,905,11109,0.00,2.12,0.00,0.000,6,0.000,0.039,3054,1749,1299,0,0,0,0,0,0
$GC,11435,0.67,433.5,276.8,15.5,949,11441,0.00,2.20,0.00,0.000,4,0.000,0.054,3065,347,1297,0,0,0,0,0,0
$GC,11483,0.70,433.5,269.5,16.5,957,11490,0.00,2.12,0.00,0.000,6,0.000,0.037,3065,1754,1296,0,0,0,0,0,0
$GC,11811,0.70,433.5,216.2,14.5,1018,11820,0.00,2.15,0.00,0.000,4,0.000,0.047,3065,3149,1296,0,0,0,0,0,0
$GC,11835,0.72,433.5,213.0,14.7,1021,11842,0.00,2.12,0.00,0.000,6,0.000,0.039,3075,1740,1296,0,0,0,0,0,0
$GC,12169,0.72,433.5,163.8,14.0,1082,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1740,1296,0,0,0,0,0,0
$GC,12498,0.85,491.6,120.7,11.4,1143,12559,0.10,2.28,49.97,0.749,4,0.096,0.052,3155,344,1067,0,0,0,0,0,0
$GC,12664,0.85,491.6,93.8,16.8,1170,12673,0.12,2.17,0.00,0.000,6,0.126,0.037,3113,1744,1065,0,0,0,0,0,0
$GC,12993,0.91,496.9,54.3,13.7,1231,13010,0.00,2.22,5.90,0.526,4,0.000,0.044,3113,3165,1045,0,0,0,0,0,0
$GC,13052,1.06,563.8,47.2,11.0,1240,13120,0.15,2.17,57.67,0.662,6,0.034,0.038,3214,1751,771,0,0,0,0,0,0
$STATE,13236,end climb,SURFACE_DEPTH_REACHED
$STATE,13237,begin surface coast
$FINISH,1.2,1.022371
$STATE,13249,end surface coast,CONTROL_FINISHED_OK
$STATE,13249,begin surface
$SM_CCo,13329,0.00,0.000,0,0,767,565.42
$SM_GC,1.83,8.07,0.00,0.00,0.037,0.000,0.000,147,1818,767,-8.35,0.51,565.42
$IRIDIUM_FIX,2106.38,12603.17,071110,212120
$TT8_MAMPS,0.026215
$HUMID,43.46
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.60
$XPDR_PINGS,94
$24V_AH,22.0,89.333
$10V_AH,10.1,56.250
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$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,23.300,105.200,704.075,0.000,0.000,24.693,20.747,195.407,23.500,0.000,16.203,3108.580,6433.793,706.159,3066.522,420.875,0.000,1948.142,0.000,2829.856,0.000,0.843,0.000
$DEVICE_MAMPS,231.030,114.750,1441.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,868.380,1098.337,1453.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333740
$DATA_FILE_SIZE,73540,1273
$CAP_FILE_SIZE,149155,0
$CFSIZE,260165632,151105536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,237.2,1
$GPS,081110,051754,2116.283,12600.467,40,1.0,40,-2.9