version: 66.08
glider: 166
mission: 3
dive: 467
start: 11 8 110 5 25 41
data:
$ID,166
$MISSION,3
$DIVE,467
$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,-22172.092
$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,38
$R_STBD_OVSHOOT,48
$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
$GPS1,081110,051754,2116.283,12600.467,40,1.0,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-66.7
$GPS2,081110,052520,2116.195,12600.413,14,1.4,14,-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,31.3,5190,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,122,0.00,0.00,-102.40,0.000,2,0.000,0.000,157,1818,3352,0,0,0,0,0,0
$GC,125,-1.16,-214.1,5.7,-10.4,14,157,9.25,2.15,-11.38,0.000,4,0.223,0.060,2435,3191,3950,0,0,0,0,0,0
$GC,171,-0.69,-214.1,26.6,-46.4,20,179,0.57,2.12,0.00,0.000,6,0.177,0.034,2607,1795,3951,0,0,0,0,0,0
$GC,495,-0.62,-214.1,109.9,-21.3,81,504,0.12,2.20,0.00,0.000,4,0.177,0.047,2644,387,3953,0,0,0,0,0,0
$GC,546,-0.68,-214.1,118.8,-14.2,89,554,0.00,2.15,0.00,0.000,6,0.000,0.039,2643,1791,3953,0,0,0,0,0,0
$GC,873,-0.72,-214.1,163.0,-12.9,150,881,0.00,2.17,0.00,0.000,4,0.000,0.046,2641,396,3955,0,0,0,0,0,0
$GC,923,-0.80,-214.1,169.4,-12.4,158,931,0.12,2.15,0.00,0.000,6,0.046,0.040,2561,1802,3955,0,0,0,0,0,0
$GC,1259,-0.75,-214.1,231.0,-18.7,219,1266,0.15,0.00,0.00,0.000,6,0.174,0.000,2599,1803,3955,0,0,0,0,0,0
$GC,1594,-0.77,-214.1,279.5,-13.8,280,1602,0.00,2.20,0.00,0.000,4,0.000,0.045,2599,396,3956,0,0,0,0,0,0
$GC,1650,-0.81,-214.1,287.2,-13.5,289,1656,0.00,2.10,0.00,0.000,6,0.000,0.040,2590,1798,3955,0,0,0,0,0,0
$GC,1979,-0.84,-214.1,329.6,-12.3,328,1983,0.00,2.12,0.00,0.000,4,0.000,0.045,2578,3215,3956,0,0,0,0,0,0
$GC,2065,-0.92,-214.1,339.3,-10.4,335,2070,0.10,2.10,0.00,0.000,6,0.096,0.032,2515,1795,3955,0,0,0,0,0,0
$GC,2392,-0.86,-214.1,394.4,-17.0,365,2396,0.17,2.15,0.00,0.000,4,0.167,0.046,2562,398,3954,0,0,0,0,0,0
$GC,2501,-0.86,-214.1,410.8,-14.6,374,2509,0.00,2.15,0.00,0.000,6,0.000,0.041,2555,1796,3954,0,0,0,0,0,0
$GC,2828,-0.86,-214.1,454.6,-13.2,405,2832,0.00,2.17,0.00,0.000,4,0.000,0.049,2554,3213,3952,0,0,0,0,0,0
$GC,2875,-0.92,-214.1,460.4,-11.8,409,2879,0.00,2.10,0.00,0.000,6,0.000,0.034,2554,1802,3952,0,0,0,0,0,0
$GC,3200,-0.92,-214.1,504.2,-13.8,439,3204,0.00,2.15,0.00,0.000,4,0.000,0.047,2553,393,3950,0,0,0,0,0,0
$GC,3222,-0.92,-214.1,507.7,-14.8,440,3229,0.00,2.15,0.00,0.000,6,0.000,0.042,2561,1797,3950,0,0,0,0,0,0
$GC,3548,-0.93,-214.1,551.1,-13.7,471,3552,0.00,2.15,0.00,0.000,4,0.000,0.050,2557,3209,3947,0,0,0,0,0,0
$GC,3600,-0.99,-214.1,558.0,-13.0,475,3605,0.10,2.12,0.00,0.000,6,0.096,0.034,2503,1801,3947,0,0,0,0,0,0
$GC,3939,-0.92,-214.1,618.5,-17.8,502,3943,0.15,2.20,0.00,0.000,4,0.175,0.050,2548,399,3944,0,0,0,0,0,0
$GC,4027,-0.94,-214.1,632.4,-14.6,506,4031,0.00,2.17,0.00,0.000,6,0.000,0.045,2541,1804,3943,0,0,0,0,0,0
$GC,4352,-0.94,-214.1,680.1,-14.8,522,4356,0.00,2.15,0.00,0.000,4,0.000,0.054,2531,3206,3940,0,0,0,0,0,0
$GC,4373,-0.94,-214.1,683.8,-14.4,523,4377,0.00,2.15,0.00,0.000,6,0.000,0.037,2531,1803,3940,0,0,0,0,0,0
$GC,4701,-0.93,-214.1,732.1,-15.0,539,4705,0.00,2.17,0.00,0.000,4,0.000,0.053,2530,394,3937,0,0,0,0,0,0
$GC,4757,-0.93,-214.1,741.0,-15.1,541,4764,0.00,2.20,0.00,0.000,6,0.000,0.049,2522,1802,3937,0,0,0,0,0,0
$GC,5073,-0.90,-214.1,789.1,-15.0,557,5077,0.00,2.17,0.00,0.000,4,0.000,0.056,2512,3210,3933,0,0,0,0,0,0
$GC,5123,-0.90,-214.1,796.6,-13.9,559,5128,0.12,2.12,0.00,0.000,6,0.171,0.040,2543,1801,3933,0,0,0,0,0,0
$GC,5446,-0.90,-214.1,839.3,-13.0,575,5450,0.00,2.20,0.00,0.000,4,0.000,0.055,2544,392,3930,0,0,0,0,0,0
$GC,5510,-0.92,-214.1,848.0,-12.9,578,5514,0.00,2.20,0.00,0.000,6,0.000,0.049,2537,1800,3929,0,0,0,0,0,0
$GC,5838,-0.92,-214.1,891.2,-12.7,594,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1801,3927,0,0,0,0,0,0
$GC,6146,-0.92,-214.1,930.5,-12.7,609,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1801,3924,0,0,0,0,0,0
$GC,6456,-0.92,-214.1,969.6,-12.5,624,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1801,3922,0,0,0,0,0,0
$STATE,6721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6721,begin apogee
$GC,6729,-0.23,0.0,1002.5,12.1,637,6920,0.70,0.00,186.25,1.441,6,0.134,0.000,2757,1751,3072,0,0,0,0,0,0
$STATE,6921,end apogee,CONTROL_FINISHED_OK
$STATE,6921,begin climb
$GC,6925,1.16,214.1,1009.4,0.0,646,7131,1.33,0.00,202.15,1.375,6,0.055,0.000,3221,1750,2199,0,0,0,0,0,0
$GC,7431,0.84,214.1,884.2,30.4,671,7436,0.38,2.25,0.00,0.000,4,0.208,0.056,3110,3158,2192,0,0,0,0,0,0
$GC,7452,0.57,214.1,876.7,29.2,672,7457,0.35,2.17,0.00,0.000,6,0.181,0.045,3023,1743,2190,0,0,0,0,0,0
$GC,7776,0.50,214.1,827.5,14.5,688,7780,0.00,2.20,0.00,0.000,4,0.000,0.058,3032,334,2190,0,0,0,0,0,0
$GC,7818,0.44,214.1,821.2,15.7,690,7823,0.17,2.20,0.00,0.000,6,0.165,0.047,2986,1754,2189,0,0,0,0,0,0
$GC,8145,0.50,270.7,782.1,11.4,706,8202,0.00,2.25,51.60,1.284,4,0.000,0.054,2983,3161,1968,0,0,0,0,0,0
$GC,8264,0.59,315.8,768.2,11.9,710,8314,0.12,2.20,42.58,1.252,6,0.085,0.043,3055,1745,1784,0,0,0,0,0,0
$GC,8625,0.52,315.8,704.3,18.1,728,8629,0.17,2.20,0.00,0.000,4,0.171,0.057,3017,344,1778,0,0,0,0,0,0
$GC,8649,0.48,315.8,699.6,17.5,729,8653,0.00,2.17,0.00,0.000,6,0.000,0.046,3018,1753,1776,0,0,0,0,0,0
$GC,8978,0.48,315.8,652.6,14.5,745,8982,0.00,2.17,0.00,0.000,4,0.000,0.054,3017,3169,1775,0,0,0,0,0,0
$GC,9046,0.49,315.8,642.3,15.0,748,9050,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,1739,1774,0,0,0,0,0,0
$GC,9368,0.49,315.8,593.3,15.0,766,9372,0.00,2.17,0.00,0.000,4,0.000,0.056,3038,346,1773,0,0,0,0,0,0
$GC,9401,0.49,315.8,588.0,15.7,768,9409,0.15,2.17,0.00,0.000,6,0.158,0.044,2998,1751,1772,0,0,0,0,0,0
$GC,9727,0.59,372.6,549.0,11.4,799,9786,0.10,2.33,51.38,1.151,4,0.103,0.053,3052,3167,1552,0,0,0,0,0,0
$GC,9824,0.57,372.6,534.1,16.4,807,9829,0.15,2.20,0.00,0.000,6,0.168,0.042,3023,1741,1551,0,0,0,0,0,0
$GC,10155,0.58,377.0,487.1,13.7,838,10168,0.00,0.00,4.95,0.789,6,0.000,0.000,3023,1740,1535,0,0,0,0,0,0
$GC,10485,0.60,377.0,440.1,14.9,869,10489,0.00,2.17,0.00,0.000,4,0.000,0.055,3032,337,1534,0,0,0,0,0,0
$GC,10506,0.62,377.0,436.2,15.0,870,10515,0.00,2.20,0.00,0.000,6,0.000,0.040,3032,1752,1532,0,0,0,0,0,0
$GC,10833,0.62,377.0,389.2,14.3,901,10837,0.00,2.15,0.00,0.000,4,0.000,0.050,3032,3164,1532,0,0,0,0,0,0
$GC,10894,0.68,377.0,380.4,14.0,906,10898,0.00,2.15,0.00,0.000,6,0.000,0.041,3042,1742,1532,0,0,0,0,0,0
$GC,11226,0.68,377.0,334.6,14.8,937,11230,0.00,2.17,0.00,0.000,4,0.000,0.054,3053,337,1532,0,0,0,0,0,0
$GC,11281,0.75,390.6,326.5,13.3,941,11301,0.00,2.15,13.40,0.901,6,0.000,0.038,3053,1760,1479,0,0,0,0,0,0
$GC,11624,0.75,390.6,279.0,14.3,987,11631,0.00,2.20,0.00,0.000,4,0.000,0.054,3063,345,1479,0,0,0,0,0,0
$GC,11650,0.75,390.6,274.8,15.0,991,11658,0.00,2.12,0.00,0.000,6,0.000,0.039,3063,1745,1477,0,0,0,0,0,0
$GC,11982,0.75,390.6,224.4,14.3,1052,11989,0.00,2.17,0.00,0.000,4,0.000,0.047,3063,3156,1478,0,0,0,0,0,0
$GC,12037,0.82,410.6,216.5,13.0,1061,12065,0.00,2.15,19.25,0.819,6,0.000,0.038,3071,1738,1397,0,0,0,0,0,0
$GC,12391,0.85,427.3,170.2,13.2,1125,12413,0.12,2.22,16.40,0.759,4,0.086,0.051,3157,349,1329,0,0,0,0,0,0
$GC,12437,0.76,427.3,162.1,18.3,1132,12446,0.20,2.17,0.00,0.000,6,0.142,0.037,3093,1757,1328,0,0,0,0,0,0
$GC,12771,0.83,459.6,117.9,12.5,1193,12809,0.00,2.28,28.77,0.731,4,0.000,0.051,3095,351,1198,0,0,0,0,0,0
$GC,12830,0.96,522.5,111.0,11.2,1201,12892,0.12,2.15,54.35,0.724,6,0.041,0.034,3175,1751,941,0,0,0,0,0,0
$GC,13213,0.89,522.5,33.7,19.2,1269,13221,0.17,2.17,0.00,0.000,4,0.164,0.043,3117,3157,939,0,0,0,0,0,0
$GC,13274,1.00,545.9,24.4,12.9,1279,13304,0.00,2.15,21.00,0.627,6,0.000,0.036,3133,1751,845,0,0,0,0,0,0
$STATE,13432,end climb,SURFACE_DEPTH_REACHED
$STATE,13433,begin surface coast
$FINISH,1.0,1.022389
$STATE,13455,end surface coast,CONTROL_FINISHED_OK
$STATE,13455,begin surface
$SM_CCo,13532,0.00,0.000,0,0,843,546.77
$SM_GC,1.71,7.80,0.00,0.00,0.034,0.000,0.000,169,1750,843,-8.33,-1.41,546.77
$IRIDIUM_FIX,2104.07,12601.81,081110,010150
$TT8_MAMPS,0.026964
$HUMID,43.69
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.50
$XPDR_PINGS,99
$24V_AH,22.1,89.588
$10V_AH,10.1,56.398
$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,22.925,126.150,692.075,0.000,0.000,24.744,20.453,216.484,24.750,0.000,15.222,3207.195,6389.871,760.893,3167.736,434.160,0.000,2003.766,0.000,2914.229,0.000,0.845,0.000
$DEVICE_MAMPS,222.615,120.870,1441.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.604,1138.673,1542.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,76914,1311
$CAP_FILE_SIZE,155376,0
$CFSIZE,260165632,151015424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,200.0,1
$GPS,081110,091230,2117.747,12601.343,41,1.3,41,-2.9