version: 66.08
glider: 166
mission: 3
dive: 468
start: 11 8 110 9 22 33
data:
$ID,166
$MISSION,3
$DIVE,468
$N_DIVES,481
$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,-22173.35
$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,39
$R_STBD_OVSHOOT,44
$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
$GPS1,081110,091230,2117.747,12601.343,41,1.3,41,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-63.0
$GPS2,081110,092208,2117.717,12601.271,12,1.3,12,-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,6.6,2195,-28.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.41,-103.1,0.0,0.0,0,119,0.00,0.00,-100.60,0.000,2,0.000,0.000,169,1749,3411,0,0,0,0,0,0
$GC,122,-1.44,-126.4,6.1,-11.8,14,146,8.98,2.28,-3.55,0.000,4,0.227,0.054,2353,3203,3592,0,0,0,0,0,0
$GC,196,-1.17,-126.4,40.2,-45.7,26,205,0.35,2.15,0.00,0.000,6,0.205,0.034,2452,1797,3593,0,0,0,0,0,0
$GC,521,-1.01,-126.4,153.0,-33.2,87,528,0.22,2.12,0.00,0.000,4,0.187,0.040,2521,393,3594,0,0,0,0,0,0
$GC,764,-0.95,-126.4,209.2,-23.4,130,772,0.00,2.15,0.00,0.000,6,0.000,0.038,2513,1801,3596,0,0,0,0,0,0
$GC,1105,-0.92,-126.4,272.8,-17.2,191,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1801,3597,0,0,0,0,0,0
$GC,1437,-0.92,-126.4,331.0,-18.7,236,1441,0.00,2.17,0.00,0.000,4,0.000,0.047,2513,396,3597,0,0,0,0,0,0
$GC,1608,-0.90,-126.4,363.9,-18.6,251,1613,0.22,2.12,0.00,0.000,6,0.171,0.039,2548,1810,3597,0,0,0,0,0,0
$GC,1936,-0.98,-126.4,412.9,-14.1,281,1940,0.00,2.17,0.00,0.000,4,0.000,0.046,2549,388,3597,0,0,0,0,0,0
$GC,1989,-1.04,-126.4,420.7,-14.7,285,1993,0.00,2.15,0.00,0.000,6,0.000,0.041,2539,1801,3596,0,0,0,0,0,0
$GC,2316,-1.11,-132.8,465.2,-13.3,315,2320,0.15,2.15,0.00,0.000,4,0.083,0.047,2480,3209,3596,0,0,0,0,0,0
$GC,2398,-1.11,-132.8,478.9,-16.9,322,2406,0.00,2.12,0.00,0.000,6,0.000,0.035,2480,1808,3595,0,0,0,0,0,0
$GC,2724,-1.11,-132.8,533.0,-16.7,353,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1808,3593,0,0,0,0,0,0
$GC,3045,-1.11,-132.8,584.1,-15.4,383,3049,0.00,2.17,0.00,0.000,4,0.000,0.048,2478,396,3590,0,0,0,0,0,0
$GC,3141,-1.09,-132.8,601.3,-17.3,391,3145,0.00,2.12,0.00,0.000,6,0.000,0.043,2473,1802,3590,0,0,0,0,0,0
$GC,3457,-1.09,-132.8,656.0,-17.1,406,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1802,3587,0,0,0,0,0,0
$GC,3768,-1.09,-132.8,709.3,-17.1,421,3772,0.00,2.20,0.00,0.000,4,0.000,0.052,2473,392,3584,0,0,0,0,0,0
$GC,3801,-1.06,-132.8,716.2,-19.2,422,3809,0.15,2.15,0.00,0.000,6,0.192,0.046,2499,1798,3583,0,0,0,0,0,0
$GC,4118,-1.09,-132.8,766.4,-15.7,438,4122,0.00,2.20,0.00,0.000,4,0.000,0.053,2500,399,3581,0,0,0,0,0,0
$GC,4208,-1.10,-132.8,782.1,-17.0,442,4212,0.00,2.17,0.00,0.000,6,0.000,0.046,2491,1798,3579,0,0,0,0,0,0
$GC,4531,-1.13,-132.8,835.0,-16.1,458,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1798,3576,0,0,0,0,0,0
$GC,4841,-1.15,-132.8,883.3,-15.3,473,4845,0.00,2.22,0.00,0.000,4,0.000,0.055,2492,393,3573,0,0,0,0,0,0
$GC,4926,-1.15,-132.8,897.5,-16.8,477,4930,0.00,2.17,0.00,0.000,6,0.000,0.048,2481,1800,3572,0,0,0,0,0,0
$GC,5253,-1.17,-132.8,949.0,-15.4,493,5257,0.00,2.25,0.00,0.000,4,0.000,0.056,2481,392,3569,0,0,0,0,0,0
$GC,5333,-1.17,-132.8,962.6,-16.2,496,5341,0.00,2.17,0.00,0.000,6,0.000,0.049,2471,1801,3568,0,0,0,0,0,0
$STATE,5585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5585,begin apogee
$GC,5591,-0.23,0.0,1002.2,15.3,509,5708,0.98,0.00,108.47,1.446,6,0.165,0.000,2756,1746,3072,0,0,0,0,0,0
$STATE,5708,end apogee,CONTROL_FINISHED_OK
$STATE,5708,begin climb
$GC,5711,1.44,132.8,1006.1,0.0,514,5842,1.55,2.40,122.28,1.392,4,0.070,0.054,3292,3158,2529,0,0,0,0,0,0
$GC,5868,1.16,132.8,982.3,25.7,521,5873,0.35,2.25,0.00,0.000,6,0.240,0.042,3222,1749,2526,0,0,0,0,0,0
$GC,6197,0.95,132.8,904.1,23.7,537,6202,0.25,2.20,0.00,0.000,4,0.209,0.053,3162,339,2521,0,0,0,0,0,0
$GC,6231,0.77,132.8,895.8,22.7,538,6239,0.22,2.17,0.00,0.000,6,0.201,0.045,3096,1746,2520,0,0,0,0,0,0
$GC,6548,0.71,132.8,842.5,16.3,554,6552,0.00,2.20,0.00,0.000,4,0.000,0.054,3105,340,2518,0,0,0,0,0,0
$GC,6588,0.62,132.8,835.2,18.5,556,6593,0.20,2.17,0.00,0.000,6,0.195,0.044,3045,1755,2518,0,0,0,0,0,0
$GC,6918,0.62,132.8,789.4,14.1,572,6922,0.00,2.15,0.00,0.000,4,0.000,0.052,3034,3166,2516,0,0,0,0,0,0
$GC,6972,0.62,132.8,780.9,15.6,574,6979,0.00,2.15,0.00,0.000,6,0.000,0.042,3043,1741,2515,0,0,0,0,0,0
$GC,7291,0.63,137.5,737.2,13.5,590,7295,0.00,2.17,0.00,0.000,4,0.000,0.055,3053,338,2514,0,0,0,0,0,0
$GC,7340,0.63,137.5,729.5,13.9,592,7345,0.00,2.22,0.00,0.000,6,0.000,0.050,3050,1749,2513,0,0,0,0,0,0
$GC,7662,0.64,150.1,686.7,12.7,608,7685,0.00,2.28,13.93,1.174,4,0.000,0.053,3050,3172,2459,0,0,0,0,0,0
$GC,7710,0.64,150.1,680.5,14.1,610,7715,0.00,2.17,0.00,0.000,6,0.000,0.041,3058,1739,2458,0,0,0,0,0,0
$GC,8040,0.65,158.1,636.6,13.2,626,8054,0.00,2.28,8.62,1.060,4,0.000,0.050,3056,3168,2426,0,0,0,0,0,0
$GC,8095,0.65,160.4,628.8,13.7,628,8099,0.00,2.15,0.00,0.000,6,0.000,0.041,3064,1751,2426,0,0,0,0,0,0
$GC,8414,0.67,170.2,585.2,13.0,648,8437,0.00,2.28,12.45,1.095,4,0.000,0.055,3074,344,2377,0,0,0,0,0,0
$GC,8484,0.67,170.2,575.3,14.1,654,8488,0.00,2.17,0.00,0.000,6,0.000,0.046,3071,1759,2376,0,0,0,0,0,0
$GC,8815,0.67,175.8,529.2,13.4,685,8829,0.00,2.15,6.45,0.920,4,0.000,0.048,3070,3159,2354,0,0,0,0,0,0
$GC,8856,0.67,175.8,522.9,14.3,688,8863,0.00,2.12,0.00,0.000,6,0.000,0.040,3078,1748,2353,0,0,0,0,0,0
$GC,9183,0.68,180.1,477.8,13.5,719,9194,0.00,0.00,5.45,0.832,6,0.000,0.000,3078,1748,2336,0,0,0,0,0,0
$GC,9514,0.69,192.7,435.2,12.8,750,9532,0.00,2.22,12.88,0.990,4,0.000,0.053,3071,3164,2285,0,0,0,0,0,0
$GC,9558,0.73,208.4,429.5,12.5,753,9583,0.00,2.17,15.27,0.987,6,0.000,0.046,3080,1751,2221,0,0,0,0,0,0
$GC,9903,0.76,215.6,383.2,13.2,785,9917,0.00,2.28,7.20,0.841,4,0.000,0.053,3090,341,2193,0,0,0,0,0,0
$GC,9997,0.79,215.6,369.2,14.4,793,10001,0.00,2.17,0.00,0.000,6,0.000,0.038,3091,1761,2192,0,0,0,0,0,0
$GC,10326,0.81,219.0,324.5,13.6,823,10338,0.00,2.25,4.60,0.661,4,0.000,0.054,3101,349,2178,0,0,0,0,0,0
$GC,10409,0.81,219.0,311.6,15.6,830,10417,0.00,2.17,0.00,0.000,6,0.000,0.039,3097,1750,2178,0,0,0,0,0,0
$GC,10739,0.83,219.9,266.7,13.8,883,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1750,2178,0,0,0,0,0,0
$GC,11070,0.89,229.3,222.8,13.0,944,11086,0.00,2.22,11.25,0.775,4,0.000,0.046,3097,3163,2136,0,0,0,0,0,0
$GC,11118,0.94,238.3,217.0,13.1,951,11133,0.10,2.12,9.70,0.742,6,0.098,0.038,3158,1750,2100,0,0,0,0,0,0
$GC,11462,0.92,238.3,167.4,15.9,1013,11470,0.00,2.20,0.00,0.000,4,0.000,0.051,3169,337,2099,0,0,0,0,0,0
$GC,11521,0.86,238.3,158.1,16.1,1023,11528,0.15,2.12,0.00,0.000,6,0.189,0.036,3123,1760,2098,0,0,0,0,0,0
$GC,11851,0.99,289.5,121.9,9.3,1084,11905,0.10,2.30,44.25,0.740,4,0.103,0.050,3182,355,1891,0,0,0,0,0,0
$GC,11981,1.01,293.7,103.9,13.5,1104,11997,0.00,2.15,5.00,0.517,6,0.000,0.036,3174,1747,1873,0,0,0,0,0,0
$GC,12321,1.05,301.7,59.5,13.2,1166,12336,0.00,0.00,8.43,0.583,6,0.000,0.000,3174,1748,1841,0,0,0,0,0,0
$GC,12655,1.09,310.3,18.3,13.1,1228,12672,0.00,2.17,9.18,0.559,4,0.000,0.041,3159,3166,1807,0,0,0,0,0,0
$GC,12727,1.15,310.3,7.3,13.9,1240,12735,0.08,2.17,0.00,0.000,6,0.058,0.036,3223,1753,1807,0,0,0,0,0,0
$STATE,12757,end climb,SURFACE_DEPTH_REACHED
$STATE,12757,begin surface coast
$FINISH,1.0,1.011902
$STATE,12774,end surface coast,CONTROL_FINISHED_OK
$STATE,12775,begin surface
$SM_CCo,12794,79.75,0.549,1,0,1441,400.08
$SM_GC,1.65,0.00,0.00,79.75,0.000,0.000,0.549,169,1750,1441,-8.35,-1.41,400.08
$IRIDIUM_FIX,2108.69,12529.84,081110,090925
$TT8_MAMPS,0.026964
$HUMID,41.33
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,25.40
$XPDR_PINGS,99
$24V_AH,22.8,89.754
$10V_AH,10.1,56.540
$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,22.250,113.975,405.400,79.750,0.000,69.712,48.800,200.024,24.750,0.000,13.548,3098.939,6179.382,612.811,3130.364,422.940,0.000,1762.348,0.000,2809.958,0.000,0.846,0.000
$DEVICE_MAMPS,240.210,112.455,1445.850,549.270,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.880,1087.196,1499.041,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333764
$DATA_FILE_SIZE,73644,1248
$CAP_FILE_SIZE,146322,0
$CFSIZE,260165632,150945792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,199.5,1
$GPS,081110,125830,2118.688,12601.052,39,1.0,39,-2.9