version: 66.08
glider: 166
mission: 3
dive: 469
start: 11 8 110 13 6 18
data:
$ID,166
$MISSION,3
$DIVE,469
$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,-22174.607
$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,42
$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
$GPS1,081110,125830,2118.688,12601.052,39,1.0,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.5
$GPS2,081110,130556,2118.633,12601.039,11,1.2,11,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP_SOUTH_SOUTH
$TGT_LATLONG,2113.500,12601.200
$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,175.4,9511,-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,-214.1,0.0,0.0,0,91,0.00,0.00,-71.32,0.000,2,0.000,0.000,169,1750,3271,0,0,0,0,0,0
$GC,94,-1.16,-214.1,5.3,-9.7,10,125,9.20,2.15,-13.12,0.000,4,0.221,0.056,2467,387,3946,0,0,0,0,0,0
$GC,341,-0.91,-214.1,102.0,-37.5,55,350,0.28,2.20,0.00,0.000,6,0.175,0.045,2539,1789,3949,0,0,0,0,0,0
$GC,677,-0.75,-214.1,189.8,-26.4,116,686,0.20,2.20,0.00,0.000,4,0.171,0.041,2600,385,3952,0,0,0,0,0,0
$GC,769,-0.75,-214.1,206.9,-16.5,131,776,0.00,2.15,0.00,0.000,6,0.000,0.040,2590,1814,3952,0,0,0,0,0,0
$GC,1111,-0.74,-214.1,264.0,-15.7,192,1120,0.00,2.22,0.00,0.000,4,0.000,0.046,2589,392,3954,0,0,0,0,0,0
$GC,1148,-0.74,-214.1,270.4,-16.5,198,1156,0.00,2.15,0.00,0.000,6,0.000,0.040,2581,1792,3954,0,0,0,0,0,0
$GC,1487,-0.74,-214.1,323.5,-14.9,245,1491,0.00,2.15,0.00,0.000,4,0.000,0.044,2559,3215,3954,0,0,0,0,0,0
$GC,1564,-0.77,-214.1,335.2,-14.7,251,1572,0.12,2.10,0.00,0.000,6,0.158,0.033,2593,1799,3954,0,0,0,0,0,0
$GC,1892,-0.81,-214.1,377.6,-13.2,282,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1799,3953,0,0,0,0,0,0
$GC,2222,-0.86,-214.1,420.0,-12.6,313,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1799,3952,0,0,0,0,0,0
$GC,2551,-0.92,-214.1,456.2,-9.2,344,2555,0.15,2.17,0.00,0.000,4,0.082,0.048,2514,392,3950,0,0,0,0,0,0
$GC,2571,-0.94,-214.1,458.6,-10.5,345,2575,0.12,2.15,0.00,0.000,6,0.174,0.042,2534,1799,3950,0,0,0,0,0,0
$GC,2896,-0.93,-214.1,504.2,-14.3,375,2900,0.00,2.17,0.00,0.000,4,0.000,0.049,2543,3208,3948,0,0,0,0,0,0
$GC,2937,-0.93,-214.1,509.6,-13.2,378,2941,0.00,2.10,0.00,0.000,6,0.000,0.035,2544,1800,3948,0,0,0,0,0,0
$GC,3262,-0.91,-214.1,557.1,-14.5,408,3266,0.00,2.20,0.00,0.000,4,0.000,0.051,2536,3216,3946,0,0,0,0,0,0
$GC,3284,-0.91,-214.1,560.6,-15.0,409,3291,0.00,2.10,0.00,0.000,6,0.000,0.035,2536,1803,3946,0,0,0,0,0,0
$GC,3623,-0.88,-214.1,613.3,-15.4,437,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1802,3943,0,0,0,0,0,0
$GC,3927,-0.87,-214.1,658.9,-14.0,452,3931,0.00,2.20,0.00,0.000,4,0.000,0.052,2536,389,3941,0,0,0,0,0,0
$GC,3984,-0.85,-214.1,667.0,-14.0,454,3992,0.12,2.17,0.00,0.000,6,0.173,0.048,2560,1798,3940,0,0,0,0,0,0
$GC,4303,-0.88,-214.1,701.6,-10.5,470,4307,0.00,2.17,0.00,0.000,4,0.000,0.055,2555,3210,3938,0,0,0,0,0,0
$GC,4325,-0.91,-214.1,704.1,-9.6,471,4329,0.00,2.15,0.00,0.000,6,0.000,0.038,2555,1793,3937,0,0,0,0,0,0
$GC,4649,-0.93,-214.1,737.3,-10.5,487,4653,0.00,2.17,0.00,0.000,4,0.000,0.054,2555,397,3933,0,0,0,0,0,0
$GC,4712,-0.96,-214.1,744.9,-11.7,490,4716,0.00,2.17,0.00,0.000,6,0.000,0.049,2555,1802,3933,0,0,0,0,0,0
$GC,5040,-0.98,-214.1,782.8,-12.0,506,5044,0.00,2.17,0.00,0.000,4,0.000,0.056,2544,3212,3930,0,0,0,0,0,0
$GC,5080,-1.02,-214.1,787.7,-11.7,508,5085,0.00,2.12,0.00,0.000,6,0.000,0.039,2544,1802,3929,0,0,0,0,0,0
$GC,5411,-1.02,-214.1,830.7,-13.4,524,5415,0.00,2.20,0.00,0.000,4,0.000,0.055,2544,395,3927,0,0,0,0,0,0
$GC,5474,-1.03,-214.1,839.7,-13.2,527,5478,0.00,2.20,0.00,0.000,6,0.000,0.049,2535,1802,3926,0,0,0,0,0,0
$GC,5800,-1.03,-214.1,885.6,-14.2,543,5804,0.00,2.20,0.00,0.000,4,0.000,0.058,2524,3207,3923,0,0,0,0,0,0
$GC,5830,-1.03,-214.1,889.5,-13.7,544,5833,0.00,2.15,0.00,0.000,6,0.000,0.041,2524,1799,3923,0,0,0,0,0,0
$GC,6151,-1.03,-214.1,936.8,-14.7,560,6155,0.00,2.20,0.00,0.000,4,0.000,0.057,2524,394,3921,0,0,0,0,0,0
$GC,6184,-1.01,-214.1,942.1,-16.0,561,6191,0.00,2.22,0.00,0.000,6,0.000,0.050,2514,1810,3921,0,0,0,0,0,0
$GC,6503,-0.98,-214.1,988.6,-14.4,577,6507,0.00,2.22,0.00,0.000,4,0.000,0.057,2514,392,3918,0,0,0,0,0,0
$GC,6524,-0.95,-214.1,992.3,-14.5,578,6528,0.00,2.20,0.00,0.000,6,0.000,0.050,2504,1803,3918,0,0,0,0,0,0
$STATE,6576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6576,begin apogee
$GC,6584,-0.23,0.0,1000.1,15.0,581,6775,0.82,0.00,185.38,1.439,6,0.145,0.000,2756,1746,3072,0,0,0,0,0,0
$STATE,6776,end apogee,CONTROL_FINISHED_OK
$STATE,6776,begin climb
$GC,6780,1.16,214.1,1008.4,0.0,590,6989,1.33,2.47,199.18,1.378,4,0.055,0.059,3232,347,2199,0,0,0,0,0,0
$GC,7038,0.82,214.1,959.4,32.1,602,7043,0.45,2.28,0.00,0.000,6,0.203,0.050,3112,1743,2194,0,0,0,0,0,0
$GC,7361,0.63,214.1,883.3,22.9,618,7366,0.25,2.20,0.00,0.000,4,0.185,0.054,3028,3168,2190,0,0,0,0,0,0
$GC,7413,0.56,214.1,873.4,17.0,620,7417,0.00,2.17,0.00,0.000,6,0.000,0.043,3036,1752,2189,0,0,0,0,0,0
$GC,7735,0.48,214.1,822.0,15.9,636,7737,0.15,0.00,0.00,0.000,6,0.181,0.000,2997,1752,2188,0,0,0,0,0,0
$GC,8044,0.49,238.2,782.7,12.8,651,8071,0.00,2.28,22.05,1.259,4,0.000,0.058,3006,338,2100,0,0,0,0,0,0
$GC,8095,0.48,248.5,775.7,13.4,653,8112,0.00,2.22,11.05,1.147,6,0.000,0.044,3006,1764,2059,0,0,0,0,0,0
$GC,8438,0.46,248.5,727.9,13.9,670,8442,0.00,2.17,0.00,0.000,4,0.000,0.054,3005,3169,2055,0,0,0,0,0,0
$GC,8490,0.46,248.5,720.1,14.6,672,8494,0.00,2.15,0.00,0.000,6,0.000,0.042,3015,1748,2055,0,0,0,0,0,0
$GC,8806,0.45,257.2,676.6,13.5,687,8821,0.00,2.25,8.95,1.086,4,0.000,0.057,3026,353,2023,0,0,0,0,0,0
$GC,8868,0.42,257.2,667.8,14.4,689,8875,0.17,2.15,0.00,0.000,6,0.161,0.043,2978,1753,2022,0,0,0,0,0,0
$GC,9185,0.59,361.8,636.1,9.4,705,9295,0.15,2.28,97.45,1.203,4,0.080,0.054,3050,3158,1596,0,0,0,0,0,0
$GC,9323,0.57,361.8,614.3,16.4,711,9328,0.12,2.20,0.00,0.000,6,0.175,0.041,3029,1743,1596,0,0,0,0,0,0
$GC,9653,0.57,361.8,567.8,14.1,737,9657,0.00,2.20,0.00,0.000,4,0.000,0.057,3037,346,1590,0,0,0,0,0,0
$GC,9685,0.57,361.8,562.4,15.8,739,9693,0.00,2.15,0.00,0.000,6,0.000,0.041,3038,1752,1588,0,0,0,0,0,0
$GC,10011,0.57,361.8,509.9,16.4,770,10015,0.00,2.17,0.00,0.000,4,0.000,0.052,3037,3162,1587,0,0,0,0,0,0
$GC,10084,0.60,361.8,498.1,15.2,776,10096,0.00,2.20,0.00,0.000,6,0.000,0.042,3047,1744,1587,0,0,0,0,0,0
$GC,10412,0.60,361.8,447.2,15.8,807,10416,0.00,2.20,0.00,0.000,4,0.000,0.056,3058,342,1587,0,0,0,0,0,0
$GC,10457,0.60,361.8,439.8,16.1,810,10465,0.00,2.22,0.00,0.000,6,0.000,0.044,3058,1754,1585,0,0,0,0,0,0
$GC,10784,0.58,361.8,388.8,15.2,841,10788,0.00,2.17,0.00,0.000,4,0.000,0.051,3057,3162,1585,0,0,0,0,0,0
$GC,10816,0.58,361.8,383.9,15.7,843,10821,0.15,2.15,0.00,0.000,6,0.161,0.041,3025,1748,1584,0,0,0,0,0,0
$GC,11147,0.67,404.0,345.7,12.1,874,11194,0.00,2.30,37.17,0.959,4,0.000,0.055,3034,350,1423,0,0,0,0,0,0
$GC,11238,0.81,453.3,335.0,11.7,881,11292,0.20,2.17,45.30,0.934,6,0.063,0.037,3130,1766,1223,0,0,0,0,0,0
$GC,11619,0.73,453.3,248.4,23.0,936,11627,0.20,0.00,0.00,0.000,6,0.160,0.000,3075,1769,1221,0,0,0,0,0,0
$GC,11964,0.77,462.6,196.6,13.5,997,11979,0.00,2.30,8.88,0.718,4,0.000,0.055,3084,348,1186,0,0,0,0,0,0
$GC,12016,0.82,466.3,188.8,13.7,1005,12031,0.00,2.10,5.07,0.587,6,0.000,0.037,3084,1749,1170,0,0,0,0,0,0
$GC,12367,0.87,477.2,140.5,13.4,1067,12385,0.10,2.30,11.32,0.697,4,0.096,0.054,3158,337,1125,0,0,0,0,0,0
$GC,12435,0.85,477.2,128.0,17.8,1078,12444,0.10,2.17,0.00,0.000,6,0.142,0.037,3121,1752,1124,0,0,0,0,0,0
$GC,12766,0.92,499.2,82.2,12.9,1139,12797,0.00,2.20,20.00,0.680,4,0.000,0.045,3121,3155,1036,0,0,0,0,0,0
$GC,12813,1.01,530.6,75.7,12.5,1145,12851,0.08,2.17,27.77,0.678,6,0.046,0.038,3194,1747,907,0,0,0,0,0,0
$STATE,13151,end climb,SURFACE_DEPTH_REACHED
$STATE,13151,begin surface coast
$FINISH,1.0,1.022488
$STATE,13163,end surface coast,CONTROL_FINISHED_OK
$STATE,13163,begin surface
$SM_CCo,13240,0.00,0.000,0,0,902,532.06
$SM_GC,1.83,7.97,0.00,0.00,0.036,0.000,0.000,167,1813,902,-8.35,0.40,532.06
$IRIDIUM_FIX,2108.69,12528.50,081110,090936
$TT8_MAMPS,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.50
$XPDR_PINGS,89
$24V_AH,22.2,90.006
$10V_AH,10.1,56.675
$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,22.450,127.350,679.575,0.000,0.000,31.349,40.070,189.313,22.250,0.000,12.223,3003.173,6569.632,701.805,2968.669,425.748,0.000,1909.511,0.000,2705.743,0.000,0.846,0.000
$DEVICE_MAMPS,221.085,116.280,1438.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.257,1028.136,1328.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70155,1208
$CAP_FILE_SIZE,153690,0
$CFSIZE,260165632,150855680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,179.1,1
$GPS,081110,164806,2116.401,12601.267,32,1.0,32,-2.9