version: 66.08
glider: 166
mission: 3
dive: 470
start: 11 8 110 16 55 49
data:
$ID,166
$MISSION,3
$DIVE,470
$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,-22175.863
$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,37
$R_STBD_OVSHOOT,41
$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
$GPS1,081110,164806,2116.401,12601.267,32,1.0,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.1
$GPS2,081110,165514,2116.298,12601.293,12,1.1,12,-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,185.0,5184,-20.6,-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,-1.18,-195.2,0.0,0.0,0,118,0.00,0.00,-98.82,0.000,2,0.000,0.000,167,1814,3460,0,0,0,0,0,0
$GC,121,-1.20,-214.1,6.4,-12.7,14,145,9.48,2.28,-8.82,0.000,4,0.233,0.058,2441,390,3948,0,0,0,0,0,0
$GC,385,-0.98,-214.1,120.0,-34.3,62,393,0.30,2.17,0.00,0.000,6,0.174,0.043,2518,1795,3952,0,0,0,0,0,0
$GC,719,-0.85,-214.1,203.9,-21.3,123,727,0.15,2.17,0.00,0.000,4,0.184,0.046,2561,392,3954,0,0,0,0,0,0
$GC,976,-0.82,-214.1,249.9,-16.9,169,984,0.00,2.15,0.00,0.000,6,0.000,0.043,2555,1810,3955,0,0,0,0,0,0
$GC,1316,-0.77,-214.1,311.3,-17.2,225,1321,0.12,2.22,0.00,0.000,4,0.183,0.047,2589,394,3955,0,0,0,0,0,0
$GC,1415,-0.81,-214.1,325.4,-13.2,233,1419,0.00,2.15,0.00,0.000,6,0.000,0.043,2570,1809,3956,0,0,0,0,0,0
$GC,1747,-0.83,-214.1,371.5,-13.4,264,1751,0.00,2.15,0.00,0.000,4,0.000,0.050,2564,3214,3955,0,0,0,0,0,0
$GC,1803,-0.91,-214.1,378.3,-10.8,268,1811,0.00,2.15,0.00,0.000,6,0.000,0.034,2564,1804,3955,0,0,0,0,0,0
$GC,2130,-0.93,-214.1,421.8,-13.9,299,2134,0.00,2.17,0.00,0.000,4,0.000,0.047,2564,390,3953,0,0,0,0,0,0
$GC,2192,-0.98,-214.1,430.2,-12.7,304,2200,0.00,2.17,0.00,0.000,6,0.000,0.042,2555,1796,3953,0,0,0,0,0,0
$GC,2520,-1.01,-214.1,472.5,-12.8,335,2522,0.12,0.00,0.00,0.000,6,0.092,0.000,2493,1796,3951,0,0,0,0,0,0
$GC,2837,-0.95,-214.1,527.0,-17.7,365,2841,0.15,2.17,0.00,0.000,4,0.177,0.051,2531,3206,3949,0,0,0,0,0,0
$GC,2855,-0.92,-214.1,529.9,-16.3,366,2859,0.00,2.12,0.00,0.000,6,0.000,0.035,2531,1796,3949,0,0,0,0,0,0
$GC,3180,-0.92,-214.1,578.2,-14.4,396,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1796,3947,0,0,0,0,0,0
$GC,3504,-0.92,-214.1,624.4,-14.1,419,3508,0.00,2.20,0.00,0.000,4,0.000,0.053,2533,398,3945,0,0,0,0,0,0
$GC,3591,-0.92,-214.1,636.9,-14.9,423,3595,0.00,2.20,0.00,0.000,6,0.000,0.049,2534,1810,3944,0,0,0,0,0,0
$GC,3918,-0.92,-214.1,684.8,-15.0,439,3922,0.00,2.15,0.00,0.000,4,0.000,0.056,2524,3206,3941,0,0,0,0,0,0
$GC,3939,-0.92,-214.1,688.1,-14.5,440,3943,0.00,2.12,0.00,0.000,6,0.000,0.039,2524,1803,3941,0,0,0,0,0,0
$GC,4268,-0.92,-214.1,738.1,-15.0,456,4272,0.00,2.20,0.00,0.000,4,0.000,0.054,2525,395,3938,0,0,0,0,0,0
$GC,4361,-0.92,-214.1,753.0,-15.3,460,4366,0.10,2.20,0.00,0.000,6,0.181,0.055,2539,1798,3937,0,0,0,0,0,0
$GC,4687,-0.94,-214.1,795.3,-13.1,476,4691,0.00,2.20,0.00,0.000,4,0.000,0.057,2530,3207,3933,0,0,0,0,0,0
$GC,4731,-0.98,-214.1,801.9,-12.6,478,4735,0.00,2.12,0.00,0.000,6,0.000,0.041,2530,1801,3933,0,0,0,0,0,0
$GC,5057,-0.98,-214.1,846.6,-14.1,494,5061,0.00,2.20,0.00,0.000,4,0.000,0.057,2530,387,3929,0,0,0,0,0,0
$GC,5168,-1.00,-214.1,864.0,-14.6,499,5172,0.00,2.20,0.00,0.000,6,0.000,0.050,2522,1804,3929,0,0,0,0,0,0
$GC,5490,-1.00,-214.1,912.7,-15.6,515,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1804,3926,0,0,0,0,0,0
$GC,5803,-1.00,-214.1,960.2,-15.0,530,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1804,3923,0,0,0,0,0,0
$STATE,6065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6065,begin apogee
$GC,6071,-0.23,0.0,1000.0,14.6,543,6263,0.75,0.00,186.55,1.436,6,0.138,0.000,2756,1755,3072,0,0,0,0,0,0
$STATE,6264,end apogee,CONTROL_FINISHED_OK
$STATE,6264,begin climb
$GC,6267,1.20,214.1,1008.8,0.0,552,6482,1.35,2.53,200.82,1.372,4,0.057,0.057,3241,329,2198,0,0,0,0,0,0
$GC,6489,0.88,214.1,969.7,30.6,562,6495,0.45,2.40,0.00,0.000,6,0.207,0.049,3127,1750,2197,0,0,0,0,0,0
$GC,6815,0.68,214.1,891.1,23.8,578,6820,0.22,2.22,0.00,0.000,4,0.188,0.054,3056,3172,2192,0,0,0,0,0,0
$GC,6878,0.59,214.1,877.5,18.8,581,6883,0.12,2.20,0.00,0.000,6,0.200,0.044,3035,1739,2190,0,0,0,0,0,0
$GC,7208,0.53,214.1,825.6,15.6,597,7212,0.00,2.17,0.00,0.000,4,0.000,0.057,3044,346,2189,0,0,0,0,0,0
$GC,7235,0.45,214.1,820.4,16.6,598,7240,0.20,2.17,0.00,0.000,6,0.169,0.045,2989,1759,2188,0,0,0,0,0,0
$GC,7551,0.51,262.6,782.0,11.6,613,7602,0.00,2.30,44.53,1.282,4,0.000,0.054,2985,3161,2001,0,0,0,0,0,0
$GC,7659,0.62,313.3,769.8,11.5,617,7713,0.12,2.20,47.95,1.255,6,0.084,0.043,3056,1744,1794,0,0,0,0,0,0
$GC,8035,0.56,313.3,703.2,17.6,636,8040,0.12,2.20,0.00,0.000,4,0.184,0.057,3034,342,1788,0,0,0,0,0,0
$GC,8057,0.52,313.3,699.3,16.3,637,8061,0.00,2.17,0.00,0.000,6,0.000,0.044,3034,1754,1786,0,0,0,0,0,0
$GC,8380,0.50,313.3,648.3,16.0,653,8385,0.12,2.17,0.00,0.000,4,0.178,0.054,2999,3167,1785,0,0,0,0,0,0
$GC,8435,0.61,354.8,640.4,11.9,655,8478,0.00,2.15,37.95,1.203,6,0.000,0.044,3007,1750,1625,0,0,0,0,0,0
$GC,8791,0.69,380.5,594.7,12.7,673,8826,0.15,2.30,24.60,1.142,4,0.077,0.057,3095,349,1520,0,0,0,0,0,0
$GC,8888,0.64,380.5,575.5,21.4,681,8897,0.17,2.17,0.00,0.000,6,0.166,0.044,3048,1746,1517,0,0,0,0,0,0
$GC,9213,0.64,380.5,522.9,16.4,712,9217,0.00,2.17,0.00,0.000,4,0.000,0.053,3044,3170,1515,0,0,0,0,0,0
$GC,9275,0.69,381.2,513.8,13.9,717,9283,0.00,2.15,0.00,0.000,6,0.000,0.042,3052,1749,1514,0,0,0,0,0,0
$GC,9600,0.69,381.2,461.8,15.8,748,9604,0.00,2.20,0.00,0.000,4,0.000,0.056,3063,346,1514,0,0,0,0,0,0
$GC,9654,0.69,381.2,452.5,16.7,752,9662,0.00,2.20,0.00,0.000,6,0.000,0.041,3062,1761,1512,0,0,0,0,0,0
$GC,9980,0.69,381.2,397.6,15.9,783,9984,0.00,2.15,0.00,0.000,4,0.000,0.051,3062,3159,1512,0,0,0,0,0,0
$GC,10011,0.69,381.2,392.7,16.5,785,10014,0.00,2.15,0.00,0.000,6,0.000,0.041,3071,1750,1512,0,0,0,0,0,0
$GC,10339,0.69,381.2,340.1,15.2,815,10343,0.00,2.20,0.00,0.000,4,0.000,0.057,3082,342,1512,0,0,0,0,0,0
$GC,10396,0.69,381.2,330.7,14.7,820,10400,0.00,2.15,0.00,0.000,6,0.000,0.040,3082,1757,1511,0,0,0,0,0,0
$GC,10726,0.66,381.2,275.5,18.6,863,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1760,1511,0,0,0,0,0,0
$GC,11059,0.64,381.2,219.5,16.1,924,11068,0.12,2.20,0.00,0.000,4,0.169,0.049,3044,3163,1511,0,0,0,0,0,0
$GC,11092,0.70,393.0,215.0,13.3,929,11109,0.00,2.12,11.32,0.776,6,0.000,0.039,3052,1747,1469,0,0,0,0,0,0
$GC,11442,0.82,448.0,175.3,11.3,991,11498,0.15,2.30,49.60,0.794,4,0.073,0.054,3151,347,1245,0,0,0,0,0,0
$GC,11548,0.78,448.0,156.7,20.0,1007,11555,0.20,2.17,0.00,0.000,6,0.147,0.038,3093,1755,1244,0,0,0,0,0,0
$GC,11881,0.86,459.7,112.8,13.3,1068,11899,0.00,2.22,11.30,0.669,4,0.000,0.045,3094,3169,1199,0,0,0,0,0,0
$GC,11929,1.06,520.6,107.0,11.0,1075,11989,0.17,2.20,52.85,0.718,6,0.033,0.038,3209,1744,948,0,0,0,0,0,0
$GC,12309,0.97,520.6,15.8,24.1,1143,12318,0.20,2.22,0.00,0.000,4,0.168,0.052,3161,346,946,0,0,0,0,0,0
$GC,12340,0.92,520.6,9.1,23.5,1147,12348,0.00,2.17,0.00,0.000,6,0.000,0.037,3154,1763,945,0,0,0,0,0,0
$STATE,12370,end climb,SURFACE_DEPTH_REACHED
$STATE,12370,begin surface coast
$FINISH,1.0,1.022493
$STATE,12389,end surface coast,CONTROL_FINISHED_OK
$STATE,12389,begin surface
$SM_CCo,12466,0.00,0.000,0,0,944,522.00
$SM_GC,1.70,7.80,0.00,0.00,0.034,0.000,0.000,139,1769,944,-8.35,-0.90,522.00
$IRIDIUM_FIX,2111.01,12601.30,081110,131321
$TT8_MAMPS,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.30
$XPDR_PINGS,86
$24V_AH,22.1,90.254
$10V_AH,10.1,56.805
$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,22.875,114.350,667.475,0.000,0.000,24.857,37.100,186.458,21.500,0.000,13.142,2871.564,6074.590,673.409,2851.258,420.794,0.000,1833.537,0.000,2611.892,0.000,0.844,0.000
$DEVICE_MAMPS,232.560,118.575,1435.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.930,989.343,1275.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70098,1155
$CAP_FILE_SIZE,143225,0
$CFSIZE,260165632,150786048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,129.5,1
$GPS,081110,202437,2113.966,12602.232,25,1.3,26,-2.8