version: 66.08
glider: 166
mission: 3
dive: 471
start: 11 8 110 20 32 38
data:
$ID,166
$MISSION,3
$DIVE,471
$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,-22177.125
$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,38
$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
$GPS1,081110,202437,2113.966,12602.232,25,1.3,26,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-60.1
$GPS2,081110,203216,2113.786,12602.311,14,99.0,33,-2.8
$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,337.5,9662,-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,-96.18,0.000,2,0.000,0.000,137,1769,3388,0,0,0,0,0,0
$GC,119,-1.16,-214.1,5.5,-9.0,13,150,9.55,2.25,-10.60,0.000,4,0.232,0.056,2448,3206,3949,0,0,0,0,0,0
$GC,244,-0.94,-214.1,59.0,-37.2,34,252,0.25,2.15,0.00,0.000,6,0.162,0.034,2531,1801,3951,0,0,0,0,0,0
$GC,571,-0.81,-214.1,153.8,-24.2,95,579,0.15,2.20,0.00,0.000,4,0.175,0.047,2576,390,3952,0,0,0,0,0,0
$GC,654,-0.81,-214.1,170.1,-15.7,109,661,0.00,2.17,0.00,0.000,6,0.000,0.044,2570,1808,3953,0,0,0,0,0,0
$GC,986,-0.76,-214.1,227.4,-17.3,170,996,0.00,2.22,0.00,0.000,4,0.000,0.047,2569,391,3954,0,0,0,0,0,0
$GC,1054,-0.76,-214.1,238.1,-15.6,181,1061,0.12,2.15,0.00,0.000,6,0.166,0.043,2590,1812,3955,0,0,0,0,0,0
$GC,1385,-0.76,-214.1,283.2,-13.8,242,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1813,3955,0,0,0,0,0,0
$GC,1714,-0.79,-214.1,327.3,-13.0,284,1718,0.00,2.12,0.00,0.000,4,0.000,0.048,2579,3215,3955,0,0,0,0,0,0
$GC,1767,-0.86,-214.1,333.8,-10.8,288,1775,0.00,2.15,0.00,0.000,6,0.000,0.034,2580,1806,3955,0,0,0,0,0,0
$GC,2094,-0.88,-214.1,375.4,-12.3,319,2098,0.00,2.20,0.00,0.000,4,0.000,0.050,2579,392,3954,0,0,0,0,0,0
$GC,2159,-0.94,-214.1,383.4,-11.7,324,2163,0.10,2.17,0.00,0.000,6,0.103,0.045,2518,1810,3954,0,0,0,0,0,0
$GC,2492,-0.88,-214.1,439.3,-16.9,355,2500,0.15,0.00,0.00,0.000,6,0.171,0.000,2557,1811,3953,0,0,0,0,0,0
$GC,2820,-0.88,-214.1,481.9,-12.9,386,2824,0.00,2.25,0.00,0.000,4,0.000,0.053,2558,389,3951,0,0,0,0,0,0
$GC,2863,-0.90,-214.1,488.5,-14.0,389,2870,0.00,2.20,0.00,0.000,6,0.000,0.048,2553,1804,3951,0,0,0,0,0,0
$GC,3189,-0.90,-214.1,532.2,-12.7,420,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1805,3949,0,0,0,0,0,0
$GC,3511,-0.92,-214.1,571.1,-12.2,450,3515,0.00,2.22,0.00,0.000,4,0.000,0.052,2553,398,3946,0,0,0,0,0,0
$GC,3544,-0.94,-214.1,576.0,-13.3,452,3550,0.00,2.20,0.00,0.000,6,0.000,0.049,2556,1806,3945,0,0,0,0,0,0
$GC,3879,-0.96,-214.1,619.4,-13.4,477,3883,0.00,2.20,0.00,0.000,4,0.000,0.055,2564,3221,3943,0,0,0,0,0,0
$GC,3920,-1.01,-214.1,624.9,-12.4,479,3925,0.15,2.15,0.00,0.000,6,0.076,0.039,2493,1803,3943,0,0,0,0,0,0
$GC,4249,-0.93,-214.1,684.1,-17.5,495,4254,0.17,2.25,0.00,0.000,4,0.173,0.054,2540,386,3940,0,0,0,0,0,0
$GC,4313,-0.93,-214.1,693.7,-13.6,498,4317,0.00,2.22,0.00,0.000,6,0.000,0.048,2532,1811,3939,0,0,0,0,0,0
$GC,4640,-0.91,-214.1,739.0,-13.9,514,4644,0.00,2.15,0.00,0.000,4,0.000,0.055,2521,3209,3936,0,0,0,0,0,0
$GC,4691,-0.91,-214.1,746.0,-13.4,516,4695,0.00,2.12,0.00,0.000,6,0.000,0.040,2522,1800,3936,0,0,0,0,0,0
$GC,5008,-0.88,-214.1,793.4,-15.1,531,5012,0.12,2.22,0.00,0.000,4,0.177,0.056,2554,395,3932,0,0,0,0,0,0
$GC,5072,-0.91,-214.1,801.9,-13.1,534,5076,0.00,2.20,0.00,0.000,6,0.000,0.051,2555,1810,3932,0,0,0,0,0,0
$GC,5400,-0.93,-214.1,845.0,-13.4,550,5404,0.00,2.17,0.00,0.000,4,0.000,0.057,2545,3212,3928,0,0,0,0,0,0
$GC,5433,-0.97,-214.1,849.7,-13.1,551,5441,0.00,2.17,0.00,0.000,6,0.000,0.041,2545,1790,3928,0,0,0,0,0,0
$GC,5751,-0.97,-214.1,893.1,-13.6,567,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1790,3926,0,0,0,0,0,0
$GC,6058,-0.97,-214.1,933.3,-12.9,582,6062,0.00,2.20,0.00,0.000,4,0.000,0.057,2545,397,3923,0,0,0,0,0,0
$GC,6102,-0.99,-214.1,938.9,-13.6,584,6106,0.00,2.20,0.00,0.000,6,0.000,0.050,2535,1807,3923,0,0,0,0,0,0
$GC,6431,-0.99,-214.1,985.6,-14.5,600,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1808,3921,0,0,0,0,0,0
$STATE,6529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6530,begin apogee
$GC,6536,-0.23,0.0,1000.9,14.9,605,6730,0.70,0.00,186.60,1.434,6,0.133,0.000,2755,1739,3072,0,0,0,0,0,0
$STATE,6731,end apogee,CONTROL_FINISHED_OK
$STATE,6731,begin climb
$GC,6733,1.16,214.1,1012.3,0.0,614,6940,1.33,0.00,201.95,1.374,6,0.056,0.000,3219,1739,2199,0,0,0,0,0,0
$GC,7240,0.84,214.1,895.6,29.3,639,7242,0.40,0.00,0.00,0.000,6,0.205,0.000,3116,1739,2192,0,0,0,0,0,0
$GC,7549,0.65,214.1,826.3,22.2,654,7554,0.22,2.25,0.00,0.000,4,0.186,0.056,3046,3167,2190,0,0,0,0,0,0
$GC,7595,0.56,214.1,817.3,18.2,656,7600,0.12,2.17,0.00,0.000,6,0.187,0.044,3024,1745,2189,0,0,0,0,0,0
$GC,7919,0.50,214.1,767.6,15.6,672,7923,0.00,2.17,0.00,0.000,4,0.000,0.057,3032,347,2188,0,0,0,0,0,0
$GC,7954,0.43,214.1,761.8,15.6,673,7962,0.20,2.20,0.00,0.000,6,0.167,0.047,2979,1753,2187,0,0,0,0,0,0
$GC,8271,0.51,281.2,724.1,11.0,689,8338,0.00,2.28,61.35,1.255,4,0.000,0.054,2975,3166,1925,0,0,0,0,0,0
$GC,8369,0.64,342.9,713.5,11.2,693,8435,0.17,2.20,58.17,1.218,6,0.067,0.044,3066,1751,1673,0,0,0,0,0,0
$GC,8753,0.57,342.9,641.5,19.1,712,8758,0.15,2.22,0.00,0.000,4,0.177,0.057,3036,346,1667,0,0,0,0,0,0
$GC,8776,0.52,342.9,636.6,17.6,713,8780,0.00,2.20,0.00,0.000,6,0.000,0.045,3036,1758,1665,0,0,0,0,0,0
$GC,9096,0.50,342.9,587.7,15.0,732,9101,0.12,2.20,0.00,0.000,4,0.171,0.054,3000,3170,1664,0,0,0,0,0,0
$GC,9149,0.64,408.3,581.2,11.0,736,9217,0.12,2.17,58.92,1.159,6,0.083,0.044,3073,1750,1407,0,0,0,0,0,0
$GC,9537,0.60,408.3,503.8,21.0,772,9542,0.15,2.22,0.00,0.000,4,0.173,0.057,3042,338,1403,0,0,0,0,0,0
$GC,9574,0.62,408.3,496.2,17.5,775,9581,0.00,2.20,0.00,0.000,6,0.000,0.043,3042,1758,1400,0,0,0,0,0,0
$GC,9901,0.62,408.3,445.8,13.9,806,9905,0.00,2.17,0.00,0.000,4,0.000,0.053,3043,3164,1400,0,0,0,0,0,0
$GC,9929,0.62,408.3,441.4,15.1,808,9933,0.00,2.15,0.00,0.000,6,0.000,0.041,3052,1745,1400,0,0,0,0,0,0
$GC,10254,0.62,408.3,393.2,13.9,838,10258,0.00,2.17,0.00,0.000,4,0.000,0.058,3063,350,1399,0,0,0,0,0,0
$GC,10313,0.66,408.3,384.8,14.0,843,10318,0.00,2.15,0.00,0.000,6,0.000,0.040,3063,1754,1398,0,0,0,0,0,0
$GC,10641,0.64,408.3,332.4,16.8,873,10645,0.00,2.15,0.00,0.000,4,0.000,0.050,3061,3157,1398,0,0,0,0,0,0
$GC,10682,0.65,408.3,325.7,15.9,876,10686,0.00,2.15,0.00,0.000,6,0.000,0.041,3069,1742,1397,0,0,0,0,0,0
$GC,11014,0.63,408.3,271.2,15.3,922,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1742,1397,0,0,0,0,0,0
$GC,11353,0.63,408.3,220.5,14.4,983,11359,0.00,2.17,0.00,0.000,4,0.000,0.054,3080,341,1397,0,0,0,0,0,0
$GC,11409,0.67,415.6,212.8,13.6,992,11424,0.00,2.17,6.45,0.685,6,0.000,0.038,3080,1748,1376,0,0,0,0,0,0
$GC,11761,0.68,415.6,163.3,14.1,1054,11769,0.00,2.17,0.00,0.000,4,0.000,0.046,3080,3161,1376,0,0,0,0,0,0
$GC,11810,0.77,436.2,156.5,13.0,1062,11838,0.00,2.17,20.52,0.762,6,0.000,0.038,3089,1745,1292,0,0,0,0,0,0
$GC,12162,0.87,491.0,110.1,11.5,1126,12215,0.00,2.28,47.78,0.731,4,0.000,0.052,3096,349,1069,0,0,0,0,0,0
$GC,12290,1.10,574.2,96.3,10.3,1146,12368,0.22,2.17,71.12,0.707,6,0.034,0.034,3218,1769,730,0,0,0,0,0,0
$STATE,12664,end climb,SURFACE_DEPTH_REACHED
$STATE,12664,begin surface coast
$FINISH,1.1,0.997849
$STATE,12676,end surface coast,CONTROL_FINISHED_OK
$STATE,12676,begin surface
$SM_CCo,12755,0.00,0.000,0,0,722,576.46
$SM_GC,1.69,7.95,0.00,0.00,0.031,0.000,0.000,154,1770,722,-8.35,-0.85,576.46
$IRIDIUM_FIX,2108.69,12603.17,081110,161607
$TT8_MAMPS,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.00
$XPDR_PINGS,97
$24V_AH,22.1,90.515
$10V_AH,10.1,56.941
$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,22.650,109.650,712.875,0.000,0.000,28.674,26.429,198.543,24.250,0.000,35.442,2972.366,6133.217,748.476,2927.485,417.024,0.000,1904.865,0.000,2661.619,0.000,0.843,0.000
$DEVICE_MAMPS,231.795,98.685,1434.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.814,1049.514,1364.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73444,1214
$CAP_FILE_SIZE,143917,0
$CFSIZE,260165632,150700032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184,184.4,1
$GPS,091110,000630,2114.490,12601.115,41,1.2,41,-2.9