version: 66.08
glider: 166
mission: 3
dive: 472
start: 11 9 110 0 14 6
data:
$ID,166
$MISSION,3
$DIVE,472
$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,-22178.383
$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,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
$GPS1,091110,000630,2114.490,12601.115,41,1.2,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-55.3
$GPS2,091110,001344,2114.300,12601.030,11,1.6,11,-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,6.2,8524,-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,16,-1.16,-214.1,0.0,0.0,0,124,0.00,0.00,-104.82,0.000,2,0.000,0.000,139,1772,3409,0,0,0,0,0,0
$GC,127,-1.16,-214.1,6.3,-11.8,14,158,9.50,2.22,-9.55,0.000,4,0.230,0.057,2444,3193,3949,0,0,0,0,0,0
$GC,172,-0.68,-214.1,31.3,-54.7,20,180,0.60,2.12,0.00,0.000,6,0.182,0.034,2612,1801,3951,0,0,0,0,0,0
$GC,496,-0.64,-214.1,111.2,-18.8,81,506,0.00,2.22,0.00,0.000,4,0.000,0.048,2614,395,3953,0,0,0,0,0,0
$GC,541,-0.64,-214.1,120.3,-18.8,88,549,0.00,2.15,0.00,0.000,6,0.000,0.043,2608,1780,3953,0,0,0,0,0,0
$GC,876,-0.64,-214.1,176.3,-15.0,149,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1780,3955,0,0,0,0,0,0
$GC,1205,-0.66,-214.1,223.5,-13.8,210,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1780,3955,0,0,0,0,0,0
$GC,1540,-0.70,-214.1,268.1,-12.0,271,1546,0.00,2.15,0.00,0.000,4,0.000,0.048,2607,395,3956,0,0,0,0,0,0
$GC,1581,-0.76,-214.1,273.6,-13.0,278,1589,0.00,2.20,0.00,0.000,6,0.000,0.045,2607,1805,3956,0,0,0,0,0,0
$GC,1915,-0.81,-214.1,313.2,-11.1,328,1919,0.00,2.15,0.00,0.000,4,0.000,0.049,2603,3216,3956,0,0,0,0,0,0
$GC,1976,-0.93,-214.1,319.4,-9.6,333,1985,0.17,2.15,0.00,0.000,6,0.067,0.036,2511,1798,3956,0,0,0,0,0,0
$GC,2302,-0.86,-214.1,380.4,-19.1,364,2306,0.17,2.22,0.00,0.000,4,0.168,0.050,2559,386,3955,0,0,0,0,0,0
$GC,2426,-0.88,-214.1,399.3,-13.5,374,2434,0.00,2.20,0.00,0.000,6,0.000,0.044,2553,1797,3955,0,0,0,0,0,0
$GC,2753,-0.88,-214.1,444.5,-13.2,405,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1798,3954,0,0,0,0,0,0
$GC,3075,-0.88,-214.1,487.8,-13.1,435,3079,0.00,2.20,0.00,0.000,4,0.000,0.051,2553,390,3951,0,0,0,0,0,0
$GC,3145,-0.90,-214.1,498.4,-13.4,441,3153,0.00,2.17,0.00,0.000,6,0.000,0.047,2555,1804,3951,0,0,0,0,0,0
$GC,3471,-0.90,-214.1,540.0,-12.7,472,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1804,3949,0,0,0,0,0,0
$GC,3792,-0.92,-214.1,581.6,-13.2,502,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1804,3946,0,0,0,0,0,0
$GC,4125,-0.95,-214.1,625.3,-13.3,525,4128,0.00,2.17,0.00,0.000,4,0.000,0.055,2557,3209,3943,0,0,0,0,0,0
$GC,4152,-0.99,-214.1,629.5,-13.4,526,4157,0.10,2.15,0.00,0.000,6,0.098,0.038,2504,1792,3943,0,0,0,0,0,0
$GC,4479,-0.93,-214.1,683.0,-16.8,542,4484,0.12,2.22,0.00,0.000,4,0.184,0.055,2536,389,3940,0,0,0,0,0,0
$GC,4567,-0.93,-214.1,697.4,-13.9,546,4571,0.00,2.17,0.00,0.000,6,0.000,0.047,2527,1801,3939,0,0,0,0,0,0
$GC,4898,-0.91,-214.1,742.2,-13.7,562,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1801,3936,0,0,0,0,0,0
$GC,5205,-0.90,-214.1,784.8,-13.9,577,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1801,3933,0,0,0,0,0,0
$GC,5514,-0.90,-214.1,828.3,-14.1,592,5518,0.00,2.22,0.00,0.000,4,0.000,0.060,2517,3209,3930,0,0,0,0,0,0
$GC,5556,-0.90,-214.1,833.9,-13.4,594,5561,0.12,2.17,0.00,0.000,6,0.166,0.041,2549,1796,3929,0,0,0,0,0,0
$GC,5887,-0.92,-214.1,874.1,-12.1,610,5891,0.00,2.20,0.00,0.000,4,0.000,0.057,2549,392,3927,0,0,0,0,0,0
$GC,5930,-0.95,-214.1,879.5,-12.7,612,5934,0.00,2.20,0.00,0.000,6,0.000,0.050,2542,1807,3926,0,0,0,0,0,0
$GC,6257,-0.95,-214.1,919.9,-12.3,628,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1807,3924,0,0,0,0,0,0
$GC,6568,-0.96,-214.1,958.0,-12.3,643,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1807,3922,0,0,0,0,0,0
$GC,6877,-0.98,-214.1,995.3,-12.4,658,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1807,3919,0,0,0,0,0,0
$STATE,6914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6914,begin apogee
$GC,6920,-0.23,0.0,1000.3,12.2,660,7113,0.70,0.00,186.05,1.440,6,0.132,0.000,2762,1740,3072,0,0,0,0,0,0
$STATE,7113,end apogee,CONTROL_FINISHED_OK
$STATE,7114,begin climb
$GC,7116,1.16,214.1,1009.0,0.0,669,7326,1.27,2.47,200.85,1.375,4,0.055,0.059,3226,355,2198,0,0,0,0,0,0
$GC,7347,0.83,214.1,970.1,28.2,680,7352,0.43,2.33,0.00,0.000,6,0.204,0.048,3115,1744,2196,0,0,0,0,0,0
$GC,7677,0.64,214.1,895.9,22.0,696,7682,0.25,2.22,0.00,0.000,4,0.183,0.054,3031,3170,2191,0,0,0,0,0,0
$GC,7722,0.57,214.1,886.9,15.7,698,7726,0.00,2.20,0.00,0.000,6,0.000,0.042,3039,1737,2189,0,0,0,0,0,0
$GC,8046,0.48,214.1,835.6,16.0,714,8048,0.17,0.00,0.00,0.000,6,0.177,0.000,2993,1737,2189,0,0,0,0,0,0
$GC,8353,0.51,255.5,796.7,12.1,729,8398,0.00,2.38,38.03,1.295,4,0.000,0.051,2983,3170,2029,0,0,0,0,0,0
$GC,8426,0.56,286.5,787.2,12.5,732,8465,0.00,2.20,29.80,1.253,6,0.000,0.041,2991,1747,1903,0,0,0,0,0,0
$GC,8773,0.65,342.2,744.3,11.5,749,8831,0.17,2.28,52.05,1.254,4,0.073,0.056,3088,343,1677,0,0,0,0,0,0
$GC,8883,0.56,342.2,723.1,21.0,753,8888,0.22,2.22,0.00,0.000,6,0.168,0.044,3025,1759,1673,0,0,0,0,0,0
$GC,9205,0.56,344.0,675.5,13.8,769,9209,0.00,2.15,0.00,0.000,4,0.000,0.054,3023,3167,1670,0,0,0,0,0,0
$GC,9251,0.58,344.1,669.1,13.9,771,9255,0.00,2.15,0.00,0.000,6,0.000,0.043,3031,1752,1669,0,0,0,0,0,0
$GC,9573,0.58,344.1,621.6,15.5,787,9577,0.00,2.17,0.00,0.000,4,0.000,0.057,3042,346,1668,0,0,0,0,0,0
$GC,9634,0.58,344.1,611.4,16.0,789,9644,0.00,2.20,0.00,0.000,6,0.000,0.043,3042,1766,1667,0,0,0,0,0,0
$GC,9960,0.56,344.1,558.3,16.6,816,9964,0.00,2.15,0.00,0.000,4,0.000,0.053,3042,3170,1666,0,0,0,0,0,0
$GC,9993,0.54,344.1,551.8,16.9,818,10001,0.12,2.15,0.00,0.000,6,0.176,0.042,3020,1749,1666,0,0,0,0,0,0
$GC,10319,0.54,344.1,504.7,14.3,849,10323,0.00,2.17,0.00,0.000,4,0.000,0.057,3029,346,1665,0,0,0,0,0,0
$GC,10372,0.58,344.1,497.3,14.5,853,10376,0.00,2.15,0.00,0.000,6,0.000,0.040,3028,1759,1664,0,0,0,0,0,0
$GC,10699,0.59,348.7,450.6,13.7,883,10711,0.00,2.17,5.38,0.814,4,0.000,0.050,3029,3161,1649,0,0,0,0,0,0
$GC,10758,0.64,359.8,442.4,13.4,888,10775,0.00,2.15,12.12,0.989,6,0.000,0.041,3037,1747,1605,0,0,0,0,0,0
$GC,11097,0.66,371.3,397.1,13.4,919,11120,0.00,2.30,12.15,0.953,4,0.000,0.057,3048,340,1556,0,0,0,0,0,0
$GC,11171,0.70,380.6,387.0,13.5,925,11192,0.00,2.17,10.05,0.908,6,0.000,0.040,3048,1754,1519,0,0,0,0,0,0
$GC,11510,0.70,380.6,337.6,15.5,957,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1757,1518,0,0,0,0,0,0
$GC,11830,0.71,380.6,290.3,14.2,993,11838,0.00,2.15,0.00,0.000,4,0.000,0.048,3048,3168,1518,0,0,0,0,0,0
$GC,11884,0.76,380.6,282.7,14.1,1002,11892,0.00,2.20,0.00,0.000,6,0.000,0.041,3056,1749,1518,0,0,0,0,0,0
$GC,12217,0.80,416.3,239.6,12.3,1063,12259,0.12,2.22,32.83,0.857,4,0.087,0.052,3142,349,1373,0,0,0,0,0,0
$GC,12338,0.73,416.3,216.6,20.0,1083,12346,0.22,2.15,0.00,0.000,6,0.148,0.038,3078,1749,1371,0,0,0,0,0,0
$GC,12674,0.81,465.8,169.8,11.7,1144,12723,0.00,2.28,43.67,0.789,4,0.000,0.045,3068,3175,1173,0,0,0,0,0,0
$GC,12761,0.99,528.8,158.4,11.2,1157,12826,0.22,2.20,55.12,0.767,6,0.056,0.037,3190,1741,915,0,0,0,0,0,0
$GC,13150,0.92,528.8,69.3,19.9,1226,13158,0.20,2.22,0.00,0.000,4,0.161,0.050,3138,347,911,0,0,0,0,0,0
$GC,13219,0.95,528.8,56.8,14.2,1238,13227,0.00,2.17,0.00,0.000,6,0.000,0.035,3138,1767,910,0,0,0,0,0,0
$GC,13545,0.93,528.8,4.6,22.3,1299,13554,0.00,2.12,0.00,0.000,4,0.000,0.044,3137,3155,910,0,0,0,0,0,0
$STATE,13560,end climb,SURFACE_DEPTH_REACHED
$STATE,13560,begin surface coast
$FINISH,0.9,1.011168
$STATE,13572,end surface coast,CONTROL_FINISHED_OK
$STATE,13572,begin surface
$SM_CCo,13653,0.00,0.000,0,0,909,530.58
$SM_GC,1.77,7.85,0.00,0.00,0.039,0.000,0.000,148,1796,909,-8.36,-0.11,530.58
$IRIDIUM_FIX,2108.69,12603.17,081110,202024
$TT8_MAMPS,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,8.68656
$TCM_TEMP,24.40
$XPDR_PINGS,94
$24V_AH,22.0,90.767
$10V_AH,10.1,57.085
$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,22.775,110.025,678.100,0.000,0.000,28.579,40.104,187.401,23.500,0.000,12.507,3175.939,6610.502,720.156,3126.207,440.000,0.000,1974.283,0.000,2879.603,0.000,0.843,0.000
$DEVICE_MAMPS,229.500,100.215,1440.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.974,1122.711,1463.574,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,77111,1303
$CAP_FILE_SIZE,152798,0
$CFSIZE,260165632,150605824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167,227.1,1
$GPS,091110,040254,2115.748,12600.165,39,1.2,39,-2.9