version: 66.08
glider: 166
mission: 3
dive: 473
start: 11 9 110 4 10 23
data:
$ID,166
$MISSION,3
$DIVE,473
$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,-22179.641
$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,35
$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
$GPS1,091110,040254,2115.748,12600.165,39,1.2,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-59.8
$GPS2,091110,041001,2115.625,12600.033,15,1.4,15,-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,34.7,6390,-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,-214.1,0.0,0.0,0,117,0.00,0.00,-97.65,0.000,2,0.000,0.000,151,1795,3423,0,0,0,0,0,0
$GC,120,-1.16,-214.1,5.9,-9.7,13,143,9.52,0.00,-9.73,0.000,6,0.230,0.000,2459,1795,3948,0,0,0,0,0,0
$GC,460,-0.92,-214.1,138.4,-31.7,76,469,0.25,2.20,0.00,0.000,4,0.187,0.042,2536,382,3952,0,0,0,0,0,0
$GC,492,-0.74,-214.1,146.8,-29.1,80,500,0.20,2.17,0.00,0.000,6,0.149,0.041,2596,1790,3952,0,0,0,0,0,0
$GC,825,-0.72,-214.1,207.1,-14.8,141,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1791,3955,0,0,0,0,0,0
$GC,1157,-0.72,-214.1,254.0,-12.9,202,1165,0.00,2.22,0.00,0.000,4,0.000,0.048,2596,389,3956,0,0,0,0,0,0
$GC,1243,-0.76,-214.1,266.0,-13.8,217,1250,0.00,2.17,0.00,0.000,6,0.000,0.044,2586,1805,3955,0,0,0,0,0,0
$GC,1574,-0.76,-214.1,313.0,-12.9,269,1578,0.00,2.15,0.00,0.000,4,0.000,0.047,2571,3217,3955,0,0,0,0,0,0
$GC,1607,-0.80,-214.1,317.6,-12.3,271,1615,0.00,2.15,0.00,0.000,6,0.000,0.035,2571,1796,3956,0,0,0,0,0,0
$GC,1933,-0.80,-214.1,363.4,-14.4,302,1937,0.00,2.15,0.00,0.000,4,0.000,0.048,2570,395,3955,0,0,0,0,0,0
$GC,1998,-0.84,-214.1,372.9,-13.1,307,2006,0.00,2.17,0.00,0.000,6,0.000,0.044,2566,1809,3955,0,0,0,0,0,0
$GC,2324,-0.85,-214.1,415.9,-12.9,338,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1810,3954,0,0,0,0,0,0
$GC,2645,-0.88,-214.1,455.5,-11.9,368,2649,0.00,2.20,0.00,0.000,4,0.000,0.051,2566,398,3951,0,0,0,0,0,0
$GC,2668,-0.91,-214.1,458.4,-11.4,369,2675,0.00,2.15,0.00,0.000,6,0.000,0.046,2559,1801,3952,0,0,0,0,0,0
$GC,2994,-0.92,-214.1,499.2,-12.8,400,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1801,3950,0,0,0,0,0,0
$GC,3317,-0.94,-214.1,538.8,-12.5,430,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1801,3948,0,0,0,0,0,0
$GC,3646,-0.96,-214.1,581.4,-13.5,461,3650,0.00,2.20,0.00,0.000,4,0.000,0.054,2556,398,3944,0,0,0,0,0,0
$GC,3690,-1.00,-214.1,588.5,-14.1,464,3698,0.15,2.17,0.00,0.000,6,0.082,0.049,2498,1799,3944,0,0,0,0,0,0
$GC,4010,-0.93,-214.1,646.0,-17.6,483,4014,0.15,2.22,0.00,0.000,4,0.177,0.056,2530,3210,3941,0,0,0,0,0,0
$GC,4051,-0.93,-214.1,652.2,-13.6,485,4056,0.00,2.15,0.00,0.000,6,0.000,0.040,2530,1793,3941,0,0,0,0,0,0
$GC,4379,-0.91,-214.1,696.1,-13.1,501,4383,0.00,2.17,0.00,0.000,4,0.000,0.055,2530,390,3939,0,0,0,0,0,0
$GC,4445,-0.89,-214.1,705.0,-14.3,504,4450,0.12,2.17,0.00,0.000,6,0.168,0.049,2553,1802,3938,0,0,0,0,0,0
$GC,4776,-0.91,-214.1,742.0,-11.3,520,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1802,3935,0,0,0,0,0,0
$GC,5085,-0.93,-214.1,778.2,-12.1,535,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1802,3933,0,0,0,0,0,0
$GC,5393,-0.95,-214.1,818.0,-13.1,550,5397,0.00,2.20,0.00,0.000,4,0.000,0.060,2546,3209,3929,0,0,0,0,0,0
$GC,5434,-1.00,-214.1,823.3,-12.6,552,5438,0.00,2.15,0.00,0.000,6,0.000,0.043,2545,1796,3929,0,0,0,0,0,0
$GC,5764,-1.00,-214.1,867.4,-13.3,568,5768,0.00,2.20,0.00,0.000,4,0.000,0.057,2545,387,3926,0,0,0,0,0,0
$GC,5804,-1.00,-214.1,873.5,-15.1,570,5808,0.00,2.20,0.00,0.000,6,0.000,0.051,2536,1797,3925,0,0,0,0,0,0
$GC,6134,-1.00,-214.1,919.1,-13.8,586,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1798,3923,0,0,0,0,0,0
$GC,6440,-1.00,-214.1,961.6,-13.7,601,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1798,3921,0,0,0,0,0,0
$STATE,6726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6726,begin apogee
$GC,6732,-0.23,0.0,1000.5,13.5,615,6928,0.70,0.00,186.52,1.443,6,0.133,0.000,2757,1746,3071,0,0,0,0,0,0
$STATE,6928,end apogee,CONTROL_FINISHED_OK
$STATE,6929,begin climb
$GC,6931,1.16,214.1,1010.3,0.0,624,7142,1.33,2.50,202.10,1.379,4,0.057,0.060,3228,353,2198,0,0,0,0,0,0
$GC,7159,0.83,214.1,971.7,30.3,635,7164,0.47,2.38,0.00,0.000,6,0.203,0.049,3112,1745,2196,0,0,0,0,0,0
$GC,7484,0.64,214.1,899.1,21.9,651,7489,0.22,2.22,0.00,0.000,4,0.185,0.054,3041,3169,2191,0,0,0,0,0,0
$GC,7534,0.55,214.1,888.8,17.4,653,7538,0.12,2.17,0.00,0.000,6,0.195,0.044,3019,1739,2190,0,0,0,0,0,0
$GC,7852,0.49,214.1,843.3,14.5,668,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1739,2189,0,0,0,0,0,0
$GC,8159,0.43,214.1,798.4,14.9,683,8161,0.15,0.00,0.00,0.000,6,0.174,0.000,2978,1739,2188,0,0,0,0,0,0
$GC,8468,0.50,270.5,762.4,11.4,698,8522,0.00,0.00,51.50,1.286,6,0.000,0.000,2978,1739,1969,0,0,0,0,0,0
$GC,8825,0.62,340.9,723.1,10.8,715,8894,0.17,0.00,66.18,1.251,6,0.076,0.000,3061,1739,1681,0,0,0,0,0,0
$GC,9192,0.55,340.9,652.5,19.4,733,9194,0.15,0.00,0.00,0.000,6,0.175,0.000,3022,1738,1676,0,0,0,0,0,0
$GC,9499,0.55,340.9,605.5,15.2,748,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1738,1675,0,0,0,0,0,0
$GC,9817,0.55,340.9,556.3,14.7,776,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1739,1673,0,0,0,0,0,0
$GC,10138,0.55,340.9,510.4,14.1,806,10142,0.00,2.17,0.00,0.000,4,0.000,0.057,3031,346,1673,0,0,0,0,0,0
$GC,10159,0.55,340.9,506.6,14.9,807,10166,0.00,2.17,0.00,0.000,6,0.000,0.042,3031,1761,1670,0,0,0,0,0,0
$GC,10484,0.55,340.9,459.7,14.5,838,10488,0.00,2.15,0.00,0.000,4,0.000,0.052,3031,3164,1670,0,0,0,0,0,0
$GC,10528,0.57,344.3,453.1,13.7,841,10535,0.00,2.15,0.00,0.000,6,0.000,0.043,3039,1749,1670,0,0,0,0,0,0
$GC,10853,0.57,344.3,405.1,14.2,872,10857,0.00,2.17,0.00,0.000,4,0.000,0.057,3050,346,1670,0,0,0,0,0,0
$GC,10904,0.57,344.3,397.6,14.7,876,10908,0.00,2.15,0.00,0.000,6,0.000,0.041,3050,1754,1669,0,0,0,0,0,0
$GC,11229,0.57,344.3,348.2,15.7,906,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1757,1669,0,0,0,0,0,0
$GC,11550,0.56,344.3,299.6,14.9,936,11559,0.00,2.17,0.00,0.000,4,0.000,0.049,3050,3155,1669,0,0,0,0,0,0
$GC,11607,0.56,344.3,291.3,14.6,945,11615,0.15,2.15,0.00,0.000,6,0.155,0.041,3019,1749,1669,0,0,0,0,0,0
$GC,11949,0.75,456.0,254.1,9.0,1006,12058,0.17,2.33,100.80,0.876,4,0.070,0.054,3127,346,1212,0,0,0,0,0,0
$GC,12112,0.70,456.0,223.3,21.0,1031,12120,0.22,2.15,0.00,0.000,6,0.151,0.037,3063,1755,1210,0,0,0,0,0,0
$GC,12456,0.76,470.5,173.2,13.3,1092,12479,0.00,2.20,13.50,0.744,4,0.000,0.047,3063,3156,1153,0,0,0,0,0,0
$GC,12508,0.89,507.4,166.0,12.3,1100,12547,0.12,2.17,32.75,0.773,6,0.038,0.037,3156,1743,1003,0,0,0,0,0,0
$GC,12874,0.85,507.4,88.8,17.0,1165,12882,0.15,2.22,0.00,0.000,4,0.161,0.054,3124,348,999,0,0,0,0,0,0
$GC,12951,1.06,596.8,79.3,10.0,1178,13039,0.12,2.15,76.47,0.702,6,0.044,0.037,3202,1754,636,0,0,0,0,0,0
$STATE,13272,end climb,SURFACE_DEPTH_REACHED
$STATE,13272,begin surface coast
$FINISH,1.1,1.022719
$STATE,13284,end surface coast,CONTROL_FINISHED_OK
$STATE,13284,begin surface
$SM_CCo,13361,0.00,0.000,0,0,629,599.02
$SM_GC,1.70,8.05,0.00,0.00,0.038,0.000,0.000,168,1758,629,-8.35,-1.19,599.02
$IRIDIUM_FIX,2106.38,12559.94,091110,000015
$TT8_MAMPS,0.026215
$HUMID,44.80
$INTERNAL_PRESSURE,8.65726
$TCM_TEMP,23.60
$XPDR_PINGS,99
$24V_AH,22.0,91.028
$10V_AH,10.1,57.219
$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,22.725,83.475,729.825,0.000,0.000,31.320,18.380,191.774,24.750,0.000,15.831,2972.874,6809.100,735.643,2847.534,404.782,0.000,1876.365,0.000,2611.005,0.000,0.844,0.000
$DEVICE_MAMPS,229.500,120.105,1442.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.211,1052.727,1311.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73546,1236
$CAP_FILE_SIZE,137515,0
$CFSIZE,260165632,150544384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,247.0,1
$GPS,091110,075406,2117.433,12600.613,26,1.1,26,-2.9