version: 66.08
glider: 166
mission: 3
dive: 474
start: 11 9 110 8 4 5
data:
$ID,166
$MISSION,3
$DIVE,474
$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,-22180.902
$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
$GPS1,091110,075406,2117.433,12600.613,26,1.1,26,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-55.5
$GPS2,091110,080331,2117.359,12600.477,14,1.3,31,-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,38.7,3115,-23.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.26,-146.5,0.0,0.0,0,132,0.00,0.00,-113.72,0.000,2,0.000,0.000,143,1759,3553,0,0,0,0,0,0
$GC,135,-1.30,-177.2,6.5,-11.9,16,158,9.38,0.00,-4.62,0.000,6,0.231,0.000,2412,1759,3798,0,0,0,0,0,0
$GC,475,-1.07,-177.2,142.4,-32.0,79,484,0.25,2.17,0.00,0.000,4,0.190,0.046,2486,392,3800,0,0,0,0,0,0
$GC,678,-0.98,-177.2,196.7,-24.4,115,685,0.17,2.15,0.00,0.000,6,0.179,0.045,2521,1800,3801,0,0,0,0,0,0
$GC,1020,-0.92,-177.2,266.9,-20.6,176,1028,0.00,2.22,0.00,0.000,4,0.000,0.047,2522,402,3802,0,0,0,0,0,0
$GC,1154,-0.90,-177.2,293.4,-18.9,199,1162,0.12,2.15,0.00,0.000,6,0.177,0.044,2549,1809,3802,0,0,0,0,0,0
$GC,1491,-0.90,-177.2,348.2,-15.4,233,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1810,3802,0,0,0,0,0,0
$GC,1820,-0.94,-184.7,395.3,-13.4,264,1824,0.00,2.20,0.00,0.000,4,0.000,0.050,2547,399,3802,0,0,0,0,0,0
$GC,1918,-0.98,-196.8,408.5,-13.1,272,1921,0.00,2.17,0.00,0.000,6,0.000,0.045,2544,1801,3802,0,0,0,0,0,0
$GC,2245,-1.01,-196.8,455.1,-14.5,302,2249,0.00,2.22,0.00,0.000,4,0.000,0.054,2546,3219,3802,0,0,0,0,0,0
$GC,2291,-1.07,-196.8,462.0,-13.9,305,2298,0.15,2.17,0.00,0.000,6,0.076,0.037,2480,1801,3802,0,0,0,0,0,0
$GC,2616,-1.01,-196.8,525.4,-19.1,336,2621,0.12,2.22,0.00,0.000,4,0.194,0.053,2510,388,3800,0,0,0,0,0,0
$GC,2704,-0.99,-196.8,540.8,-18.3,343,2708,0.00,2.17,0.00,0.000,6,0.000,0.046,2502,1803,3799,0,0,0,0,0,0
$GC,3029,-0.96,-196.8,597.8,-16.6,373,3033,0.00,2.25,0.00,0.000,4,0.000,0.053,2501,387,3798,0,0,0,0,0,0
$GC,3069,-0.92,-196.8,604.6,-16.6,375,3076,0.17,2.22,0.00,0.000,6,0.171,0.047,2538,1812,3797,0,0,0,0,0,0
$GC,3386,-0.96,-204.2,648.9,-13.4,391,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1812,3794,0,0,0,0,0,0
$GC,3695,-1.00,-210.0,691.0,-13.5,406,3699,0.00,2.25,0.00,0.000,4,0.000,0.054,2538,385,3791,0,0,0,0,0,0
$GC,3785,-1.04,-210.0,704.0,-14.3,410,3789,0.00,2.20,0.00,0.000,6,0.000,0.048,2530,1804,3789,0,0,0,0,0,0
$GC,4107,-1.06,-212.4,748.9,-13.7,426,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1804,3787,0,0,0,0,0,0
$GC,4418,-1.09,-214.0,791.6,-13.8,441,4423,0.12,2.25,0.00,0.000,4,0.095,0.056,2480,388,3783,0,0,0,0,0,0
$GC,4445,-1.06,-214.0,796.5,-16.9,442,4450,0.00,2.20,0.00,0.000,6,0.000,0.050,2472,1800,3782,0,0,0,0,0,0
$GC,4763,-1.01,-214.0,852.5,-17.7,457,4768,0.15,2.22,0.00,0.000,4,0.194,0.055,2513,395,3780,0,0,0,0,0,0
$GC,4807,-1.01,-214.0,860.3,-15.2,459,4811,0.00,2.20,0.00,0.000,6,0.000,0.050,2504,1812,3780,0,0,0,0,0,0
$GC,5135,-1.01,-214.0,909.7,-15.4,475,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1812,3776,0,0,0,0,0,0
$GC,5447,-1.01,-214.0,957.1,-15.3,490,5451,0.00,2.25,0.00,0.000,4,0.000,0.058,2504,388,3775,0,0,0,0,0,0
$GC,5501,-1.01,-214.0,966.6,-16.2,492,5508,0.00,2.20,0.00,0.000,6,0.000,0.051,2494,1800,3774,0,0,0,0,0,0
$STATE,5733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5733,begin apogee
$GC,5741,-0.23,0.0,1001.9,15.2,504,5901,0.88,0.00,153.65,1.447,6,0.151,0.000,2758,1748,3072,0,0,0,0,0,0
$STATE,5902,end apogee,CONTROL_FINISHED_OK
$STATE,5902,begin climb
$GC,5904,1.34,214.0,1007.6,0.0,511,6115,1.50,2.47,201.85,1.370,4,0.070,0.058,3284,340,2199,0,0,0,0,0,0
$GC,6154,1.01,214.0,953.1,36.4,523,6159,0.45,2.33,0.00,0.000,6,0.218,0.050,3169,1744,2195,0,0,0,0,0,0
$GC,6472,0.81,214.0,864.9,27.1,538,6476,0.25,2.20,0.00,0.000,4,0.197,0.053,3087,3167,2190,0,0,0,0,0,0
$GC,6526,0.71,214.0,851.7,20.9,540,6533,0.00,2.17,0.00,0.000,6,0.000,0.044,3095,1746,2189,0,0,0,0,0,0
$GC,6845,0.60,214.0,788.5,19.7,556,6847,0.22,0.00,0.00,0.000,6,0.184,0.000,3035,1746,2188,0,0,0,0,0,0
$GC,7152,0.58,214.0,741.7,15.0,571,7156,0.00,2.20,0.00,0.000,4,0.000,0.054,3025,3169,2186,0,0,0,0,0,0
$GC,7193,0.58,214.0,735.8,14.9,573,7197,0.00,2.17,0.00,0.000,6,0.000,0.043,3033,1749,2185,0,0,0,0,0,0
$GC,7520,0.58,214.0,686.1,15.3,589,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1749,2185,0,0,0,0,0,0
$GC,7829,0.58,214.0,640.5,14.1,604,7833,0.00,2.20,0.00,0.000,4,0.000,0.057,3044,349,2184,0,0,0,0,0,0
$GC,7887,0.56,214.0,631.6,16.1,606,7893,0.00,2.20,0.00,0.000,6,0.000,0.044,3044,1762,2183,0,0,0,0,0,0
$GC,8205,0.55,214.0,585.8,14.0,626,8209,0.00,2.15,0.00,0.000,4,0.000,0.053,3044,3162,2182,0,0,0,0,0,0
$GC,8280,0.55,214.0,575.6,14.2,632,8285,0.12,2.15,0.00,0.000,6,0.187,0.042,3022,1745,2181,0,0,0,0,0,0
$GC,8605,0.61,249.3,537.8,11.6,662,8643,0.00,2.33,30.65,1.134,4,0.000,0.057,3030,341,2055,0,0,0,0,0,0
$GC,8686,0.65,249.3,527.2,14.6,669,8690,0.00,2.20,0.00,0.000,6,0.000,0.042,3030,1750,2052,0,0,0,0,0,0
$GC,9017,0.67,249.3,479.2,14.7,700,9021,0.00,2.15,0.00,0.000,4,0.000,0.052,3030,3161,2050,0,0,0,0,0,0
$GC,9105,0.71,251.8,467.0,13.7,707,9109,0.00,2.15,0.00,0.000,6,0.000,0.041,3038,1752,2049,0,0,0,0,0,0
$GC,9432,0.76,274.0,422.7,12.5,737,9457,0.12,0.00,22.65,1.017,6,0.092,0.000,3104,1752,1954,0,0,0,0,0,0
$GC,9774,0.71,274.0,362.2,18.1,769,9778,0.12,2.20,0.00,0.000,4,0.184,0.054,3083,347,1951,0,0,0,0,0,0
$GC,9851,0.71,274.0,348.4,17.9,775,9859,0.00,2.15,0.00,0.000,6,0.000,0.040,3080,1760,1950,0,0,0,0,0,0
$GC,10177,0.71,274.0,296.3,14.8,808,10185,0.00,2.15,0.00,0.000,4,0.000,0.049,3080,3151,1949,0,0,0,0,0,0
$GC,10274,0.71,274.0,282.1,15.4,825,10281,0.00,2.12,0.00,0.000,6,0.000,0.039,3089,1741,1949,0,0,0,0,0,0
$GC,10606,0.73,290.1,234.6,12.9,886,10629,0.00,2.20,14.75,0.820,4,0.000,0.052,3100,345,1890,0,0,0,0,0,0
$GC,10699,0.73,290.1,221.0,15.6,902,10707,0.00,2.17,0.00,0.000,6,0.000,0.037,3098,1750,1887,0,0,0,0,0,0
$GC,11032,0.73,291.6,174.7,13.8,963,11039,0.00,2.12,0.00,0.000,4,0.000,0.047,3098,3164,1887,0,0,0,0,0,0
$GC,11092,0.76,291.6,166.2,14.5,973,11099,0.00,2.12,0.00,0.000,6,0.000,0.037,3107,1744,1887,0,0,0,0,0,0
$GC,11425,0.89,366.2,126.9,9.2,1034,11502,0.00,2.28,66.62,0.754,4,0.000,0.052,3117,350,1578,0,0,0,0,0,0
$GC,11561,0.97,366.5,111.6,13.9,1054,11569,0.08,2.17,0.00,0.000,6,0.056,0.035,3172,1763,1576,0,0,0,0,0,0
$GC,11891,0.96,366.5,61.8,14.1,1115,11900,0.00,2.12,0.00,0.000,4,0.000,0.043,3168,3159,1575,0,0,0,0,0,0
$GC,11986,0.96,366.5,46.0,16.4,1132,11994,0.00,2.15,0.00,0.000,6,0.000,0.037,3169,1753,1575,0,0,0,0,0,0
$STATE,12216,end climb,SURFACE_DEPTH_REACHED
$STATE,12216,begin surface coast
$FINISH,1.2,1.022463
$STATE,12234,end surface coast,CONTROL_FINISHED_OK
$STATE,12234,begin surface
$SM_CCo,12250,38.92,0.468,1,0,1440,400.08
$SM_GC,1.65,0.00,0.00,38.92,0.000,0.000,0.468,154,1751,1440,-8.41,-1.39,400.08
$IRIDIUM_FIX,2108.69,12558.07,091110,070748
$TT8_MAMPS,0.025466
$HUMID,43.14
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.80
$XPDR_PINGS,99
$24V_AH,22.1,91.226
$10V_AH,10.1,57.352
$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,22.175,101.250,490.175,38.925,0.000,50.982,64.388,180.731,24.750,0.000,32.428,2899.360,6014.090,600.149,2945.754,401.827,0.000,1718.852,0.000,2631.974,0.000,0.843,0.000
$DEVICE_MAMPS,231.030,117.810,1447.380,468.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.276,1020.344,1372.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70201,1178
$CAP_FILE_SIZE,136286,0
$CFSIZE,260165632,150466560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,208.0,1
$GPS,091110,113007,2118.503,12601.225,26,1.4,26,-2.9