version: 66.08
glider: 166
mission: 3
dive: 475
start: 11 9 110 11 37 42
data:
$ID,166
$MISSION,3
$DIVE,475
$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,-22182.16
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,091110,113007,2118.503,12601.225,26,1.4,26,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.7
$GPS2,091110,113720,2118.475,12601.160,13,1.5,13,-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,176.5,9213,-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,-214.1,0.0,0.0,0,96,0.00,0.00,-76.90,0.000,2,0.000,0.000,147,1749,3436,0,0,0,0,0,0
$GC,99,-1.16,-214.1,5.2,-8.2,10,130,9.48,2.12,-9.65,0.000,4,0.230,0.057,2459,389,3949,0,0,0,0,0,0
$GC,339,-0.94,-214.1,102.3,-34.6,53,349,0.28,2.17,0.00,0.000,6,0.163,0.044,2533,1786,3951,0,0,0,0,0,0
$GC,672,-0.82,-214.1,188.8,-20.7,114,681,0.15,2.22,0.00,0.000,4,0.177,0.047,2576,387,3954,0,0,0,0,0,0
$GC,724,-0.79,-214.1,198.3,-17.3,122,732,0.00,2.20,0.00,0.000,6,0.000,0.045,2576,1796,3954,0,0,0,0,0,0
$GC,1062,-0.75,-214.1,256.5,-18.1,183,1069,0.00,2.15,0.00,0.000,4,0.000,0.047,2572,392,3956,0,0,0,0,0,0
$GC,1141,-0.75,-214.1,271.5,-18.7,197,1149,0.12,2.15,0.00,0.000,6,0.167,0.042,2592,1813,3956,0,0,0,0,0,0
$GC,1475,-0.78,-214.1,321.2,-14.2,244,1479,0.00,2.10,0.00,0.000,4,0.000,0.047,2581,3207,3956,0,0,0,0,0,0
$GC,1530,-0.86,-214.1,328.5,-12.2,248,1538,0.00,2.15,0.00,0.000,6,0.000,0.035,2581,1801,3956,0,0,0,0,0,0
$GC,1857,-0.87,-214.1,369.1,-13.2,279,1861,0.00,2.22,0.00,0.000,4,0.000,0.050,2580,383,3956,0,0,0,0,0,0
$GC,1923,-0.92,-214.1,378.7,-13.4,284,1931,0.00,2.20,0.00,0.000,6,0.000,0.044,2571,1794,3956,0,0,0,0,0,0
$GC,2250,-0.94,-214.1,425.1,-13.7,315,2254,0.00,2.20,0.00,0.000,4,0.000,0.052,2567,3222,3955,0,0,0,0,0,0
$GC,2346,-1.01,-214.1,436.9,-11.2,323,2351,0.15,2.15,0.00,0.000,6,0.074,0.036,2489,1797,3954,0,0,0,0,0,0
$GC,2673,-0.92,-214.1,496.6,-18.4,353,2678,0.20,2.20,0.00,0.000,4,0.168,0.050,2546,394,3953,0,0,0,0,0,0
$GC,2751,-0.92,-214.1,508.6,-12.9,359,2758,0.00,2.17,0.00,0.000,6,0.000,0.046,2547,1812,3953,0,0,0,0,0,0
$GC,3077,-0.92,-214.1,554.2,-14.4,390,3081,0.00,2.22,0.00,0.000,4,0.000,0.051,2546,392,3950,0,0,0,0,0,0
$GC,3109,-0.92,-214.1,559.5,-15.6,392,3117,0.00,2.20,0.00,0.000,6,0.000,0.046,2545,1811,3950,0,0,0,0,0,0
$GC,3444,-0.92,-214.1,609.5,-14.7,421,3448,0.00,2.17,0.00,0.000,4,0.000,0.053,2535,3219,3948,0,0,0,0,0,0
$GC,3465,-0.92,-214.1,612.9,-14.9,422,3469,0.00,2.15,0.00,0.000,6,0.000,0.038,2535,1790,3948,0,0,0,0,0,0
$GC,3795,-0.90,-214.1,660.3,-14.2,438,3799,0.00,2.17,0.00,0.000,4,0.000,0.054,2535,396,3945,0,0,0,0,0,0
$GC,3850,-0.90,-214.1,669.3,-15.0,440,3857,0.00,2.17,0.00,0.000,6,0.000,0.047,2527,1810,3944,0,0,0,0,0,0
$GC,4167,-0.88,-214.1,715.7,-14.9,456,4172,0.12,2.25,0.00,0.000,4,0.183,0.054,2561,395,3941,0,0,0,0,0,0
$GC,4224,-0.92,-214.1,723.2,-12.3,458,4231,0.00,2.20,0.00,0.000,6,0.000,0.047,2555,1803,3942,0,0,0,0,0,0
$GC,4541,-0.94,-214.1,761.3,-11.8,474,4545,0.00,2.17,0.00,0.000,4,0.000,0.056,2544,3212,3938,0,0,0,0,0,0
$GC,4562,-0.96,-214.1,763.6,-12.0,475,4566,0.00,2.15,0.00,0.000,6,0.000,0.040,2544,1790,3938,0,0,0,0,0,0
$GC,4889,-0.96,-214.1,806.7,-13.7,491,4893,0.00,2.20,0.00,0.000,4,0.000,0.056,2544,390,3936,0,0,0,0,0,0
$GC,4960,-0.96,-214.1,817.2,-14.2,494,4964,0.00,2.17,0.00,0.000,6,0.000,0.048,2534,1799,3935,0,0,0,0,0,0
$GC,5284,-0.96,-214.1,863.6,-14.7,510,5288,0.00,2.20,0.00,0.000,4,0.000,0.058,2523,3214,3931,0,0,0,0,0,0
$GC,5306,-0.96,-214.1,867.3,-14.3,511,5310,0.00,2.17,0.00,0.000,6,0.000,0.041,2523,1791,3931,0,0,0,0,0,0
$GC,5635,-0.95,-214.1,914.7,-14.4,527,5639,0.00,2.20,0.00,0.000,4,0.000,0.057,2523,395,3929,0,0,0,0,0,0
$GC,5685,-0.95,-214.1,922.6,-13.9,529,5689,0.00,2.22,0.00,0.000,6,0.000,0.050,2513,1799,3928,0,0,0,0,0,0
$GC,6007,-0.92,-214.1,968.3,-14.4,545,6009,0.10,0.00,0.00,0.000,6,0.194,0.000,2537,1800,3925,0,0,0,0,0,0
$STATE,6252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6252,begin apogee
$GC,6259,-0.23,0.0,1000.6,13.4,557,6454,0.70,0.00,186.70,1.435,6,0.132,0.000,2760,1749,3072,0,0,0,0,0,0
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6455,begin climb
$GC,6459,1.16,214.1,1010.7,0.0,566,6665,1.30,0.00,200.75,1.374,6,0.054,0.000,3219,1749,2199,0,0,0,0,0,0
$GC,6966,0.84,214.1,887.2,31.0,591,6968,0.40,0.00,0.00,0.000,6,0.207,0.000,3116,1750,2192,0,0,0,0,0,0
$GC,7274,0.64,214.1,815.4,22.5,606,7279,0.25,2.22,0.00,0.000,4,0.183,0.055,3037,3161,2190,0,0,0,0,0,0
$GC,7307,0.54,214.1,808.4,19.1,607,7315,0.12,2.17,0.00,0.000,6,0.189,0.044,3015,1747,2189,0,0,0,0,0,0
$GC,7625,0.50,219.1,764.6,13.7,623,7635,0.00,2.28,4.18,0.815,4,0.000,0.058,3024,345,2178,0,0,0,0,0,0
$GC,7658,0.45,219.1,759.2,14.3,624,7663,0.15,2.17,0.00,0.000,6,0.164,0.047,2984,1750,2178,0,0,0,0,0,0
$GC,7976,0.53,283.0,722.8,11.1,639,8044,0.00,2.33,60.70,1.248,4,0.000,0.054,2981,3161,1918,0,0,0,0,0,0
$GC,8090,0.65,335.7,709.3,11.6,644,8150,0.17,2.20,49.80,1.214,6,0.067,0.048,3074,1749,1702,0,0,0,0,0,0
$GC,8459,0.56,335.7,636.2,20.6,662,8464,0.20,2.22,0.00,0.000,4,0.171,0.056,3029,340,1696,0,0,0,0,0,0
$GC,8488,0.51,335.7,630.1,19.0,663,8492,0.00,2.17,0.00,0.000,6,0.000,0.044,3029,1753,1695,0,0,0,0,0,0
$GC,8809,0.51,335.7,578.5,16.3,684,8813,0.00,2.15,0.00,0.000,4,0.000,0.054,3029,3159,1693,0,0,0,0,0,0
$GC,8860,0.51,335.7,570.5,15.1,688,8864,0.12,2.17,0.00,0.000,6,0.174,0.044,3007,1743,1692,0,0,0,0,0,0
$GC,9190,0.61,384.0,531.2,11.8,719,9240,0.00,2.30,43.38,1.118,4,0.000,0.059,3016,350,1506,0,0,0,0,0,0
$GC,9284,0.71,413.1,519.7,12.6,727,9320,0.15,2.17,27.92,1.077,6,0.076,0.041,3085,1756,1387,0,0,0,0,0,0
$GC,9636,0.64,413.1,447.1,22.3,760,9640,0.15,2.20,0.00,0.000,4,0.176,0.053,3042,3163,1383,0,0,0,0,0,0
$GC,9691,0.69,413.1,437.2,14.9,764,9699,0.00,2.20,0.00,0.000,6,0.000,0.043,3050,1751,1382,0,0,0,0,0,0
$GC,10017,0.69,413.1,384.5,16.5,795,10021,0.00,2.20,0.00,0.000,4,0.000,0.057,3061,339,1381,0,0,0,0,0,0
$GC,10039,0.69,413.1,380.3,16.9,796,10047,0.00,2.20,0.00,0.000,6,0.000,0.041,3061,1756,1380,0,0,0,0,0,0
$GC,10365,0.69,413.1,324.8,16.5,827,10369,0.00,2.12,0.00,0.000,4,0.000,0.050,3061,3158,1380,0,0,0,0,0,0
$GC,10387,0.69,413.1,320.7,16.3,828,10395,0.00,2.17,0.00,0.000,6,0.000,0.041,3071,1749,1380,0,0,0,0,0,0
$GC,10718,0.69,413.1,267.5,15.1,877,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1749,1379,0,0,0,0,0,0
$GC,11047,0.69,413.1,216.1,15.4,938,11055,0.00,2.22,0.00,0.000,4,0.000,0.055,3081,346,1380,0,0,0,0,0,0
$GC,11119,0.75,428.7,206.1,13.2,950,11140,0.00,2.17,14.18,0.782,6,0.000,0.037,3082,1760,1324,0,0,0,0,0,0
$GC,11465,0.75,428.7,158.7,14.2,1013,11473,0.00,2.12,0.00,0.000,4,0.000,0.046,3081,3158,1324,0,0,0,0,0,0
$GC,11492,0.78,428.7,154.8,14.6,1017,11500,0.00,2.15,0.00,0.000,6,0.000,0.038,3090,1743,1324,0,0,0,0,0,0
$GC,11822,0.92,499.1,113.6,10.8,1078,11889,0.12,2.28,61.25,0.728,4,0.082,0.052,3178,349,1037,0,0,0,0,0,0
$GC,11955,0.90,499.1,89.7,18.5,1098,11964,0.12,2.17,0.00,0.000,6,0.132,0.037,3136,1756,1035,0,0,0,0,0,0
$GC,12284,0.90,499.1,37.5,15.8,1159,12292,0.00,2.12,0.00,0.000,4,0.000,0.043,3134,3152,1035,0,0,0,0,0,0
$GC,12316,0.94,499.1,31.7,16.1,1164,12324,0.00,2.15,0.00,0.000,6,0.000,0.037,3143,1749,1035,0,0,0,0,0,0
$STATE,12514,end climb,SURFACE_DEPTH_REACHED
$STATE,12514,begin surface coast
$FINISH,1.0,0.998822
$STATE,12532,end surface coast,CONTROL_FINISHED_OK
$STATE,12532,begin surface
$SM_CCo,12611,0.00,0.000,0,0,1030,500.90
$SM_GC,1.68,7.85,0.00,0.00,0.037,0.000,0.000,169,1819,1030,-8.33,0.54,500.90
$IRIDIUM_FIX,2108.69,12601.30,091110,070706
$TT8_MAMPS,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.90
$XPDR_PINGS,114
$24V_AH,22.1,91.473
$10V_AH,10.1,57.487
$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,22.425,122.700,648.850,0.000,0.000,27.524,38.657,187.872,28.500,0.000,14.588,2968.433,6004.949,715.894,2928.461,412.912,0.000,1866.135,0.000,2680.678,0.000,0.845,0.000
$DEVICE_MAMPS,230.265,119.340,1435.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.649,1035.529,1379.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70213,1204
$CAP_FILE_SIZE,145458,0
$CFSIZE,260165632,150380544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,167.5,1
$GPS,091110,150906,2116.204,12601.562,37,0.8,37,-2.9