version: 66.08
glider: 166
mission: 3
dive: 480
start: 11 10 110 6 23 47
data:
$ID,166
$MISSION,3
$DIVE,480
$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,-22188.449
$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,51
$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
$GPS1,101110,061554,2117.324,12600.402,38,1.3,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.0
$GPS2,101110,062325,2117.216,12600.324,16,1.4,33,-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,39.5,3466,-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,-214.1,0.0,0.0,0,127,0.00,0.00,-108.55,0.000,2,0.000,0.000,139,1826,3292,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.5,-10.1,15,155,9.32,0.00,-12.62,0.000,6,0.223,0.000,2453,1824,3947,0,0,0,0,0,0
$GC,475,-0.91,-214.1,135.5,-33.5,78,483,0.28,2.25,0.00,0.000,4,0.186,0.043,2537,388,3951,0,0,0,0,0,0
$GC,594,-0.76,-214.1,166.6,-26.5,99,602,0.22,2.12,0.00,0.000,6,0.154,0.043,2591,1787,3952,0,0,0,0,0,0
$GC,929,-0.76,-214.1,219.8,-14.4,160,937,0.00,2.20,0.00,0.000,4,0.000,0.047,2582,3217,3954,0,0,0,0,0,0
$GC,950,-0.76,-214.1,222.9,-14.7,163,957,0.00,2.12,0.00,0.000,6,0.000,0.034,2582,1789,3954,0,0,0,0,0,0
$GC,1283,-0.76,-214.1,273.4,-15.3,224,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1790,3955,0,0,0,0,0,0
$GC,1619,-0.76,-214.1,320.0,-13.3,272,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1790,3954,0,0,0,0,0,0
$GC,1941,-0.79,-214.1,362.7,-13.1,302,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1790,3953,0,0,0,0,0,0
$GC,2272,-0.82,-214.1,404.1,-11.6,333,2276,0.00,2.22,0.00,0.000,4,0.000,0.049,2581,3215,3952,0,0,0,0,0,0
$GC,2297,-0.87,-214.1,407.6,-12.3,335,2301,0.00,2.15,0.00,0.000,6,0.000,0.034,2580,1792,3952,0,0,0,0,0,0
$GC,2629,-0.90,-214.1,447.0,-12.0,366,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1792,3950,0,0,0,0,0,0
$GC,2950,-0.94,-214.1,485.5,-11.7,396,2955,0.12,2.20,0.00,0.000,4,0.090,0.051,2519,401,3948,0,0,0,0,0,0
$GC,2979,-0.90,-214.1,490.0,-15.3,398,2984,0.12,2.17,0.00,0.000,6,0.178,0.046,2545,1800,3948,0,0,0,0,0,0
$GC,3306,-0.89,-214.1,538.5,-14.6,428,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1801,3945,0,0,0,0,0,0
$GC,3626,-0.89,-214.1,585.2,-14.4,458,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1801,3943,0,0,0,0,0,0
$GC,3958,-0.89,-214.1,632.6,-14.2,479,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1801,3940,0,0,0,0,0,0
$GC,4266,-0.89,-214.1,678.4,-15.4,494,4270,0.00,2.22,0.00,0.000,4,0.000,0.057,2537,3217,3937,0,0,0,0,0,0
$GC,4316,-0.92,-214.1,686.2,-13.8,496,4320,0.00,2.15,0.00,0.000,6,0.000,0.039,2537,1806,3936,0,0,0,0,0,0
$GC,4633,-0.92,-214.1,734.1,-15.2,511,4637,0.00,2.22,0.00,0.000,4,0.000,0.054,2537,393,3933,0,0,0,0,0,0
$GC,4683,-0.92,-214.1,742.4,-15.8,513,4687,0.00,2.20,0.00,0.000,6,0.000,0.049,2528,1788,3933,0,0,0,0,0,0
$GC,5005,-0.90,-214.1,790.5,-15.0,529,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1788,3929,0,0,0,0,0,0
$GC,5317,-0.88,-214.1,834.3,-14.1,544,5321,0.00,2.20,0.00,0.000,4,0.000,0.055,2528,397,3927,0,0,0,0,0,0
$GC,5345,-0.85,-214.1,839.0,-15.1,545,5350,0.17,2.22,0.00,0.000,6,0.158,0.053,2564,1810,3927,0,0,0,0,0,0
$GC,5670,-0.90,-214.1,874.0,-10.8,561,5674,0.00,2.17,0.00,0.000,4,0.000,0.057,2556,3208,3924,0,0,0,0,0,0
$GC,5703,-0.96,-214.1,878.1,-11.1,562,5711,0.00,2.17,0.00,0.000,6,0.000,0.041,2556,1791,3923,0,0,0,0,0,0
$GC,6020,-0.99,-214.1,913.8,-11.4,578,6024,0.10,2.22,0.00,0.000,4,0.106,0.057,2508,395,3921,0,0,0,0,0,0
$GC,6048,-0.96,-214.1,917.8,-14.0,579,6052,0.00,2.20,0.00,0.000,6,0.000,0.051,2500,1804,3921,0,0,0,0,0,0
$GC,6365,-0.91,-214.1,969.2,-16.8,594,6370,0.15,2.25,0.00,0.000,4,0.181,0.057,2539,390,3918,0,0,0,0,0,0
$GC,6406,-0.91,-214.1,975.6,-15.4,596,6410,0.00,2.22,0.00,0.000,6,0.000,0.050,2531,1801,3918,0,0,0,0,0,0
$STATE,6587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6587,begin apogee
$GC,6593,-0.23,0.0,1001.9,14.5,605,6785,0.73,0.00,184.85,1.444,6,0.134,0.000,2758,1749,3072,0,0,0,0,0,0
$STATE,6786,end apogee,CONTROL_FINISHED_OK
$STATE,6786,begin climb
$GC,6789,1.16,214.1,1013.0,0.0,614,7002,1.30,2.50,200.43,1.382,4,0.056,0.058,3229,344,2198,0,0,0,0,0,0
$GC,7036,0.83,214.1,968.6,30.7,625,7041,0.45,2.30,0.00,0.000,6,0.203,0.049,3111,1746,2196,0,0,0,0,0,0
$GC,7354,0.64,214.1,898.7,21.8,640,7358,0.22,2.20,0.00,0.000,4,0.189,0.053,3041,3167,2191,0,0,0,0,0,0
$GC,7394,0.54,214.1,890.6,17.7,642,7399,0.15,2.17,0.00,0.000,6,0.190,0.042,3011,1749,2189,0,0,0,0,0,0
$GC,7725,0.49,217.6,844.8,13.7,658,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1749,2188,0,0,0,0,0,0
$GC,8034,0.45,223.3,802.7,13.6,673,8048,0.00,2.28,7.85,1.107,4,0.000,0.051,3002,3164,2161,0,0,0,0,0,0
$GC,8065,0.41,225.3,797.7,13.8,674,8070,0.15,2.17,0.00,0.000,6,0.184,0.041,2973,1749,2161,0,0,0,0,0,0
$GC,8383,0.52,302.3,764.5,10.5,689,8469,0.10,2.35,74.30,1.287,4,0.107,0.056,3036,346,1839,0,0,0,0,0,0
$GC,8495,0.48,302.3,747.6,15.8,694,8500,0.15,2.22,0.00,0.000,6,0.164,0.043,2997,1767,1836,0,0,0,0,0,0
$GC,8824,0.50,317.5,704.0,13.2,710,8846,0.00,2.17,14.32,1.165,4,0.000,0.054,2996,3158,1777,0,0,0,0,0,0
$GC,8893,0.56,325.7,694.4,13.5,713,8907,0.00,2.17,9.32,1.069,6,0.000,0.042,3005,1739,1743,0,0,0,0,0,0
$GC,9226,0.58,340.4,650.9,13.3,729,9249,0.00,2.20,14.75,1.141,4,0.000,0.057,3016,346,1684,0,0,0,0,0,0
$GC,9282,0.61,340.4,642.7,14.5,731,9287,0.00,2.17,0.00,0.000,6,0.000,0.044,3016,1753,1682,0,0,0,0,0,0
$GC,9601,0.61,347.8,599.4,13.6,746,9614,0.00,2.25,7.97,1.012,4,0.000,0.054,3016,3161,1654,0,0,0,0,0,0
$GC,9661,0.66,357.9,591.1,13.5,751,9676,0.00,2.17,11.10,1.065,6,0.000,0.048,3026,1741,1611,0,0,0,0,0,0
$GC,9999,0.66,357.9,542.4,14.3,782,10003,0.00,2.17,0.00,0.000,4,0.000,0.056,3036,341,1610,0,0,0,0,0,0
$GC,10043,0.68,357.9,535.2,14.7,785,10051,0.00,2.17,0.00,0.000,6,0.000,0.041,3036,1752,1608,0,0,0,0,0,0
$GC,10368,0.67,357.9,481.7,16.8,816,10372,0.00,2.17,0.00,0.000,4,0.000,0.051,3036,3164,1608,0,0,0,0,0,0
$GC,10410,0.67,357.9,475.1,16.7,819,10414,0.00,2.15,0.00,0.000,6,0.000,0.041,3047,1743,1607,0,0,0,0,0,0
$GC,10736,0.65,357.9,421.9,16.1,849,10740,0.00,2.17,0.00,0.000,4,0.000,0.056,3057,341,1607,0,0,0,0,0,0
$GC,10780,0.65,357.9,414.4,16.5,852,10788,0.00,2.20,0.00,0.000,6,0.000,0.041,3057,1746,1606,0,0,0,0,0,0
$GC,11107,0.61,357.9,364.6,15.5,883,11111,0.00,2.17,0.00,0.000,4,0.000,0.050,3057,3174,1606,0,0,0,0,0,0
$GC,11148,0.61,357.9,358.3,14.2,886,11153,0.12,2.20,0.00,0.000,6,0.170,0.041,3036,1739,1606,0,0,0,0,0,0
$GC,11476,0.69,402.4,318.2,12.0,916,11524,0.00,2.28,39.80,0.947,4,0.000,0.054,3045,347,1430,0,0,0,0,0,0
$GC,11571,0.77,417.9,305.6,13.2,924,11597,0.12,2.15,15.43,0.874,6,0.086,0.037,3115,1763,1367,0,0,0,0,0,0
$GC,11917,0.69,417.9,230.3,21.2,985,11925,0.20,2.12,0.00,0.000,4,0.161,0.047,3055,3157,1366,0,0,0,0,0,0
$GC,11983,0.76,417.9,219.5,13.9,996,11991,0.00,2.17,0.00,0.000,6,0.000,0.038,3063,1744,1365,0,0,0,0,0,0
$GC,12325,0.87,477.7,176.1,11.3,1057,12387,0.15,2.22,52.72,0.803,4,0.074,0.041,3150,3160,1123,0,0,0,0,0,0
$GC,12466,0.87,477.7,147.9,18.5,1080,12474,0.12,2.20,0.00,0.000,6,0.139,0.040,3120,1754,1123,0,0,0,0,0,0
$GC,12795,0.87,478.4,96.4,13.9,1141,12804,0.00,2.22,0.00,0.000,4,0.000,0.052,3130,344,1120,0,0,0,0,0,0
$GC,12920,1.02,549.0,80.8,10.8,1163,12988,0.08,2.15,60.60,0.707,6,0.052,0.034,3189,1758,832,0,0,0,0,0,0
$STATE,13268,end climb,SURFACE_DEPTH_REACHED
$STATE,13269,begin surface coast
$FINISH,1.1,1.014934
$STATE,13281,end surface coast,CONTROL_FINISHED_OK
$STATE,13281,begin surface
$SM_CCo,13358,0.00,0.000,0,0,829,550.21
$SM_GC,1.80,8.02,0.00,0.00,0.039,0.000,0.000,168,1762,829,-8.35,-1.07,550.21
$IRIDIUM_FIX,2106.38,12559.94,101110,020255
$TT8_MAMPS,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,8.66703
$TCM_TEMP,23.80
$XPDR_PINGS,97
$24V_AH,22.1,92.725
$10V_AH,10.1,58.182
$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,22.575,110.300,693.450,0.000,0.000,25.462,21.263,200.041,24.250,0.000,34.291,3006.889,6674.578,710.989,2977.000,423.253,0.000,1923.310,0.000,2712.597,0.000,0.844,0.000
$DEVICE_MAMPS,223.380,116.280,1443.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.883,1049.031,1346.661,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73633,1227
$CAP_FILE_SIZE,147863,0
$CFSIZE,260165632,149970944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,244.8,1
$GPS,101110,100737,2118.581,12601.134,34,0.9,34,-2.9