version: 66.08
glider: 166
mission: 3
dive: 484
start: 11 10 110 21 41 0
data:
$ID,166
$MISSION,3
$DIVE,484
$N_DIVES,496
$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,-22193.482
$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,38
$R_STBD_OVSHOOT,49
$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
$GPS1,101110,213324,2115.623,12602.152,184,1.1,201,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-61.1
$GPS2,101110,214038,2115.504,12602.210,16,1.0,16,-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,339.6,6525,-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,-214.1,0.0,0.0,0,121,0.00,0.00,-101.53,0.000,2,0.000,0.000,150,1772,3259,0,0,0,0,0,0
$GC,124,-1.16,-214.1,5.4,-10.7,14,155,9.65,2.17,-13.57,0.000,4,0.233,0.053,2451,3208,3947,0,0,0,0,0,0
$GC,223,-0.93,-214.1,43.5,-34.2,30,232,0.28,2.15,0.00,0.000,6,0.168,0.034,2531,1793,3949,0,0,0,0,0,0
$GC,550,-0.77,-214.1,143.6,-28.4,91,559,0.20,2.17,0.00,0.000,4,0.172,0.044,2589,393,3950,0,0,0,0,0,0
$GC,627,-0.74,-214.1,158.4,-14.8,104,635,0.00,2.15,0.00,0.000,6,0.000,0.040,2581,1790,3950,0,0,0,0,0,0
$GC,959,-0.70,-214.1,212.6,-17.6,165,967,0.12,2.17,0.00,0.000,4,0.179,0.047,2605,3218,3953,0,0,0,0,0,0
$GC,991,-0.72,-214.1,217.3,-14.5,170,1002,0.00,2.15,0.00,0.000,6,0.000,0.034,2604,1803,3953,0,0,0,0,0,0
$GC,1332,-0.76,-214.1,262.8,-13.5,231,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1803,3952,0,0,0,0,0,0
$GC,1670,-0.80,-214.1,305.5,-11.5,289,1674,0.00,2.17,0.00,0.000,4,0.000,0.047,2604,389,3952,0,0,0,0,0,0
$GC,1739,-0.87,-214.1,313.8,-11.3,295,1744,0.12,2.12,0.00,0.000,6,0.090,0.041,2533,1798,3952,0,0,0,0,0,0
$GC,2066,-0.82,-214.1,370.9,-16.1,325,2070,0.15,2.17,0.00,0.000,4,0.168,0.047,2568,3220,3951,0,0,0,0,0,0
$GC,2098,-0.83,-214.1,376.1,-13.7,327,2106,0.00,2.12,0.00,0.000,6,0.000,0.034,2569,1798,3950,0,0,0,0,0,0
$GC,2424,-0.83,-214.1,416.5,-12.8,358,2428,0.00,2.17,0.00,0.000,4,0.000,0.048,2567,392,3949,0,0,0,0,0,0
$GC,2467,-0.83,-214.1,422.8,-13.6,361,2474,0.00,2.15,0.00,0.000,6,0.000,0.044,2566,1803,3950,0,0,0,0,0,0
$GC,2793,-0.83,-214.1,467.1,-14.2,392,2797,0.00,2.15,0.00,0.000,4,0.000,0.053,2566,3203,3948,0,0,0,0,0,0
$GC,2824,-0.86,-214.1,471.3,-13.3,394,2828,0.00,2.10,0.00,0.000,6,0.000,0.036,2566,1800,3948,0,0,0,0,0,0
$GC,3153,-0.86,-214.1,514.7,-13.9,424,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1800,3946,0,0,0,0,0,0
$GC,3480,-0.88,-214.1,558.0,-12.7,455,3484,0.00,2.22,0.00,0.000,4,0.000,0.054,2566,396,3944,0,0,0,0,0,0
$GC,3512,-0.88,-214.1,563.0,-13.7,457,3519,0.00,2.17,0.00,0.000,6,0.000,0.047,2567,1805,3943,0,0,0,0,0,0
$GC,3840,-0.89,-214.1,605.7,-12.6,486,3844,0.00,2.17,0.00,0.000,4,0.000,0.054,2557,3221,3941,0,0,0,0,0,0
$GC,3882,-0.94,-214.1,611.1,-12.2,488,3886,0.00,2.15,0.00,0.000,6,0.000,0.038,2557,1790,3941,0,0,0,0,0,0
$GC,4213,-0.94,-214.1,651.6,-12.2,504,4217,0.00,2.20,0.00,0.000,4,0.000,0.054,2557,385,3938,0,0,0,0,0,0
$GC,4234,-0.94,-214.1,654.9,-12.2,505,4239,0.00,2.22,0.00,0.000,6,0.000,0.048,2555,1807,3938,0,0,0,0,0,0
$GC,4564,-0.94,-214.1,692.9,-11.5,521,4568,0.00,2.17,0.00,0.000,4,0.000,0.055,2545,3212,3934,0,0,0,0,0,0
$GC,4597,-0.97,-214.1,696.9,-11.4,522,4604,0.00,2.17,0.00,0.000,6,0.000,0.039,2545,1791,3934,0,0,0,0,0,0
$GC,4913,-0.97,-214.1,735.0,-12.6,538,4917,0.00,2.17,0.00,0.000,4,0.000,0.054,2545,389,3932,0,0,0,0,0,0
$GC,4958,-0.97,-214.1,741.3,-14.6,540,4963,0.00,2.20,0.00,0.000,6,0.000,0.048,2535,1810,3931,0,0,0,0,0,0
$GC,5282,-0.97,-214.1,785.8,-13.8,556,5286,0.00,2.17,0.00,0.000,4,0.000,0.056,2524,3215,3927,0,0,0,0,0,0
$GC,5329,-0.98,-214.1,792.3,-13.1,558,5333,0.00,2.17,0.00,0.000,6,0.000,0.040,2524,1793,3927,0,0,0,0,0,0
$GC,5651,-0.96,-214.1,838.8,-14.4,574,5655,0.00,2.20,0.00,0.000,4,0.000,0.056,2524,392,3925,0,0,0,0,0,0
$GC,5695,-0.94,-214.1,845.7,-14.4,576,5699,0.00,2.20,0.00,0.000,6,0.000,0.049,2514,1810,3924,0,0,0,0,0,0
$GC,6020,-0.90,-214.1,892.4,-14.5,592,6025,0.12,2.28,0.00,0.000,4,0.183,0.056,2546,388,3921,0,0,0,0,0,0
$GC,6070,-0.93,-214.1,899.9,-12.2,594,6074,0.00,2.22,0.00,0.000,6,0.000,0.050,2538,1801,3921,0,0,0,0,0,0
$GC,6388,-0.93,-214.1,941.1,-13.5,609,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1802,3919,0,0,0,0,0,0
$GC,6696,-0.93,-214.1,983.4,-13.6,624,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1802,3917,0,0,0,0,0,0
$STATE,6818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6818,begin apogee
$GC,6824,-0.23,0.0,1000.2,13.6,630,7014,0.70,0.00,184.75,1.441,6,0.130,0.000,2759,1751,3072,0,0,0,0,0,0
$STATE,7015,end apogee,CONTROL_FINISHED_OK
$STATE,7015,begin climb
$GC,7017,1.16,214.1,1010.0,0.0,639,7231,1.30,2.50,200.80,1.380,4,0.056,0.059,3226,350,2199,0,0,0,0,0,0
$GC,7270,0.83,214.1,962.2,31.9,650,7277,0.45,2.33,0.00,0.000,6,0.202,0.050,3112,1748,2195,0,0,0,0,0,0
$GC,7588,0.64,214.1,889.5,22.8,666,7593,0.22,2.22,0.00,0.000,4,0.187,0.053,3041,3169,2191,0,0,0,0,0,0
$GC,7629,0.55,214.1,880.9,19.7,668,7633,0.12,2.20,0.00,0.000,6,0.195,0.044,3019,1739,2189,0,0,0,0,0,0
$GC,7961,0.49,214.1,831.0,15.1,684,7965,0.00,2.17,0.00,0.000,4,0.000,0.057,3028,340,2188,0,0,0,0,0,0
$GC,8011,0.43,214.1,821.9,16.3,686,8016,0.17,2.17,0.00,0.000,6,0.168,0.044,2979,1753,2188,0,0,0,0,0,0
$GC,8329,0.49,266.6,784.2,11.6,701,8384,0.00,2.33,47.72,1.292,4,0.000,0.053,2978,3166,1984,0,0,0,0,0,0
$GC,8431,0.60,322.6,772.2,11.5,705,8489,0.15,2.20,52.97,1.258,6,0.073,0.043,3061,1739,1756,0,0,0,0,0,0
$GC,8808,0.53,322.6,701.4,18.8,724,8810,0.17,0.00,0.00,0.000,6,0.174,0.000,3015,1739,1750,0,0,0,0,0,0
$GC,9115,0.53,322.6,655.8,14.0,739,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1739,1748,0,0,0,0,0,0
$GC,9427,0.53,322.6,612.3,13.9,754,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1739,1746,0,0,0,0,0,0
$GC,9740,0.57,359.6,572.0,12.3,779,9779,0.00,2.28,33.53,1.158,4,0.000,0.057,3023,343,1604,0,0,0,0,0,0
$GC,9797,0.63,390.3,564.7,12.6,783,9832,0.00,2.22,29.75,1.118,6,0.000,0.042,3023,1756,1480,0,0,0,0,0,0
$GC,10154,0.66,402.6,518.1,13.4,816,10170,0.00,2.20,12.05,1.029,4,0.000,0.051,3024,3158,1429,0,0,0,0,0,0
$GC,10209,0.71,407.2,511.0,13.7,820,10222,0.10,2.15,5.95,0.857,6,0.095,0.042,3091,1747,1410,0,0,0,0,0,0
$GC,10542,0.64,407.2,447.9,18.9,851,10547,0.15,2.20,0.00,0.000,4,0.172,0.055,3060,346,1408,0,0,0,0,0,0
$GC,10585,0.64,407.2,439.6,16.0,854,10594,0.00,2.20,0.00,0.000,6,0.000,0.041,3061,1751,1407,0,0,0,0,0,0
$GC,10913,0.62,407.2,386.5,17.1,885,10917,0.00,2.17,0.00,0.000,4,0.000,0.051,3060,3164,1407,0,0,0,0,0,0
$GC,10966,0.65,407.2,377.1,16.9,889,10970,0.00,2.15,0.00,0.000,6,0.000,0.041,3069,1745,1407,0,0,0,0,0,0
$GC,11293,0.64,407.2,319.5,16.7,919,11297,0.00,2.17,0.00,0.000,4,0.000,0.055,3080,341,1407,0,0,0,0,0,0
$GC,11355,0.65,407.2,309.8,14.7,924,11359,0.00,2.15,0.00,0.000,6,0.000,0.039,3080,1759,1405,0,0,0,0,0,0
$GC,11687,0.62,407.2,253.6,15.4,979,11695,0.15,2.17,0.00,0.000,4,0.163,0.048,3030,3164,1405,0,0,0,0,0,0
$GC,11736,0.84,509.4,247.7,9.5,987,11834,0.20,2.15,89.05,0.877,6,0.060,0.039,3145,1736,995,0,0,0,0,0,0
$GC,12163,0.76,509.4,146.7,23.6,1061,12171,0.22,0.00,0.00,0.000,6,0.161,0.000,3082,1736,992,0,0,0,0,0,0
$GC,12493,0.99,615.6,107.4,9.3,1122,12591,0.20,2.28,90.75,0.734,4,0.060,0.052,3198,348,559,0,0,0,0,0,0
$GC,12645,0.95,615.6,76.3,22.2,1144,12654,0.15,2.17,0.00,0.000,6,0.137,0.037,3150,1749,556,0,0,0,0,0,0
$GC,12976,0.95,615.6,10.7,21.1,1205,12984,0.00,2.15,0.00,0.000,4,0.000,0.045,3150,3149,554,0,0,0,0,0,0
$STATE,13016,end climb,SURFACE_DEPTH_REACHED
$STATE,13016,begin surface coast
$FINISH,1.4,1.022521
$STATE,13028,end surface coast,CONTROL_FINISHED_OK
$STATE,13028,begin surface
$SM_CCo,13108,0.00,0.000,0,0,553,618.16
$SM_GC,1.66,7.75,0.00,0.00,0.029,0.000,0.000,168,1775,553,-8.33,-0.71,618.16
$IRIDIUM_FIX,2106.38,12603.17,101110,171749
$TT8_MAMPS,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,8.65726
$TCM_TEMP,23.90
$XPDR_PINGS,90
$24V_AH,22.0,93.739
$10V_AH,10.1,58.728
$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,22.875,118.375,747.325,0.000,0.000,24.937,29.001,193.189,22.500,0.000,17.099,2973.311,6440.930,736.543,2946.285,428.617,0.000,1961.520,0.000,2700.367,0.000,0.844,0.000
$DEVICE_MAMPS,233.325,118.575,1441.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.383,1030.525,1336.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70280,1214
$CAP_FILE_SIZE,150640,0
$CFSIZE,260165632,149643264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,172.8,1
$GPS,111110,012036,2116.386,12601.304,32,1.2,32,-2.9