version: 66.08
glider: 166
mission: 3
dive: 460
start: 11 7 110 3 17 1
data:
$ID,166
$MISSION,3
$DIVE,460
$N_DIVES,467
$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,-22163.287
$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,40
$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
$GPS1,071110,030507,2113.986,12600.948,41,0.9,41,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.3
$GPS2,071110,031638,2113.894,12600.929,13,1.1,13,-2.8
$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,17.3,9282,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,91,0.00,0.00,-72.90,0.000,2,0.000,0.000,167,1804,3330,0,0,0,0,0,0
$GC,94,-1.16,-214.1,5.8,-11.5,10,125,9.18,2.20,-11.77,0.000,4,0.220,0.059,2449,3204,3948,0,0,0,0,0,0
$GC,230,-0.92,-214.1,62.2,-37.1,33,238,0.28,2.15,0.00,0.000,6,0.174,0.033,2536,1791,3951,0,0,0,0,0,0
$GC,555,-0.78,-214.1,157.7,-23.3,94,564,0.17,2.17,0.00,0.000,4,0.174,0.044,2588,398,3952,0,0,0,0,0,0
$GC,650,-0.72,-214.1,177.9,-21.5,110,658,0.00,2.15,0.00,0.000,6,0.000,0.039,2579,1796,3953,0,0,0,0,0,0
$GC,991,-0.68,-214.1,239.0,-17.7,171,997,0.15,0.00,0.00,0.000,6,0.173,0.000,2620,1796,3955,0,0,0,0,0,0
$GC,1330,-0.72,-214.1,282.8,-11.6,232,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1796,3955,0,0,0,0,0,0
$GC,1665,-0.78,-214.1,321.3,-11.7,276,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1796,3954,0,0,0,0,0,0
$GC,1983,-0.85,-214.1,357.0,-10.2,306,1988,0.15,2.17,0.00,0.000,4,0.081,0.047,2525,3208,3953,0,0,0,0,0,0
$GC,2026,-0.85,-214.1,362.5,-14.4,309,2031,0.15,2.10,0.00,0.000,6,0.160,0.033,2565,1796,3953,0,0,0,0,0,0
$GC,2353,-0.87,-214.1,404.4,-13.1,339,2357,0.00,2.12,0.00,0.000,4,0.000,0.046,2565,399,3951,0,0,0,0,0,0
$GC,2410,-0.90,-214.1,412.6,-13.9,343,2417,0.00,2.15,0.00,0.000,6,0.000,0.041,2562,1807,3951,0,0,0,0,0,0
$GC,2737,-0.92,-214.1,456.8,-13.3,374,2741,0.00,2.12,0.00,0.000,4,0.000,0.047,2554,3218,3950,0,0,0,0,0,0
$GC,2760,-0.96,-214.1,460.0,-13.6,375,2767,0.00,2.12,0.00,0.000,6,0.000,0.034,2553,1791,3949,0,0,0,0,0,0
$GC,3087,-0.96,-214.1,503.9,-12.8,406,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1791,3948,0,0,0,0,0,0
$GC,3407,-0.98,-214.1,544.7,-13.4,436,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1791,3945,0,0,0,0,0,0
$GC,3735,-1.00,-214.1,587.9,-12.8,467,3741,0.10,0.00,0.00,0.000,6,0.104,0.000,2500,1791,3942,0,0,0,0,0,0
$GC,4065,-0.95,-214.1,641.7,-16.1,487,4067,0.12,0.00,0.00,0.000,6,0.182,0.000,2532,1790,3940,0,0,0,0,0,0
$GC,4373,-0.95,-214.1,683.5,-13.3,502,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1791,3937,0,0,0,0,0,0
$GC,4684,-0.95,-214.1,726.4,-14.1,517,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1790,3934,0,0,0,0,0,0
$GC,4991,-0.95,-214.1,770.5,-14.4,532,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1790,3931,0,0,0,0,0,0
$GC,5301,-0.95,-214.1,814.9,-14.3,547,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1790,3928,0,0,0,0,0,0
$GC,5613,-0.95,-214.1,857.5,-13.3,562,5617,0.00,2.17,0.00,0.000,4,0.000,0.055,2535,401,3926,0,0,0,0,0,0
$GC,5669,-0.96,-214.1,865.9,-13.9,564,5677,0.00,2.20,0.00,0.000,6,0.000,0.050,2540,1804,3925,0,0,0,0,0,0
$GC,5985,-0.96,-214.1,908.7,-13.5,580,5989,0.00,2.17,0.00,0.000,4,0.000,0.057,2530,3205,3922,0,0,0,0,0,0
$GC,6009,-0.96,-214.1,911.9,-13.5,581,6013,0.00,2.12,0.00,0.000,6,0.000,0.041,2530,1802,3922,0,0,0,0,0,0
$GC,6331,-0.96,-214.1,955.0,-13.4,597,6335,0.00,2.20,0.00,0.000,4,0.000,0.057,2529,395,3920,0,0,0,0,0,0
$GC,6382,-0.96,-214.1,962.4,-14.2,599,6386,0.00,2.20,0.00,0.000,6,0.000,0.050,2520,1805,3919,0,0,0,0,0,0
$STATE,6660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6660,begin apogee
$GC,6666,-0.23,0.0,1001.8,14.0,613,6859,0.77,0.00,186.10,1.448,6,0.144,0.000,2758,1747,3072,0,0,0,0,0,0
$STATE,6859,end apogee,CONTROL_FINISHED_OK
$STATE,6860,begin climb
$GC,6862,1.16,214.1,1010.2,0.0,622,7069,1.33,0.00,202.65,1.374,6,0.058,0.000,3217,1747,2199,0,0,0,0,0,0
$GC,7369,0.83,214.1,887.1,30.4,647,7374,0.38,2.25,0.00,0.000,4,0.209,0.056,3106,3157,2192,0,0,0,0,0,0
$GC,7414,0.65,214.1,875.0,22.6,649,7419,0.25,2.17,0.00,0.000,6,0.188,0.043,3050,1749,2190,0,0,0,0,0,0
$GC,7737,0.54,214.1,819.8,17.1,665,7742,0.12,2.20,0.00,0.000,4,0.182,0.057,3024,346,2189,0,0,0,0,0,0
$GC,7792,0.48,214.1,810.4,15.3,667,7799,0.00,2.17,0.00,0.000,6,0.000,0.046,3025,1753,2188,0,0,0,0,0,0
$GC,8109,0.41,214.1,764.6,14.5,683,8113,0.17,2.17,0.00,0.000,4,0.171,0.054,2968,3173,2187,0,0,0,0,0,0
$GC,8151,0.51,277.3,759.7,11.1,685,8216,0.00,2.17,58.12,1.278,6,0.000,0.042,2976,1748,1941,0,0,0,0,0,0
$GC,8524,0.63,345.7,718.4,10.9,703,8594,0.17,2.28,63.62,1.242,4,0.073,0.055,3070,346,1662,0,0,0,0,0,0
$GC,8648,0.56,345.7,695.3,20.9,708,8656,0.17,2.20,0.00,0.000,6,0.171,0.044,3021,1754,1659,0,0,0,0,0,0
$GC,8965,0.56,345.7,644.1,15.8,724,8969,0.00,2.17,0.00,0.000,4,0.000,0.054,3022,3171,1656,0,0,0,0,0,0
$GC,9015,0.58,345.7,635.7,15.4,726,9019,0.00,2.15,0.00,0.000,6,0.000,0.043,3030,1752,1655,0,0,0,0,0,0
$GC,9335,0.56,345.7,585.1,15.9,745,9339,0.00,2.17,0.00,0.000,4,0.000,0.056,3041,347,1654,0,0,0,0,0,0
$GC,9380,0.56,345.7,577.6,16.6,748,9388,0.00,2.17,0.00,0.000,6,0.000,0.042,3041,1764,1652,0,0,0,0,0,0
$GC,9707,0.52,345.7,524.8,15.8,779,9712,0.12,2.12,0.00,0.000,4,0.173,0.050,3004,3163,1652,0,0,0,0,0,0
$GC,9741,0.52,345.7,520.3,14.5,781,9745,0.00,2.15,0.00,0.000,6,0.000,0.042,3012,1743,1651,0,0,0,0,0,0
$GC,10069,0.56,358.7,476.0,13.3,811,10085,0.00,2.20,11.55,1.014,4,0.000,0.054,3023,348,1609,0,0,0,0,0,0
$GC,10111,0.62,385.7,470.5,12.7,814,10148,0.00,2.17,26.40,1.063,6,0.000,0.040,3023,1760,1498,0,0,0,0,0,0
$GC,10467,0.66,395.9,420.9,13.4,847,10482,0.00,2.17,10.30,0.943,4,0.000,0.057,3023,3166,1458,0,0,0,0,0,0
$GC,10505,0.71,404.3,414.9,13.5,850,10524,0.08,2.20,9.68,0.916,6,0.051,0.041,3088,1751,1423,0,0,0,0,0,0
$GC,10844,0.63,404.3,346.8,20.9,882,10848,0.17,2.22,0.00,0.000,4,0.174,0.055,3050,338,1420,0,0,0,0,0,0
$GC,10916,0.66,404.3,333.8,13.9,888,10925,0.00,2.17,0.00,0.000,6,0.000,0.037,3051,1749,1419,0,0,0,0,0,0
$GC,11248,0.66,404.3,285.9,14.6,927,11255,0.00,2.12,0.00,0.000,4,0.000,0.047,3051,3158,1419,0,0,0,0,0,0
$GC,11297,0.71,416.5,279.0,13.4,935,11318,0.00,2.15,11.93,0.848,6,0.000,0.039,3060,1741,1374,0,0,0,0,0,0
$GC,11653,0.72,430.3,229.2,13.3,998,11675,0.00,2.20,14.30,0.815,4,0.000,0.052,3071,347,1317,0,0,0,0,0,0
$GC,11738,0.76,430.3,216.6,14.4,1012,11747,0.00,2.17,0.00,0.000,6,0.000,0.037,3071,1755,1315,0,0,0,0,0,0
$GC,12083,0.84,469.3,168.1,12.2,1073,12125,0.12,2.33,34.60,0.794,4,0.083,0.053,3151,340,1158,0,0,0,0,0,0
$GC,12185,0.76,469.3,147.9,23.0,1089,12194,0.20,2.17,0.00,0.000,6,0.146,0.037,3088,1748,1157,0,0,0,0,0,0
$GC,12518,1.06,625.6,104.5,7.1,1150,12665,0.25,2.25,131.38,0.721,4,0.054,0.042,3207,3156,517,0,0,0,0,0,0
$GC,12699,1.01,625.6,59.9,26.9,1175,12708,0.12,2.20,0.00,0.000,6,0.151,0.038,3170,1754,515,0,0,0,0,0,0
$STATE,12957,end climb,SURFACE_DEPTH_REACHED
$STATE,12958,begin surface coast
$FINISH,1.0,1.012456
$STATE,12970,end surface coast,CONTROL_FINISHED_OK
$STATE,12970,begin surface
$SM_CCo,13047,0.00,0.000,0,0,512,627.97
$SM_GC,1.78,7.95,0.00,0.00,0.040,0.000,0.000,158,1753,512,-8.34,-1.33,627.97
$IRIDIUM_FIX,2106.38,12603.17,071110,030351
$TT8_MAMPS,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,8.65726
$TCM_TEMP,24.00
$XPDR_PINGS,84
$24V_AH,22.2,87.855
$10V_AH,10.1,55.434
$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,22.700,95.950,760.625,0.000,0.000,52.465,66.598,294.505,21.000,0.000,14.393,2960.589,6504.593,777.164,3058.785,421.862,0.000,1927.593,0.000,2632.185,0.000,1.152,0.000
$DEVICE_MAMPS,220.320,117.045,1448.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.567,1052.584,1344.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73394,1225
$CAP_FILE_SIZE,143134,0
$CFSIZE,260165632,151597056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,208.1,1
$GPS,071110,065536,2115.691,12601.400,32,0.9,32,-2.9