version: 66.08
glider: 166
mission: 3
dive: 476
start: 11 9 110 15 16 21
data:
$ID,166
$MISSION,3
$DIVE,476
$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,-22183.418
$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,48
$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
$GPS1,091110,150906,2116.204,12601.562,37,0.8,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-62.5
$GPS2,091110,151550,2116.163,12601.547,10,1.6,10,-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,193.0,4968,-22.8,-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,-1.23,-158.7,0.0,0.0,0,107,0.00,0.00,-87.85,0.000,2,0.000,0.000,169,1820,3252,0,0,0,0,0,0
$GC,110,-1.30,-214.1,5.2,-9.6,12,141,8.98,2.25,-13.62,0.000,4,0.218,0.056,2413,394,3947,0,0,0,0,0,0
$GC,379,-1.05,-214.1,116.8,-36.1,61,388,0.30,2.15,0.00,0.000,6,0.187,0.042,2490,1785,3949,0,0,0,0,0,0
$GC,718,-0.92,-214.1,212.7,-26.6,122,727,0.17,2.20,0.00,0.000,4,0.177,0.048,2538,400,3952,0,0,0,0,0,0
$GC,955,-0.88,-214.1,263.4,-21.7,163,961,0.00,2.15,0.00,0.000,6,0.000,0.044,2530,1798,3953,0,0,0,0,0,0
$GC,1288,-0.84,-214.1,329.7,-19.3,210,1293,0.12,2.17,0.00,0.000,4,0.183,0.047,2546,3207,3954,0,0,0,0,0,0
$GC,1332,-0.89,-214.1,337.5,-15.5,213,1339,0.00,2.12,0.00,0.000,6,0.000,0.036,2545,1793,3954,0,0,0,0,0,0
$GC,1657,-0.89,-214.1,392.1,-16.9,244,1661,0.00,2.20,0.00,0.000,4,0.000,0.050,2544,388,3953,0,0,0,0,0,0
$GC,1745,-0.92,-214.1,407.3,-15.9,251,1752,0.00,2.17,0.00,0.000,6,0.000,0.047,2549,1807,3953,0,0,0,0,0,0
$GC,2071,-0.94,-214.1,456.5,-14.9,282,2075,0.00,2.15,0.00,0.000,4,0.000,0.050,2542,3212,3952,0,0,0,0,0,0
$GC,2101,-0.98,-214.1,460.8,-15.0,284,2105,0.00,2.12,0.00,0.000,6,0.000,0.038,2541,1805,3952,0,0,0,0,0,0
$GC,2426,-1.00,-214.1,510.2,-15.2,314,2430,0.00,2.17,0.00,0.000,4,0.000,0.051,2540,392,3950,0,0,0,0,0,0
$GC,2458,-1.00,-214.1,515.6,-16.1,316,2465,0.00,2.17,0.00,0.000,6,0.000,0.046,2538,1806,3950,0,0,0,0,0,0
$GC,2785,-1.03,-214.1,562.3,-13.4,347,2789,0.00,2.20,0.00,0.000,4,0.000,0.053,2538,392,3948,0,0,0,0,0,0
$GC,2830,-1.06,-214.1,569.0,-14.2,350,2837,0.00,2.17,0.00,0.000,6,0.000,0.046,2531,1801,3947,0,0,0,0,0,0
$GC,3155,-1.08,-214.1,615.5,-14.9,376,3157,0.10,0.00,0.00,0.000,6,0.106,0.000,2485,1802,3945,0,0,0,0,0,0
$GC,3462,-1.04,-214.1,671.5,-17.9,391,3466,0.00,2.22,0.00,0.000,4,0.000,0.054,2484,385,3942,0,0,0,0,0,0
$GC,3524,-1.00,-214.1,683.3,-19.6,394,3529,0.15,2.20,0.00,0.000,6,0.178,0.047,2512,1809,3941,0,0,0,0,0,0
$GC,3858,-1.00,-214.1,734.0,-15.1,410,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1810,3938,0,0,0,0,0,0
$GC,4166,-1.00,-214.1,778.6,-13.9,425,4170,0.00,2.22,0.00,0.000,4,0.000,0.055,2513,390,3935,0,0,0,0,0,0
$GC,4222,-1.01,-214.1,787.1,-15.3,427,4229,0.00,2.20,0.00,0.000,6,0.000,0.049,2505,1810,3934,0,0,0,0,0,0
$GC,4538,-1.01,-214.1,836.3,-16.0,443,4542,0.00,2.17,0.00,0.000,4,0.000,0.059,2494,3206,3931,0,0,0,0,0,0
$GC,4570,-1.01,-214.1,841.6,-15.8,444,4574,0.00,2.15,0.00,0.000,6,0.000,0.041,2494,1794,3931,0,0,0,0,0,0
$GC,4895,-1.01,-214.1,894.8,-16.8,460,4899,0.00,2.20,0.00,0.000,4,0.000,0.056,2494,392,3927,0,0,0,0,0,0
$GC,4990,-1.01,-214.1,912.1,-17.1,464,4995,0.12,2.20,0.00,0.000,6,0.184,0.049,2515,1809,3926,0,0,0,0,0,0
$GC,5314,-1.04,-214.1,958.0,-14.1,480,5318,0.00,2.22,0.00,0.000,4,0.000,0.056,2515,392,3924,0,0,0,0,0,0
$GC,5341,-1.05,-214.1,962.4,-14.9,481,5345,0.00,2.20,0.00,0.000,6,0.000,0.050,2507,1805,3923,0,0,0,0,0,0
$STATE,5613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5613,begin apogee
$GC,5619,-0.23,0.0,1001.8,14.7,494,5815,0.82,0.00,185.30,1.436,6,0.142,0.000,2761,1751,3072,0,0,0,0,0,0
$STATE,5815,end apogee,CONTROL_FINISHED_OK
$STATE,5816,begin climb
$GC,5818,1.30,214.1,1010.3,0.0,503,6024,1.42,2.42,199.12,1.368,4,0.053,0.055,3259,3157,2199,0,0,0,0,0,0
$GC,6037,0.98,214.1,970.1,31.8,514,6042,0.47,2.33,0.00,0.000,6,0.213,0.044,3158,1753,2197,0,0,0,0,0,0
$GC,6362,0.78,214.1,892.3,23.3,530,6367,0.22,2.22,0.00,0.000,4,0.190,0.056,3106,340,2193,0,0,0,0,0,0
$GC,6380,0.60,214.1,887.5,23.7,531,6385,0.25,2.20,0.00,0.000,6,0.182,0.048,3037,1753,2192,0,0,0,0,0,0
$GC,6710,0.56,214.1,838.1,14.9,547,6714,0.00,2.20,0.00,0.000,4,0.000,0.054,3027,3173,2189,0,0,0,0,0,0
$GC,6774,0.56,214.1,828.5,14.2,550,6778,0.00,2.20,0.00,0.000,6,0.000,0.041,3035,1736,2188,0,0,0,0,0,0
$GC,7103,0.52,214.1,778.8,15.2,566,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1735,2188,0,0,0,0,0,0
$GC,7412,0.50,214.1,732.5,14.7,581,7417,0.12,2.20,0.00,0.000,4,0.186,0.055,3012,340,2186,0,0,0,0,0,0
$GC,7445,0.50,214.1,727.3,14.6,582,7451,0.00,2.20,0.00,0.000,6,0.000,0.043,3010,1758,2185,0,0,0,0,0,0
$GC,7761,0.52,234.0,686.8,12.7,598,7784,0.00,2.28,17.45,1.192,4,0.000,0.054,3010,3164,2118,0,0,0,0,0,0
$GC,7836,0.55,234.0,676.3,14.8,601,7840,0.00,2.20,0.00,0.000,6,0.000,0.042,3019,1739,2117,0,0,0,0,0,0
$GC,8163,0.55,234.0,629.9,14.2,617,8167,0.00,2.20,0.00,0.000,4,0.000,0.056,3029,338,2116,0,0,0,0,0,0
$GC,8203,0.55,234.0,623.8,15.6,619,8207,0.00,2.17,0.00,0.000,6,0.000,0.042,3029,1756,2114,0,0,0,0,0,0
$GC,8525,0.55,234.0,577.5,14.0,641,8529,0.00,2.17,0.00,0.000,4,0.000,0.051,3024,3167,2113,0,0,0,0,0,0
$GC,8566,0.55,234.0,571.5,14.0,644,8570,0.00,2.17,0.00,0.000,6,0.000,0.041,3032,1748,2113,0,0,0,0,0,0
$GC,8892,0.56,242.7,527.6,13.4,674,8907,0.00,2.25,9.05,1.013,4,0.000,0.056,3043,352,2082,0,0,0,0,0,0
$GC,8941,0.56,242.7,520.4,14.1,678,8948,0.00,2.15,0.00,0.000,6,0.000,0.041,3041,1759,2081,0,0,0,0,0,0
$GC,9268,0.56,242.7,472.5,14.8,709,9272,0.00,2.15,0.00,0.000,4,0.000,0.052,3040,3162,2081,0,0,0,0,0,0
$GC,9328,0.56,242.7,463.3,14.0,714,9332,0.00,2.15,0.00,0.000,6,0.000,0.041,3049,1749,2079,0,0,0,0,0,0
$GC,9661,0.59,262.5,419.1,12.7,745,9685,0.00,2.30,19.02,1.016,4,0.000,0.055,3059,343,2001,0,0,0,0,0,0
$GC,9724,0.61,271.1,410.4,13.4,750,9744,0.00,2.20,9.55,0.916,6,0.000,0.041,3058,1745,1965,0,0,0,0,0,0
$GC,10062,0.62,280.6,364.5,13.3,782,10078,0.00,2.25,9.82,0.892,4,0.000,0.050,3056,3162,1927,0,0,0,0,0,0
$GC,10098,0.62,280.6,359.6,14.6,785,10102,0.00,2.17,0.00,0.000,6,0.000,0.040,3064,1740,1927,0,0,0,0,0,0
$GC,10424,0.62,280.6,311.6,15.3,815,10428,0.00,2.17,0.00,0.000,4,0.000,0.053,3075,344,1927,0,0,0,0,0,0
$GC,10465,0.62,280.6,305.4,15.2,818,10470,0.12,2.12,0.00,0.000,6,0.163,0.038,3043,1754,1925,0,0,0,0,0,0
$GC,10801,0.71,320.8,263.8,11.5,874,10843,0.00,2.25,36.17,0.882,4,0.000,0.048,3040,3159,1764,0,0,0,0,0,0
$GC,10875,0.83,356.4,255.2,11.8,885,10917,0.17,2.15,33.38,0.858,6,0.067,0.037,3139,1751,1619,0,0,0,0,0,0
$GC,11242,0.77,356.4,182.6,19.7,951,11251,0.17,2.20,0.00,0.000,4,0.175,0.052,3103,339,1615,0,0,0,0,0,0
$GC,11280,0.77,356.4,175.4,17.9,957,11287,0.00,2.12,0.00,0.000,6,0.000,0.037,3094,1752,1613,0,0,0,0,0,0
$GC,11611,0.82,363.0,127.0,13.5,1018,11628,0.00,2.25,6.45,0.610,4,0.000,0.053,3102,358,1592,0,0,0,0,0,0
$GC,11638,0.88,377.6,123.4,13.0,1021,11662,0.00,2.15,14.73,0.705,6,0.000,0.037,3101,1754,1532,0,0,0,0,0,0
$GC,11986,1.05,447.3,83.6,9.8,1084,12056,0.20,2.17,60.45,0.705,4,0.060,0.041,3196,3168,1246,0,0,0,0,0,0
$GC,12112,1.02,447.3,59.7,19.3,1103,12122,0.10,2.20,0.00,0.000,6,0.161,0.037,3175,1753,1246,0,0,0,0,0,0
$STATE,12430,end climb,SURFACE_DEPTH_REACHED
$STATE,12432,begin surface coast
$FINISH,1.1,1.011249
$STATE,12449,end surface coast,CONTROL_FINISHED_OK
$STATE,12449,begin surface
$SM_CCo,12529,0.00,0.000,0,0,1239,449.14
$SM_GC,1.92,8.07,0.00,0.00,0.045,0.000,0.000,167,1749,1239,-8.35,-1.44,449.14
$IRIDIUM_FIX,2113.32,12602.66,091110,111150
$TT8_MAMPS,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.50
$XPDR_PINGS,95
$24V_AH,22.3,91.692
$10V_AH,10.1,57.618
$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,22.125,123.100,600.500,0.000,0.000,27.710,16.402,184.394,23.750,0.000,10.852,2881.661,6167.967,671.386,2788.534,417.823,0.000,1781.725,0.000,2574.921,0.000,0.845,0.000
$DEVICE_MAMPS,218.025,118.575,1435.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.765,995.056,1321.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,70283,1165
$CAP_FILE_SIZE,140554,0
$CFSIZE,260165632,150302720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,150.7,1
$GPS,091110,184624,2114.197,12601.565,38,1.2,38,-2.9