version: 66.08
glider: 166
mission: 3
dive: 477
start: 11 9 110 18 54 6
data:
$ID,166
$MISSION,3
$DIVE,477
$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,-22184.676
$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,39
$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
$GPS1,091110,184624,2114.197,12601.565,38,1.2,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.1
$GPS2,091110,185344,2114.097,12601.632,14,1.7,14,-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,355.7,8926,-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,15,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,102,0.00,0.00,-82.57,0.000,2,0.000,0.000,167,1748,3363,0,0,0,0,0,0
$GC,105,-1.16,-214.1,5.9,-11.4,11,137,9.65,2.33,-11.07,0.000,4,0.236,0.057,2445,3208,3949,0,0,0,0,0,0
$GC,177,-0.87,-214.1,36.2,-37.8,22,186,0.38,2.17,0.00,0.000,6,0.173,0.034,2550,1791,3951,0,0,0,0,0,0
$GC,507,-0.74,-214.1,131.0,-22.9,83,515,0.17,2.20,0.00,0.000,4,0.176,0.048,2602,405,3952,0,0,0,0,0,0
$GC,651,-0.74,-214.1,156.4,-14.7,109,659,0.00,2.15,0.00,0.000,6,0.000,0.044,2594,1801,3952,0,0,0,0,0,0
$GC,986,-0.72,-214.1,211.7,-15.9,170,994,0.00,2.22,0.00,0.000,4,0.000,0.047,2594,396,3954,0,0,0,0,0,0
$GC,1045,-0.72,-214.1,221.3,-15.3,180,1053,0.00,2.17,0.00,0.000,6,0.000,0.043,2583,1796,3955,0,0,0,0,0,0
$GC,1381,-0.70,-214.1,272.1,-15.7,241,1389,0.12,2.17,0.00,0.000,4,0.176,0.048,2601,3217,3956,0,0,0,0,0,0
$GC,1435,-0.77,-214.1,279.1,-11.3,250,1443,0.00,2.17,0.00,0.000,6,0.000,0.037,2600,1803,3956,0,0,0,0,0,0
$GC,1768,-0.80,-214.1,317.4,-11.1,297,1772,0.00,2.20,0.00,0.000,4,0.000,0.050,2599,389,3956,0,0,0,0,0,0
$GC,1812,-0.85,-214.1,323.2,-11.5,300,1820,0.00,2.20,0.00,0.000,6,0.000,0.045,2597,1798,3955,0,0,0,0,0,0
$GC,2139,-0.89,-214.1,361.3,-12.6,331,2144,0.12,2.20,0.00,0.000,4,0.092,0.053,2534,3210,3955,0,0,0,0,0,0
$GC,2207,-0.87,-214.1,372.1,-16.2,337,2211,0.00,2.12,0.00,0.000,6,0.000,0.037,2532,1797,3955,0,0,0,0,0,0
$GC,2533,-0.82,-214.1,428.2,-18.2,367,2535,0.15,0.00,0.00,0.000,6,0.167,0.000,2569,1796,3954,0,0,0,0,0,0
$GC,2852,-0.85,-214.1,470.3,-12.3,397,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1796,3952,0,0,0,0,0,0
$GC,3170,-0.88,-214.1,509.6,-12.3,427,3175,0.00,2.22,0.00,0.000,4,0.000,0.054,2568,3213,3950,0,0,0,0,0,0
$GC,3224,-0.95,-214.1,516.2,-11.7,431,3228,0.00,2.17,0.00,0.000,6,0.000,0.039,2568,1789,3950,0,0,0,0,0,0
$GC,3556,-0.97,-214.1,559.4,-12.9,462,3561,0.12,2.20,0.00,0.000,4,0.087,0.054,2506,395,3948,0,0,0,0,0,0
$GC,3610,-0.90,-214.1,568.2,-18.5,466,3615,0.17,2.17,0.00,0.000,6,0.167,0.047,2548,1811,3947,0,0,0,0,0,0
$GC,3942,-0.90,-214.1,618.7,-15.0,491,3946,0.00,2.15,0.00,0.000,4,0.000,0.054,2540,3211,3945,0,0,0,0,0,0
$GC,3999,-0.92,-214.1,626.7,-14.2,493,4006,0.00,2.15,0.00,0.000,6,0.000,0.039,2540,1789,3944,0,0,0,0,0,0
$GC,4314,-0.92,-214.1,672.9,-14.4,509,4318,0.00,2.17,0.00,0.000,4,0.000,0.054,2539,388,3942,0,0,0,0,0,0
$GC,4342,-0.91,-214.1,677.2,-14.7,510,4346,0.00,2.17,0.00,0.000,6,0.000,0.047,2530,1802,3942,0,0,0,0,0,0
$GC,4667,-0.89,-214.1,725.0,-14.8,526,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1803,3939,0,0,0,0,0,0
$GC,4972,-0.87,-214.1,771.6,-14.8,541,4977,0.10,2.25,0.00,0.000,4,0.191,0.055,2555,396,3936,0,0,0,0,0,0
$GC,5017,-0.90,-214.1,778.0,-13.6,543,5021,0.00,2.20,0.00,0.000,6,0.000,0.050,2555,1809,3935,0,0,0,0,0,0
$GC,5340,-0.92,-214.1,821.7,-14.2,559,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1810,3933,0,0,0,0,0,0
$GC,5648,-0.94,-214.1,868.0,-15.6,574,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1810,3930,0,0,0,0,0,0
$GC,5958,-0.96,-214.1,914.4,-14.5,589,5962,0.00,2.25,0.00,0.000,4,0.000,0.057,2555,398,3927,0,0,0,0,0,0
$GC,6008,-1.00,-214.1,922.3,-15.1,591,6012,0.00,2.20,0.00,0.000,6,0.000,0.050,2545,1802,3926,0,0,0,0,0,0
$GC,6330,-1.00,-214.1,968.1,-13.8,607,6334,0.00,2.20,0.00,0.000,4,0.000,0.060,2534,3208,3924,0,0,0,0,0,0
$GC,6359,-1.02,-214.1,972.0,-13.9,608,6363,0.00,2.17,0.00,0.000,6,0.000,0.042,2534,1790,3923,0,0,0,0,0,0
$STATE,6575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6575,begin apogee
$GC,6580,-0.23,0.0,1001.8,13.7,619,6774,0.73,0.00,186.10,1.434,6,0.136,0.000,2760,1789,3072,0,0,0,0,0,0
$STATE,6775,end apogee,CONTROL_FINISHED_OK
$STATE,6775,begin climb
$GC,6778,1.16,214.1,1010.0,0.0,628,6986,1.27,0.00,199.88,1.375,6,0.055,0.000,3214,1789,2199,0,0,0,0,0,0
$GC,7294,0.85,214.1,883.2,29.9,653,7299,0.35,2.30,0.00,0.000,4,0.207,0.057,3129,341,2193,0,0,0,0,0,0
$GC,7323,0.59,214.1,874.7,28.0,654,7328,0.32,2.20,0.00,0.000,6,0.189,0.049,3037,1750,2191,0,0,0,0,0,0
$GC,7639,0.51,214.1,823.4,15.4,669,7644,0.12,2.20,0.00,0.000,4,0.187,0.057,2993,3164,2190,0,0,0,0,0,0
$GC,7678,0.53,251.4,817.8,12.3,670,7718,0.00,2.15,34.47,1.272,6,0.000,0.041,3001,1744,2046,0,0,0,0,0,0
$GC,8036,0.53,266.8,770.9,13.2,688,8059,0.00,2.25,14.95,1.190,4,0.000,0.057,3011,342,1984,0,0,0,0,0,0
$GC,8076,0.53,278.1,765.3,13.4,689,8093,0.00,2.20,12.10,1.145,6,0.000,0.043,3012,1761,1938,0,0,0,0,0,0
$GC,8414,0.51,278.1,716.5,14.7,706,8418,0.00,2.15,0.00,0.000,4,0.000,0.054,3012,3163,1935,0,0,0,0,0,0
$GC,8470,0.51,278.1,707.2,14.4,708,8477,0.00,2.15,0.00,0.000,6,0.000,0.042,3022,1740,1934,0,0,0,0,0,0
$GC,8788,0.48,278.1,660.0,15.3,724,8792,0.00,2.15,0.00,0.000,4,0.000,0.055,3032,349,1932,0,0,0,0,0,0
$GC,8828,0.46,278.1,653.3,16.7,726,8833,0.15,2.15,0.00,0.000,6,0.168,0.043,2992,1753,1931,0,0,0,0,0,0
$GC,9159,0.51,305.6,611.0,12.7,742,9189,0.00,2.22,25.12,1.177,4,0.000,0.053,2989,3158,1826,0,0,0,0,0,0
$GC,9235,0.58,314.3,600.0,13.5,745,9251,0.00,2.17,10.43,1.056,6,0.000,0.041,2997,1740,1789,0,0,0,0,0,0
$GC,9579,0.64,341.7,555.6,12.7,777,9614,0.15,2.28,26.15,1.126,4,0.075,0.056,3084,344,1678,0,0,0,0,0,0
$GC,9643,0.56,341.7,542.8,22.5,782,9650,0.22,2.20,0.00,0.000,6,0.159,0.044,3021,1757,1676,0,0,0,0,0,0
$GC,9969,0.56,341.7,492.3,15.5,813,9973,0.00,2.17,0.00,0.000,4,0.000,0.052,3011,3167,1674,0,0,0,0,0,0
$GC,10009,0.60,341.7,486.1,14.7,816,10013,0.00,2.15,0.00,0.000,6,0.000,0.041,3020,1749,1673,0,0,0,0,0,0
$GC,10335,0.63,350.5,440.5,13.5,846,10349,0.00,2.28,9.00,0.935,4,0.000,0.056,3031,343,1642,0,0,0,0,0,0
$GC,10410,0.70,373.3,430.2,12.9,852,10443,0.08,2.20,21.92,1.011,6,0.059,0.043,3082,1752,1550,0,0,0,0,0,0
$GC,10761,0.64,373.3,364.5,18.7,885,10766,0.12,2.15,0.00,0.000,4,0.177,0.050,3040,3155,1548,0,0,0,0,0,0
$GC,10847,0.67,373.3,351.6,13.9,892,10851,0.00,2.12,0.00,0.000,6,0.000,0.040,3048,1749,1548,0,0,0,0,0,0
$GC,11179,0.69,390.3,305.3,13.2,923,11203,0.00,2.22,16.90,0.898,4,0.000,0.053,3059,340,1479,0,0,0,0,0,0
$GC,11256,0.74,401.3,295.2,13.4,932,11272,0.00,2.20,10.95,0.835,6,0.000,0.039,3059,1750,1436,0,0,0,0,0,0
$GC,11597,0.74,401.3,244.6,15.5,994,11605,0.00,2.17,0.00,0.000,4,0.000,0.049,3059,3154,1434,0,0,0,0,0,0
$GC,11673,0.79,408.3,233.3,13.6,1007,11687,0.00,2.12,7.80,0.737,6,0.000,0.039,3069,1745,1406,0,0,0,0,0,0
$GC,12016,0.79,408.3,181.1,15.9,1069,12024,0.00,2.15,0.00,0.000,4,0.000,0.053,3079,350,1407,0,0,0,0,0,0
$GC,12102,0.85,418.9,168.7,13.4,1084,12118,0.00,2.15,11.10,0.731,6,0.000,0.037,3079,1750,1364,0,0,0,0,0,0
$GC,12441,0.96,467.4,121.5,11.8,1146,12494,0.17,2.22,42.88,0.746,4,0.067,0.045,3163,3156,1165,0,0,0,0,0,0
$GC,12575,0.94,467.4,96.6,17.5,1167,12583,0.00,2.17,0.00,0.000,6,0.000,0.040,3170,1759,1164,0,0,0,0,0,0
$GC,12902,0.88,467.4,41.2,17.1,1228,12911,0.17,2.25,0.00,0.000,4,0.168,0.050,3127,344,1164,0,0,0,0,0,0
$GC,12982,0.94,467.4,26.5,16.8,1242,12990,0.00,2.15,0.00,0.000,6,0.000,0.035,3126,1755,1163,0,0,0,0,0,0
$STATE,13149,end climb,SURFACE_DEPTH_REACHED
$STATE,13150,begin surface coast
$FINISH,1.1,1.022494
$STATE,13167,end surface coast,CONTROL_FINISHED_OK
$STATE,13167,begin surface
$SM_CCo,13246,0.00,0.000,0,0,1160,468.77
$SM_GC,1.86,7.70,0.00,0.00,0.032,0.000,0.000,150,1759,1160,-8.33,-1.16,468.77
$IRIDIUM_FIX,2108.69,12603.17,091110,151551
$TT8_MAMPS,0.026215
$HUMID,43.97
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.40
$XPDR_PINGS,102
$24V_AH,22.2,91.930
$10V_AH,10.1,57.760
$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,22.575,122.700,629.750,0.000,0.000,28.629,44.146,184.612,25.500,0.000,15.485,3155.554,6325.465,675.311,3080.165,435.744,0.000,1887.213,0.000,2829.855,0.000,0.844,0.000
$DEVICE_MAMPS,235.620,59.670,1434.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.173,1107.610,1468.581,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73606,1276
$CAP_FILE_SIZE,153498,0
$CFSIZE,260165632,150212608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,145.3,1
$GPS,091110,223606,2115.269,12601.975,38,0.9,38,-2.9