version: 66.08
glider: 166
mission: 3
dive: 479
start: 11 10 110 2 33 19
data:
$ID,166
$MISSION,3
$DIVE,479
$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,-22187.191
$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,34
$R_STBD_OVSHOOT,42
$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
$GPS1,101110,022506,2115.996,12600.157,26,1.2,26,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.5
$GPS2,101110,023258,2115.832,12600.032,15,2.7,34,-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,31.6,6028,-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,-214.1,0.0,0.0,0,122,0.00,0.00,-102.28,0.000,2,0.000,0.000,143,1759,3368,0,0,0,0,0,0
$GC,125,-1.16,-214.1,5.3,-7.9,14,156,9.68,2.25,-10.85,0.000,4,0.236,0.056,2448,3204,3948,0,0,0,0,0,0
$GC,181,-0.84,-214.1,32.1,-46.1,22,189,0.35,2.15,0.00,0.000,6,0.171,0.032,2559,1790,3949,0,0,0,0,0,0
$GC,506,-0.71,-214.1,126.0,-22.6,83,515,0.17,2.17,0.00,0.000,4,0.169,0.046,2608,402,3951,0,0,0,0,0,0
$GC,540,-0.67,-214.1,132.9,-19.3,88,549,0.00,2.15,0.00,0.000,6,0.000,0.041,2600,1797,3951,0,0,0,0,0,0
$GC,880,-0.67,-214.1,190.4,-15.6,149,887,0.00,2.12,0.00,0.000,4,0.000,0.046,2587,3209,3953,0,0,0,0,0,0
$GC,931,-0.72,-214.1,197.2,-13.3,157,938,0.00,2.10,0.00,0.000,6,0.000,0.034,2587,1799,3953,0,0,0,0,0,0
$GC,1267,-0.72,-214.1,249.0,-15.5,218,1274,0.00,2.17,0.00,0.000,4,0.000,0.047,2586,400,3954,0,0,0,0,0,0
$GC,1339,-0.77,-214.1,259.8,-13.9,230,1347,0.00,2.15,0.00,0.000,6,0.000,0.041,2580,1797,3954,0,0,0,0,0,0
$GC,1678,-0.77,-214.1,307.7,-13.6,286,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1798,3954,0,0,0,0,0,0
$GC,1997,-0.79,-214.1,347.6,-12.2,316,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1798,3954,0,0,0,0,0,0
$GC,2328,-0.82,-214.1,388.7,-12.7,347,2332,0.00,2.17,0.00,0.000,4,0.000,0.048,2581,3217,3952,0,0,0,0,0,0
$GC,2367,-0.87,-214.1,394.5,-12.7,350,2375,0.00,2.17,0.00,0.000,6,0.000,0.036,2581,1803,3952,0,0,0,0,0,0
$GC,2694,-0.90,-214.1,438.8,-12.9,381,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1803,3950,0,0,0,0,0,0
$GC,3023,-0.93,-214.1,479.6,-11.6,412,3028,0.12,2.22,0.00,0.000,4,0.089,0.051,2519,388,3948,0,0,0,0,0,0
$GC,3079,-0.87,-214.1,489.0,-17.5,416,3089,0.12,2.22,0.00,0.000,6,0.142,0.047,2555,1793,3947,0,0,0,0,0,0
$GC,3404,-0.87,-214.1,534.5,-14.2,447,3408,0.00,2.20,0.00,0.000,4,0.000,0.055,2555,3218,3945,0,0,0,0,0,0
$GC,3437,-0.89,-214.1,539.3,-14.3,449,3444,0.00,2.17,0.00,0.000,6,0.000,0.037,2555,1791,3945,0,0,0,0,0,0
$GC,3764,-0.89,-214.1,585.6,-14.3,480,3768,0.00,2.17,0.00,0.000,4,0.000,0.054,2555,396,3943,0,0,0,0,0,0
$GC,3820,-0.89,-214.1,594.5,-15.6,484,3828,0.00,2.20,0.00,0.000,6,0.000,0.047,2554,1805,3942,0,0,0,0,0,0
$GC,4139,-0.89,-214.1,639.9,-14.6,502,4143,0.00,2.17,0.00,0.000,4,0.000,0.054,2543,3207,3939,0,0,0,0,0,0
$GC,4207,-0.92,-214.1,649.5,-13.5,505,4211,0.00,2.12,0.00,0.000,6,0.000,0.039,2543,1802,3939,0,0,0,0,0,0
$GC,4529,-0.92,-214.1,696.4,-14.2,521,4533,0.00,2.20,0.00,0.000,4,0.000,0.054,2543,387,3935,0,0,0,0,0,0
$GC,4564,-0.92,-214.1,701.3,-13.9,522,4571,0.00,2.20,0.00,0.000,6,0.000,0.047,2533,1801,3935,0,0,0,0,0,0
$GC,4882,-0.91,-214.1,746.1,-14.0,538,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1801,3933,0,0,0,0,0,0
$GC,5190,-0.91,-214.1,788.7,-13.7,553,5194,0.00,2.22,0.00,0.000,4,0.000,0.058,2522,3215,3929,0,0,0,0,0,0
$GC,5245,-0.92,-214.1,796.4,-13.0,555,5252,0.00,2.17,0.00,0.000,6,0.000,0.041,2522,1799,3928,0,0,0,0,0,0
$GC,5563,-0.90,-214.1,842.6,-14.8,571,5567,0.00,2.20,0.00,0.000,4,0.000,0.057,2522,395,3926,0,0,0,0,0,0
$GC,5591,-0.87,-214.1,847.4,-16.2,572,5596,0.17,2.17,0.00,0.000,6,0.158,0.049,2560,1798,3925,0,0,0,0,0,0
$GC,5917,-0.90,-214.1,885.0,-11.1,588,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1798,3923,0,0,0,0,0,0
$GC,6222,-0.94,-214.1,920.0,-11.6,603,6226,0.00,2.22,0.00,0.000,4,0.000,0.060,2551,3214,3920,0,0,0,0,0,0
$GC,6277,-1.01,-214.1,926.5,-11.6,605,6285,0.12,2.17,0.00,0.000,6,0.089,0.041,2493,1795,3920,0,0,0,0,0,0
$GC,6596,-0.95,-214.1,978.3,-16.7,621,6601,0.15,2.22,0.00,0.000,4,0.182,0.058,2535,396,3917,0,0,0,0,0,0
$GC,6640,-0.95,-214.1,985.7,-15.1,623,6644,0.00,2.20,0.00,0.000,6,0.000,0.050,2527,1805,3917,0,0,0,0,0,0
$STATE,6759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6759,begin apogee
$GC,6767,-0.23,0.0,1002.4,14.1,629,6959,0.75,0.00,184.90,1.440,6,0.140,0.000,2759,1738,3072,0,0,0,0,0,0
$STATE,6959,end apogee,CONTROL_FINISHED_OK
$STATE,6959,begin climb
$GC,6963,1.16,214.1,1012.1,0.0,638,7175,1.30,2.45,200.60,1.378,4,0.056,0.063,3227,349,2198,0,0,0,0,0,0
$GC,7200,0.83,214.1,971.2,29.3,649,7205,0.45,2.33,0.00,0.000,6,0.203,0.049,3111,1743,2196,0,0,0,0,0,0
$GC,7531,0.64,214.1,897.6,21.7,665,7536,0.22,2.22,0.00,0.000,4,0.188,0.053,3041,3167,2191,0,0,0,0,0,0
$GC,7582,0.55,214.1,887.0,17.4,667,7587,0.12,2.17,0.00,0.000,6,0.197,0.041,3019,1749,2189,0,0,0,0,0,0
$GC,7898,0.49,214.1,841.1,14.1,682,7902,0.00,2.17,0.00,0.000,4,0.000,0.056,3028,344,2188,0,0,0,0,0,0
$GC,7921,0.43,214.3,837.7,13.9,683,7926,0.17,2.17,0.00,0.000,6,0.168,0.044,2981,1758,2188,0,0,0,0,0,0
$GC,8244,0.50,271.0,800.9,11.4,699,8301,0.00,2.25,51.90,1.302,4,0.000,0.054,2977,3160,1967,0,0,0,0,0,0
$GC,8361,0.62,336.8,787.2,11.0,703,8429,0.15,2.20,62.17,1.275,6,0.074,0.042,3059,1749,1698,0,0,0,0,0,0
$GC,8741,0.54,336.8,714.2,19.7,721,8745,0.15,2.22,0.00,0.000,4,0.178,0.058,3029,344,1692,0,0,0,0,0,0
$GC,8766,0.49,336.8,709.7,19.7,722,8770,0.12,2.17,0.00,0.000,6,0.164,0.043,2996,1756,1690,0,0,0,0,0,0
$GC,9094,0.57,377.8,665.9,12.1,738,9138,0.00,2.30,37.15,1.217,4,0.000,0.052,2993,3164,1531,0,0,0,0,0,0
$GC,9181,0.71,428.4,655.3,11.7,741,9235,0.20,2.20,47.95,1.185,6,0.062,0.042,3095,1748,1325,0,0,0,0,0,0
$GC,9552,0.61,428.4,570.4,23.4,765,9557,0.20,2.20,0.00,0.000,4,0.174,0.054,3051,341,1322,0,0,0,0,0,0
$GC,9574,0.53,428.4,564.6,22.8,766,9581,0.12,2.20,0.00,0.000,6,0.166,0.042,3013,1756,1319,0,0,0,0,0,0
$GC,9902,0.59,445.7,521.4,13.1,797,9920,0.00,0.00,16.38,1.066,6,0.000,0.000,3014,1760,1254,0,0,0,0,0,0
$GC,10240,0.65,449.2,475.1,13.7,829,10249,0.10,0.00,4.40,0.731,6,0.101,0.000,3071,1761,1239,0,0,0,0,0,0
$GC,10567,0.60,449.2,408.7,20.9,860,10571,0.15,2.22,0.00,0.000,4,0.171,0.052,3021,3173,1240,0,0,0,0,0,0
$GC,10602,0.63,449.2,402.8,15.8,863,10606,0.00,2.20,0.00,0.000,6,0.000,0.041,3029,1751,1239,0,0,0,0,0,0
$GC,10930,0.71,472.5,360.5,12.9,893,10957,0.10,2.25,22.12,0.970,4,0.102,0.057,3095,348,1144,0,0,0,0,0,0
$GC,11009,0.71,472.5,345.5,19.1,900,11013,0.00,2.20,0.00,0.000,6,0.000,0.040,3096,1762,1143,0,0,0,0,0,0
$GC,11344,0.64,472.5,276.1,21.7,939,11351,0.17,2.25,0.00,0.000,4,0.161,0.056,3057,343,1142,0,0,0,0,0,0
$GC,11371,0.62,472.5,270.6,19.2,943,11378,0.00,2.17,0.00,0.000,6,0.000,0.039,3057,1760,1141,0,0,0,0,0,0
$GC,11714,0.68,476.7,222.9,13.7,1004,11723,0.00,0.00,4.88,0.617,6,0.000,0.000,3057,1764,1128,0,0,0,0,0,0
$GC,12062,0.82,533.9,179.0,11.4,1065,12123,0.12,2.33,50.90,0.802,4,0.082,0.054,3139,345,894,0,0,0,0,0,0
$GC,12145,0.76,533.9,163.9,22.1,1077,12152,0.20,2.15,0.00,0.000,6,0.146,0.038,3082,1748,893,0,0,0,0,0,0
$GC,12479,0.96,613.5,120.7,10.4,1138,12555,0.20,2.33,68.70,0.735,4,0.060,0.054,3192,346,567,0,0,0,0,0,0
$GC,12588,0.91,613.5,96.9,26.2,1153,12597,0.17,2.20,0.00,0.000,6,0.132,0.038,3135,1752,565,0,0,0,0,0,0
$GC,12917,0.96,613.5,44.2,13.9,1214,12925,0.00,2.15,0.00,0.000,4,0.000,0.045,3132,3157,562,0,0,0,0,0,0
$GC,12939,1.01,613.5,40.3,15.2,1217,12948,0.00,2.15,0.00,0.000,6,0.000,0.037,3134,1753,562,0,0,0,0,0,0
$STATE,13181,end climb,SURFACE_DEPTH_REACHED
$STATE,13181,begin surface coast
$FINISH,1.0,1.020348
$STATE,13204,end surface coast,CONTROL_FINISHED_OK
$STATE,13204,begin surface
$SM_CCo,13281,0.00,0.000,0,0,562,615.70
$SM_GC,1.70,7.65,0.00,0.00,0.026,0.000,0.000,147,1825,562,-8.36,0.71,615.70
$IRIDIUM_FIX,2104.07,12554.84,091110,222254
$TT8_MAMPS,0.026215
$HUMID,43.85
$INTERNAL_PRESSURE,8.66703
$TCM_TEMP,24.60
$XPDR_PINGS,92
$24V_AH,22.1,92.470
$10V_AH,10.0,58.045
$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,23.750,119.175,752.050,0.000,0.000,25.437,39.614,199.419,23.000,0.000,36.689,3092.413,6314.212,768.045,3125.252,434.057,0.000,2018.654,0.000,2838.799,0.000,0.844,0.000
$DEVICE_MAMPS,235.620,113.220,1440.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.485,1095.713,1471.157,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73520,1266
$CAP_FILE_SIZE,154677,0
$CFSIZE,260165632,150048768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,232.4,1
$GPS,101110,061554,2117.324,12600.402,38,1.3,38,-2.9