version: 66.08
glider: 166
mission: 3
dive: 434
start: 11 3 110 3 55 14
data:
$ID,166
$MISSION,3
$DIVE,434
$N_DIVES,447
$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,-22128.99
$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,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
$GPS1,031110,034736,2121.545,12602.261,30,1.3,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-64.9
$GPS2,031110,035449,2121.506,12602.263,15,1.2,32,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,298.8,1841,-28.2,-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,-1.41,-103.1,0.0,0.0,0,113,0.00,0.00,-93.95,0.000,2,0.000,0.000,152,1766,3439,0,0,0,0,0,0
$GC,116,-1.43,-118.4,6.6,-12.5,13,133,8.73,2.25,-2.20,0.000,4,0.220,0.054,2363,3215,3558,0,0,0,0,0,0
$GC,284,-1.20,-118.4,79.2,-40.5,43,293,0.28,2.15,0.00,0.000,6,0.185,0.035,2445,1803,3560,0,0,0,0,0,0
$GC,614,-1.08,-118.4,175.2,-25.3,104,622,0.15,2.20,0.00,0.000,4,0.184,0.049,2486,399,3562,0,0,0,0,0,0
$GC,867,-1.04,-118.4,236.4,-20.2,150,875,0.00,2.15,0.00,0.000,6,0.000,0.042,2478,1792,3564,0,0,0,0,0,0
$GC,1201,-0.99,-118.4,302.8,-21.2,210,1205,0.15,2.17,0.00,0.000,4,0.188,0.049,2517,396,3564,0,0,0,0,0,0
$GC,1230,-0.97,-118.4,308.5,-18.7,212,1234,0.00,2.17,0.00,0.000,6,0.000,0.043,2509,1816,3564,0,0,0,0,0,0
$GC,1555,-0.97,-118.4,362.8,-15.6,242,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1816,3564,0,0,0,0,0,0
$GC,1877,-0.99,-118.4,413.3,-14.8,272,1881,0.00,2.25,0.00,0.000,4,0.000,0.050,2509,385,3564,0,0,0,0,0,0
$GC,1932,-0.99,-118.4,423.6,-16.9,276,1941,0.00,2.17,0.00,0.000,6,0.000,0.043,2498,1794,3564,0,0,0,0,0,0
$GC,2260,-1.01,-118.4,476.5,-16.5,307,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1794,3564,0,0,0,0,0,0
$GC,2580,-1.04,-118.4,526.0,-14.5,337,2584,0.00,2.20,0.00,0.000,4,0.000,0.051,2499,397,3562,0,0,0,0,0,0
$GC,2653,-1.04,-118.4,537.8,-14.9,343,2658,0.00,2.17,0.00,0.000,6,0.000,0.045,2489,1808,3561,0,0,0,0,0,0
$GC,2979,-1.06,-122.3,582.5,-13.5,373,2983,0.00,2.22,0.00,0.000,4,0.000,0.051,2489,390,3559,0,0,0,0,0,0
$GC,3020,-1.06,-122.3,588.9,-16.0,376,3024,0.00,2.17,0.00,0.000,6,0.000,0.046,2479,1797,3559,0,0,0,0,0,0
$GC,3350,-1.06,-122.3,639.0,-15.0,395,3354,0.00,2.17,0.00,0.000,4,0.000,0.051,2488,3213,3556,0,0,0,0,0,0
$GC,3435,-1.09,-122.3,652.1,-14.9,399,3439,0.00,2.15,0.00,0.000,6,0.000,0.038,2488,1797,3555,0,0,0,0,0,0
$GC,3763,-1.09,-122.3,702.7,-15.3,415,3767,0.00,2.17,0.00,0.000,4,0.000,0.054,2488,387,3552,0,0,0,0,0,0
$GC,3891,-1.07,-122.3,725.0,-16.2,420,3898,0.00,2.20,0.00,0.000,6,0.000,0.047,2477,1806,3551,0,0,0,0,0,0
$GC,4209,-1.07,-122.3,775.7,-16.5,436,4213,0.00,2.22,0.00,0.000,4,0.000,0.054,2477,389,3548,0,0,0,0,0,0
$GC,4350,-1.05,-122.3,800.4,-17.2,442,4355,0.12,2.20,0.00,0.000,6,0.200,0.047,2497,1806,3547,0,0,0,0,0,0
$GC,4668,-1.08,-122.3,847.4,-14.7,457,4672,0.00,2.15,0.00,0.000,4,0.000,0.054,2488,3209,3543,0,0,0,0,0,0
$GC,4700,-1.11,-122.3,852.7,-14.5,458,4704,0.00,2.15,0.00,0.000,6,0.000,0.041,2495,1795,3543,0,0,0,0,0,0
$GC,5017,-1.14,-122.3,897.5,-14.1,473,5021,0.00,2.17,0.00,0.000,4,0.000,0.056,2496,392,3541,0,0,0,0,0,0
$GC,5087,-1.14,-122.3,907.8,-15.5,476,5091,0.00,2.20,0.00,0.000,6,0.000,0.048,2487,1808,3541,0,0,0,0,0,0
$GC,5415,-1.15,-122.3,955.7,-14.3,492,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1808,3537,0,0,0,0,0,0
$STATE,5722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5722,begin apogee
$GC,5729,-0.23,0.0,1000.4,14.2,507,5838,0.90,0.00,102.00,1.456,6,0.157,0.000,2757,1742,3072,0,0,0,0,0,0
$STATE,5839,end apogee,CONTROL_FINISHED_OK
$STATE,5839,begin climb
$GC,5841,1.43,122.3,1004.4,0.0,512,5966,1.55,2.42,113.00,1.409,4,0.070,0.054,3289,3162,2572,0,0,0,0,0,0
$GC,6027,1.15,122.3,972.6,26.5,519,6036,0.38,2.22,0.00,0.000,6,0.262,0.044,3217,1751,2567,0,0,0,0,0,0
$GC,6345,0.93,122.3,901.8,22.3,535,6347,0.28,0.00,0.00,0.000,6,0.217,0.000,3148,1751,2563,0,0,0,0,0,0
$GC,6653,0.80,122.3,843.6,18.5,550,6655,0.17,0.00,0.00,0.000,6,0.195,0.000,3102,1751,2561,0,0,0,0,0,0
$GC,6962,0.71,122.3,794.3,16.3,565,6967,0.12,2.20,0.00,0.000,4,0.203,0.053,3060,3165,2559,0,0,0,0,0,0
$GC,7058,0.68,122.3,779.8,14.4,569,7062,0.00,2.17,0.00,0.000,6,0.000,0.044,3068,1745,2558,0,0,0,0,0,0
$GC,7374,0.65,122.3,732.9,14.7,584,7378,0.00,2.20,0.00,0.000,4,0.000,0.056,3079,346,2557,0,0,0,0,0,0
$GC,7448,0.60,122.3,721.2,15.8,587,7453,0.15,2.20,0.00,0.000,6,0.200,0.045,3034,1759,2556,0,0,0,0,0,0
$GC,7767,0.64,142.2,681.5,12.1,602,7785,0.00,0.00,16.33,1.203,6,0.000,0.000,3034,1759,2491,0,0,0,0,0,0
$GC,8096,0.71,166.8,641.9,11.7,618,8122,0.10,0.00,23.45,1.195,6,0.106,0.000,3082,1761,2392,0,0,0,0,0,0
$GC,8427,0.69,166.8,590.2,16.1,636,8431,0.00,2.17,0.00,0.000,4,0.000,0.054,3074,3162,2388,0,0,0,0,0,0
$GC,8507,0.69,166.8,576.3,17.1,643,8511,0.00,2.17,0.00,0.000,6,0.000,0.042,3082,1741,2387,0,0,0,0,0,0
$GC,8838,0.67,166.8,523.7,14.6,674,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1742,2386,0,0,0,0,0,0
$GC,9161,0.68,171.8,478.3,13.4,704,9174,0.00,2.22,5.07,0.819,4,0.000,0.054,3093,350,2371,0,0,0,0,0,0
$GC,9187,0.66,171.8,473.9,14.8,706,9192,0.12,2.17,0.00,0.000,6,0.205,0.041,3055,1759,2371,0,0,0,0,0,0
$GC,9513,0.72,195.7,435.3,11.7,736,9541,0.00,2.20,22.92,1.048,4,0.000,0.050,3045,3167,2273,0,0,0,0,0,0
$GC,9611,0.81,214.1,423.6,12.2,744,9636,0.12,2.20,17.42,1.004,6,0.092,0.041,3110,1739,2198,0,0,0,0,0,0
$GC,9954,0.79,214.1,366.7,17.4,776,9958,0.00,2.15,0.00,0.000,4,0.000,0.054,3121,347,2195,0,0,0,0,0,0
$GC,9991,0.76,214.1,359.8,17.9,779,9998,0.00,2.15,0.00,0.000,6,0.000,0.041,3113,1759,2194,0,0,0,0,0,0
$GC,10317,0.75,214.1,307.0,16.1,810,10321,0.12,2.15,0.00,0.000,4,0.191,0.049,3070,3168,2194,0,0,0,0,0,0
$GC,10417,0.81,225.5,294.4,12.9,821,10438,0.00,2.15,10.82,0.861,6,0.000,0.040,3079,1750,2153,0,0,0,0,0,0
$GC,10768,0.87,233.4,248.1,13.2,884,10783,0.12,2.25,8.88,0.790,4,0.095,0.047,3133,3174,2120,0,0,0,0,0,0
$GC,10861,0.87,233.4,231.8,18.0,900,10869,0.00,2.20,0.00,0.000,6,0.000,0.039,3138,1742,2119,0,0,0,0,0,0
$GC,11193,0.87,235.8,181.5,13.7,961,11208,0.00,2.25,3.85,0.512,4,0.000,0.045,3126,3170,2110,0,0,0,0,0,0
$GC,11234,0.88,242.6,176.3,13.3,967,11250,0.00,2.15,7.93,0.698,6,0.000,0.037,3133,1743,2082,0,0,0,0,0,0
$GC,11575,0.92,256.6,130.1,12.6,1029,11599,0.00,2.20,13.88,0.728,4,0.000,0.052,3141,358,2025,0,0,0,0,0,0
$GC,11701,0.94,256.6,113.3,14.0,1050,11709,0.00,2.15,0.00,0.000,6,0.000,0.035,3137,1762,2024,0,0,0,0,0,0
$GC,12030,1.09,321.2,82.0,8.1,1111,12092,0.15,2.30,54.97,0.716,4,0.078,0.049,3216,350,1761,0,0,0,0,0,0
$GC,12181,1.05,321.2,58.8,18.2,1135,12190,0.08,2.15,0.00,0.000,6,0.171,0.035,3184,1754,1759,0,0,0,0,0,0
$GC,12512,1.08,321.2,7.0,14.4,1196,12520,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1755,1758,0,0,0,0,0,0
$STATE,12536,end climb,SURFACE_DEPTH_REACHED
$STATE,12536,begin surface coast
$FINISH,1.0,1.022147
$STATE,12553,end surface coast,CONTROL_FINISHED_OK
$STATE,12553,begin surface
$SM_CCo,12572,71.95,0.555,1,0,1441,400.08
$SM_GC,1.80,0.00,0.00,71.95,0.000,0.000,0.555,142,1759,1441,-8.44,-1.16,400.08
$IRIDIUM_FIX,2115.63,12602.66,031110,000012
$TT8_MAMPS,0.026964
$HUMID,40.94
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,25.30
$XPDR_PINGS,108
$24V_AH,22.6,81.887
$10V_AH,10.2,51.951
$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,21.600,101.025,400.525,71.950,0.000,30.979,15.050,187.344,27.000,0.000,33.378,3003.901,6151.227,556.771,2949.329,409.906,0.000,1664.776,0.000,2706.719,0.000,0.844,0.000
$DEVICE_MAMPS,261.630,98.685,1455.795,554.625,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.877,1040.703,1428.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,70228,1203
$CAP_FILE_SIZE,140636,0
$CFSIZE,260165632,153669632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114,186.9,1
$GPS,031110,072706,2121.199,12600.642,24,1.8,24,-2.9