version: 66.08
glider: 166
mission: 3
dive: 437
start: 11 3 110 14 35 52
data:
$ID,166
$MISSION,3
$DIVE,437
$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,-22132.861
$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,37
$R_STBD_OVSHOOT,52
$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
$GPS1,031110,142400,2121.367,12601.844,37,1.2,42,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.1
$GPS2,031110,143526,2121.355,12601.902,11,1.9,11,-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,292.6,1294,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.41,-103.1,0.0,0.0,0,90,0.00,0.00,-71.97,0.000,2,0.000,0.000,137,1817,3312,0,0,0,0,0,0
$GC,93,-1.45,-138.5,5.5,-10.7,10,117,8.90,2.12,-6.55,0.000,4,0.224,0.052,2355,3207,3639,0,0,0,0,0,0
$GC,228,-1.24,-138.5,62.4,-38.2,33,236,0.25,2.15,0.00,0.000,6,0.196,0.034,2431,1798,3640,0,0,0,0,0,0
$GC,555,-1.12,-138.5,173.7,-25.4,94,564,0.17,2.20,0.00,0.000,4,0.183,0.048,2483,399,3642,0,0,0,0,0,0
$GC,759,-1.07,-138.5,226.0,-22.0,129,765,0.00,2.12,0.00,0.000,6,0.000,0.042,2474,1796,3644,0,0,0,0,0,0
$GC,1101,-1.01,-138.5,301.0,-21.4,190,1105,0.15,2.15,0.00,0.000,4,0.190,0.046,2500,3217,3645,0,0,0,0,0,0
$GC,1174,-1.04,-138.5,315.5,-18.8,196,1178,0.00,2.12,0.00,0.000,6,0.000,0.036,2500,1791,3645,0,0,0,0,0,0
$GC,1499,-1.04,-138.5,375.5,-18.2,226,1503,0.00,2.15,0.00,0.000,4,0.000,0.050,2499,395,3645,0,0,0,0,0,0
$GC,1616,-1.04,-138.5,396.8,-16.9,236,1620,0.00,2.15,0.00,0.000,6,0.000,0.043,2487,1809,3644,0,0,0,0,0,0
$GC,1941,-1.04,-138.5,453.1,-17.4,266,1945,0.00,2.20,0.00,0.000,4,0.000,0.050,2487,391,3645,0,0,0,0,0,0
$GC,2101,-1.04,-138.5,482.4,-18.6,279,2107,0.00,2.17,0.00,0.000,6,0.000,0.045,2478,1808,3644,0,0,0,0,0,0
$GC,2426,-1.04,-138.5,535.3,-15.7,310,2430,0.00,2.20,0.00,0.000,4,0.000,0.050,2479,392,3642,0,0,0,0,0,0
$GC,2505,-1.04,-138.5,549.4,-19.1,316,2513,0.12,2.17,0.00,0.000,6,0.190,0.044,2500,1810,3642,0,0,0,0,0,0
$GC,2830,-1.08,-138.5,601.6,-16.1,347,2834,0.00,2.12,0.00,0.000,4,0.000,0.051,2498,3209,3640,0,0,0,0,0,0
$GC,2918,-1.15,-138.5,614.8,-15.0,351,2922,0.00,2.12,0.00,0.000,6,0.000,0.038,2499,1793,3638,0,0,0,0,0,0
$GC,3245,-1.18,-138.5,665.2,-15.1,367,3250,0.12,2.20,0.00,0.000,4,0.095,0.053,2444,386,3635,0,0,0,0,0,0
$GC,3347,-1.13,-138.5,684.6,-19.0,371,3354,0.00,2.20,0.00,0.000,6,0.000,0.047,2446,1809,3634,0,0,0,0,0,0
$GC,3663,-1.09,-138.5,747.2,-19.9,387,3668,0.15,2.22,0.00,0.000,4,0.194,0.052,2483,395,3631,0,0,0,0,0,0
$GC,3695,-1.09,-138.5,753.9,-19.1,388,3703,0.00,2.17,0.00,0.000,6,0.000,0.046,2475,1805,3631,0,0,0,0,0,0
$GC,4013,-1.09,-138.5,808.3,-17.1,404,4017,0.00,2.20,0.00,0.000,4,0.000,0.053,2475,394,3627,0,0,0,0,0,0
$GC,4068,-1.07,-138.5,818.8,-17.8,406,4075,0.12,2.17,0.00,0.000,6,0.197,0.047,2494,1800,3626,0,0,0,0,0,0
$GC,4386,-1.10,-138.5,867.5,-15.1,422,4390,0.00,2.22,0.00,0.000,4,0.000,0.055,2496,393,3623,0,0,0,0,0,0
$GC,4449,-1.12,-138.5,877.8,-16.3,425,4453,0.00,2.17,0.00,0.000,6,0.000,0.050,2487,1798,3622,0,0,0,0,0,0
$GC,4784,-1.15,-138.5,929.9,-15.2,441,4789,0.00,2.22,0.00,0.000,4,0.000,0.056,2488,392,3619,0,0,0,0,0,0
$GC,4879,-1.15,-138.5,946.2,-16.4,445,4883,0.00,2.20,0.00,0.000,6,0.000,0.048,2477,1806,3618,0,0,0,0,0,0
$GC,5202,-1.16,-138.5,997.2,-15.8,461,5206,0.00,2.22,0.00,0.000,4,0.000,0.061,2477,392,3615,0,0,0,0,0,0
$STATE,5215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5215,begin apogee
$GC,5224,-0.23,0.0,1000.2,15.8,461,5351,0.98,0.00,119.28,1.450,6,0.163,0.000,2754,1749,3072,0,0,0,0,0,0
$STATE,5352,end apogee,CONTROL_FINISHED_OK
$STATE,5352,begin climb
$GC,5354,1.45,138.5,1005.3,0.0,467,5494,1.58,2.40,127.20,1.393,4,0.071,0.055,3295,3157,2505,0,0,0,0,0,0
$GC,5522,1.16,138.5,976.5,29.2,475,5527,0.38,2.25,0.00,0.000,6,0.246,0.044,3221,1746,2503,0,0,0,0,0,0
$GC,5840,0.95,138.5,898.1,24.6,490,5842,0.28,0.00,0.00,0.000,6,0.209,0.000,3151,1746,2498,0,0,0,0,0,0
$GC,6147,0.82,138.5,832.4,20.8,505,6152,0.17,2.17,0.00,0.000,4,0.196,0.056,3113,344,2496,0,0,0,0,0,0
$GC,6182,0.71,138.5,825.6,19.6,506,6186,0.12,2.17,0.00,0.000,6,0.209,0.052,3076,1748,2495,0,0,0,0,0,0
$GC,6503,0.67,138.5,771.3,16.3,522,6507,0.00,2.17,0.00,0.000,4,0.000,0.053,3065,3164,2493,0,0,0,0,0,0
$GC,6590,0.64,138.5,756.9,16.2,526,6594,0.00,2.17,0.00,0.000,6,0.000,0.042,3073,1737,2493,0,0,0,0,0,0
$GC,6917,0.61,138.5,707.3,14.2,542,6922,0.15,2.22,0.00,0.000,4,0.193,0.052,3025,3171,2491,0,0,0,0,0,0
$GC,6957,0.67,162.6,702.1,11.7,544,6983,0.00,2.17,20.55,1.220,6,0.000,0.041,3034,1741,2408,0,0,0,0,0,0
$GC,7305,0.73,182.6,660.1,12.1,561,7331,0.12,2.25,19.25,1.186,4,0.096,0.055,3100,344,2327,0,0,0,0,0,0
$GC,7373,0.68,182.6,649.4,18.2,564,7378,0.12,2.17,0.00,0.000,6,0.202,0.043,3065,1753,2325,0,0,0,0,0,0
$GC,7701,0.68,182.6,600.6,14.6,580,7705,0.00,2.15,0.00,0.000,4,0.000,0.050,3055,3167,2322,0,0,0,0,0,0
$GC,7746,0.70,182.9,593.9,13.9,583,7753,0.00,2.15,0.00,0.000,6,0.000,0.040,3063,1752,2321,0,0,0,0,0,0
$GC,8071,0.70,182.9,550.4,14.2,614,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1752,2321,0,0,0,0,0,0
$GC,8395,0.72,182.9,504.3,14.3,644,8399,0.00,2.20,0.00,0.000,4,0.000,0.054,3074,339,2320,0,0,0,0,0,0
$GC,8459,0.72,182.9,494.1,15.0,649,8463,0.00,2.15,0.00,0.000,6,0.000,0.039,3066,1758,2319,0,0,0,0,0,0
$GC,8788,0.75,188.4,447.9,13.4,679,8801,0.00,2.15,5.53,0.822,4,0.000,0.047,3055,3166,2303,0,0,0,0,0,0
$GC,8815,0.78,195.9,443.9,13.2,681,8830,0.00,2.15,8.30,0.927,6,0.000,0.039,3063,1749,2273,0,0,0,0,0,0
$GC,9160,0.81,198.2,399.1,13.7,713,9164,0.10,2.20,0.00,0.000,4,0.111,0.054,3124,346,2271,0,0,0,0,0,0
$GC,9190,0.78,198.2,394.2,16.6,715,9195,0.00,2.12,0.00,0.000,6,0.000,0.039,3120,1748,2270,0,0,0,0,0,0
$GC,9519,0.75,198.2,343.1,14.4,745,9524,0.12,2.17,0.00,0.000,4,0.194,0.048,3078,3170,2270,0,0,0,0,0,0
$GC,9553,0.75,198.2,337.2,16.0,748,9557,0.00,2.15,0.00,0.000,6,0.000,0.038,3086,1749,2269,0,0,0,0,0,0
$GC,9884,0.80,215.3,292.8,12.4,782,9906,0.00,0.00,18.15,0.900,6,0.000,0.000,3086,1749,2193,0,0,0,0,0,0
$GC,10243,0.83,220.3,247.0,13.4,845,10257,0.00,2.17,6.30,0.705,4,0.000,0.044,3078,3168,2172,0,0,0,0,0,0
$GC,10327,0.89,232.5,235.5,12.8,859,10348,0.12,2.15,12.32,0.802,6,0.086,0.037,3151,1746,2124,0,0,0,0,0,0
$GC,10686,0.87,232.5,178.8,15.8,922,10695,0.12,2.20,0.00,0.000,4,0.193,0.050,3130,353,2124,0,0,0,0,0,0
$GC,10854,0.91,232.5,154.9,14.1,951,10861,0.00,2.10,0.00,0.000,6,0.000,0.036,3122,1755,2122,0,0,0,0,0,0
$GC,11183,1.04,295.5,118.9,8.2,1012,11244,0.15,2.22,54.67,0.751,4,0.080,0.044,3183,3161,1867,0,0,0,0,0,0
$GC,11441,1.06,295.5,84.1,14.6,1056,11449,0.00,2.15,0.00,0.000,6,0.000,0.036,3180,1752,1864,0,0,0,0,0,0
$GC,11769,1.06,298.7,33.8,13.6,1117,11778,0.00,2.22,3.72,0.396,4,0.000,0.050,3192,349,1853,0,0,0,0,0,0
$GC,11849,1.06,298.7,21.1,17.8,1131,11857,0.00,2.12,0.00,0.000,6,0.000,0.035,3184,1744,1853,0,0,0,0,0,0
$STATE,11972,end climb,SURFACE_DEPTH_REACHED
$STATE,11972,begin surface coast
$FINISH,1.0,1.006688
$STATE,12004,end surface coast,CONTROL_FINISHED_OK
$STATE,12004,begin surface
$SM_CCo,12021,91.65,0.570,1,0,1441,400.08
$SM_GC,2.00,0.00,0.00,91.65,0.000,0.000,0.570,134,1830,1441,-8.46,0.85,400.08
$IRIDIUM_FIX,2111.01,12601.30,031110,141455
$TT8_MAMPS,0.026964
$HUMID,40.94
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,25.20
$XPDR_PINGS,102
$24V_AH,22.6,82.404
$10V_AH,10.2,52.349
$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,22.425,117.750,395.275,91.650,0.000,87.736,119.836,178.228,25.500,0.000,12.463,2923.174,5869.983,558.554,3044.836,404.246,0.000,1662.409,0.000,2661.276,0.000,0.848,0.000
$DEVICE_MAMPS,245.565,114.750,1449.675,569.925,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.701,1005.440,1377.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333780
$DATA_FILE_SIZE,66969,1159
$CAP_FILE_SIZE,143374,0
$CFSIZE,260165632,153440256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,132.9,1
$GPS,031110,175905,2121.306,12600.636,14,99.0,33,-2.9