version: 66.08
glider: 166
mission: 3
dive: 438
start: 11 3 110 18 10 2
data:
$ID,166
$MISSION,3
$DIVE,438
$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,-22134.121
$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,40
$R_STBD_OVSHOOT,54
$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
$GPS1,031110,175905,2121.306,12600.636,14,99.0,33,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.6
$GPS2,031110,180926,2121.312,12600.736,13,1.4,13,-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,185.2,4539,-27.2,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.37,-110.5,0.0,0.0,0,91,0.00,0.00,-69.97,0.000,2,0.000,0.000,135,1833,3305,0,0,0,0,0,0
$GC,94,-1.42,-146.6,5.9,-10.9,10,119,9.23,2.25,-7.18,0.000,4,0.236,0.057,2380,383,3671,0,0,0,0,0,0
$GC,361,-1.10,-146.6,125.6,-43.8,58,369,0.40,2.15,0.00,0.000,6,0.208,0.041,2475,1778,3673,0,0,0,0,0,0
$GC,702,-1.01,-146.6,220.9,-22.6,119,709,0.12,2.15,0.00,0.000,4,0.202,0.049,2514,398,3676,0,0,0,0,0,0
$GC,963,-0.99,-146.6,275.9,-19.5,165,969,0.00,2.15,0.00,0.000,6,0.000,0.044,2498,1802,3677,0,0,0,0,0,0
$GC,1295,-0.96,-146.6,342.1,-19.5,206,1299,0.12,2.22,0.00,0.000,4,0.199,0.048,2536,392,3677,0,0,0,0,0,0
$GC,1457,-0.99,-146.6,369.9,-17.3,220,1461,0.00,2.12,0.00,0.000,6,0.000,0.043,2524,1799,3677,0,0,0,0,0,0
$GC,1783,-1.02,-146.6,423.8,-16.7,250,1787,0.00,2.15,0.00,0.000,4,0.000,0.050,2512,3208,3677,0,0,0,0,0,0
$GC,1804,-1.06,-146.6,426.8,-16.3,251,1808,0.00,2.10,0.00,0.000,6,0.000,0.035,2516,1800,3677,0,0,0,0,0,0
$GC,2131,-1.09,-146.6,478.8,-15.4,281,2135,0.00,2.17,0.00,0.000,4,0.000,0.050,2517,398,3677,0,0,0,0,0,0
$GC,2171,-1.11,-146.6,485.8,-16.8,284,2175,0.00,2.12,0.00,0.000,6,0.000,0.043,2508,1800,3677,0,0,0,0,0,0
$GC,2499,-1.14,-146.6,535.8,-15.9,314,2504,0.10,2.20,0.00,0.000,4,0.109,0.050,2464,386,3675,0,0,0,0,0,0
$GC,2516,-1.14,-146.6,539.0,-15.8,315,2520,0.00,2.17,0.00,0.000,6,0.000,0.044,2457,1805,3674,0,0,0,0,0,0
$GC,2846,-1.11,-146.6,598.1,-18.2,345,2849,0.00,2.20,0.00,0.000,4,0.000,0.050,2458,389,3672,0,0,0,0,0,0
$GC,2933,-1.06,-146.6,615.4,-19.5,349,2938,0.15,2.17,0.00,0.000,6,0.192,0.044,2493,1809,3672,0,0,0,0,0,0
$GC,3260,-1.06,-146.6,669.5,-16.2,365,3264,0.00,2.12,0.00,0.000,4,0.000,0.051,2493,3212,3668,0,0,0,0,0,0
$GC,3283,-1.06,-146.6,673.4,-16.5,366,3287,0.00,2.15,0.00,0.000,6,0.000,0.037,2496,1789,3668,0,0,0,0,0,0
$GC,3605,-1.06,-146.6,726.7,-16.7,382,3609,0.00,2.15,0.00,0.000,4,0.000,0.053,2496,388,3665,0,0,0,0,0,0
$GC,3691,-1.06,-146.6,741.2,-17.2,386,3695,0.00,2.17,0.00,0.000,6,0.000,0.045,2488,1800,3664,0,0,0,0,0,0
$GC,4019,-1.06,-146.6,796.8,-17.0,402,4023,0.00,2.20,0.00,0.000,4,0.000,0.053,2488,395,3660,0,0,0,0,0,0
$GC,4119,-1.06,-146.6,814.8,-17.2,406,4127,0.00,2.17,0.00,0.000,6,0.000,0.047,2477,1802,3659,0,0,0,0,0,0
$GC,4437,-1.06,-146.6,866.0,-16.2,422,4441,0.00,2.17,0.00,0.000,4,0.000,0.053,2477,398,3656,0,0,0,0,0,0
$GC,4526,-1.06,-146.6,881.5,-17.1,426,4531,0.12,2.15,0.00,0.000,6,0.195,0.047,2497,1798,3655,0,0,0,0,0,0
$GC,4859,-1.09,-148.0,927.5,-13.8,442,4862,0.00,2.22,0.00,0.000,4,0.000,0.060,2497,394,3652,0,0,0,0,0,0
$GC,4891,-1.09,-148.0,933.0,-14.2,443,4900,0.00,2.17,0.00,0.000,6,0.000,0.047,2489,1800,3652,0,0,0,0,0,0
$GC,5208,-1.11,-148.0,976.3,-13.9,459,5212,0.00,2.20,0.00,0.000,4,0.000,0.055,2489,399,3649,0,0,0,0,0,0
$GC,5250,-1.11,-148.0,982.4,-15.2,461,5254,0.00,2.17,0.00,0.000,6,0.000,0.047,2478,1801,3648,0,0,0,0,0,0
$STATE,5368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5368,begin apogee
$GC,5374,-0.23,0.0,1000.6,15.0,467,5508,0.95,0.00,126.03,1.442,6,0.161,0.000,2759,1746,3072,0,0,0,0,0,0
$STATE,5509,end apogee,CONTROL_FINISHED_OK
$STATE,5509,begin climb
$GC,5512,1.42,148.0,1004.4,0.0,473,5655,1.52,0.00,136.38,1.393,6,0.070,0.000,3291,1746,2468,0,0,0,0,0,0
$GC,5959,1.13,148.0,894.9,28.9,495,5961,0.35,0.00,0.00,0.000,6,0.236,0.000,3209,1746,2459,0,0,0,0,0,0
$GC,6267,0.92,148.0,819.8,24.6,510,6272,0.28,2.22,0.00,0.000,4,0.209,0.053,3125,3166,2457,0,0,0,0,0,0
$GC,6286,0.73,148.0,815.6,23.8,511,6291,0.22,2.15,0.00,0.000,6,0.197,0.044,3077,1745,2456,0,0,0,0,0,0
$GC,6615,0.69,148.0,763.0,15.6,527,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1744,2455,0,0,0,0,0,0
$GC,6924,0.64,148.0,712.6,16.4,542,6928,0.00,2.17,0.00,0.000,4,0.000,0.056,3085,336,2453,0,0,0,0,0,0
$GC,6944,0.59,148.0,709.3,16.2,543,6949,0.17,2.17,0.00,0.000,6,0.191,0.045,3034,1749,2452,0,0,0,0,0,0
$GC,7273,0.62,159.1,665.2,13.0,559,7287,0.00,2.22,8.35,1.068,4,0.000,0.053,3024,3155,2423,0,0,0,0,0,0
$GC,7320,0.67,173.5,659.2,12.7,561,7342,0.00,2.12,15.38,1.158,6,0.000,0.040,3032,1745,2363,0,0,0,0,0,0
$GC,7653,0.72,189.2,616.8,12.6,577,7677,0.12,2.22,15.55,1.141,4,0.095,0.049,3084,3167,2299,0,0,0,0,0,0
$GC,7695,0.68,189.2,609.8,17.0,578,7702,0.12,2.17,0.00,0.000,6,0.203,0.041,3064,1752,2297,0,0,0,0,0,0
$GC,8018,0.68,189.2,559.6,14.5,606,8022,0.00,2.20,0.00,0.000,4,0.000,0.054,3073,340,2296,0,0,0,0,0,0
$GC,8093,0.66,189.2,548.0,16.0,612,8098,0.00,2.15,0.00,0.000,6,0.000,0.041,3064,1753,2295,0,0,0,0,0,0
$GC,8419,0.67,192.2,502.1,13.6,642,8423,0.00,2.12,0.00,0.000,4,0.000,0.050,3055,3158,2293,0,0,0,0,0,0
$GC,8485,0.69,194.3,493.2,13.7,647,8497,0.00,2.12,4.65,0.784,6,0.000,0.040,3062,1747,2280,0,0,0,0,0,0
$GC,8816,0.69,196.2,447.7,13.7,678,8820,0.00,2.20,0.00,0.000,4,0.000,0.054,3055,3171,2280,0,0,0,0,0,0
$GC,8831,0.69,196.2,445.9,14.3,679,8835,0.00,2.15,0.00,0.000,6,0.000,0.039,3063,1739,2279,0,0,0,0,0,0
$GC,9158,0.73,209.6,402.8,12.8,709,9182,0.00,2.25,15.25,0.988,4,0.000,0.047,3055,3160,2216,0,0,0,0,0,0
$GC,9211,0.78,219.0,396.2,13.1,713,9225,0.00,2.15,9.93,0.914,6,0.000,0.039,3063,1740,2178,0,0,0,0,0,0
$GC,9555,0.84,240.3,352.4,12.1,745,9583,0.12,0.00,20.52,0.959,6,0.096,0.000,3127,1740,2092,0,0,0,0,0,0
$GC,9903,0.80,240.3,291.2,18.9,782,9911,0.00,2.20,0.00,0.000,4,0.000,0.052,3138,347,2088,0,0,0,0,0,0
$GC,9947,0.76,240.3,283.4,18.6,789,9955,0.17,2.12,0.00,0.000,6,0.183,0.037,3090,1754,2088,0,0,0,0,0,0
$GC,10293,0.80,245.9,233.4,13.4,850,10307,0.00,2.25,5.93,0.684,4,0.000,0.051,3099,358,2069,0,0,0,0,0,0
$GC,10344,0.85,267.6,226.8,12.1,858,10372,0.00,2.15,20.88,0.836,6,0.000,0.037,3096,1751,1980,0,0,0,0,0,0
$GC,10706,0.97,305.8,178.9,10.7,922,10747,0.15,2.15,33.55,0.802,4,0.075,0.044,3166,3158,1825,0,0,0,0,0,0
$GC,10858,0.97,305.8,153.8,18.4,947,10865,0.00,2.15,0.00,0.000,6,0.000,0.036,3174,1739,1824,0,0,0,0,0,0
$GC,11185,1.00,326.6,101.3,12.1,1008,11216,0.00,2.25,19.48,0.708,4,0.000,0.041,3174,3172,1740,0,0,0,0,0,0
$GC,11230,1.03,333.4,95.3,13.3,1014,11246,0.00,2.17,7.85,0.607,6,0.000,0.035,3172,1752,1711,0,0,0,0,0,0
$GC,11567,1.04,340.2,44.0,13.3,1076,11584,0.00,2.20,7.38,0.562,4,0.000,0.041,3165,3165,1684,0,0,0,0,0,0
$GC,11614,1.04,340.2,36.0,17.3,1083,11622,0.00,2.15,0.00,0.000,6,0.000,0.034,3173,1752,1684,0,0,0,0,0,0
$STATE,11829,end climb,SURFACE_DEPTH_REACHED
$STATE,11829,begin surface coast
$FINISH,1.0,1.022258
$STATE,11851,end surface coast,CONTROL_FINISHED_OK
$STATE,11851,begin surface
$SM_CCo,11870,56.83,0.528,1,0,1441,400.08
$SM_GC,1.73,0.00,0.00,56.83,0.000,0.000,0.528,140,1834,1441,-8.44,0.96,400.08
$IRIDIUM_FIX,2115.63,12602.66,031110,181848
$TT8_MAMPS,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,25.10
$XPDR_PINGS,85
$24V_AH,22.6,82.586
$10V_AH,10.1,52.477
$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,22.275,113.200,447.075,56.825,0.000,50.683,33.637,284.206,21.250,0.000,14.150,2839.306,5850.628,573.175,2858.124,433.517,0.000,1635.801,0.000,2516.690,0.000,1.151,0.000
$DEVICE_MAMPS,236.385,113.985,1442.025,527.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.336,973.473,1298.376,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333864
$DATA_FILE_SIZE,66959,1127
$CAP_FILE_SIZE,140628,0
$CFSIZE,260165632,153358336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082,110.9,1
$GPS,031110,213007,2119.734,12601.551,34,0.9,34,-2.9