version: 66.08
glider: 166
mission: 3
dive: 440
start: 11 4 110 1 26 38
data:
$ID,166
$MISSION,3
$DIVE,440
$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,-22136.641
$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,32
$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
$GPS1,041110,011830,2117.573,12601.688,37,1.3,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.8
$GPS2,041110,012608,2117.525,12601.700,13,1.3,13,-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,333.1,2689,-26.8,-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,16,-1.36,-114.0,0.0,0.0,0,107,0.00,0.00,-88.43,0.000,2,0.000,0.000,168,1755,3166,0,0,0,0,0,0
$GC,112,-1.42,-162.9,5.1,-9.9,12,143,8.82,2.28,-11.45,0.000,4,0.222,0.053,2362,3209,3738,0,0,0,0,0,0
$GC,262,-1.16,-162.9,72.7,-43.7,38,271,0.35,2.15,0.00,0.000,6,0.200,0.034,2457,1796,3740,0,0,0,0,0,0
$GC,596,-1.01,-162.9,187.4,-28.3,99,603,0.20,2.17,0.00,0.000,4,0.180,0.043,2512,385,3741,0,0,0,0,0,0
$GC,626,-0.89,-162.9,195.7,-28.4,103,633,0.17,2.15,0.00,0.000,6,0.184,0.039,2549,1803,3742,0,0,0,0,0,0
$GC,963,-0.89,-162.9,265.6,-18.0,164,971,0.00,2.20,0.00,0.000,4,0.000,0.046,2548,402,3744,0,0,0,0,0,0
$GC,1133,-0.89,-162.9,294.9,-18.4,193,1140,0.00,2.12,0.00,0.000,6,0.000,0.041,2540,1796,3744,0,0,0,0,0,0
$GC,1467,-0.89,-162.9,353.8,-17.6,226,1471,0.00,2.17,0.00,0.000,4,0.000,0.047,2539,387,3744,0,0,0,0,0,0
$GC,1560,-0.92,-162.9,370.7,-17.3,234,1569,0.00,2.17,0.00,0.000,6,0.000,0.043,2515,1792,3744,0,0,0,0,0,0
$GC,1887,-0.94,-162.9,425.4,-16.7,265,1891,0.00,2.17,0.00,0.000,4,0.000,0.048,2502,3221,3743,0,0,0,0,0,0
$GC,1937,-0.99,-162.9,433.8,-16.3,269,1943,0.00,2.15,0.00,0.000,6,0.000,0.035,2502,1801,3744,0,0,0,0,0,0
$GC,2264,-1.01,-162.9,488.2,-16.3,300,2268,0.00,2.22,0.00,0.000,4,0.000,0.051,2502,392,3744,0,0,0,0,0,0
$GC,2386,-1.03,-162.9,509.3,-16.4,310,2394,0.00,2.17,0.00,0.000,6,0.000,0.046,2494,1797,3742,0,0,0,0,0,0
$GC,2712,-1.05,-162.9,563.8,-17.1,341,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1798,3740,0,0,0,0,0,0
$GC,3040,-1.08,-162.9,618.8,-16.8,367,3044,0.00,2.20,0.00,0.000,4,0.000,0.052,2494,395,3737,0,0,0,0,0,0
$GC,3152,-1.10,-162.9,638.9,-17.2,372,3156,0.00,2.17,0.00,0.000,6,0.000,0.046,2486,1813,3736,0,0,0,0,0,0
$GC,3480,-1.11,-162.9,693.2,-16.5,388,3484,0.00,2.15,0.00,0.000,4,0.000,0.054,2493,3219,3732,0,0,0,0,0,0
$GC,3514,-1.14,-162.9,698.9,-17.1,389,3521,0.00,2.17,0.00,0.000,6,0.000,0.039,2492,1791,3732,0,0,0,0,0,0
$GC,3830,-1.14,-162.9,753.6,-17.7,405,3834,0.00,2.17,0.00,0.000,4,0.000,0.054,2492,393,3729,0,0,0,0,0,0
$GC,3901,-1.14,-162.9,767.1,-18.9,408,3905,0.00,2.17,0.00,0.000,6,0.000,0.048,2483,1807,3728,0,0,0,0,0,0
$GC,4224,-1.14,-162.9,823.8,-17.3,424,4228,0.00,2.22,0.00,0.000,4,0.000,0.054,2483,389,3725,0,0,0,0,0,0
$GC,4309,-1.14,-162.9,839.6,-18.1,428,4313,0.00,2.17,0.00,0.000,6,0.000,0.048,2473,1801,3724,0,0,0,0,0,0
$GC,4637,-1.14,-162.9,895.8,-17.0,444,4641,0.00,2.20,0.00,0.000,4,0.000,0.054,2473,396,3720,0,0,0,0,0,0
$GC,4681,-1.12,-162.9,904.0,-17.7,446,4685,0.00,2.20,0.00,0.000,6,0.000,0.049,2463,1806,3720,0,0,0,0,0,0
$GC,5003,-1.12,-162.9,960.4,-17.5,462,5007,0.00,2.25,0.00,0.000,4,0.000,0.058,2463,391,3718,0,0,0,0,0,0
$GC,5055,-1.10,-162.9,970.1,-18.9,464,5060,0.12,2.22,0.00,0.000,6,0.195,0.050,2482,1808,3717,0,0,0,0,0,0
$STATE,5245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5245,begin apogee
$GC,5251,-0.23,0.0,1000.1,15.6,473,5400,0.93,0.00,141.12,1.446,6,0.157,0.000,2760,1739,3072,0,0,0,0,0,0
$STATE,5401,end apogee,CONTROL_FINISHED_OK
$STATE,5401,begin climb
$GC,5403,1.42,162.9,1004.4,0.0,480,5564,1.55,2.42,151.45,1.392,4,0.070,0.056,3307,348,2408,0,0,0,0,0,0
$GC,5619,1.10,162.9,961.2,33.5,490,5625,0.43,2.28,0.00,0.000,6,0.230,0.048,3198,1749,2404,0,0,0,0,0,0
$GC,5948,0.89,162.9,874.9,25.2,506,5953,0.25,2.20,0.00,0.000,4,0.211,0.051,3119,3167,2400,0,0,0,0,0,0
$GC,5977,0.74,162.9,867.6,23.3,507,5982,0.17,2.15,0.00,0.000,6,0.202,0.041,3085,1747,2398,0,0,0,0,0,0
$GC,6293,0.67,162.9,810.5,17.8,522,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1747,2397,0,0,0,0,0,0
$GC,6604,0.60,162.9,756.6,17.8,537,6606,0.17,0.00,0.00,0.000,6,0.184,0.000,3038,1747,2395,0,0,0,0,0,0
$GC,6912,0.61,169.5,714.0,13.4,552,6919,0.00,0.00,4.82,0.890,6,0.000,0.000,3038,1747,2381,0,0,0,0,0,0
$GC,7221,0.62,175.8,673.2,13.4,567,7235,0.00,2.30,7.68,1.056,4,0.000,0.050,3034,3174,2355,0,0,0,0,0,0
$GC,7298,0.62,175.8,662.7,14.1,570,7302,0.00,2.17,0.00,0.000,6,0.000,0.041,3042,1745,2354,0,0,0,0,0,0
$GC,7614,0.63,179.7,619.0,13.6,585,7624,0.00,2.22,5.20,0.894,4,0.000,0.048,3039,3179,2338,0,0,0,0,0,0
$GC,7648,0.63,182.0,614.2,13.7,586,7654,0.00,2.20,0.00,0.000,6,0.000,0.040,3048,1740,2338,0,0,0,0,0,0
$GC,7972,0.65,199.6,571.4,12.5,612,7998,0.00,2.25,19.25,1.141,4,0.000,0.054,3058,349,2258,0,0,0,0,0,0
$GC,8056,0.65,199.6,559.4,14.7,619,8064,0.00,2.20,0.00,0.000,6,0.000,0.044,3059,1759,2255,0,0,0,0,0,0
$GC,8381,0.65,199.6,513.3,14.3,650,8385,0.00,2.17,0.00,0.000,4,0.000,0.052,3058,3161,2254,0,0,0,0,0,0
$GC,8487,0.65,199.6,497.8,14.6,659,8495,0.00,2.17,0.00,0.000,6,0.000,0.046,3067,1743,2253,0,0,0,0,0,0
$GC,8813,0.65,199.6,450.0,15.0,690,8817,0.00,2.15,0.00,0.000,4,0.000,0.054,3078,346,2252,0,0,0,0,0,0
$GC,8855,0.63,199.6,443.5,16.5,693,8860,0.12,2.15,0.00,0.000,6,0.190,0.040,3047,1751,2252,0,0,0,0,0,0
$GC,9187,0.70,222.7,400.8,12.0,724,9214,0.00,2.22,21.25,1.012,4,0.000,0.047,3037,3161,2162,0,0,0,0,0,0
$GC,9294,0.79,245.2,388.6,12.1,733,9326,0.15,2.15,21.50,0.988,6,0.080,0.039,3118,1738,2071,0,0,0,0,0,0
$GC,9645,0.76,245.2,329.6,16.5,766,9650,0.12,2.17,0.00,0.000,4,0.190,0.052,3097,350,2068,0,0,0,0,0,0
$GC,9688,0.76,245.2,321.6,16.4,769,9695,0.00,2.15,0.00,0.000,6,0.000,0.038,3088,1757,2068,0,0,0,0,0,0
$GC,10022,0.76,245.2,272.8,14.0,816,10030,0.00,2.22,0.00,0.000,4,0.000,0.051,3098,349,2067,0,0,0,0,0,0
$GC,10054,0.76,245.2,266.9,16.8,821,10061,0.00,2.15,0.00,0.000,6,0.000,0.038,3089,1760,2067,0,0,0,0,0,0
$GC,10388,0.81,257.7,221.0,12.9,882,10410,0.00,2.20,11.93,0.798,4,0.000,0.047,3079,3161,2021,0,0,0,0,0,0
$GC,10458,0.88,259.1,211.8,13.8,893,10466,0.10,2.12,0.00,0.000,6,0.101,0.037,3142,1741,2021,0,0,0,0,0,0
$GC,10786,0.88,259.1,162.4,15.7,954,10794,0.00,2.17,0.00,0.000,4,0.000,0.043,3140,3158,2021,0,0,0,0,0,0
$GC,10977,0.88,259.1,134.5,14.7,989,10985,0.00,2.15,0.00,0.000,6,0.000,0.037,3148,1747,2021,0,0,0,0,0,0
$GC,11307,0.98,310.9,96.4,9.7,1050,11360,0.00,0.00,46.65,0.732,6,0.000,0.000,3148,1747,1803,0,0,0,0,0,0
$GC,11680,1.04,324.2,52.3,12.8,1117,11695,0.00,0.00,12.75,0.628,6,0.000,0.000,3148,1747,1750,0,0,0,0,0,0
$GC,12015,1.15,354.7,8.9,11.4,1179,12045,0.17,0.00,27.77,0.626,6,0.072,0.000,3230,1746,1624,0,0,0,0,0,0
$STATE,12052,end climb,SURFACE_DEPTH_REACHED
$STATE,12052,begin surface coast
$FINISH,1.0,1.002213
$STATE,12069,end surface coast,CONTROL_FINISHED_OK
$STATE,12069,begin surface
$SM_CCo,12089,43.53,0.487,1,0,1441,400.08
$SM_GC,1.92,0.00,0.00,43.53,0.000,0.000,0.487,144,1815,1441,-8.42,0.42,400.08
$IRIDIUM_FIX,2113.32,12604.53,031110,212140
$TT8_MAMPS,0.026215
$HUMID,41.49
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,25.40
$XPDR_PINGS,95
$24V_AH,22.3,83.019
$10V_AH,10.1,52.747
$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,22.050,105.425,471.375,43.525,0.000,29.612,44.115,212.620,23.750,0.000,14.397,2946.728,5677.924,586.121,2963.359,416.303,0.000,1716.729,0.000,2704.958,0.000,0.846,0.000
$DEVICE_MAMPS,230.265,113.220,1445.850,486.540,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.754,1034.027,1433.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70145,1187
$CAP_FILE_SIZE,138546,0
$CFSIZE,260165632,153202688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.143,178.3,1
$GPS,041110,045006,2117.890,12600.646,31,1.1,31,-2.9