version: 66.08
glider: 166
mission: 3
dive: 441
start: 11 4 110 4 57 40
data:
$ID,166
$MISSION,3
$DIVE,441
$N_DIVES,454
$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,-22137.898
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,041110,045006,2117.890,12600.646,31,1.1,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-66.9
$GPS2,041110,045708,2117.828,12600.662,14,1.4,14,-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,15.0,2192,-23.7,-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,15,begin dive
$GC,17,-1.26,-146.5,0.0,0.0,0,91,0.00,0.00,-71.60,0.000,2,0.000,0.000,140,1817,3295,0,0,0,0,0,0
$GC,94,-1.33,-207.0,5.5,-10.1,10,125,9.07,2.15,-12.12,0.000,4,0.226,0.053,2390,3207,3919,0,0,0,0,0,0
$GC,155,-1.03,-207.0,33.3,-47.2,19,163,0.38,2.12,0.00,0.000,6,0.172,0.033,2500,1801,3921,0,0,0,0,0,0
$GC,484,-0.90,-207.0,148.6,-27.9,80,493,0.17,2.20,0.00,0.000,4,0.184,0.047,2551,401,3923,0,0,0,0,0,0
$GC,613,-0.88,-207.0,179.7,-20.4,102,621,0.00,2.15,0.00,0.000,6,0.000,0.041,2545,1794,3924,0,0,0,0,0,0
$GC,955,-0.86,-207.0,250.4,-21.3,163,961,0.00,2.15,0.00,0.000,4,0.000,0.046,2543,399,3926,0,0,0,0,0,0
$GC,1117,-0.86,-207.0,282.5,-20.2,191,1124,0.00,2.12,0.00,0.000,6,0.000,0.044,2539,1801,3927,0,0,0,0,0,0
$GC,1448,-0.86,-207.0,340.3,-16.7,230,1452,0.00,2.17,0.00,0.000,4,0.000,0.049,2539,398,3927,0,0,0,0,0,0
$GC,1515,-0.88,-207.0,352.4,-17.5,236,1519,0.00,2.12,0.00,0.000,6,0.000,0.044,2529,1801,3927,0,0,0,0,0,0
$GC,1840,-0.88,-207.0,408.8,-16.6,266,1844,0.00,2.15,0.00,0.000,4,0.000,0.050,2529,401,3926,0,0,0,0,0,0
$GC,1870,-0.88,-207.0,413.5,-17.3,268,1875,0.12,2.15,0.00,0.000,6,0.178,0.045,2556,1799,3926,0,0,0,0,0,0
$GC,2202,-0.95,-212.4,459.9,-13.5,299,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1799,3925,0,0,0,0,0,0
$GC,2523,-1.03,-214.1,503.7,-13.7,329,2528,0.15,2.20,0.00,0.000,4,0.078,0.052,2485,395,3923,0,0,0,0,0,0
$GC,2563,-1.00,-214.1,511.2,-20.0,332,2568,0.12,2.15,0.00,0.000,6,0.187,0.047,2513,1801,3922,0,0,0,0,0,0
$GC,2889,-1.01,-214.1,563.3,-15.5,362,2893,0.00,2.17,0.00,0.000,4,0.000,0.052,2519,3218,3920,0,0,0,0,0,0
$GC,2929,-1.05,-214.1,569.5,-15.8,365,2935,0.00,2.15,0.00,0.000,6,0.000,0.038,2521,1800,3920,0,0,0,0,0,0
$GC,3252,-1.05,-214.1,620.4,-15.5,390,3256,0.00,2.20,0.00,0.000,4,0.000,0.054,2521,393,3918,0,0,0,0,0,0
$GC,3363,-1.05,-214.1,639.3,-16.9,395,3367,0.00,2.17,0.00,0.000,6,0.000,0.047,2513,1810,3917,0,0,0,0,0,0
$GC,3687,-1.05,-214.1,692.8,-16.8,411,3691,0.00,2.15,0.00,0.000,4,0.000,0.054,2503,3218,3914,0,0,0,0,0,0
$GC,3720,-1.07,-214.1,698.8,-16.1,412,3727,0.00,2.12,0.00,0.000,6,0.000,0.039,2503,1801,3913,0,0,0,0,0,0
$GC,4036,-1.07,-214.1,752.0,-16.6,428,4040,0.00,2.17,0.00,0.000,4,0.000,0.054,2502,392,3910,0,0,0,0,0,0
$GC,4092,-1.07,-214.1,761.8,-16.7,430,4099,0.00,2.20,0.00,0.000,6,0.000,0.054,2492,1806,3909,0,0,0,0,0,0
$GC,4409,-1.05,-214.1,815.9,-17.8,446,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1806,3906,0,0,0,0,0,0
$GC,4720,-1.05,-214.1,872.5,-18.5,461,4724,0.00,2.20,0.00,0.000,4,0.000,0.056,2492,395,3903,0,0,0,0,0,0
$GC,4769,-1.05,-214.1,882.5,-18.5,463,4773,0.00,2.17,0.00,0.000,6,0.000,0.048,2482,1805,3902,0,0,0,0,0,0
$GC,5091,-1.03,-214.1,941.5,-18.2,479,5095,0.00,2.22,0.00,0.000,4,0.000,0.062,2482,393,3899,0,0,0,0,0,0
$GC,5141,-1.01,-214.1,950.0,-18.2,481,5146,0.15,2.17,0.00,0.000,6,0.182,0.050,2510,1797,3899,0,0,0,0,0,0
$GC,5470,-1.04,-214.1,999.1,-14.2,497,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1798,3897,0,0,0,0,0,0
$STATE,5486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5486,begin apogee
$GC,5492,-0.23,0.0,1002.0,14.1,498,5678,0.80,0.00,180.65,1.438,6,0.147,0.000,2758,1744,3072,0,0,0,0,0,0
$STATE,5679,end apogee,CONTROL_FINISHED_OK
$STATE,5679,begin climb
$GC,5682,1.34,214.1,1007.6,0.0,506,5887,1.50,0.00,201.12,1.375,6,0.057,0.000,3278,1744,2199,0,0,0,0,0,0
$GC,6189,1.03,214.1,860.1,35.2,531,6191,0.40,0.00,0.00,0.000,6,0.220,0.000,3178,1744,2191,0,0,0,0,0,0
$GC,6498,0.82,214.1,774.5,27.1,546,6503,0.25,2.22,0.00,0.000,4,0.200,0.052,3096,3173,2190,0,0,0,0,0,0
$GC,6532,0.69,214.1,766.2,23.1,547,6540,0.15,2.17,0.00,0.000,6,0.192,0.044,3068,1741,2188,0,0,0,0,0,0
$GC,6849,0.63,214.1,710.2,17.0,563,6853,0.00,2.17,0.00,0.000,4,0.000,0.057,3077,346,2187,0,0,0,0,0,0
$GC,6866,0.57,214.1,706.9,17.5,563,6874,0.17,2.17,0.00,0.000,6,0.180,0.044,3024,1758,2186,0,0,0,0,0,0
$GC,7182,0.57,214.1,661.6,14.2,579,7186,0.00,2.15,0.00,0.000,4,0.000,0.053,3014,3165,2186,0,0,0,0,0,0
$GC,7285,0.60,215.4,647.0,13.8,583,7289,0.00,2.15,0.00,0.000,6,0.000,0.042,3022,1746,2184,0,0,0,0,0,0
$GC,7602,0.60,215.4,602.4,14.5,598,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1746,2184,0,0,0,0,0,0
$GC,7920,0.62,237.7,561.5,12.5,627,7946,0.00,2.28,20.67,1.133,4,0.000,0.057,3033,344,2102,0,0,0,0,0,0
$GC,7971,0.64,237.7,554.4,14.1,631,7978,0.00,2.20,0.00,0.000,6,0.000,0.042,3030,1766,2101,0,0,0,0,0,0
$GC,8299,0.68,253.7,511.7,12.9,662,8322,0.00,2.17,15.68,1.066,4,0.000,0.052,3030,3166,2037,0,0,0,0,0,0
$GC,8385,0.72,257.5,499.7,13.6,669,8396,0.10,2.17,5.00,0.797,6,0.098,0.047,3093,1747,2021,0,0,0,0,0,0
$GC,8727,0.67,257.5,438.5,18.6,701,8731,0.15,2.22,0.00,0.000,4,0.185,0.055,3063,338,2021,0,0,0,0,0,0
$GC,8779,0.67,257.5,429.3,17.2,705,8783,0.00,2.15,0.00,0.000,6,0.000,0.041,3056,1750,2019,0,0,0,0,0,0
$GC,9105,0.67,257.5,381.9,14.1,735,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1751,2018,0,0,0,0,0,0
$GC,9426,0.67,257.5,337.4,14.1,765,9430,0.00,2.17,0.00,0.000,4,0.000,0.055,3055,3167,2018,0,0,0,0,0,0
$GC,9496,0.69,258.6,327.8,13.8,771,9501,0.00,2.15,0.00,0.000,6,0.000,0.040,3062,1741,2017,0,0,0,0,0,0
$GC,9824,0.72,288.5,284.1,12.0,812,9860,0.00,2.20,28.30,0.904,4,0.000,0.053,3073,343,1894,0,0,0,0,0,0
$GC,9935,0.74,288.5,269.6,14.3,829,9942,0.00,2.15,0.00,0.000,6,0.000,0.038,3073,1754,1891,0,0,0,0,0,0
$GC,10279,0.78,304.0,223.8,12.9,890,10301,0.00,2.15,14.80,0.806,4,0.000,0.045,3073,3162,1832,0,0,0,0,0,0
$GC,10349,0.87,329.0,214.5,12.3,901,10379,0.10,2.15,23.90,0.818,6,0.096,0.038,3144,1749,1730,0,0,0,0,0,0
$GC,10712,0.83,329.0,150.7,17.5,965,10719,0.15,2.17,0.00,0.000,4,0.172,0.045,3095,3162,1728,0,0,0,0,0,0
$GC,10843,0.90,337.5,132.7,13.4,988,10859,0.00,2.15,8.80,0.669,6,0.000,0.037,3098,1756,1696,0,0,0,0,0,0
$GC,11183,1.09,432.1,95.1,7.9,1050,11273,0.25,2.22,81.68,0.721,4,0.056,0.047,3233,346,1310,0,0,0,0,0,0
$GC,11306,0.99,432.1,70.3,24.7,1067,11314,0.20,2.17,0.00,0.000,6,0.158,0.035,3165,1755,1309,0,0,0,0,0,0
$GC,11637,0.96,432.1,8.3,19.5,1128,11645,0.00,2.12,0.00,0.000,4,0.000,0.043,3155,3152,1307,0,0,0,0,0,0
$STATE,11657,end climb,SURFACE_DEPTH_REACHED
$STATE,11657,begin surface coast
$FINISH,0.9,1.018283
$STATE,11669,end surface coast,CONTROL_FINISHED_OK
$STATE,11669,begin surface
$SM_CCo,11749,0.00,0.000,0,0,1301,434.18
$SM_GC,1.83,7.95,0.00,0.00,0.041,0.000,0.000,167,1790,1301,-8.35,-0.28,434.18
$IRIDIUM_FIX,2111.01,12601.30,041110,010113
$TT8_MAMPS,0.026215
$HUMID,43.18
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.70
$XPDR_PINGS,86
$24V_AH,22.2,83.233
$10V_AH,10.2,52.874
$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,22.350,104.200,580.600,0.000,0.000,24.305,36.920,188.778,21.500,0.000,15.082,2785.756,5637.911,630.668,2724.167,387.041,0.000,1677.583,0.000,2487.019,0.000,0.847,0.000
$DEVICE_MAMPS,225.675,116.280,1438.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.017,983.543,1318.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333720
$DATA_FILE_SIZE,67022,1133
$CAP_FILE_SIZE,130867,0
$CFSIZE,260165632,153141248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,198.9,1
$GPS,041110,081436,2118.953,12600.526,31,1.1,31,-2.9