version: 66.08
glider: 166
mission: 3
dive: 444
start: 11 4 110 15 52 25
data:
$ID,166
$MISSION,3
$DIVE,444
$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,-22141.67
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,041110,154506,2115.266,12601.113,37,1.0,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.1
$GPS2,041110,155202,2115.270,12601.139,15,1.4,15,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP_SOUTH_SOUTH
$TGT_LATLONG,2113.500,12601.200
$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,171.2,3280,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.41,-103.1,0.0,0.0,0,121,0.00,0.00,-101.47,0.000,2,0.000,0.000,145,1820,3354,0,0,0,0,0,0
$GC,124,-1.43,-121.5,6.3,-12.2,14,143,8.80,2.28,-4.20,0.000,4,0.220,0.056,2377,383,3571,0,0,0,0,0,0
$GC,383,-1.15,-121.5,114.9,-41.7,61,392,0.35,2.20,0.00,0.000,6,0.202,0.044,2461,1793,3573,0,0,0,0,0,0
$GC,721,-1.05,-121.5,202.8,-22.2,122,730,0.15,2.22,0.00,0.000,4,0.187,0.047,2500,392,3576,0,0,0,0,0,0
$GC,933,-1.00,-121.5,251.4,-22.6,159,940,0.00,2.15,0.00,0.000,6,0.000,0.042,2491,1804,3577,0,0,0,0,0,0
$GC,1277,-0.96,-121.5,321.3,-19.5,211,1282,0.15,2.12,0.00,0.000,4,0.190,0.046,2519,3210,3577,0,0,0,0,0,0
$GC,1412,-1.01,-121.5,342.7,-15.1,222,1421,0.00,2.15,0.00,0.000,6,0.000,0.037,2520,1803,3577,0,0,0,0,0,0
$GC,1740,-1.04,-121.5,395.1,-16.7,253,1743,0.00,2.15,0.00,0.000,4,0.000,0.048,2519,392,3577,0,0,0,0,0,0
$GC,1917,-1.07,-121.5,425.6,-16.4,268,1925,0.00,2.17,0.00,0.000,6,0.000,0.043,2510,1795,3577,0,0,0,0,0,0
$GC,2244,-1.10,-121.5,474.3,-14.5,299,2248,0.00,2.17,0.00,0.000,4,0.000,0.050,2509,387,3577,0,0,0,0,0,0
$GC,2369,-1.12,-121.5,494.1,-15.7,309,2376,0.00,2.20,0.00,0.000,6,0.000,0.044,2499,1813,3576,0,0,0,0,0,0
$GC,2697,-1.14,-122.1,540.4,-13.8,340,2701,0.00,2.20,0.00,0.000,4,0.000,0.050,2499,392,3574,0,0,0,0,0,0
$GC,2740,-1.14,-122.1,547.8,-15.1,343,2747,0.00,2.17,0.00,0.000,6,0.000,0.045,2490,1800,3573,0,0,0,0,0,0
$GC,3068,-1.16,-122.1,595.6,-14.6,374,3072,0.00,2.17,0.00,0.000,4,0.000,0.051,2490,393,3571,0,0,0,0,0,0
$GC,3132,-1.16,-122.1,605.4,-14.9,378,3136,0.00,2.15,0.00,0.000,6,0.000,0.046,2485,1800,3570,0,0,0,0,0,0
$GC,3459,-1.16,-122.1,654.5,-14.9,394,3463,0.00,2.22,0.00,0.000,4,0.000,0.053,2486,395,3568,0,0,0,0,0,0
$GC,3532,-1.16,-122.1,666.5,-15.5,397,3536,0.00,2.17,0.00,0.000,6,0.000,0.046,2481,1808,3567,0,0,0,0,0,0
$GC,3853,-1.16,-122.1,715.9,-15.2,413,3857,0.00,2.22,0.00,0.000,4,0.000,0.053,2484,390,3564,0,0,0,0,0,0
$GC,3881,-1.15,-122.1,720.6,-16.9,414,3885,0.00,2.17,0.00,0.000,6,0.000,0.046,2476,1803,3564,0,0,0,0,0,0
$GC,4204,-1.15,-122.1,771.8,-16.0,430,4208,0.00,2.20,0.00,0.000,4,0.000,0.054,2476,387,3560,0,0,0,0,0,0
$GC,4270,-1.12,-122.1,783.7,-17.1,433,4274,0.00,2.20,0.00,0.000,6,0.000,0.052,2466,1807,3560,0,0,0,0,0,0
$GC,4599,-1.12,-122.1,836.6,-16.1,449,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1807,3557,0,0,0,0,0,0
$GC,4907,-1.12,-122.1,885.5,-15.6,464,4911,0.00,2.22,0.00,0.000,4,0.000,0.055,2466,395,3554,0,0,0,0,0,0
$GC,5096,-1.09,-122.1,917.5,-16.3,472,5104,0.12,2.20,0.00,0.000,6,0.205,0.050,2484,1802,3552,0,0,0,0,0,0
$GC,5414,-1.11,-122.1,962.1,-14.0,488,5418,0.00,2.22,0.00,0.000,4,0.000,0.056,2484,395,3549,0,0,0,0,0,0
$GC,5470,-1.11,-122.1,971.1,-15.9,490,5478,0.00,2.17,0.00,0.000,6,0.000,0.050,2475,1800,3549,0,0,0,0,0,0
$STATE,5681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5681,begin apogee
$GC,5688,-0.23,0.0,1002.1,14.5,501,5800,0.95,0.00,105.32,1.456,6,0.164,0.000,2754,1746,3071,0,0,0,0,0,0
$STATE,5801,end apogee,CONTROL_FINISHED_OK
$STATE,5801,begin climb
$GC,5803,1.43,122.1,1005.8,0.0,506,5930,1.58,2.42,112.82,1.401,4,0.073,0.056,3292,3148,2573,0,0,0,0,0,0
$GC,5947,1.14,122.1,983.8,24.5,512,5955,0.40,2.25,0.00,0.000,6,0.251,0.044,3214,1752,2571,0,0,0,0,0,0
$GC,6265,0.93,122.1,912.3,22.4,528,6267,0.28,0.00,0.00,0.000,6,0.210,0.000,3145,1752,2566,0,0,0,0,0,0
$GC,6573,0.80,122.1,854.7,17.7,543,6578,0.17,2.17,0.00,0.000,4,0.200,0.057,3107,343,2563,0,0,0,0,0,0
$GC,6589,0.68,122.1,851.5,17.6,543,6597,0.17,2.17,0.00,0.000,6,0.203,0.047,3060,1753,2563,0,0,0,0,0,0
$GC,6906,0.65,122.1,807.6,14.1,559,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1753,2561,0,0,0,0,0,0
$GC,7215,0.63,125.7,764.2,13.6,574,7219,0.00,2.17,0.00,0.000,4,0.000,0.054,3050,3170,2560,0,0,0,0,0,0
$GC,7311,0.62,129.8,750.9,13.5,578,7325,0.00,2.17,5.78,0.996,6,0.000,0.044,3058,1746,2542,0,0,0,0,0,0
$GC,7634,0.62,144.6,709.2,12.6,594,7658,0.00,2.25,15.02,1.204,4,0.000,0.057,3069,344,2482,0,0,0,0,0,0
$GC,7706,0.59,144.6,699.1,15.2,597,7711,0.15,2.22,0.00,0.000,6,0.190,0.050,3032,1758,2481,0,0,0,0,0,0
$GC,8040,0.66,177.9,660.2,10.9,613,8077,0.00,2.22,31.55,1.220,4,0.000,0.052,3022,3166,2345,0,0,0,0,0,0
$GC,8137,0.75,195.0,648.6,12.3,616,8159,0.15,2.20,16.88,1.151,6,0.080,0.042,3100,1746,2276,0,0,0,0,0,0
$GC,8478,0.71,195.0,587.8,17.7,636,8482,0.12,2.22,0.00,0.000,4,0.200,0.056,3080,340,2272,0,0,0,0,0,0
$GC,8501,0.68,195.0,583.8,17.5,637,8507,0.00,2.20,0.00,0.000,6,0.000,0.042,3072,1764,2272,0,0,0,0,0,0
$GC,8826,0.68,195.0,531.6,16.5,668,8830,0.00,2.15,0.00,0.000,4,0.000,0.054,3062,3161,2270,0,0,0,0,0,0
$GC,8885,0.71,195.0,522.5,15.5,673,8888,0.00,2.12,0.00,0.000,6,0.000,0.041,3070,1749,2269,0,0,0,0,0,0
$GC,9211,0.71,195.0,472.7,14.2,703,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1749,2269,0,0,0,0,0,0
$GC,9534,0.74,206.7,429.0,12.8,733,9552,0.00,0.00,10.38,0.971,6,0.000,0.000,3070,1749,2229,0,0,0,0,0,0
$GC,9872,0.77,206.7,382.6,14.0,765,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1749,2227,0,0,0,0,0,0
$GC,10199,0.81,211.1,337.6,13.5,796,10209,0.00,0.00,5.25,0.733,6,0.000,0.000,3070,1749,2211,0,0,0,0,0,0
$GC,10527,0.89,235.7,297.5,11.7,828,10557,0.15,2.28,23.17,0.913,4,0.085,0.053,3158,347,2111,0,0,0,0,0,0
$GC,10581,0.83,235.7,289.0,17.1,836,10590,0.12,2.20,0.00,0.000,6,0.179,0.038,3115,1761,2110,0,0,0,0,0,0
$GC,10927,0.83,235.7,237.8,14.3,897,10934,0.00,2.12,0.00,0.000,4,0.000,0.047,3106,3159,2109,0,0,0,0,0,0
$GC,10981,0.86,235.7,229.5,14.8,906,10990,0.00,2.17,0.00,0.000,6,0.000,0.039,3114,1744,2107,0,0,0,0,0,0
$GC,11328,0.92,253.6,183.8,12.3,967,11356,0.00,2.25,17.25,0.786,4,0.000,0.053,3125,349,2037,0,0,0,0,0,0
$GC,11532,1.00,277.1,155.8,11.8,1002,11561,0.08,2.15,21.23,0.768,6,0.063,0.037,3168,1747,1942,0,0,0,0,0,0
$GC,11883,1.00,277.1,106.5,15.1,1066,11892,0.00,2.17,0.00,0.000,4,0.000,0.044,3162,3153,1940,0,0,0,0,0,0
$GC,11943,1.05,292.1,98.0,12.5,1076,11966,0.00,2.17,14.07,0.690,6,0.000,0.037,3162,1743,1880,0,0,0,0,0,0
$GC,12290,1.11,310.6,53.1,12.2,1139,12312,0.00,0.00,17.35,0.653,6,0.000,0.000,3161,1743,1805,0,0,0,0,0,0
$STATE,12613,end climb,SURFACE_DEPTH_REACHED
$STATE,12613,begin surface coast
$FINISH,1.0,1.022255
$STATE,12633,end surface coast,CONTROL_FINISHED_OK
$STATE,12633,begin surface
$SM_CCo,12650,82.12,0.566,1,0,1440,400.08
$SM_GC,1.65,0.00,0.00,82.12,0.000,0.000,0.566,148,1819,1440,-8.43,0.54,400.08
$IRIDIUM_FIX,2111.01,12601.30,041110,121254
$TT8_MAMPS,0.026964
$HUMID,41.88
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,25.10
$XPDR_PINGS,96
$24V_AH,22.6,83.927
$10V_AH,10.1,53.278
$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,21.750,101.200,396.075,82.125,0.000,24.209,15.976,188.885,24.000,0.000,15.999,2986.991,6210.575,582.561,2948.308,414.659,0.000,1707.362,0.000,2721.305,0.000,0.845,0.000
$DEVICE_MAMPS,250.920,116.280,1455.795,566.100,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.620,1037.936,1405.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333740
$DATA_FILE_SIZE,70190,1202
$CAP_FILE_SIZE,140005,0
$CFSIZE,260165632,152883200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038,159.7,1
$GPS,041110,192601,2113.664,12601.820,37,1.7,37,-2.8