version: 66.08
glider: 166
mission: 3
dive: 448
start: 11 5 110 6 50 53
data:
$ID,166
$MISSION,3
$DIVE,448
$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,-22146.699
$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,36
$R_STBD_OVSHOOT,44
$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
$GPS1,051110,064301,2118.091,12600.845,36,1.7,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-58.7
$GPS2,051110,065031,2118.015,12600.828,12,1.5,12,-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,177.8,8386,-19.7,-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,14,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,116,0.00,0.00,-96.93,0.000,2,0.000,0.000,138,1762,3307,0,0,0,0,0,0
$GC,119,-1.16,-214.1,5.7,-12.0,13,151,9.40,2.17,-12.05,0.000,4,0.229,0.058,2466,391,3948,0,0,0,0,0,0
$GC,385,-1.00,-214.1,107.2,-26.9,61,393,0.17,2.17,0.00,0.000,6,0.177,0.044,2511,1788,3950,0,0,0,0,0,0
$GC,715,-0.85,-214.1,197.8,-25.0,122,723,0.17,2.22,0.00,0.000,4,0.185,0.049,2567,395,3952,0,0,0,0,0,0
$GC,956,-0.82,-214.1,245.6,-17.1,165,962,0.00,2.15,0.00,0.000,6,0.000,0.045,2555,1809,3953,0,0,0,0,0,0
$GC,1288,-0.78,-214.1,308.5,-18.0,222,1293,0.12,2.22,0.00,0.000,4,0.185,0.050,2587,395,3954,0,0,0,0,0,0
$GC,1307,-0.75,-214.1,311.8,-19.1,223,1311,0.00,2.17,0.00,0.000,6,0.000,0.046,2579,1808,3954,0,0,0,0,0,0
$GC,1634,-0.77,-214.1,359.5,-13.6,253,1638,0.00,2.20,0.00,0.000,4,0.000,0.050,2579,388,3954,0,0,0,0,0,0
$GC,1665,-0.77,-214.1,363.6,-14.2,255,1669,0.00,2.17,0.00,0.000,6,0.000,0.046,2570,1814,3954,0,0,0,0,0,0
$GC,1993,-0.78,-214.1,406.5,-12.9,285,1997,0.00,2.15,0.00,0.000,4,0.000,0.051,2563,3212,3954,0,0,0,0,0,0
$GC,2038,-0.85,-214.1,412.4,-11.3,288,2046,0.00,2.17,0.00,0.000,6,0.000,0.037,2564,1793,3953,0,0,0,0,0,0
$GC,2365,-0.87,-214.1,454.3,-12.6,319,2369,0.00,2.17,0.00,0.000,4,0.000,0.052,2563,393,3951,0,0,0,0,0,0
$GC,2427,-0.90,-214.1,462.5,-12.7,324,2431,0.00,2.15,0.00,0.000,6,0.000,0.047,2564,1798,3951,0,0,0,0,0,0
$GC,2759,-0.92,-214.1,502.5,-12.1,355,2763,0.00,2.17,0.00,0.000,4,0.000,0.052,2567,3209,3949,0,0,0,0,0,0
$GC,2803,-0.98,-214.1,507.8,-11.7,358,2810,0.12,2.12,0.00,0.000,6,0.083,0.037,2501,1792,3949,0,0,0,0,0,0
$GC,3128,-0.90,-214.1,564.9,-18.4,389,3133,0.17,2.17,0.00,0.000,4,0.175,0.054,2548,392,3946,0,0,0,0,0,0
$GC,3239,-0.88,-214.1,582.1,-15.6,398,3243,0.00,2.17,0.00,0.000,6,0.000,0.047,2541,1805,3945,0,0,0,0,0,0
$GC,3564,-0.87,-214.1,632.3,-15.0,419,3568,0.00,2.17,0.00,0.000,4,0.000,0.054,2532,3221,3942,0,0,0,0,0,0
$GC,3621,-0.89,-214.1,640.3,-13.4,421,3625,0.00,2.15,0.00,0.000,6,0.000,0.038,2532,1789,3942,0,0,0,0,0,0
$GC,3938,-0.87,-214.1,687.6,-14.9,436,3942,0.00,2.15,0.00,0.000,4,0.000,0.054,2532,392,3939,0,0,0,0,0,0
$GC,4037,-0.85,-214.1,703.4,-15.7,440,4045,0.15,2.20,0.00,0.000,6,0.168,0.047,2562,1810,3938,0,0,0,0,0,0
$GC,4356,-0.87,-214.1,742.3,-12.1,456,4360,0.00,2.17,0.00,0.000,4,0.000,0.057,2554,3210,3934,0,0,0,0,0,0
$GC,4390,-0.92,-214.1,746.7,-11.4,457,4394,0.00,2.12,0.00,0.000,6,0.000,0.040,2554,1795,3934,0,0,0,0,0,0
$GC,4708,-0.93,-214.1,786.8,-12.8,472,4712,0.00,2.17,0.00,0.000,4,0.000,0.055,2554,386,3932,0,0,0,0,0,0
$GC,4795,-0.96,-214.1,798.6,-12.5,476,4799,0.00,2.20,0.00,0.000,6,0.000,0.049,2544,1797,3931,0,0,0,0,0,0
$GC,5126,-0.96,-214.1,842.3,-13.4,492,5130,0.00,2.20,0.00,0.000,4,0.000,0.055,2544,389,3928,0,0,0,0,0,0
$GC,5147,-0.96,-214.1,846.1,-14.2,493,5151,0.00,2.25,0.00,0.000,6,0.000,0.055,2534,1805,3927,0,0,0,0,0,0
$GC,5475,-0.96,-214.1,892.2,-14.1,509,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1805,3924,0,0,0,0,0,0
$GC,5786,-0.96,-214.1,936.0,-14.0,524,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1804,3922,0,0,0,0,0,0
$GC,6094,-0.96,-214.1,977.2,-12.8,539,6098,0.00,2.25,0.00,0.000,4,0.000,0.058,2534,391,3919,0,0,0,0,0,0
$GC,6137,-0.96,-214.1,983.3,-13.3,541,6142,0.00,2.20,0.00,0.000,6,0.000,0.051,2524,1802,3919,0,0,0,0,0,0
$STATE,6272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6272,begin apogee
$GC,6279,-0.23,0.0,1001.3,13.5,548,6473,0.75,0.00,186.55,1.454,6,0.141,0.000,2758,1751,3072,0,0,0,0,0,0
$STATE,6474,end apogee,CONTROL_FINISHED_OK
$STATE,6474,begin climb
$GC,6478,1.16,214.1,1008.6,0.0,557,6685,1.30,0.00,201.75,1.385,6,0.057,0.000,3212,1750,2199,0,0,0,0,0,0
$GC,6999,0.85,214.1,877.1,30.5,581,7001,0.38,0.00,0.00,0.000,6,0.210,0.000,3117,1750,2193,0,0,0,0,0,0
$GC,7305,0.66,214.1,804.6,22.3,596,7310,0.22,2.20,0.00,0.000,4,0.194,0.054,3047,3162,2190,0,0,0,0,0,0
$GC,7347,0.55,214.1,796.5,18.7,598,7352,0.15,2.15,0.00,0.000,6,0.180,0.044,3016,1744,2189,0,0,0,0,0,0
$GC,7677,0.54,240.7,752.5,12.7,614,7703,0.00,0.00,24.67,1.248,6,0.000,0.000,3016,1744,2089,0,0,0,0,0,0
$GC,8006,0.50,240.7,706.7,14.4,630,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1744,2086,0,0,0,0,0,0
$GC,8313,0.48,251.5,663.4,13.4,645,8329,0.00,2.20,10.57,1.118,4,0.000,0.056,3025,348,2047,0,0,0,0,0,0
$GC,8356,0.45,251.5,657.1,14.3,646,8361,0.15,2.17,0.00,0.000,6,0.162,0.045,2985,1754,2046,0,0,0,0,0,0
$GC,8681,0.56,321.4,622.1,10.9,662,8753,0.10,2.30,64.75,1.210,4,0.104,0.055,3039,3155,1760,0,0,0,0,0,0
$GC,8823,0.53,321.4,599.8,16.4,668,8828,0.15,2.17,0.00,0.000,6,0.171,0.044,3011,1746,1758,0,0,0,0,0,0
$GC,9149,0.53,321.4,555.0,14.2,698,9153,0.00,2.20,0.00,0.000,4,0.000,0.057,3020,344,1755,0,0,0,0,0,0
$GC,9190,0.55,321.4,549.4,14.3,701,9194,0.00,2.15,0.00,0.000,6,0.000,0.042,3012,1751,1753,0,0,0,0,0,0
$GC,9517,0.58,341.8,506.4,13.0,731,9541,0.00,2.28,18.80,1.086,4,0.000,0.053,3012,3166,1678,0,0,0,0,0,0
$GC,9601,0.65,364.5,495.4,12.9,738,9628,0.00,2.17,22.08,1.078,6,0.000,0.041,3020,1750,1585,0,0,0,0,0,0
$GC,9956,0.67,366.4,445.7,13.8,771,9961,0.10,2.22,0.00,0.000,4,0.100,0.057,3090,340,1583,0,0,0,0,0,0
$GC,9988,0.63,366.4,440.7,17.3,773,9993,0.15,2.15,0.00,0.000,6,0.167,0.042,3049,1749,1581,0,0,0,0,0,0
$GC,10316,0.61,366.4,388.3,15.6,803,10320,0.00,2.17,0.00,0.000,4,0.000,0.050,3049,3163,1580,0,0,0,0,0,0
$GC,10385,0.61,366.4,378.1,14.2,809,10389,0.00,2.17,0.00,0.000,6,0.000,0.040,3057,1738,1580,0,0,0,0,0,0
$GC,10714,0.59,366.4,327.8,15.1,839,10718,0.00,2.17,0.00,0.000,4,0.000,0.054,3068,337,1580,0,0,0,0,0,0
$GC,10751,0.57,366.4,321.0,16.7,842,10760,0.12,2.20,0.00,0.000,6,0.135,0.039,3027,1757,1579,0,0,0,0,0,0
$GC,11081,0.68,416.6,280.6,11.7,888,11135,0.00,2.17,46.55,0.918,4,0.000,0.045,3027,3157,1372,0,0,0,0,0,0
$GC,11199,0.89,495.9,266.8,10.4,907,11281,0.25,2.17,70.43,0.887,6,0.052,0.038,3159,1738,1049,0,0,0,0,0,0
$GC,11608,0.78,495.9,161.8,26.6,979,11615,0.22,2.20,0.00,0.000,4,0.168,0.050,3106,341,1045,0,0,0,0,0,0
$GC,11657,0.78,495.9,150.9,18.9,987,11664,0.00,2.12,0.00,0.000,6,0.000,0.036,3106,1757,1043,0,0,0,0,0,0
$GC,11987,0.86,529.6,97.1,12.4,1048,12025,0.00,2.17,29.08,0.730,4,0.000,0.046,3107,3148,912,0,0,0,0,0,0
$GC,12067,1.09,614.9,88.5,10.2,1060,12150,0.20,2.15,73.60,0.718,6,0.030,0.037,3231,1754,562,0,0,0,0,0,0
$STATE,12370,end climb,SURFACE_DEPTH_REACHED
$STATE,12370,begin surface coast
$FINISH,1.1,1.011072
$STATE,12378,end surface coast,CONTROL_FINISHED_OK
$STATE,12379,begin surface
$SM_CCo,12456,0.00,0.000,0,0,555,617.42
$SM_GC,1.85,8.05,0.00,0.00,0.037,0.000,0.000,141,1754,555,-8.34,-1.30,617.42
$IRIDIUM_FIX,2108.69,12558.07,051110,020242
$TT8_MAMPS,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,8.65726
$TCM_TEMP,23.60
$XPDR_PINGS,78
$24V_AH,22.1,84.979
$10V_AH,10.1,53.803
$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,22.625,109.225,748.825,0.000,0.000,26.261,36.291,200.428,19.500,0.000,12.828,2736.379,6276.304,719.967,2755.118,401.616,0.000,1861.088,0.000,2492.564,0.000,0.844,0.000
$DEVICE_MAMPS,228.735,117.810,1453.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,758.328,944.133,1199.452,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333704
$DATA_FILE_SIZE,66969,1113
$CAP_FILE_SIZE,140917,0
$CFSIZE,260165632,152567808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,199.9,1
$GPS,051110,101936,2115.634,12600.969,31,1.0,31,-2.9