version: 66.08
glider: 166
mission: 3
dive: 449
start: 11 5 110 10 26 55
data:
$ID,166
$MISSION,3
$DIVE,449
$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,-22147.957
$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,38
$R_STBD_OVSHOOT,40
$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
$GPS1,051110,101936,2115.634,12600.969,31,1.0,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.5
$GPS2,051110,102632,2115.583,12600.954,12,1.2,12,-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,166.1,3880,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.41,-103.1,0.0,0.0,0,130,0.00,0.00,-110.12,0.000,2,0.000,0.000,132,1751,3323,0,0,0,0,0,0
$GC,133,-1.49,-168.5,5.2,-8.0,15,158,8.85,2.17,-8.90,0.000,4,0.225,0.059,2358,388,3762,0,0,0,0,0,0
$GC,365,-1.28,-168.5,110.5,-37.9,57,375,0.25,2.20,0.00,0.000,6,0.203,0.044,2419,1799,3764,0,0,0,0,0,0
$GC,699,-1.15,-168.5,211.3,-27.1,118,707,0.17,2.22,0.00,0.000,4,0.190,0.047,2467,394,3766,0,0,0,0,0,0
$GC,953,-1.09,-168.5,276.6,-24.6,164,962,0.08,2.20,0.00,0.000,6,0.177,0.045,2479,1806,3767,0,0,0,0,0,0
$GC,1283,-1.07,-168.5,347.9,-21.6,204,1287,0.00,2.20,0.00,0.000,4,0.000,0.048,2479,392,3768,0,0,0,0,0,0
$GC,1325,-1.04,-168.5,356.3,-20.9,207,1330,0.12,2.15,0.00,0.000,6,0.197,0.044,2499,1803,3768,0,0,0,0,0,0
$GC,1656,-1.07,-168.5,420.5,-17.4,238,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1804,3768,0,0,0,0,0,0
$GC,1976,-1.10,-168.5,476.8,-17.2,268,1980,0.00,2.22,0.00,0.000,4,0.000,0.050,2504,389,3768,0,0,0,0,0,0
$GC,2062,-1.14,-168.5,491.5,-16.6,275,2066,0.00,2.15,0.00,0.000,6,0.000,0.045,2495,1799,3768,0,0,0,0,0,0
$GC,2387,-1.18,-168.5,547.7,-17.7,305,2391,0.00,2.20,0.00,0.000,4,0.000,0.050,2495,389,3767,0,0,0,0,0,0
$GC,2418,-1.21,-168.5,553.3,-19.3,307,2423,0.10,2.17,0.00,0.000,6,0.108,0.046,2443,1810,3767,0,0,0,0,0,0
$GC,2751,-1.18,-168.5,623.5,-20.9,333,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1811,3764,0,0,0,0,0,0
$GC,3062,-1.16,-168.5,685.3,-19.4,348,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1811,3761,0,0,0,0,0,0
$GC,3369,-1.16,-168.5,745.7,-19.8,363,3373,0.00,2.22,0.00,0.000,4,0.000,0.054,2445,389,3758,0,0,0,0,0,0
$GC,3466,-1.15,-168.5,765.7,-20.7,367,3470,0.00,2.20,0.00,0.000,6,0.000,0.047,2449,1807,3757,0,0,0,0,0,0
$GC,3783,-1.13,-168.5,829.0,-19.8,382,3787,0.00,2.22,0.00,0.000,4,0.000,0.054,2449,391,3754,0,0,0,0,0,0
$GC,3871,-1.09,-168.5,846.6,-21.1,386,3876,0.17,2.17,0.00,0.000,6,0.192,0.048,2482,1799,3753,0,0,0,0,0,0
$GC,4201,-1.12,-168.5,902.5,-16.7,402,4205,0.00,2.20,0.00,0.000,4,0.000,0.056,2473,3212,3750,0,0,0,0,0,0
$GC,4240,-1.18,-168.5,909.8,-16.2,403,4247,0.00,2.15,0.00,0.000,6,0.000,0.041,2473,1805,3749,0,0,0,0,0,0
$GC,4558,-1.20,-168.5,962.9,-16.6,419,4562,0.00,2.20,0.00,0.000,4,0.000,0.055,2473,394,3746,0,0,0,0,0,0
$GC,4643,-1.20,-168.5,978.1,-17.6,423,4647,0.00,2.17,0.00,0.000,6,0.000,0.049,2463,1800,3745,0,0,0,0,0,0
$STATE,4783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4783,begin apogee
$GC,4791,-0.23,0.0,1002.7,17.5,430,4945,1.00,0.00,147.15,1.447,6,0.162,0.000,2757,1743,3072,0,0,0,0,0,0
$STATE,4946,end apogee,CONTROL_FINISHED_OK
$STATE,4946,begin climb
$GC,4948,1.49,168.5,1007.9,0.0,437,5115,1.62,2.45,157.10,1.389,4,0.072,0.055,3325,353,2384,0,0,0,0,0,0
$GC,5153,1.17,168.5,965.7,34.6,446,5161,0.43,2.30,0.00,0.000,6,0.237,0.047,3219,1749,2380,0,0,0,0,0,0
$GC,5472,0.96,168.5,875.6,27.5,462,5477,0.25,2.20,0.00,0.000,4,0.213,0.050,3141,3178,2376,0,0,0,0,0,0
$GC,5535,0.84,168.5,859.5,22.6,465,5539,0.15,2.15,0.00,0.000,6,0.216,0.040,3114,1750,2374,0,0,0,0,0,0
$GC,5865,0.76,168.5,793.2,19.6,481,5869,0.00,2.17,0.00,0.000,4,0.000,0.049,3104,3173,2373,0,0,0,0,0,0
$GC,5883,0.68,168.5,789.0,19.5,482,5888,0.20,2.15,0.00,0.000,6,0.195,0.041,3063,1746,2372,0,0,0,0,0,0
$GC,6210,0.68,168.5,737.0,15.8,498,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1746,2371,0,0,0,0,0,0
$GC,6519,0.68,168.5,688.8,15.5,513,6523,0.00,2.20,0.00,0.000,4,0.000,0.054,3072,340,2369,0,0,0,0,0,0
$GC,6552,0.66,168.5,683.4,16.7,514,6558,0.00,2.17,0.00,0.000,6,0.000,0.041,3068,1766,2368,0,0,0,0,0,0
$GC,6870,0.66,168.5,634.3,15.4,530,6874,0.00,2.15,0.00,0.000,4,0.000,0.051,3060,3162,2368,0,0,0,0,0,0
$GC,6919,0.66,168.5,626.0,14.9,532,6924,0.00,2.17,0.00,0.000,6,0.000,0.041,3068,1752,2367,0,0,0,0,0,0
$GC,7245,0.66,168.5,579.1,14.1,554,7249,0.00,2.17,0.00,0.000,4,0.000,0.051,3066,3157,2367,0,0,0,0,0,0
$GC,7291,0.66,168.5,572.2,15.2,557,7298,0.00,2.15,0.00,0.000,6,0.000,0.039,3075,1744,2366,0,0,0,0,0,0
$GC,7616,0.66,168.5,523.8,16.3,588,7620,0.00,2.17,0.00,0.000,4,0.000,0.057,3086,345,2366,0,0,0,0,0,0
$GC,7652,0.64,168.5,518.1,17.2,591,7657,0.12,2.17,0.00,0.000,6,0.197,0.041,3050,1754,2365,0,0,0,0,0,0
$GC,7984,0.67,168.5,470.1,14.2,622,7987,0.00,2.15,0.00,0.000,4,0.000,0.051,3047,3163,2364,0,0,0,0,0,0
$GC,8049,0.71,172.8,461.4,13.5,627,8053,0.00,2.15,0.00,0.000,6,0.000,0.040,3055,1739,2363,0,0,0,0,0,0
$GC,8381,0.78,199.7,422.0,11.5,658,8417,0.10,2.25,25.45,1.038,4,0.109,0.054,3115,350,2256,0,0,0,0,0,0
$GC,8459,0.74,199.7,410.9,16.6,664,8468,0.10,2.20,0.00,0.000,6,0.179,0.042,3083,1752,2255,0,0,0,0,0,0
$GC,8786,0.77,207.2,366.5,13.2,695,8799,0.00,2.22,7.62,0.855,4,0.000,0.050,3074,3163,2227,0,0,0,0,0,0
$GC,8828,0.80,209.5,360.5,13.7,698,8837,0.00,2.17,4.03,0.627,6,0.000,0.040,3082,1751,2217,0,0,0,0,0,0
$GC,9156,0.83,209.5,313.2,14.0,729,9160,0.00,2.20,0.00,0.000,4,0.000,0.054,3093,341,2217,0,0,0,0,0,0
$GC,9233,0.85,209.5,301.0,15.7,736,9237,0.00,2.17,0.00,0.000,6,0.000,0.045,3093,1758,2215,0,0,0,0,0,0
$GC,9563,0.89,214.2,258.7,13.5,796,9578,0.00,2.17,5.53,0.687,4,0.000,0.047,3089,3152,2198,0,0,0,0,0,0
$GC,9671,0.96,235.1,245.8,12.0,814,9699,0.10,2.15,20.15,0.861,6,0.050,0.038,3160,1752,2112,0,0,0,0,0,0
$GC,10026,0.92,235.1,189.7,14.7,878,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1752,2111,0,0,0,0,0,0
$GC,10358,0.90,235.1,143.7,14.0,939,10366,0.00,2.20,0.00,0.000,4,0.000,0.051,3169,347,2111,0,0,0,0,0,0
$GC,10605,0.94,267.6,110.3,11.0,985,10643,0.00,2.15,28.90,0.742,6,0.000,0.036,3157,1755,1980,0,0,0,0,0,0
$GC,10965,1.01,292.7,73.5,11.6,1050,10994,0.00,0.00,22.45,0.686,6,0.000,0.000,3157,1757,1877,0,0,0,0,0,0
$GC,11318,1.11,338.7,29.1,9.8,1114,11364,0.12,2.33,39.80,0.651,4,0.089,0.050,3234,343,1691,0,0,0,0,0,0
$GC,11373,1.06,338.7,20.0,17.2,1121,11382,0.12,2.17,0.00,0.000,6,0.164,0.037,3191,1748,1690,0,0,0,0,0,0
$STATE,11470,end climb,SURFACE_DEPTH_REACHED
$STATE,11470,begin surface coast
$FINISH,1.0,1.012518
$STATE,11493,end surface coast,CONTROL_FINISHED_OK
$STATE,11493,begin surface
$SM_CCo,11510,56.33,0.528,1,0,1441,400.08
$SM_GC,1.76,0.00,0.00,56.33,0.000,0.000,0.528,168,1754,1441,-8.36,-1.30,400.08
$IRIDIUM_FIX,2108.69,12559.94,051110,060646
$TT8_MAMPS,0.026964
$HUMID,41.02
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,25.40
$XPDR_PINGS,89
$24V_AH,22.3,85.158
$10V_AH,10.1,53.934
$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,22.025,101.025,458.175,56.325,0.000,28.913,39.555,179.254,22.250,0.000,13.308,2820.505,5370.110,575.705,2834.649,377.124,0.000,1667.456,0.000,2593.874,0.000,0.843,0.000
$DEVICE_MAMPS,237.150,115.515,1446.615,527.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.703,1002.759,1407.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333736
$DATA_FILE_SIZE,67012,1142
$CAP_FILE_SIZE,133296,0
$CFSIZE,260165632,152502272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082,213.1,1
$GPS,051110,134106,2113.888,12601.337,30,1.0,41,-2.8