version: 66.08
glider: 166
mission: 3
dive: 452
start: 11 5 110 21 27 59
data:
$ID,166
$MISSION,3
$DIVE,452
$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,-22151.729
$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,39
$R_STBD_OVSHOOT,62
$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
$GPS1,051110,212030,2117.223,12601.486,41,1.2,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.4
$GPS2,051110,212726,2117.155,12601.521,12,1.2,12,-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,353.3,3279,-21.9,-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,-1.21,-173.4,0.0,0.0,0,127,0.00,0.00,-108.03,0.000,2,0.000,0.000,161,1827,3418,0,0,0,0,0,0
$GC,130,-1.24,-201.7,6.3,-12.4,15,156,8.98,2.10,-8.93,0.000,4,0.220,0.054,2410,3195,3897,0,0,0,0,0,0
$GC,205,-0.98,-201.7,41.4,-39.6,27,215,0.35,2.15,0.00,0.000,6,0.174,0.035,2519,1794,3900,0,0,0,0,0,0
$GC,533,-0.83,-201.7,146.3,-26.9,88,541,0.17,2.20,0.00,0.000,4,0.175,0.047,2571,399,3901,0,0,0,0,0,0
$GC,610,-0.80,-201.7,162.7,-18.5,101,617,0.00,2.08,0.00,0.000,6,0.000,0.041,2566,1772,3901,0,0,0,0,0,0
$GC,945,-0.76,-201.7,231.9,-18.5,162,953,0.00,2.15,0.00,0.000,4,0.000,0.047,2565,401,3903,0,0,0,0,0,0
$GC,1101,-0.73,-201.7,259.3,-17.4,189,1109,0.17,2.12,0.00,0.000,6,0.162,0.043,2604,1805,3904,0,0,0,0,0,0
$GC,1442,-0.81,-214.1,301.8,-12.4,250,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1805,3904,0,0,0,0,0,0
$GC,1773,-0.89,-214.1,342.6,-11.6,281,1779,0.12,0.00,0.00,0.000,6,0.088,0.000,2538,1805,3902,0,0,0,0,0,0
$GC,2098,-0.89,-214.1,393.9,-15.0,312,2102,0.00,2.22,0.00,0.000,4,0.000,0.049,2539,389,3902,0,0,0,0,0,0
$GC,2161,-0.89,-214.1,404.0,-15.8,317,2165,0.00,2.17,0.00,0.000,6,0.000,0.047,2537,1809,3902,0,0,0,0,0,0
$GC,2488,-0.89,-214.1,455.9,-15.8,347,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1809,3900,0,0,0,0,0,0
$GC,2808,-0.89,-214.1,506.4,-15.7,377,2812,0.00,2.22,0.00,0.000,4,0.000,0.051,2537,396,3898,0,0,0,0,0,0
$GC,2850,-0.91,-214.1,513.3,-16.4,380,2854,0.00,2.17,0.00,0.000,6,0.000,0.047,2537,1811,3898,0,0,0,0,0,0
$GC,3177,-0.93,-214.1,561.2,-14.3,410,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1811,3895,0,0,0,0,0,0
$GC,3495,-0.95,-214.1,603.6,-13.0,439,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1811,3893,0,0,0,0,0,0
$GC,3803,-0.98,-214.1,645.3,-13.8,454,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1811,3891,0,0,0,0,0,0
$GC,4114,-1.01,-214.1,688.6,-13.9,469,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1811,3888,0,0,0,0,0,0
$GC,4422,-1.04,-214.1,731.2,-13.4,484,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1811,3885,0,0,0,0,0,0
$GC,4733,-1.08,-214.1,772.4,-13.6,499,4737,0.12,2.28,0.00,0.000,4,0.095,0.055,2481,395,3882,0,0,0,0,0,0
$GC,4799,-1.04,-214.1,784.2,-17.0,502,4803,0.00,2.20,0.00,0.000,6,0.000,0.048,2488,1806,3881,0,0,0,0,0,0
$GC,5122,-1.00,-214.1,840.5,-17.5,518,5127,0.12,2.25,0.00,0.000,4,0.191,0.055,2522,401,3878,0,0,0,0,0,0
$GC,5166,-1.00,-214.1,848.3,-15.3,520,5170,0.00,2.20,0.00,0.000,6,0.000,0.048,2514,1811,3877,0,0,0,0,0,0
$GC,5495,-1.00,-214.1,897.9,-15.2,536,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1811,3874,0,0,0,0,0,0
$GC,5804,-1.00,-214.1,944.1,-14.7,551,5808,0.00,2.25,0.00,0.000,4,0.000,0.057,2514,398,3872,0,0,0,0,0,0
$GC,5848,-1.00,-214.1,951.3,-15.4,553,5852,0.00,2.20,0.00,0.000,6,0.000,0.050,2504,1804,3871,0,0,0,0,0,0
$STATE,6174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6174,begin apogee
$GC,6182,-0.23,0.0,1000.4,14.8,569,6363,0.82,0.00,175.35,1.453,6,0.148,0.000,2756,1753,3073,0,0,0,0,0,0
$STATE,6364,end apogee,CONTROL_FINISHED_OK
$STATE,6364,begin climb
$GC,6366,1.26,214.1,1007.4,0.0,577,6577,1.42,2.45,201.38,1.390,4,0.074,0.056,3232,3155,2198,0,0,0,0,0,0
$GC,6618,0.97,214.1,957.8,30.6,589,6623,0.35,2.30,0.00,0.000,6,0.210,0.045,3158,1746,2195,0,0,0,0,0,0
$GC,6936,0.76,214.1,876.1,25.8,604,6941,0.25,2.20,0.00,0.000,4,0.194,0.056,3093,342,2192,0,0,0,0,0,0
$GC,6969,0.61,214.1,867.4,23.5,605,6976,0.20,2.20,0.00,0.000,6,0.184,0.048,3041,1756,2190,0,0,0,0,0,0
$GC,7285,0.55,214.1,814.3,16.6,621,7289,0.00,2.17,0.00,0.000,4,0.000,0.054,3029,3166,2189,0,0,0,0,0,0
$GC,7351,0.51,214.1,803.4,16.0,624,7356,0.12,2.15,0.00,0.000,6,0.190,0.042,3008,1741,2188,0,0,0,0,0,0
$GC,7674,0.53,227.8,760.3,13.2,640,7692,0.00,0.00,12.30,1.197,6,0.000,0.000,3008,1741,2142,0,0,0,0,0,0
$GC,8002,0.55,242.1,717.4,13.1,656,8024,0.00,2.20,14.77,1.206,4,0.000,0.057,3017,347,2085,0,0,0,0,0,0
$GC,8059,0.55,242.1,709.5,14.1,658,8063,0.00,2.17,0.00,0.000,6,0.000,0.044,3016,1751,2083,0,0,0,0,0,0
$GC,8375,0.56,256.7,667.3,13.1,673,8395,0.00,0.00,14.88,1.178,6,0.000,0.000,3017,1751,2025,0,0,0,0,0,0
$GC,8704,0.56,256.7,621.9,14.1,689,8708,0.00,2.17,0.00,0.000,4,0.000,0.054,3016,3170,2021,0,0,0,0,0,0
$GC,8755,0.58,256.7,614.5,14.6,691,8759,0.00,2.17,0.00,0.000,6,0.000,0.042,3025,1746,2020,0,0,0,0,0,0
$GC,9084,0.58,256.7,567.4,14.0,717,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1747,2020,0,0,0,0,0,0
$GC,9404,0.60,270.9,524.1,13.1,747,9428,0.00,2.28,13.73,1.093,4,0.000,0.056,3036,347,1967,0,0,0,0,0,0
$GC,9451,0.60,270.9,516.9,14.7,751,9455,0.00,2.17,0.00,0.000,6,0.000,0.041,3036,1761,1965,0,0,0,0,0,0
$GC,9778,0.61,278.4,470.7,13.5,781,9791,0.00,2.22,8.00,0.960,4,0.000,0.052,3036,3159,1937,0,0,0,0,0,0
$GC,9849,0.61,278.4,460.8,15.1,787,9853,0.00,2.15,0.00,0.000,6,0.000,0.040,3046,1749,1936,0,0,0,0,0,0
$GC,10180,0.61,278.4,415.4,14.2,818,10183,0.00,2.17,0.00,0.000,4,0.000,0.054,3057,343,1934,0,0,0,0,0,0
$GC,10223,0.61,278.4,408.8,15.1,821,10230,0.00,2.15,0.00,0.000,6,0.000,0.040,3057,1760,1934,0,0,0,0,0,0
$GC,10549,0.61,278.4,360.2,13.9,852,10553,0.00,2.12,0.00,0.000,4,0.000,0.050,3056,3163,1934,0,0,0,0,0,0
$GC,10577,0.61,278.4,355.8,15.3,854,10581,0.00,2.12,0.00,0.000,6,0.000,0.040,3065,1749,1933,0,0,0,0,0,0
$GC,10903,0.59,278.4,309.7,14.3,884,10908,0.12,2.22,0.00,0.000,4,0.181,0.053,3043,340,1933,0,0,0,0,0,0
$GC,10925,0.61,300.0,306.7,12.7,886,10951,0.00,2.17,19.98,0.935,6,0.000,0.043,3042,1756,1849,0,0,0,0,0,0
$GC,11274,0.66,312.0,263.8,13.2,945,11295,0.00,2.15,12.30,0.844,4,0.000,0.047,3042,3158,1799,0,0,0,0,0,0
$GC,11434,0.77,354.3,244.0,11.6,973,11482,0.10,2.12,38.80,0.879,6,0.096,0.038,3112,1747,1627,0,0,0,0,0,0
$GC,11810,0.75,354.3,182.2,14.0,1040,11818,0.12,2.22,0.00,0.000,4,0.174,0.053,3089,350,1624,0,0,0,0,0,0
$GC,11882,0.79,369.4,171.9,13.1,1052,11903,0.00,2.15,14.23,0.765,6,0.000,0.036,3090,1751,1565,0,0,0,0,0,0
$GC,12231,0.83,385.1,123.7,13.0,1115,12255,0.00,2.20,14.93,0.724,4,0.000,0.044,3089,3158,1501,0,0,0,0,0,0
$GC,12316,0.98,425.0,112.8,11.7,1129,12361,0.12,2.17,35.60,0.742,6,0.043,0.037,3171,1753,1338,0,0,0,0,0,0
$GC,12682,0.92,425.0,44.9,19.7,1195,12691,0.12,2.22,0.00,0.000,4,0.182,0.050,3146,350,1335,0,0,0,0,0,0
$GC,12728,0.94,425.0,36.7,18.1,1202,12737,0.00,2.15,0.00,0.000,6,0.000,0.035,3139,1752,1334,0,0,0,0,0,0
$STATE,12963,end climb,SURFACE_DEPTH_REACHED
$STATE,12963,begin surface coast
$FINISH,1.0,1.022364
$STATE,12985,end surface coast,CONTROL_FINISHED_OK
$STATE,12986,begin surface
$SM_CCo,13065,0.00,0.000,0,0,1333,426.58
$SM_GC,1.67,7.80,0.00,0.00,0.038,0.000,0.000,145,1792,1333,-8.34,-0.23,426.58
$IRIDIUM_FIX,2108.69,12603.17,051110,171724
$TT8_MAMPS,0.025466
$HUMID,42.99
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.70
$XPDR_PINGS,91
$24V_AH,22.1,85.887
$10V_AH,10.1,54.346
$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,21.625,96.500,576.225,0.000,0.000,27.996,15.773,192.714,22.750,0.000,13.809,3059.431,6430.934,619.612,2957.224,408.310,0.000,1777.217,0.000,2729.691,0.000,0.845,0.000
$DEVICE_MAMPS,219.555,156.060,1452.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.854,1079.925,1427.951,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333784
$DATA_FILE_SIZE,73634,1250
$CAP_FILE_SIZE,140837,0
$CFSIZE,260165632,152248320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,178.3,1
$GPS,061110,010700,2118.768,12600.848,40,1.6,40,-2.9