version: 66.08
glider: 166
mission: 3
dive: 457
start: 11 6 110 16 23 25
data:
$ID,166
$MISSION,3
$DIVE,457
$N_DIVES,467
$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,-22159.512
$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,42
$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
$GPS1,061110,161606,2117.121,12601.026,36,0.9,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-64.8
$GPS2,061110,162256,2117.059,12601.067,11,1.2,11,-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,8.7,3418,-23.9,-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,-1.26,-144.8,0.0,0.0,0,128,0.00,0.00,-108.38,0.000,2,0.000,0.000,134,1803,3301,0,0,0,0,0,0
$GC,131,-1.35,-214.1,5.1,-7.3,15,163,9.12,2.20,-12.45,0.000,4,0.227,0.057,2386,3215,3948,0,0,0,0,0,0
$GC,242,-1.12,-214.1,54.8,-42.6,33,250,0.30,2.17,0.00,0.000,6,0.184,0.034,2471,1794,3950,0,0,0,0,0,0
$GC,568,-0.98,-214.1,165.8,-26.7,94,577,0.17,2.20,0.00,0.000,4,0.182,0.047,2524,400,3951,0,0,0,0,0,0
$GC,825,-0.96,-214.1,226.0,-20.2,140,833,0.00,2.15,0.00,0.000,6,0.000,0.041,2518,1790,3953,0,0,0,0,0,0
$GC,1160,-0.91,-214.1,299.6,-22.4,201,1168,0.12,2.20,0.00,0.000,4,0.190,0.047,2551,392,3954,0,0,0,0,0,0
$GC,1233,-0.93,-214.1,313.9,-16.7,208,1241,0.00,2.17,0.00,0.000,6,0.000,0.041,2540,1799,3954,0,0,0,0,0,0
$GC,1560,-0.95,-214.1,367.6,-16.1,239,1564,0.00,2.17,0.00,0.000,4,0.000,0.047,2539,392,3955,0,0,0,0,0,0
$GC,1627,-0.98,-214.1,379.2,-16.6,245,1631,0.00,2.15,0.00,0.000,6,0.000,0.044,2538,1806,3955,0,0,0,0,0,0
$GC,1954,-1.02,-214.1,429.7,-14.9,275,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1806,3954,0,0,0,0,0,0
$GC,2274,-1.06,-214.1,476.5,-14.4,305,2281,0.12,0.00,0.00,0.000,6,0.094,0.000,2480,1806,3953,0,0,0,0,0,0
$GC,2600,-1.03,-214.1,539.2,-20.2,336,2604,0.00,2.20,0.00,0.000,4,0.000,0.050,2480,398,3951,0,0,0,0,0,0
$GC,2634,-0.99,-214.1,546.5,-20.5,338,2641,0.17,2.17,0.00,0.000,6,0.174,0.045,2518,1803,3951,0,0,0,0,0,0
$GC,2959,-1.02,-214.1,600.0,-15.9,369,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1804,3948,0,0,0,0,0,0
$GC,3279,-1.06,-214.1,650.5,-15.3,385,3283,0.00,2.22,0.00,0.000,4,0.000,0.053,2518,398,3945,0,0,0,0,0,0
$GC,3336,-1.10,-214.1,659.5,-16.3,387,3340,0.00,2.17,0.00,0.000,6,0.000,0.047,2515,1806,3944,0,0,0,0,0,0
$GC,3652,-1.13,-214.1,708.2,-15.7,402,3657,0.12,2.17,0.00,0.000,4,0.094,0.054,2462,3208,3941,0,0,0,0,0,0
$GC,3679,-1.13,-214.1,713.1,-17.7,403,3683,0.00,2.12,0.00,0.000,6,0.000,0.040,2462,1796,3941,0,0,0,0,0,0
$GC,4003,-1.08,-214.1,778.5,-20.6,419,4007,0.10,2.20,0.00,0.000,4,0.199,0.054,2485,388,3937,0,0,0,0,0,0
$GC,4052,-1.08,-214.1,789.1,-19.6,421,4056,0.00,2.22,0.00,0.000,6,0.000,0.049,2477,1797,3937,0,0,0,0,0,0
$GC,4376,-1.05,-214.1,852.4,-20.3,437,4380,0.00,2.20,0.00,0.000,4,0.000,0.054,2477,387,3933,0,0,0,0,0,0
$GC,4420,-1.01,-214.1,862.3,-20.5,439,4425,0.17,2.20,0.00,0.000,6,0.179,0.050,2513,1809,3932,0,0,0,0,0,0
$GC,4744,-1.04,-214.1,913.3,-15.4,455,4748,0.00,2.22,0.00,0.000,4,0.000,0.055,2513,388,3930,0,0,0,0,0,0
$GC,4783,-1.07,-214.1,920.3,-16.7,456,4790,0.00,2.20,0.00,0.000,6,0.000,0.050,2505,1808,3929,0,0,0,0,0,0
$GC,5100,-1.08,-214.1,969.4,-15.5,472,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1809,3926,0,0,0,0,0,0
$STATE,5303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5303,begin apogee
$GC,5311,-0.23,0.0,1001.4,15.3,482,5503,0.82,0.00,186.50,1.447,6,0.147,0.000,2758,1739,3072,0,0,0,0,0,0
$STATE,5503,end apogee,CONTROL_FINISHED_OK
$STATE,5503,begin climb
$GC,5507,1.35,214.1,1010.8,0.0,491,5718,1.48,2.53,200.85,1.375,4,0.057,0.054,3267,3156,2199,0,0,0,0,0,0
$GC,5742,1.04,214.1,965.0,33.4,502,5747,0.43,2.30,0.00,0.000,6,0.226,0.043,3180,1748,2197,0,0,0,0,0,0
$GC,6072,0.82,214.1,872.7,27.6,518,6074,0.28,0.00,0.00,0.000,6,0.197,0.000,3107,1748,2193,0,0,0,0,0,0
$GC,6380,0.69,214.1,803.8,22.4,533,6382,0.15,0.00,0.00,0.000,6,0.194,0.000,3068,1747,2190,0,0,0,0,0,0
$GC,6688,0.62,214.1,743.1,18.9,548,6692,0.00,2.20,0.00,0.000,4,0.000,0.053,3058,3170,2189,0,0,0,0,0,0
$GC,6757,0.57,214.1,730.4,17.4,551,6762,0.15,2.17,0.00,0.000,6,0.184,0.041,3029,1737,2187,0,0,0,0,0,0
$GC,7079,0.57,214.1,683.3,14.2,567,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1737,2187,0,0,0,0,0,0
$GC,7389,0.60,236.8,642.5,12.4,582,7414,0.00,2.28,20.23,1.183,4,0.000,0.050,3025,3161,2106,0,0,0,0,0,0
$GC,7443,0.61,242.0,635.2,13.6,584,7456,0.00,2.17,6.50,0.965,6,0.000,0.041,3034,1739,2085,0,0,0,0,0,0
$GC,7767,0.62,251.2,592.5,13.3,602,7782,0.00,2.22,9.77,1.069,4,0.000,0.055,3044,353,2048,0,0,0,0,0,0
$GC,7830,0.62,251.2,583.4,15.0,607,7839,0.00,2.15,0.00,0.000,6,0.000,0.041,3044,1754,2047,0,0,0,0,0,0
$GC,8154,0.62,251.2,533.4,15.2,638,8158,0.00,2.15,0.00,0.000,4,0.000,0.050,3044,3164,2045,0,0,0,0,0,0
$GC,8234,0.62,251.2,520.8,15.8,644,8240,0.00,2.15,0.00,0.000,6,0.000,0.041,3054,1742,2044,0,0,0,0,0,0
$GC,8560,0.62,251.2,470.4,15.4,675,8564,0.00,2.17,0.00,0.000,4,0.000,0.054,3065,345,2044,0,0,0,0,0,0
$GC,8593,0.60,251.2,465.1,15.4,678,8598,0.12,2.17,0.00,0.000,6,0.176,0.041,3034,1753,2043,0,0,0,0,0,0
$GC,8919,0.63,260.0,421.2,13.3,708,8933,0.00,2.25,8.80,0.939,4,0.000,0.050,3033,3165,2012,0,0,0,0,0,0
$GC,8984,0.68,260.0,412.6,14.0,713,8988,0.00,2.15,0.00,0.000,6,0.000,0.041,3041,1751,2012,0,0,0,0,0,0
$GC,9311,0.73,286.2,370.2,12.2,743,9341,0.10,2.22,24.62,0.995,4,0.106,0.051,3102,349,1904,0,0,0,0,0,0
$GC,9441,0.70,286.2,347.8,16.9,754,9446,0.12,2.17,0.00,0.000,6,0.177,0.040,3067,1753,1902,0,0,0,0,0,0
$GC,9767,0.70,286.2,298.7,14.2,784,9775,0.00,2.17,0.00,0.000,4,0.000,0.047,3061,3161,1900,0,0,0,0,0,0
$GC,9844,0.74,294.6,288.8,13.4,797,9859,0.00,2.15,8.10,0.805,6,0.000,0.038,3069,1746,1871,0,0,0,0,0,0
$GC,10186,0.76,294.6,242.1,15.8,859,10193,0.00,2.15,0.00,0.000,4,0.000,0.052,3080,346,1871,0,0,0,0,0,0
$GC,10217,0.79,294.6,236.7,16.7,864,10226,0.00,2.17,0.00,0.000,6,0.000,0.037,3080,1760,1870,0,0,0,0,0,0
$GC,10553,0.86,330.7,191.0,11.6,925,10595,0.10,2.15,33.65,0.825,4,0.099,0.044,3140,3165,1722,0,0,0,0,0,0
$GC,10705,0.82,330.7,164.9,17.9,951,10713,0.17,2.12,0.00,0.000,6,0.175,0.037,3102,1747,1721,0,0,0,0,0,0
$GC,11038,0.89,356.7,122.3,12.2,1012,11068,0.00,2.17,23.20,0.744,4,0.000,0.049,3105,350,1618,0,0,0,0,0,0
$GC,11109,0.95,365.4,111.8,13.3,1023,11127,0.08,2.15,9.70,0.665,6,0.056,0.034,3159,1756,1582,0,0,0,0,0,0
$GC,11451,0.94,365.4,56.4,15.7,1085,11459,0.00,2.20,0.00,0.000,4,0.000,0.050,3166,357,1581,0,0,0,0,0,0
$GC,11541,0.92,365.4,41.2,16.4,1101,11550,0.08,2.12,0.00,0.000,6,0.161,0.035,3141,1752,1581,0,0,0,0,0,0
$STATE,11798,end climb,SURFACE_DEPTH_REACHED
$STATE,11798,begin surface coast
$FINISH,1.0,1.022362
$STATE,11822,end surface coast,CONTROL_FINISHED_OK
$STATE,11822,begin surface
$SM_CCo,11838,39.58,0.487,1,0,1441,400.08
$SM_GC,2.05,0.00,0.00,39.58,0.000,0.000,0.487,139,1757,1441,-8.45,-1.22,400.08
$IRIDIUM_FIX,2108.69,12558.07,061110,121212
$TT8_MAMPS,0.026964
$HUMID,43.06
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.90
$XPDR_PINGS,104
$24V_AH,22.1,87.149
$10V_AH,10.1,55.022
$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,22.325,100.900,531.925,39.575,0.000,27.574,18.228,184.721,26.000,0.000,12.514,2839.259,5615.604,628.154,2800.519,404.260,0.000,1729.753,0.000,2582.342,0.000,0.845,0.000
$DEVICE_MAMPS,227.205,97.920,1446.615,486.540,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.335,1006.909,1374.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333764
$DATA_FILE_SIZE,66895,1153
$CAP_FILE_SIZE,134979,0
$CFSIZE,260165632,151851008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115,144.0,1
$GPS,061110,194220,2118.240,12601.516,13,2.0,13,-2.9