version: 66.08
glider: 166
mission: 3
dive: 459
start: 11 6 110 23 37 49
data:
$ID,166
$MISSION,3
$DIVE,459
$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,-22162.027
$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,45
$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
$GPS1,061110,233036,2115.733,12601.230,30,0.9,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.2
$GPS2,061110,233725,2115.646,12601.239,11,1.3,11,-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,186.3,3974,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.41,-103.1,0.0,0.0,0,114,0.00,0.00,-95.00,0.000,2,0.000,0.000,169,1753,3367,0,0,0,0,0,0
$GC,117,-1.46,-149.2,5.7,-9.7,13,142,8.75,2.15,-6.25,0.000,4,0.220,0.057,2361,380,3683,0,0,0,0,0,0
$GC,246,-1.17,-149.2,65.5,-47.3,35,255,0.38,2.20,0.00,0.000,6,0.203,0.043,2452,1794,3684,0,0,0,0,0,0
$GC,576,-1.04,-149.2,177.4,-26.4,96,585,0.17,2.20,0.00,0.000,4,0.191,0.044,2488,3221,3686,0,0,0,0,0,0
$GC,683,-1.04,-149.2,199.8,-18.8,114,692,0.00,2.17,0.00,0.000,6,0.000,0.035,2487,1793,3686,0,0,0,0,0,0
$GC,1027,-0.99,-149.2,276.2,-21.3,175,1034,0.12,2.15,0.00,0.000,4,0.197,0.046,2519,388,3688,0,0,0,0,0,0
$GC,1264,-0.99,-149.2,327.5,-18.9,206,1274,0.00,2.20,0.00,0.000,6,0.000,0.044,2505,1805,3689,0,0,0,0,0,0
$GC,1591,-0.99,-149.2,386.7,-19.0,237,1595,0.00,2.20,0.00,0.000,4,0.000,0.048,2504,391,3689,0,0,0,0,0,0
$GC,1801,-0.99,-149.2,425.5,-16.7,255,1806,0.12,2.17,0.00,0.000,6,0.189,0.044,2517,1807,3689,0,0,0,0,0,0
$GC,2128,-1.04,-149.2,477.3,-15.9,285,2132,0.00,2.20,0.00,0.000,4,0.000,0.050,2517,392,3688,0,0,0,0,0,0
$GC,2239,-1.08,-149.2,496.4,-17.0,294,2248,0.00,2.20,0.00,0.000,6,0.000,0.046,2511,1795,3688,0,0,0,0,0,0
$GC,2565,-1.13,-149.2,551.4,-16.7,325,2570,0.10,2.22,0.00,0.000,4,0.109,0.050,2465,392,3686,0,0,0,0,0,0
$GC,2634,-1.11,-149.2,564.5,-19.5,330,2642,0.00,2.20,0.00,0.000,6,0.000,0.046,2459,1813,3686,0,0,0,0,0,0
$GC,2957,-1.11,-149.2,622.7,-16.9,355,2961,0.00,2.15,0.00,0.000,4,0.000,0.051,2463,3213,3682,0,0,0,0,0,0
$GC,2975,-1.11,-149.2,626.1,-17.4,356,2979,0.00,2.12,0.00,0.000,6,0.000,0.038,2463,1801,3682,0,0,0,0,0,0
$GC,3303,-1.11,-149.2,682.2,-17.5,372,3307,0.00,2.20,0.00,0.000,4,0.000,0.054,2463,397,3680,0,0,0,0,0,0
$GC,3369,-1.08,-149.2,694.9,-18.9,375,3374,0.12,2.17,0.00,0.000,6,0.197,0.047,2487,1811,3679,0,0,0,0,0,0
$GC,3695,-1.11,-149.2,746.9,-16.4,391,3699,0.00,2.22,0.00,0.000,4,0.000,0.053,2487,393,3677,0,0,0,0,0,0
$GC,3744,-1.11,-149.2,756.6,-17.4,393,3748,0.00,2.15,0.00,0.000,6,0.000,0.047,2478,1800,3676,0,0,0,0,0,0
$GC,4072,-1.11,-149.2,811.8,-16.7,409,4076,0.00,2.25,0.00,0.000,4,0.000,0.054,2478,390,3672,0,0,0,0,0,0
$GC,4162,-1.11,-149.2,827.8,-17.4,413,4166,0.00,2.17,0.00,0.000,6,0.000,0.049,2471,1797,3671,0,0,0,0,0,0
$GC,4483,-1.11,-149.2,879.7,-15.8,429,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1798,3668,0,0,0,0,0,0
$GC,4792,-1.11,-149.2,929.5,-15.9,444,4796,0.00,2.22,0.00,0.000,4,0.000,0.055,2471,398,3665,0,0,0,0,0,0
$GC,4870,-1.11,-149.2,943.4,-18.0,447,4877,0.00,2.20,0.00,0.000,6,0.000,0.048,2462,1802,3664,0,0,0,0,0,0
$GC,5187,-1.11,-149.2,996.9,-17.3,463,5191,0.00,2.20,0.00,0.000,4,0.000,0.055,2462,398,3661,0,0,0,0,0,0
$STATE,5202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5202,begin apogee
$GC,5211,-0.23,0.0,1000.3,18.2,464,5347,1.05,0.00,129.15,1.448,6,0.168,0.000,2756,1749,3072,0,0,0,0,0,0
$STATE,5348,end apogee,CONTROL_FINISHED_OK
$STATE,5348,begin climb
$GC,5352,1.46,149.2,1006.9,0.0,470,5500,1.60,2.47,138.18,1.394,4,0.071,0.057,3321,350,2462,0,0,0,0,0,0
$GC,5523,1.14,149.2,979.1,29.5,478,5528,0.43,2.30,0.00,0.000,6,0.236,0.047,3215,1746,2459,0,0,0,0,0,0
$GC,5841,0.93,149.2,897.9,25.7,493,5845,0.28,2.20,0.00,0.000,4,0.214,0.053,3152,345,2454,0,0,0,0,0,0
$GC,5858,0.73,149.2,892.8,26.3,494,5863,0.25,2.17,0.00,0.000,6,0.200,0.046,3080,1752,2453,0,0,0,0,0,0
$GC,6189,0.68,149.2,832.1,18.2,510,6193,0.00,2.17,0.00,0.000,4,0.000,0.057,3070,3164,2451,0,0,0,0,0,0
$GC,6216,0.64,149.2,826.3,17.7,511,6221,0.12,2.15,0.00,0.000,6,0.214,0.041,3050,1741,2451,0,0,0,0,0,0
$GC,6539,0.64,149.2,777.2,15.5,527,6543,0.00,2.22,0.00,0.000,4,0.000,0.052,3040,3170,2449,0,0,0,0,0,0
$GC,6563,0.64,149.2,773.3,16.1,528,6567,0.00,2.17,0.00,0.000,6,0.000,0.042,3048,1747,2448,0,0,0,0,0,0
$GC,6892,0.64,152.6,726.9,13.6,544,6896,0.00,2.20,0.00,0.000,4,0.000,0.054,3059,342,2448,0,0,0,0,0,0
$GC,6966,0.62,152.6,715.7,14.8,547,6970,0.00,2.20,0.00,0.000,6,0.000,0.044,3056,1755,2447,0,0,0,0,0,0
$GC,7288,0.63,154.7,671.3,13.7,563,7292,0.00,2.15,0.00,0.000,4,0.000,0.052,3046,3163,2446,0,0,0,0,0,0
$GC,7327,0.63,154.7,665.7,14.0,565,7331,0.00,2.15,0.00,0.000,6,0.000,0.040,3054,1738,2445,0,0,0,0,0,0
$GC,7656,0.65,178.4,624.9,11.8,581,7683,0.00,0.00,24.70,1.193,6,0.000,0.000,3054,1738,2344,0,0,0,0,0,0
$GC,7990,0.68,183.2,580.2,13.5,603,8003,0.00,2.22,5.28,0.879,4,0.000,0.048,3046,3169,2325,0,0,0,0,0,0
$GC,8029,0.69,183.2,574.5,14.9,606,8033,0.00,2.17,0.00,0.000,6,0.000,0.041,3054,1748,2325,0,0,0,0,0,0
$GC,8356,0.72,183.2,527.0,14.7,636,8360,0.00,2.20,0.00,0.000,4,0.000,0.054,3065,342,2324,0,0,0,0,0,0
$GC,8420,0.72,183.2,517.2,15.5,641,8424,0.00,2.15,0.00,0.000,6,0.000,0.040,3063,1755,2324,0,0,0,0,0,0
$GC,8748,0.76,200.0,473.9,12.4,671,8772,0.00,2.25,16.50,1.066,4,0.000,0.054,3071,341,2256,0,0,0,0,0,0
$GC,8809,0.77,200.0,465.5,14.3,676,8813,0.00,2.20,0.00,0.000,6,0.000,0.041,3071,1755,2255,0,0,0,0,0,0
$GC,9135,0.79,200.0,421.4,14.1,706,9139,0.00,2.22,0.00,0.000,4,0.000,0.054,3080,341,2252,0,0,0,0,0,0
$GC,9158,0.79,200.0,418.1,14.7,707,9164,0.00,2.17,0.00,0.000,6,0.000,0.041,3077,1762,2252,0,0,0,0,0,0
$GC,9483,0.84,217.4,373.5,12.3,738,9509,0.10,2.20,16.48,0.977,4,0.106,0.050,3125,3156,2184,0,0,0,0,0,0
$GC,9557,0.81,217.4,362.4,16.6,744,9562,0.12,2.12,0.00,0.000,6,0.199,0.038,3106,1746,2183,0,0,0,0,0,0
$GC,9882,0.81,217.4,315.6,14.7,774,9886,0.00,2.15,0.00,0.000,4,0.000,0.052,3114,346,2181,0,0,0,0,0,0
$GC,9983,0.81,217.4,299.8,16.0,782,9992,0.00,2.17,0.00,0.000,6,0.000,0.038,3105,1753,2181,0,0,0,0,0,0
$GC,10329,0.83,230.7,250.3,12.7,843,10349,0.00,2.15,13.07,0.841,4,0.000,0.045,3095,3164,2130,0,0,0,0,0,0
$GC,10440,0.87,235.9,234.8,13.4,862,10455,0.00,2.17,6.40,0.705,6,0.000,0.037,3104,1744,2109,0,0,0,0,0,0
$GC,10794,0.90,235.9,187.8,14.0,924,10802,0.00,2.17,0.00,0.000,4,0.000,0.050,3114,355,2109,0,0,0,0,0,0
$GC,10954,0.96,254.6,166.6,12.2,952,10978,0.10,2.15,17.98,0.778,6,0.060,0.037,3163,1754,2033,0,0,0,0,0,0
$GC,11303,0.96,254.6,118.4,14.3,1015,11311,0.00,2.15,0.00,0.000,4,0.000,0.044,3155,3161,2032,0,0,0,0,0,0
$GC,11352,0.96,257.6,111.5,13.6,1023,11362,0.00,2.15,4.10,0.487,6,0.000,0.035,3158,1749,2021,0,0,0,0,0,0
$GC,11685,1.04,294.6,81.4,10.6,1084,11723,0.00,2.25,32.42,0.708,4,0.000,0.049,3165,349,1871,0,0,0,0,0,0
$GC,11807,1.06,294.6,64.9,14.2,1104,11816,0.00,2.15,0.00,0.000,6,0.000,0.034,3161,1751,1868,0,0,0,0,0,0
$GC,12135,1.11,303.0,20.8,13.1,1165,12152,0.10,2.12,8.98,0.572,4,0.099,0.041,3207,3165,1835,0,0,0,0,0,0
$STATE,12240,end climb,SURFACE_DEPTH_REACHED
$STATE,12241,begin surface coast
$FINISH,0.8,1.022338
$STATE,12247,end surface coast,CONTROL_FINISHED_OK
$STATE,12247,begin surface
$SM_CCo,12267,85.93,0.568,1,0,1440,400.08
$SM_GC,1.86,0.00,0.00,85.93,0.000,0.000,0.568,168,1804,1440,-8.36,0.11,400.08
$IRIDIUM_FIX,2111.01,12604.53,061110,191901
$TT8_MAMPS,0.026215
$HUMID,40.94
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,25.20
$XPDR_PINGS,93
$24V_AH,22.5,87.577
$10V_AH,10.1,55.297
$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,21.975,126.900,413.225,85.925,0.000,23.660,18.495,188.651,23.250,0.000,11.904,2969.017,5836.930,600.451,2929.926,420.244,0.000,1729.480,0.000,2712.987,0.000,0.844,0.000
$DEVICE_MAMPS,235.620,57.375,1448.145,568.395,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.837,1029.713,1422.803,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,70237,1184
$CAP_FILE_SIZE,143081,0
$CFSIZE,260165632,151678976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,233.0,1
$GPS,071110,030507,2113.986,12600.948,41,0.9,41,-2.8