version: 66.08
glider: 166
mission: 3
dive: 482
start: 11 10 110 14 2 8
data:
$ID,166
$MISSION,3
$DIVE,482
$N_DIVES,481
$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,-22190.967
$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,39
$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
$GPS1,101110,135354,2116.168,12601.252,12,99.0,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-61.1
$GPS2,101110,140131,2116.063,12601.168,41,1.3,41,-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,167.8,4748,-23.0,-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,16,-1.24,-156.0,0.0,0.0,0,128,0.00,0.00,-109.07,0.000,2,0.000,0.000,140,1756,3413,0,0,0,0,0,0
$GC,131,-1.25,-162.6,6.4,-13.5,15,156,9.30,2.12,-6.12,0.000,4,0.226,0.057,2429,389,3738,0,0,0,0,0,0
$GC,394,-0.97,-162.6,116.6,-33.7,63,403,0.35,2.17,0.00,0.000,6,0.193,0.040,2516,1803,3739,0,0,0,0,0,0
$GC,726,-0.86,-162.6,198.2,-23.9,124,735,0.17,2.25,0.00,0.000,4,0.177,0.047,2564,395,3741,0,0,0,0,0,0
$GC,934,-0.86,-162.6,235.7,-17.2,161,941,0.00,2.15,0.00,0.000,6,0.000,0.042,2555,1811,3742,0,0,0,0,0,0
$GC,1269,-0.84,-162.6,293.2,-15.7,222,1277,0.00,2.15,0.00,0.000,4,0.000,0.049,2555,3200,3742,0,0,0,0,0,0
$GC,1322,-0.88,-169.6,301.3,-13.5,230,1330,0.00,2.15,0.00,0.000,6,0.000,0.034,2553,1791,3742,0,0,0,0,0,0
$GC,1649,-0.88,-169.6,351.3,-14.6,261,1653,0.00,2.15,0.00,0.000,4,0.000,0.047,2553,396,3742,0,0,0,0,0,0
$GC,1744,-0.88,-169.6,366.4,-15.0,269,1748,0.00,2.15,0.00,0.000,6,0.000,0.044,2554,1807,3742,0,0,0,0,0,0
$GC,2071,-0.91,-189.5,409.6,-12.7,299,2075,0.00,2.15,0.00,0.000,4,0.000,0.047,2554,3210,3742,0,0,0,0,0,0
$GC,2103,-0.97,-213.2,414.0,-12.5,301,2111,0.00,2.12,0.00,0.000,6,0.000,0.036,2552,1798,3742,0,0,0,0,0,0
$GC,2428,-0.97,-213.2,462.0,-15.4,332,2432,0.00,2.17,0.00,0.000,4,0.000,0.050,2551,399,3741,0,0,0,0,0,0
$GC,2461,-0.97,-213.2,467.5,-15.9,334,2469,0.00,2.20,0.00,0.000,6,0.000,0.045,2550,1802,3741,0,0,0,0,0,0
$GC,2786,-0.97,-213.2,516.3,-14.4,365,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1802,3739,0,0,0,0,0,0
$GC,3107,-0.98,-214.1,559.7,-13.7,395,3111,0.00,2.25,0.00,0.000,4,0.000,0.053,2548,389,3737,0,0,0,0,0,0
$GC,3151,-0.98,-214.1,566.4,-14.3,398,3158,0.00,2.17,0.00,0.000,6,0.000,0.047,2544,1802,3737,0,0,0,0,0,0
$GC,3487,-0.98,-214.1,611.5,-13.0,426,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1803,3734,0,0,0,0,0,0
$GC,3796,-0.98,-214.1,649.3,-12.0,441,3800,0.00,2.25,0.00,0.000,4,0.000,0.054,2544,395,3732,0,0,0,0,0,0
$GC,3817,-0.98,-214.1,652.3,-12.0,442,3821,0.00,2.17,0.00,0.000,6,0.000,0.046,2536,1809,3731,0,0,0,0,0,0
$GC,4139,-0.98,-214.1,695.1,-14.0,458,4143,0.00,2.22,0.00,0.000,4,0.000,0.053,2536,401,3728,0,0,0,0,0,0
$GC,4195,-0.98,-214.1,703.8,-15.9,460,4202,0.00,2.15,0.00,0.000,6,0.000,0.046,2526,1799,3728,0,0,0,0,0,0
$GC,4511,-0.98,-214.1,749.9,-14.3,476,4515,0.00,2.22,0.00,0.000,4,0.000,0.054,2526,392,3725,0,0,0,0,0,0
$GC,4544,-0.96,-214.1,755.0,-15.2,477,4552,0.00,2.17,0.00,0.000,6,0.000,0.047,2516,1804,3724,0,0,0,0,0,0
$GC,4862,-0.96,-214.1,799.9,-13.5,493,4866,0.00,2.22,0.00,0.000,4,0.000,0.054,2516,395,3721,0,0,0,0,0,0
$GC,4925,-0.94,-214.1,809.2,-14.6,496,4930,0.12,2.17,0.00,0.000,6,0.184,0.047,2536,1801,3721,0,0,0,0,0,0
$GC,5256,-0.96,-214.1,848.2,-11.8,512,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1801,3718,0,0,0,0,0,0
$GC,5562,-0.99,-214.1,884.3,-11.5,527,5566,0.00,2.22,0.00,0.000,4,0.000,0.055,2536,396,3716,0,0,0,0,0,0
$GC,5649,-1.01,-214.1,895.0,-11.9,531,5653,0.00,2.17,0.00,0.000,6,0.000,0.049,2528,1798,3715,0,0,0,0,0,0
$GC,5978,-1.02,-214.1,935.2,-12.3,547,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1798,3713,0,0,0,0,0,0
$GC,6286,-1.04,-214.1,972.4,-11.9,562,6290,0.00,2.20,0.00,0.000,4,0.000,0.057,2528,402,3711,0,0,0,0,0,0
$GC,6316,-1.04,-214.1,976.2,-13.5,563,6320,0.00,2.20,0.00,0.000,6,0.000,0.050,2518,1811,3710,0,0,0,0,0,0
$STATE,6506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6506,begin apogee
$GC,6512,-0.23,0.0,1000.6,12.7,572,6661,0.77,0.00,139.52,1.449,6,0.140,0.000,2757,1741,3072,0,0,0,0,0,0
$STATE,6662,end apogee,CONTROL_FINISHED_OK
$STATE,6662,begin climb
$GC,6664,1.31,214.1,1005.0,0.0,579,6877,1.45,2.45,200.18,1.386,4,0.069,0.058,3269,356,2198,0,0,0,0,0,0
$GC,6910,0.98,214.1,954.2,35.3,590,6916,0.43,2.30,0.00,0.000,6,0.215,0.050,3160,1743,2195,0,0,0,0,0,0
$GC,7229,0.78,214.1,873.4,24.3,605,7233,0.25,2.25,0.00,0.000,4,0.199,0.059,3078,3176,2190,0,0,0,0,0,0
$GC,7272,0.68,214.1,863.0,19.4,607,7276,0.00,2.17,0.00,0.000,6,0.000,0.043,3086,1748,2188,0,0,0,0,0,0
$GC,7595,0.57,214.1,802.5,19.3,623,7597,0.22,0.00,0.00,0.000,6,0.181,0.000,3026,1748,2187,0,0,0,0,0,0
$GC,7905,0.55,214.1,756.4,14.7,638,7909,0.00,2.22,0.00,0.000,4,0.000,0.054,3016,3176,2186,0,0,0,0,0,0
$GC,7925,0.54,214.1,753.4,14.7,639,7929,0.00,2.17,0.00,0.000,6,0.000,0.041,3024,1743,2186,0,0,0,0,0,0
$GC,8254,0.54,214.1,704.9,15.3,655,8258,0.00,2.20,0.00,0.000,4,0.000,0.056,3035,348,2185,0,0,0,0,0,0
$GC,8271,0.52,214.1,701.9,15.1,656,8276,0.00,2.17,0.00,0.000,6,0.000,0.043,3034,1761,2184,0,0,0,0,0,0
$GC,8599,0.50,214.1,652.6,14.5,672,8604,0.12,2.17,0.00,0.000,4,0.176,0.053,2990,3169,2183,0,0,0,0,0,0
$GC,8630,0.54,229.8,648.4,13.0,673,8649,0.00,2.20,13.12,1.146,6,0.000,0.042,2998,1743,2135,0,0,0,0,0,0
$GC,8975,0.64,274.6,608.5,11.2,690,9024,0.12,2.28,42.30,1.190,4,0.090,0.051,3065,3159,1952,0,0,0,0,0,0
$GC,9033,0.59,274.6,599.5,17.8,692,9040,0.15,2.20,0.00,0.000,6,0.186,0.042,3037,1743,1951,0,0,0,0,0,0
$GC,9358,0.59,274.6,551.2,15.0,723,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1743,1946,0,0,0,0,0,0
$GC,9681,0.60,278.3,505.9,13.7,753,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1743,1945,0,0,0,0,0,0
$GC,10010,0.60,278.3,459.0,14.0,784,10014,0.00,2.22,0.00,0.000,4,0.000,0.052,3037,3170,1944,0,0,0,0,0,0
$GC,10052,0.62,278.3,452.7,14.5,787,10056,0.00,2.17,0.00,0.000,6,0.000,0.041,3045,1743,1943,0,0,0,0,0,0
$GC,10378,0.62,278.3,405.9,14.7,817,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1743,1942,0,0,0,0,0,0
$GC,10701,0.64,294.5,361.8,12.9,847,10725,0.00,2.25,17.35,0.965,4,0.000,0.050,3045,3170,1871,0,0,0,0,0,0
$GC,10754,0.71,317.2,354.4,12.5,851,10784,0.00,2.17,21.90,0.950,6,0.000,0.041,3053,1748,1778,0,0,0,0,0,0
$GC,11102,0.77,336.3,309.4,12.8,884,11126,0.10,2.25,18.25,0.896,4,0.103,0.050,3112,3172,1701,0,0,0,0,0,0
$GC,11143,0.72,336.3,303.2,18.0,887,11147,0.17,2.17,0.00,0.000,6,0.174,0.039,3075,1741,1700,0,0,0,0,0,0
$GC,11483,0.74,336.3,253.0,14.6,946,11491,0.00,2.22,0.00,0.000,4,0.000,0.048,3066,3162,1698,0,0,0,0,0,0
$GC,11505,0.76,336.3,249.5,14.1,949,11512,0.00,2.15,0.00,0.000,6,0.000,0.038,3074,1748,1698,0,0,0,0,0,0
$GC,11847,0.80,336.3,198.6,14.0,1010,11856,0.00,2.20,0.00,0.000,4,0.000,0.053,3085,353,1698,0,0,0,0,0,0
$GC,11897,0.87,353.4,192.0,12.9,1018,11921,0.08,2.17,16.45,0.780,6,0.051,0.037,3140,1766,1631,0,0,0,0,0,0
$GC,12251,0.85,353.4,130.4,17.3,1081,12260,0.00,2.15,0.00,0.000,4,0.000,0.046,3140,3163,1630,0,0,0,0,0,0
$GC,12289,0.85,353.4,124.6,14.4,1087,12297,0.10,2.17,0.00,0.000,6,0.154,0.037,3117,1749,1630,0,0,0,0,0,0
$GC,12620,1.05,472.6,85.3,6.8,1148,12728,0.17,2.30,101.22,0.706,4,0.070,0.049,3215,347,1144,0,0,0,0,0,0
$GC,12812,1.02,472.6,47.4,18.2,1177,12821,0.12,2.17,0.00,0.000,6,0.149,0.038,3174,1753,1142,0,0,0,0,0,0
$STATE,13020,end climb,SURFACE_DEPTH_REACHED
$STATE,13021,begin surface coast
$FINISH,1.1,1.018578
$STATE,13038,end surface coast,CONTROL_FINISHED_OK
$STATE,13038,begin surface
$SM_CCo,13117,0.00,0.000,0,0,1139,474.16
$SM_GC,1.83,7.88,0.00,0.00,0.032,0.000,0.000,169,1757,1139,-8.33,-1.19,474.16
$IRIDIUM_FIX,2111.01,12558.07,101110,101020
$TT8_MAMPS,0.026215
$HUMID,43.85
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.40
$XPDR_PINGS,104
$24V_AH,22.1,93.204
$10V_AH,10.1,58.451
$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,22.100,114.475,570.300,0.000,0.000,23.467,22.914,198.989,26.000,0.000,42.746,3011.028,6585.350,619.055,2930.849,425.551,0.000,1789.272,0.000,2666.385,0.000,0.844,0.000
$DEVICE_MAMPS,225.675,97.155,1448.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,831.903,1040.657,1346.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73483,1219
$CAP_FILE_SIZE,144767,0
$CFSIZE,260165632,149811200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,207.7,1
$GPS,101110,174200,2114.077,12601.570,39,1.8,39,-2.8