version: 66.08
glider: 166
mission: 3
dive: 483
start: 11 10 110 17 49 53
data:
$ID,166
$MISSION,3
$DIVE,483
$N_DIVES,496
$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,-22192.225
$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,37
$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
$GPS1,101110,174200,2114.077,12601.570,39,1.8,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-63.2
$GPS2,101110,174931,2113.987,12601.571,13,2.0,30,-2.8
$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,3.5,9122,-19.7,-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,-1.16,-214.1,0.0,0.0,0,107,0.00,0.00,-87.70,0.000,2,0.000,0.000,158,1758,3356,0,0,0,0,0,0
$GC,110,-1.16,-214.1,5.3,-8.3,12,142,9.38,2.28,-11.27,0.000,4,0.224,0.057,2449,3215,3950,0,0,0,0,0,0
$GC,181,-0.91,-214.1,36.1,-37.1,23,190,0.30,2.17,0.00,0.000,6,0.167,0.035,2539,1792,3951,0,0,0,0,0,0
$GC,508,-0.76,-214.1,137.2,-23.9,84,517,0.20,2.17,0.00,0.000,4,0.171,0.044,2591,399,3952,0,0,0,0,0,0
$GC,558,-0.76,-214.1,148.8,-19.5,92,566,0.00,2.17,0.00,0.000,6,0.000,0.041,2583,1804,3953,0,0,0,0,0,0
$GC,902,-0.73,-214.1,206.9,-15.5,153,909,0.00,2.20,0.00,0.000,4,0.000,0.046,2581,387,3955,0,0,0,0,0,0
$GC,975,-0.73,-214.1,218.3,-15.0,165,982,0.12,2.17,0.00,0.000,6,0.162,0.042,2605,1806,3956,0,0,0,0,0,0
$GC,1319,-0.76,-214.1,259.9,-12.1,226,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1807,3956,0,0,0,0,0,0
$GC,1661,-0.80,-214.1,298.1,-11.3,287,1667,0.00,2.20,0.00,0.000,4,0.000,0.047,2605,396,3956,0,0,0,0,0,0
$GC,1699,-0.85,-214.1,303.0,-12.9,291,1703,0.10,2.15,0.00,0.000,6,0.100,0.042,2545,1803,3956,0,0,0,0,0,0
$GC,2031,-0.81,-214.1,361.7,-17.0,322,2033,0.12,0.00,0.00,0.000,6,0.174,0.000,2575,1804,3955,0,0,0,0,0,0
$GC,2349,-0.83,-214.1,407.0,-12.9,352,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1804,3955,0,0,0,0,0,0
$GC,2670,-0.85,-214.1,449.3,-12.6,382,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1804,3954,0,0,0,0,0,0
$GC,2999,-0.89,-214.1,487.3,-11.5,413,3003,0.00,2.22,0.00,0.000,4,0.000,0.052,2576,395,3952,0,0,0,0,0,0
$GC,3058,-0.94,-214.1,494.3,-11.4,418,3062,0.12,2.17,0.00,0.000,6,0.088,0.046,2515,1804,3952,0,0,0,0,0,0
$GC,3383,-0.88,-214.1,546.8,-16.2,448,3388,0.15,2.22,0.00,0.000,4,0.172,0.054,2551,3216,3950,0,0,0,0,0,0
$GC,3440,-0.91,-214.1,554.4,-11.6,452,3447,0.00,2.17,0.00,0.000,6,0.000,0.038,2551,1793,3949,0,0,0,0,0,0
$GC,3766,-0.91,-214.1,597.9,-13.2,483,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1792,3948,0,0,0,0,0,0
$GC,4078,-0.91,-214.1,638.9,-13.3,499,4082,0.00,2.20,0.00,0.000,4,0.000,0.054,2551,393,3945,0,0,0,0,0,0
$GC,4141,-0.91,-214.1,648.1,-14.4,502,4145,0.00,2.17,0.00,0.000,6,0.000,0.048,2542,1799,3944,0,0,0,0,0,0
$GC,4470,-0.91,-214.1,693.6,-13.9,518,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1799,3942,0,0,0,0,0,0
$GC,4777,-0.91,-214.1,738.1,-14.5,533,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1799,3939,0,0,0,0,0,0
$GC,5086,-0.91,-214.1,782.0,-14.4,548,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1800,3936,0,0,0,0,0,0
$GC,5398,-0.91,-214.1,826.1,-14.2,563,5402,0.00,2.28,0.00,0.000,4,0.000,0.057,2541,388,3932,0,0,0,0,0,0
$GC,5464,-0.91,-214.1,836.1,-14.0,566,5468,0.00,2.25,0.00,0.000,6,0.000,0.054,2531,1794,3931,0,0,0,0,0,0
$GC,5792,-0.91,-214.1,881.4,-13.8,582,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1794,3929,0,0,0,0,0,0
$GC,6102,-0.91,-214.1,924.7,-14.1,597,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1794,3927,0,0,0,0,0,0
$GC,6410,-0.91,-214.1,968.7,-14.3,612,6414,0.00,2.20,0.00,0.000,4,0.000,0.057,2532,395,3924,0,0,0,0,0,0
$GC,6442,-0.91,-214.1,973.8,-15.3,613,6449,0.00,2.20,0.00,0.000,6,0.000,0.050,2521,1805,3924,0,0,0,0,0,0
$STATE,6633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6633,begin apogee
$GC,6641,-0.23,0.0,1002.4,15.1,623,6832,0.77,0.00,186.07,1.441,6,0.139,0.000,2760,1751,3073,0,0,0,0,0,0
$STATE,6833,end apogee,CONTROL_FINISHED_OK
$STATE,6833,begin climb
$GC,6837,1.16,214.1,1013.3,0.0,632,7049,1.27,2.45,200.00,1.379,4,0.056,0.059,3222,350,2199,0,0,0,0,0,0
$GC,7076,0.83,214.1,972.1,30.9,643,7081,0.43,2.33,0.00,0.000,6,0.205,0.049,3114,1750,2196,0,0,0,0,0,0
$GC,7400,0.63,214.1,899.1,22.1,659,7405,0.25,2.22,0.00,0.000,4,0.187,0.053,3030,3176,2191,0,0,0,0,0,0
$GC,7451,0.56,214.1,889.3,15.8,661,7455,0.00,2.17,0.00,0.000,6,0.000,0.044,3039,1745,2189,0,0,0,0,0,0
$GC,7768,0.47,214.1,840.0,15.4,676,7770,0.17,0.00,0.00,0.000,6,0.176,0.000,2992,1745,2189,0,0,0,0,0,0
$GC,8079,0.52,264.1,802.7,11.7,691,8130,0.00,2.28,45.67,1.302,4,0.000,0.058,3001,343,1994,0,0,0,0,0,0
$GC,8162,0.55,291.2,792.5,12.7,695,8194,0.00,2.22,26.27,1.242,6,0.000,0.044,3001,1762,1884,0,0,0,0,0,0
$GC,8510,0.57,305.2,746.5,13.3,712,8532,0.00,2.22,13.45,1.169,4,0.000,0.054,3001,3155,1827,0,0,0,0,0,0
$GC,8588,0.61,318.7,736.0,13.3,715,8608,0.00,2.15,14.15,1.164,6,0.000,0.043,3010,1745,1773,0,0,0,0,0,0
$GC,8934,0.65,353.7,691.7,12.4,732,8977,0.12,2.30,33.55,1.229,4,0.086,0.057,3088,343,1629,0,0,0,0,0,0
$GC,9004,0.57,353.7,678.7,20.4,735,9009,0.22,2.20,0.00,0.000,6,0.164,0.045,3027,1756,1627,0,0,0,0,0,0
$GC,9333,0.57,353.7,627.3,15.8,751,9337,0.00,2.17,0.00,0.000,4,0.000,0.054,3027,3155,1625,0,0,0,0,0,0
$GC,9360,0.57,353.7,622.4,15.1,752,9364,0.00,2.12,0.00,0.000,6,0.000,0.042,3035,1750,1625,0,0,0,0,0,0
$GC,9684,0.57,353.7,568.9,16.2,776,9688,0.00,2.22,0.00,0.000,4,0.000,0.059,3045,339,1624,0,0,0,0,0,0
$GC,9725,0.55,353.7,562.1,16.9,779,9729,0.00,2.17,0.00,0.000,6,0.000,0.043,3046,1753,1622,0,0,0,0,0,0
$GC,10052,0.52,353.7,508.6,15.9,809,10057,0.12,2.20,0.00,0.000,4,0.174,0.052,3010,3170,1622,0,0,0,0,0,0
$GC,10107,0.65,406.2,500.9,11.6,813,10160,0.00,2.15,47.65,1.111,6,0.000,0.041,3018,1748,1415,0,0,0,0,0,0
$GC,10480,0.72,435.3,453.7,12.6,848,10517,0.15,2.30,27.12,1.039,4,0.078,0.057,3109,350,1297,0,0,0,0,0,0
$GC,10567,0.66,435.3,436.1,22.4,855,10572,0.17,2.17,0.00,0.000,6,0.161,0.044,3059,1760,1295,0,0,0,0,0,0
$GC,10894,0.65,435.3,375.3,17.9,885,10898,0.00,2.12,0.00,0.000,4,0.000,0.050,3049,3156,1293,0,0,0,0,0,0
$GC,10971,0.70,435.3,362.0,15.6,891,10978,0.00,2.12,0.00,0.000,6,0.000,0.041,3057,1752,1293,0,0,0,0,0,0
$GC,11297,0.70,435.3,310.5,15.4,922,11301,0.00,2.17,0.00,0.000,4,0.000,0.055,3068,347,1293,0,0,0,0,0,0
$GC,11340,0.70,435.3,303.4,16.0,925,11347,0.00,2.12,0.00,0.000,6,0.000,0.037,3068,1751,1291,0,0,0,0,0,0
$GC,11676,0.70,435.3,250.1,15.4,984,11684,0.00,2.20,0.00,0.000,4,0.000,0.048,3068,3163,1291,0,0,0,0,0,0
$GC,11714,0.72,435.3,244.2,16.4,990,11723,0.00,2.20,0.00,0.000,6,0.000,0.040,3076,1745,1291,0,0,0,0,0,0
$GC,12058,0.72,435.3,189.5,15.2,1051,12065,0.00,2.17,0.00,0.000,4,0.000,0.052,3087,345,1291,0,0,0,0,0,0
$GC,12107,0.75,435.3,181.9,15.4,1059,12114,0.00,2.12,0.00,0.000,6,0.000,0.037,3087,1753,1291,0,0,0,0,0,0
$GC,12444,0.79,465.5,131.6,12.6,1120,12481,0.00,2.22,27.27,0.753,4,0.000,0.047,3087,3159,1173,0,0,0,0,0,0
$GC,12550,1.02,577.2,119.5,9.0,1137,12654,0.15,2.17,95.12,0.743,6,0.039,0.038,3190,1750,717,0,0,0,0,0,0
$GC,12977,0.94,577.2,21.6,22.0,1211,12985,0.17,2.25,0.00,0.000,4,0.170,0.054,3152,344,713,0,0,0,0,0,0
$GC,13061,0.98,577.2,3.7,18.1,1226,13070,0.00,2.15,0.00,0.000,6,0.000,0.032,3151,1766,713,0,0,0,0,0,0
$STATE,13076,end climb,SURFACE_DEPTH_REACHED
$STATE,13076,begin surface coast
$FINISH,1.0,1.012610
$STATE,13095,end surface coast,CONTROL_FINISHED_OK
$STATE,13095,begin surface
$SM_CCo,13174,0.00,0.000,0,0,710,579.40
$SM_GC,1.86,7.95,0.00,0.00,0.041,0.000,0.000,166,1770,710,-8.34,-0.82,579.40
$IRIDIUM_FIX,2106.38,12559.94,101110,131341
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,8.65726
$TCM_TEMP,23.70
$XPDR_PINGS,88
$24V_AH,22.1,93.468
$10V_AH,10.1,58.588
$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,22.475,105.825,716.350,0.000,0.000,29.559,19.032,200.180,22.000,0.000,31.231,2997.118,6490.248,718.356,2984.984,417.926,0.000,1926.652,0.000,2718.178,0.000,0.846,0.000
$DEVICE_MAMPS,224.145,117.810,1441.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.768,1056.686,1354.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73683,1231
$CAP_FILE_SIZE,145414,0
$CFSIZE,260165632,149729280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,139.4,1
$GPS,101110,213324,2115.623,12602.152,184,1.1,201,-2.9