version: 66.08
glider: 166
mission: 3
dive: 485
start: 11 11 110 1 28 48
data:
$ID,166
$MISSION,3
$DIVE,485
$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,-22194.74
$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,54
$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
$GPS1,111110,012036,2116.386,12601.304,32,1.2,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.6
$GPS2,111110,012826,2116.253,12601.235,15,1.2,15,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,359.2,9902,-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,-214.1,0.0,0.0,0,132,0.00,0.00,-112.72,0.000,2,0.000,0.000,135,1776,3396,0,0,0,0,0,0
$GC,137,-1.16,-214.1,5.5,-9.1,15,168,9.55,2.28,-10.32,0.000,4,0.230,0.054,2453,3225,3949,0,0,0,0,0,0
$GC,214,-0.91,-214.1,38.9,-37.5,27,222,0.28,2.15,0.00,0.000,6,0.164,0.032,2541,1814,3951,0,0,0,0,0,0
$GC,543,-0.78,-214.1,137.5,-26.0,88,552,0.17,2.22,0.00,0.000,4,0.172,0.047,2589,405,3951,0,0,0,0,0,0
$GC,652,-0.78,-214.1,157.8,-15.7,107,659,0.00,2.10,0.00,0.000,6,0.000,0.038,2579,1803,3952,0,0,0,0,0,0
$GC,983,-0.74,-214.1,215.6,-17.3,168,991,0.00,2.15,0.00,0.000,4,0.000,0.047,2568,3198,3954,0,0,0,0,0,0
$GC,1023,-0.74,-214.1,221.8,-16.7,174,1031,0.08,2.12,0.00,0.000,6,0.138,0.034,2594,1803,3954,0,0,0,0,0,0
$GC,1365,-0.76,-214.1,271.3,-14.7,235,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1803,3954,0,0,0,0,0,0
$GC,1696,-0.80,-214.1,313.0,-11.7,286,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1803,3954,0,0,0,0,0,0
$GC,2025,-0.85,-214.1,350.8,-10.3,317,2029,0.00,2.17,0.00,0.000,4,0.000,0.047,2595,390,3954,0,0,0,0,0,0
$GC,2057,-0.91,-214.1,354.8,-10.9,319,2065,0.12,2.15,0.00,0.000,6,0.087,0.041,2527,1808,3954,0,0,0,0,0,0
$GC,2383,-0.86,-214.1,408.8,-16.9,350,2388,0.12,2.15,0.00,0.000,4,0.178,0.049,2559,3204,3953,0,0,0,0,0,0
$GC,2411,-0.86,-214.1,413.3,-14.9,352,2415,0.00,2.12,0.00,0.000,6,0.000,0.035,2557,1793,3952,0,0,0,0,0,0
$GC,2737,-0.86,-214.1,459.2,-13.4,382,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1793,3951,0,0,0,0,0,0
$GC,3059,-0.86,-214.1,503.2,-13.5,412,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1793,3949,0,0,0,0,0,0
$GC,3386,-0.86,-214.1,546.6,-12.6,443,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1792,3947,0,0,0,0,0,0
$GC,3706,-0.86,-214.1,587.6,-13.0,473,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1793,3945,0,0,0,0,0,0
$GC,4036,-0.86,-214.1,629.5,-11.9,494,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1793,3942,0,0,0,0,0,0
$GC,4347,-0.87,-214.1,665.0,-11.4,509,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1793,3940,0,0,0,0,0,0
$GC,4654,-0.90,-214.1,699.9,-11.1,524,4658,0.00,2.22,0.00,0.000,4,0.000,0.055,2551,392,3936,0,0,0,0,0,0
$GC,4688,-0.91,-214.1,704.2,-13.0,525,4695,0.00,2.17,0.00,0.000,6,0.000,0.050,2555,1790,3935,0,0,0,0,0,0
$GC,5006,-0.93,-214.1,742.4,-12.5,541,5010,0.00,2.22,0.00,0.000,4,0.000,0.056,2545,3212,3933,0,0,0,0,0,0
$GC,5070,-0.98,-214.1,750.0,-10.6,544,5074,0.00,2.15,0.00,0.000,6,0.000,0.041,2545,1795,3932,0,0,0,0,0,0
$GC,5399,-0.98,-214.1,792.4,-13.1,560,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1795,3929,0,0,0,0,0,0
$GC,5706,-0.98,-214.1,832.8,-13.2,575,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1795,3926,0,0,0,0,0,0
$GC,6016,-0.98,-214.1,875.0,-13.7,590,6020,0.00,2.22,0.00,0.000,4,0.000,0.057,2545,396,3924,0,0,0,0,0,0
$GC,6073,-0.98,-214.1,883.4,-15.0,592,6080,0.00,2.20,0.00,0.000,6,0.000,0.050,2535,1808,3923,0,0,0,0,0,0
$GC,6389,-0.98,-214.1,928.9,-14.4,608,6393,0.00,2.22,0.00,0.000,4,0.000,0.056,2534,395,3921,0,0,0,0,0,0
$GC,6421,-0.98,-214.1,933.9,-15.7,609,6429,0.00,2.17,0.00,0.000,6,0.000,0.050,2524,1799,3921,0,0,0,0,0,0
$GC,6740,-0.96,-214.1,979.8,-14.1,625,6744,0.00,2.20,0.00,0.000,4,0.000,0.060,2514,3206,3918,0,0,0,0,0,0
$GC,6783,-0.96,-214.1,986.4,-13.9,627,6787,0.00,2.15,0.00,0.000,6,0.000,0.042,2513,1794,3918,0,0,0,0,0,0
$STATE,6882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6882,begin apogee
$GC,6889,-0.23,0.0,1000.3,14.3,632,7081,0.80,0.00,185.90,1.443,6,0.140,0.000,2760,1748,3071,0,0,0,0,0,0
$STATE,7082,end apogee,CONTROL_FINISHED_OK
$STATE,7082,begin climb
$GC,7084,1.16,214.1,1007.9,0.0,641,7292,1.30,0.00,203.77,1.375,6,0.057,0.000,3216,1748,2199,0,0,0,0,0,0
$GC,7591,0.85,214.1,879.3,31.2,666,7596,0.35,2.22,0.00,0.000,4,0.208,0.057,3131,344,2192,0,0,0,0,0,0
$GC,7620,0.59,214.1,870.7,27.9,667,7625,0.35,2.20,0.00,0.000,6,0.184,0.048,3036,1752,2191,0,0,0,0,0,0
$GC,7937,0.51,214.1,816.1,16.3,682,7942,0.12,2.17,0.00,0.000,4,0.183,0.054,2998,3162,2189,0,0,0,0,0,0
$GC,7970,0.47,214.1,810.9,14.7,683,7976,0.00,2.17,0.00,0.000,6,0.000,0.041,3006,1740,2187,0,0,0,0,0,0
$GC,8288,0.43,214.4,768.5,13.9,699,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1739,2188,0,0,0,0,0,0
$GC,8596,0.41,224.8,726.8,13.4,714,8608,0.12,0.00,9.35,1.121,6,0.186,0.000,2975,1739,2155,0,0,0,0,0,0
$GC,8906,0.52,290.5,691.6,11.0,729,8970,0.00,0.00,61.92,1.242,6,0.000,0.000,2976,1739,1887,0,0,0,0,0,0
$GC,9273,0.66,366.4,651.2,10.6,747,9351,0.22,2.35,69.60,1.204,4,0.065,0.056,3087,340,1578,0,0,0,0,0,0
$GC,9371,0.57,366.4,632.4,21.3,751,9376,0.22,2.22,0.00,0.000,6,0.162,0.044,3025,1753,1576,0,0,0,0,0,0
$GC,9692,0.57,366.4,582.1,15.4,771,9696,0.00,2.20,0.00,0.000,4,0.000,0.054,3023,3169,1572,0,0,0,0,0,0
$GC,9756,0.61,366.4,572.5,14.7,776,9760,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,1751,1571,0,0,0,0,0,0
$GC,10087,0.61,366.4,520.2,16.5,807,10091,0.00,2.20,0.00,0.000,4,0.000,0.057,3042,340,1570,0,0,0,0,0,0
$GC,10132,0.61,366.4,512.7,17.1,810,10139,0.00,2.20,0.00,0.000,6,0.000,0.042,3042,1757,1568,0,0,0,0,0,0
$GC,10459,0.59,366.4,461.0,15.1,841,10463,0.00,2.15,0.00,0.000,4,0.000,0.051,3042,3161,1568,0,0,0,0,0,0
$GC,10489,0.59,366.4,456.3,14.8,843,10493,0.00,2.15,0.00,0.000,6,0.000,0.041,3052,1749,1567,0,0,0,0,0,0
$GC,10820,0.56,366.4,403.8,16.2,874,10824,0.00,2.22,0.00,0.000,4,0.000,0.055,3062,338,1567,0,0,0,0,0,0
$GC,10860,0.56,366.4,397.3,15.8,877,10865,0.15,2.17,0.00,0.000,6,0.153,0.039,3022,1760,1565,0,0,0,0,0,0
$GC,11191,0.66,419.4,358.0,11.6,908,11243,0.00,2.20,46.42,0.987,4,0.000,0.050,3020,3157,1362,0,0,0,0,0,0
$GC,11292,0.83,479.6,347.1,11.3,916,11354,0.22,2.15,54.75,0.957,6,0.056,0.040,3141,1749,1117,0,0,0,0,0,0
$GC,11675,0.70,479.6,247.1,29.0,968,11684,0.25,2.22,0.00,0.000,4,0.171,0.051,3075,353,1113,0,0,0,0,0,0
$GC,11719,0.70,479.6,236.7,18.6,975,11726,0.00,2.15,0.00,0.000,6,0.000,0.037,3075,1756,1111,0,0,0,0,0,0
$GC,12054,0.73,479.6,186.1,14.1,1036,12062,0.00,2.15,0.00,0.000,4,0.000,0.047,3074,3154,1111,0,0,0,0,0,0
$GC,12099,0.79,480.9,180.4,13.8,1043,12106,0.00,2.12,0.00,0.000,6,0.000,0.038,3083,1740,1111,0,0,0,0,0,0
$GC,12431,0.97,571.6,137.7,10.0,1104,12522,0.17,2.28,78.82,0.764,4,0.067,0.051,3185,347,739,0,0,0,0,0,0
$GC,12609,0.97,571.6,99.9,19.3,1132,12618,0.10,2.17,0.00,0.000,6,0.139,0.035,3152,1761,737,0,0,0,0,0,0
$GC,12938,0.97,571.6,44.2,15.1,1193,12947,0.00,2.12,0.00,0.000,4,0.000,0.045,3151,3147,736,0,0,0,0,0,0
$GC,12973,1.00,571.6,39.0,16.0,1198,12981,0.00,2.15,0.00,0.000,6,0.000,0.037,3159,1744,737,0,0,0,0,0,0
$STATE,13182,end climb,SURFACE_DEPTH_REACHED
$STATE,13182,begin surface coast
$FINISH,0.9,1.022602
$STATE,13200,end surface coast,CONTROL_FINISHED_OK
$STATE,13200,begin surface
$SM_CCo,13279,0.00,0.000,0,0,736,573.02
$SM_GC,1.73,7.80,0.00,0.00,0.030,0.000,0.000,167,1804,736,-8.35,0.14,573.02
$IRIDIUM_FIX,2108.69,12603.17,101110,212116
$TT8_MAMPS,0.026215
$HUMID,44.68
$INTERNAL_PRESSURE,8.66703
$TCM_TEMP,24.20
$XPDR_PINGS,85
$24V_AH,21.9,94.003
$10V_AH,10.0,58.865
$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,22.525,96.250,710.550,0.000,0.000,23.708,43.399,219.081,21.250,0.000,16.490,3001.242,6601.032,780.475,2915.449,435.533,0.000,1924.692,0.000,2661.685,0.000,0.844,0.000
$DEVICE_MAMPS,230.265,162.180,1442.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,846.105,1060.204,1379.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,73748,1240
$CAP_FILE_SIZE,140456,0
$CFSIZE,260165632,149561344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,230.7,1
$GPS,111110,051136,2117.737,12600.060,41,1.8,53,-2.9