version: 66.08
glider: 166
mission: 3
dive: 488
start: 11 11 110 12 55 31
data:
$ID,166
$MISSION,3
$DIVE,488
$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,-22198.512
$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,37
$R_STBD_OVSHOOT,51
$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
$GPS1,111110,124736,2120.689,12601.282,39,1.0,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-58.6
$GPS2,111110,125507,2120.600,12601.244,14,1.1,14,-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,13.0,1853,-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,-103.1,0.0,0.0,0,129,0.00,0.00,-109.75,0.000,2,0.000,0.000,143,1763,3487,0,0,0,0,0,0
$GC,134,-1.42,-116.7,6.5,-12.7,15,151,9.15,2.20,-1.10,0.000,4,0.229,0.050,2363,3203,3547,0,0,0,0,0,0
$GC,206,-1.20,-116.7,40.3,-37.8,27,215,0.30,2.15,0.00,0.000,6,0.196,0.034,2445,1798,3550,0,0,0,0,0,0
$GC,533,-1.05,-116.7,147.3,-27.7,88,541,0.20,2.20,0.00,0.000,4,0.185,0.043,2497,395,3550,0,0,0,0,0,0
$GC,614,-0.96,-116.7,167.0,-24.6,102,623,0.10,2.15,0.00,0.000,6,0.172,0.038,2519,1792,3551,0,0,0,0,0,0
$GC,949,-0.96,-116.7,231.5,-15.2,163,956,0.00,2.17,0.00,0.000,4,0.000,0.044,2520,393,3553,0,0,0,0,0,0
$GC,1098,-0.94,-116.7,255.9,-17.1,189,1105,0.00,2.12,0.00,0.000,6,0.000,0.040,2512,1805,3553,0,0,0,0,0,0
$GC,1432,-0.94,-116.7,314.7,-17.1,242,1436,0.00,2.10,0.00,0.000,4,0.000,0.044,2504,3203,3553,0,0,0,0,0,0
$GC,1460,-0.94,-116.7,319.8,-17.6,244,1465,0.12,2.10,0.00,0.000,6,0.177,0.033,2536,1793,3553,0,0,0,0,0,0
$GC,1786,-0.98,-116.7,368.1,-15.2,274,1790,0.00,2.15,0.00,0.000,4,0.000,0.047,2536,401,3554,0,0,0,0,0,0
$GC,1905,-1.00,-116.7,386.5,-16.0,284,1909,0.00,2.12,0.00,0.000,6,0.000,0.039,2531,1805,3553,0,0,0,0,0,0
$GC,2237,-1.05,-121.6,433.2,-13.5,315,2241,0.00,2.17,0.00,0.000,4,0.000,0.046,2529,397,3553,0,0,0,0,0,0
$GC,2280,-1.07,-121.6,440.2,-15.9,318,2288,0.00,2.15,0.00,0.000,6,0.000,0.040,2520,1795,3553,0,0,0,0,0,0
$GC,2607,-1.12,-121.6,487.4,-14.7,349,2609,0.10,0.00,0.00,0.000,6,0.106,0.000,2474,1796,3552,0,0,0,0,0,0
$GC,2924,-1.12,-121.6,540.1,-16.7,379,2928,0.00,2.20,0.00,0.000,4,0.000,0.048,2474,398,3550,0,0,0,0,0,0
$GC,3121,-1.08,-121.6,574.9,-16.8,396,3125,0.00,2.17,0.00,0.000,6,0.000,0.043,2476,1807,3549,0,0,0,0,0,0
$GC,3450,-1.06,-121.6,628.8,-16.3,419,3454,0.00,2.20,0.00,0.000,4,0.000,0.050,2476,396,3547,0,0,0,0,0,0
$GC,3516,-1.02,-121.6,641.2,-17.3,422,3521,0.15,2.17,0.00,0.000,6,0.195,0.045,2503,1800,3546,0,0,0,0,0,0
$GC,3847,-1.05,-123.4,687.8,-13.7,438,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1800,3544,0,0,0,0,0,0
$GC,4152,-1.08,-123.4,731.8,-14.7,453,4156,0.00,2.20,0.00,0.000,4,0.000,0.054,2503,401,3540,0,0,0,0,0,0
$GC,4230,-1.09,-123.4,744.5,-15.4,456,4237,0.00,2.17,0.00,0.000,6,0.000,0.046,2495,1811,3539,0,0,0,0,0,0
$GC,4548,-1.11,-123.4,791.6,-15.0,472,4552,0.00,2.20,0.00,0.000,4,0.000,0.054,2495,404,3537,0,0,0,0,0,0
$GC,4633,-1.11,-123.4,805.3,-15.5,476,4637,0.00,2.15,0.00,0.000,6,0.000,0.047,2486,1796,3536,0,0,0,0,0,0
$GC,4961,-1.11,-123.4,854.5,-15.0,492,4965,0.00,2.20,0.00,0.000,4,0.000,0.054,2486,401,3533,0,0,0,0,0,0
$GC,5032,-1.11,-123.4,866.3,-16.0,495,5036,0.00,2.17,0.00,0.000,6,0.000,0.047,2475,1807,3532,0,0,0,0,0,0
$GC,5360,-1.11,-123.4,914.8,-14.8,511,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1807,3530,0,0,0,0,0,0
$GC,5673,-1.11,-123.4,959.8,-14.3,526,5677,0.00,2.22,0.00,0.000,4,0.000,0.056,2476,397,3527,0,0,0,0,0,0
$GC,5722,-1.10,-123.4,968.2,-15.3,528,5726,0.00,2.17,0.00,0.000,6,0.000,0.048,2466,1801,3526,0,0,0,0,0,0
$STATE,5953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5953,begin apogee
$GC,5959,-0.23,0.0,1002.9,15.5,539,6068,1.00,0.00,99.40,1.451,6,0.166,0.000,2754,1800,3072,0,0,0,0,0,0
$STATE,6069,end apogee,CONTROL_FINISHED_OK
$STATE,6069,begin climb
$GC,6072,1.43,123.4,1006.5,0.0,544,6196,1.55,2.28,113.57,1.401,4,0.070,0.054,3288,3163,2567,0,0,0,0,0,0
$GC,6220,1.15,123.4,985.1,25.4,550,6226,0.38,2.25,0.00,0.000,6,0.243,0.044,3213,1750,2564,0,0,0,0,0,0
$GC,6549,0.94,123.4,911.7,21.8,566,6554,0.25,2.20,0.00,0.000,4,0.210,0.054,3134,3158,2558,0,0,0,0,0,0
$GC,6578,0.78,123.4,905.1,21.0,567,6583,0.20,2.15,0.00,0.000,6,0.204,0.043,3094,1744,2558,0,0,0,0,0,0
$GC,6895,0.71,123.4,854.5,16.2,582,6899,0.00,2.17,0.00,0.000,4,0.000,0.052,3084,3158,2556,0,0,0,0,0,0
$GC,6941,0.65,123.4,847.2,15.8,584,6945,0.17,2.15,0.00,0.000,6,0.197,0.042,3050,1742,2555,0,0,0,0,0,0
$GC,7262,0.66,131.8,804.8,13.1,600,7273,0.00,2.20,6.47,1.053,4,0.000,0.055,3058,343,2533,0,0,0,0,0,0
$GC,7303,0.64,131.8,799.0,14.6,602,7307,0.00,2.17,0.00,0.000,6,0.000,0.045,3056,1750,2533,0,0,0,0,0,0
$GC,7632,0.64,138.5,754.4,13.3,618,7646,0.00,2.28,7.25,1.072,4,0.000,0.054,3050,3170,2507,0,0,0,0,0,0
$GC,7690,0.64,138.5,745.7,14.1,620,7697,0.00,2.17,0.00,0.000,6,0.000,0.042,3058,1737,2506,0,0,0,0,0,0
$GC,8009,0.65,139.9,703.6,13.8,636,8013,0.00,2.22,0.00,0.000,4,0.000,0.053,3053,3172,2505,0,0,0,0,0,0
$GC,8042,0.65,139.9,698.6,14.1,637,8048,0.00,2.15,0.00,0.000,6,0.000,0.041,3060,1749,2504,0,0,0,0,0,0
$GC,8358,0.67,155.8,657.9,12.5,653,8381,0.00,2.30,17.08,1.190,4,0.000,0.054,3072,338,2436,0,0,0,0,0,0
$GC,8423,0.65,160.0,649.1,13.5,655,8434,0.00,2.22,5.35,0.898,6,0.000,0.042,3069,1764,2418,0,0,0,0,0,0
$GC,8763,0.66,166.9,603.9,13.3,672,8773,0.00,0.00,7.82,1.023,6,0.000,0.000,3069,1764,2391,0,0,0,0,0,0
$GC,9082,0.66,166.9,559.8,14.2,700,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1765,2389,0,0,0,0,0,0
$GC,9410,0.66,166.9,512.2,14.6,731,9414,0.00,2.22,0.00,0.000,4,0.000,0.055,3078,349,2389,0,0,0,0,0,0
$GC,9452,0.66,166.9,505.6,16.1,734,9456,0.00,2.15,0.00,0.000,6,0.000,0.041,3070,1749,2388,0,0,0,0,0,0
$GC,9778,0.68,181.7,462.3,12.6,764,9802,0.00,2.28,14.23,1.025,4,0.000,0.050,3067,3170,2330,0,0,0,0,0,0
$GC,9877,0.71,190.8,449.8,13.1,772,9892,0.00,2.20,9.80,0.954,6,0.000,0.040,3076,1752,2294,0,0,0,0,0,0
$GC,10216,0.74,194.1,405.6,13.6,803,10228,0.00,2.25,4.28,0.686,4,0.000,0.054,3087,327,2280,0,0,0,0,0,0
$GC,10286,0.74,194.1,395.3,14.6,809,10290,0.00,2.17,0.00,0.000,6,0.000,0.038,3083,1754,2280,0,0,0,0,0,0
$GC,10617,0.77,202.5,349.6,13.1,840,10628,0.00,0.00,9.10,0.868,6,0.000,0.000,3083,1755,2245,0,0,0,0,0,0
$GC,10947,0.81,220.3,307.5,12.3,871,10971,0.00,2.17,16.83,0.896,4,0.000,0.047,3083,3166,2173,0,0,0,0,0,0
$GC,11031,0.86,220.4,296.2,13.9,880,11039,0.00,2.20,0.00,0.000,6,0.000,0.038,3091,1745,2172,0,0,0,0,0,0
$GC,11374,0.90,226.4,249.4,13.3,941,11390,0.10,2.17,6.88,0.728,4,0.103,0.050,3157,346,2148,0,0,0,0,0,0
$GC,11452,0.85,226.4,235.9,18.1,954,11462,0.12,2.17,0.00,0.000,6,0.171,0.039,3120,1756,2149,0,0,0,0,0,0
$GC,11800,0.86,226.6,187.1,13.9,1015,11807,0.00,2.20,0.00,0.000,4,0.000,0.051,3129,342,2148,0,0,0,0,0,0
$GC,11853,0.87,233.5,179.6,13.3,1024,11868,0.00,2.17,8.05,0.703,6,0.000,0.037,3120,1749,2120,0,0,0,0,0,0
$GC,12201,0.93,252.0,133.9,12.2,1086,12225,0.00,2.30,17.67,0.736,4,0.000,0.050,3129,340,2043,0,0,0,0,0,0
$GC,12249,0.99,265.3,127.4,12.7,1093,12268,0.00,2.17,12.88,0.699,6,0.000,0.036,3129,1745,1989,0,0,0,0,0,0
$GC,12591,1.13,314.9,91.5,9.4,1155,12644,0.20,2.22,42.17,0.712,4,0.067,0.043,3212,3157,1788,0,0,0,0,0,0
$GC,12801,1.11,314.9,55.8,17.7,1191,12809,0.00,2.17,0.00,0.000,6,0.000,0.037,3215,1742,1787,0,0,0,0,0,0
$STATE,13086,end climb,SURFACE_DEPTH_REACHED
$STATE,13086,begin surface coast
$FINISH,1.0,1.010998
$STATE,13104,end surface coast,CONTROL_FINISHED_OK
$STATE,13104,begin surface
$SM_CCo,13122,80.90,0.564,1,0,1441,400.08
$SM_GC,1.89,0.00,0.00,80.90,0.000,0.000,0.564,148,1801,1441,-8.41,0.03,400.08
$IRIDIUM_FIX,2113.32,12601.30,111110,090958
$TT8_MAMPS,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.60
$XPDR_PINGS,109
$24V_AH,22.8,94.696
$10V_AH,10.0,59.274
$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,22.125,118.300,398.825,80.900,0.000,25.424,41.616,209.030,27.250,0.000,14.932,3115.374,6456.863,582.100,3064.012,434.513,0.000,1751.069,0.000,2804.898,0.000,0.843,0.000
$DEVICE_MAMPS,243.270,122.400,1451.205,563.805,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.984,1081.736,1453.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334036
$DATA_FILE_SIZE,73534,1248
$CAP_FILE_SIZE,148393,0
$CFSIZE,260165632,149319680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040,208.1,1
$GPS,111110,163700,2122.088,12601.058,40,1.6,40,-2.9