version: 66.08
glider: 166
mission: 3
dive: 489
start: 11 11 110 16 45 7
data:
$ID,166
$MISSION,3
$DIVE,489
$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,-22199.77
$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,39
$R_STBD_OVSHOOT,35
$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
$GPS1,111110,163700,2122.088,12601.058,40,1.6,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.2
$GPS2,111110,164443,2122.006,12601.060,11,1.4,16,-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,158.2,789,-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,15,begin dive
$GC,17,-1.41,-103.1,0.0,0.0,0,92,0.00,0.00,-71.97,0.000,2,0.000,0.000,144,1802,3275,0,0,0,0,0,0
$GC,96,-1.46,-146.7,5.3,-10.0,10,121,9.00,2.28,-7.88,0.000,4,0.227,0.057,2361,383,3673,0,0,0,0,0,0
$GC,361,-1.15,-146.7,124.4,-46.5,58,370,0.40,2.20,0.00,0.000,6,0.201,0.041,2458,1802,3675,0,0,0,0,0,0
$GC,701,-1.05,-146.7,212.7,-25.2,119,709,0.15,2.17,0.00,0.000,4,0.190,0.046,2489,3216,3679,0,0,0,0,0,0
$GC,923,-1.05,-146.7,258.5,-20.4,158,931,0.00,2.17,0.00,0.000,6,0.000,0.034,2487,1797,3679,0,0,0,0,0,0
$GC,1265,-1.04,-146.7,327.0,-19.0,207,1269,0.00,2.15,0.00,0.000,4,0.000,0.047,2487,395,3680,0,0,0,0,0,0
$GC,1399,-1.01,-146.7,354.5,-20.0,218,1408,0.10,2.17,0.00,0.000,6,0.163,0.043,2508,1791,3680,0,0,0,0,0,0
$GC,1726,-1.04,-146.7,410.9,-16.7,249,1730,0.00,2.20,0.00,0.000,4,0.000,0.048,2508,391,3680,0,0,0,0,0,0
$GC,1758,-1.04,-146.7,416.9,-17.0,251,1766,0.00,2.17,0.00,0.000,6,0.000,0.043,2501,1810,3679,0,0,0,0,0,0
$GC,2084,-1.06,-146.7,472.2,-16.7,282,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1810,3680,0,0,0,0,0,0
$GC,2408,-1.09,-146.7,523.5,-15.3,312,2412,0.00,2.25,0.00,0.000,4,0.000,0.050,2501,392,3679,0,0,0,0,0,0
$GC,2551,-1.12,-146.7,546.9,-16.4,324,2555,0.00,2.17,0.00,0.000,6,0.000,0.044,2499,1798,3678,0,0,0,0,0,0
$GC,2876,-1.15,-146.7,599.4,-16.3,354,2880,0.00,2.17,0.00,0.000,4,0.000,0.051,2493,3217,3676,0,0,0,0,0,0
$GC,2925,-1.20,-146.7,607.5,-15.3,356,2930,0.12,2.17,0.00,0.000,6,0.090,0.037,2441,1795,3676,0,0,0,0,0,0
$GC,3244,-1.16,-146.7,669.2,-20.2,371,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1795,3673,0,0,0,0,0,0
$GC,3551,-1.12,-146.7,729.8,-19.7,386,3556,0.15,2.22,0.00,0.000,4,0.196,0.053,2481,396,3670,0,0,0,0,0,0
$GC,3639,-1.12,-146.7,746.0,-18.0,390,3643,0.00,2.17,0.00,0.000,6,0.000,0.045,2473,1804,3669,0,0,0,0,0,0
$GC,3970,-1.12,-146.7,803.8,-17.7,406,3974,0.00,2.22,0.00,0.000,4,0.000,0.052,2473,393,3666,0,0,0,0,0,0
$GC,4013,-1.12,-146.7,812.9,-18.6,408,4017,0.00,2.20,0.00,0.000,6,0.000,0.046,2463,1808,3666,0,0,0,0,0,0
$GC,4342,-1.12,-146.7,870.1,-17.4,424,4346,0.00,2.22,0.00,0.000,4,0.000,0.054,2463,396,3662,0,0,0,0,0,0
$GC,4428,-1.10,-146.7,885.9,-18.5,428,4433,0.12,2.20,0.00,0.000,6,0.201,0.047,2481,1804,3662,0,0,0,0,0,0
$GC,4762,-1.13,-146.7,936.9,-15.5,444,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1803,3658,0,0,0,0,0,0
$GC,5064,-1.16,-146.7,985.2,-15.7,459,5068,0.00,2.25,0.00,0.000,4,0.000,0.056,2481,388,3656,0,0,0,0,0,0
$GC,5151,-1.18,-146.7,999.4,-16.2,463,5155,0.00,2.10,0.00,0.000,3,0.000,0.048,2473,1745,3655,0,0,0,0,0,0
$STATE,5155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5156,begin apogee
$GC,5163,-0.23,0.0,1000.6,15.9,463,5298,0.98,0.00,127.07,1.440,6,0.163,0.000,2757,1746,3072,0,0,0,0,0,0
$STATE,5299,end apogee,CONTROL_FINISHED_OK
$STATE,5299,begin climb
$GC,5301,1.46,146.7,1006.4,0.0,469,5444,1.58,2.38,134.90,1.385,4,0.069,0.054,3298,3160,2473,0,0,0,0,0,0
$GC,5454,1.17,146.7,984.3,25.8,477,5460,0.40,2.28,0.00,0.000,6,0.239,0.044,3218,1750,2471,0,0,0,0,0,0
$GC,5785,0.96,146.7,904.6,24.2,493,5790,0.25,2.20,0.00,0.000,4,0.209,0.054,3158,343,2465,0,0,0,0,0,0
$GC,5795,0.75,146.7,900.8,24.2,493,5804,0.25,2.20,0.00,0.000,6,0.200,0.047,3086,1749,2465,0,0,0,0,0,0
$GC,6111,0.69,146.7,846.8,16.7,509,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1749,2462,0,0,0,0,0,0
$GC,6423,0.64,146.7,793.7,17.5,524,6427,0.15,2.20,0.00,0.000,4,0.194,0.053,3037,3165,2461,0,0,0,0,0,0
$GC,6485,0.64,146.7,783.8,15.1,527,6489,0.00,2.15,0.00,0.000,6,0.000,0.041,3045,1745,2459,0,0,0,0,0,0
$GC,6813,0.64,146.7,737.3,14.3,543,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1745,2459,0,0,0,0,0,0
$GC,7122,0.64,151.1,693.7,13.5,558,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1745,2457,0,0,0,0,0,0
$GC,7431,0.65,159.7,652.1,13.1,573,7445,0.00,2.25,10.02,1.105,4,0.000,0.056,3056,340,2420,0,0,0,0,0,0
$GC,7458,0.67,175.4,648.5,12.5,574,7479,0.00,2.22,16.17,1.149,6,0.000,0.042,3048,1762,2356,0,0,0,0,0,0
$GC,7805,0.70,179.0,601.7,13.6,591,7814,0.00,2.22,4.30,0.787,4,0.000,0.053,3037,3162,2343,0,0,0,0,0,0
$GC,7913,0.76,189.6,587.7,12.9,599,7932,0.10,2.17,11.80,1.089,6,0.104,0.041,3094,1743,2298,0,0,0,0,0,0
$GC,8250,0.73,189.6,533.8,16.1,631,8254,0.00,2.22,0.00,0.000,4,0.000,0.052,3086,3165,2296,0,0,0,0,0,0
$GC,8282,0.71,189.6,529.1,16.0,633,8286,0.00,2.15,0.00,0.000,6,0.000,0.041,3094,1748,2293,0,0,0,0,0,0
$GC,8609,0.68,189.6,478.7,15.9,663,8614,0.12,2.22,0.00,0.000,4,0.207,0.055,3074,349,2293,0,0,0,0,0,0
$GC,8684,0.68,189.6,468.1,15.7,669,8688,0.00,2.17,0.00,0.000,6,0.000,0.041,3066,1751,2293,0,0,0,0,0,0
$GC,9010,0.70,189.6,423.3,14.3,699,9014,0.00,2.15,0.00,0.000,4,0.000,0.050,3057,3161,2292,0,0,0,0,0,0
$GC,9109,0.76,197.3,410.4,13.2,707,9122,0.00,2.15,7.15,0.876,6,0.000,0.040,3065,1739,2267,0,0,0,0,0,0
$GC,9442,0.82,220.4,367.7,11.8,738,9470,0.12,2.22,21.80,0.978,4,0.096,0.054,3136,346,2172,0,0,0,0,0,0
$GC,9501,0.77,220.4,358.4,17.4,743,9505,0.17,2.20,0.00,0.000,6,0.186,0.041,3092,1758,2171,0,0,0,0,0,0
$GC,9827,0.78,220.4,308.9,15.2,773,9831,0.00,2.20,0.00,0.000,4,0.000,0.053,3101,349,2169,0,0,0,0,0,0
$GC,9857,0.78,220.4,304.4,15.3,775,9861,0.00,2.15,0.00,0.000,6,0.000,0.041,3092,1752,2168,0,0,0,0,0,0
$GC,10188,0.83,232.8,262.0,12.8,833,10209,0.00,2.22,12.15,0.831,4,0.000,0.049,3092,3168,2122,0,0,0,0,0,0
$GC,10296,0.87,232.8,247.3,14.1,851,10302,0.00,2.15,0.00,0.000,6,0.000,0.038,3101,1743,2122,0,0,0,0,0,0
$GC,10627,0.90,232.8,199.9,14.4,912,10635,0.00,2.20,0.00,0.000,4,0.000,0.051,3112,349,2122,0,0,0,0,0,0
$GC,10670,0.94,241.0,193.9,13.1,919,10686,0.10,2.15,9.38,0.735,6,0.106,0.037,3155,1771,2088,0,0,0,0,0,0
$GC,11015,0.95,242.0,143.9,13.8,981,11024,0.00,2.25,0.00,0.000,4,0.000,0.050,3165,353,2088,0,0,0,0,0,0
$GC,11053,0.93,242.0,138.0,16.2,987,11061,0.00,2.15,0.00,0.000,6,0.000,0.037,3163,1747,2088,0,0,0,0,0,0
$GC,11384,1.02,300.8,100.3,8.6,1048,11443,0.00,2.22,51.47,0.731,4,0.000,0.050,3172,347,1844,0,0,0,0,0,0
$GC,11470,1.07,316.5,91.0,12.5,1060,11493,0.00,2.17,14.57,0.669,6,0.000,0.037,3170,1748,1781,0,0,0,0,0,0
$GC,11814,1.11,316.5,40.1,13.9,1123,11822,0.00,2.15,0.00,0.000,4,0.000,0.044,3160,3154,1779,0,0,0,0,0,0
$GC,11913,1.16,316.5,25.6,14.2,1141,11923,0.10,2.15,0.00,0.000,6,0.052,0.036,3224,1749,1779,0,0,0,0,0,0
$STATE,12037,end climb,SURFACE_DEPTH_REACHED
$STATE,12037,begin surface coast
$FINISH,1.0,1.009787
$STATE,12055,end surface coast,CONTROL_FINISHED_OK
$STATE,12055,begin surface
$SM_CCo,12073,75.68,0.559,1,0,1440,400.08
$SM_GC,1.86,0.00,0.00,75.68,0.000,0.000,0.559,169,1824,1440,-8.39,0.68,400.08
$IRIDIUM_FIX,2115.63,12559.43,111110,121208
$TT8_MAMPS,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.70
$XPDR_PINGS,93
$24V_AH,22.7,94.870
$10V_AH,10.1,59.406
$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,22.575,109.925,420.800,75.675,0.000,24.368,46.365,212.960,23.250,0.000,17.137,2926.114,5801.327,574.222,2872.781,431.741,0.000,1648.493,0.000,2614.696,0.000,0.845,0.000
$DEVICE_MAMPS,238.680,110.160,1440.495,559.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.182,1013.964,1372.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,70147,1166
$CAP_FILE_SIZE,139539,0
$CFSIZE,260165632,149245952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,119.9,1
$GPS,111110,200901,2120.676,12602.193,39,1.1,39,-2.9