version: 66.08
glider: 166
mission: 3
dive: 490
start: 11 11 110 20 16 31
data:
$ID,166
$MISSION,3
$DIVE,490
$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,-22201.027
$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,38
$R_STBD_OVSHOOT,56
$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
$GPS1,111110,200901,2120.676,12602.193,39,1.1,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-66.7
$GPS2,111110,201607,2120.620,12602.237,11,0.9,16,-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,315.7,2548,-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,-103.1,0.0,0.0,0,91,0.00,0.00,-71.32,0.000,2,0.000,0.000,168,1825,3254,0,0,0,0,0,0
$GC,94,-1.47,-155.0,5.2,-9.2,10,118,8.88,2.17,-9.50,0.000,4,0.223,0.057,2338,3205,3707,0,0,0,0,0,0
$GC,270,-1.24,-155.0,79.4,-42.5,41,278,0.35,2.15,0.00,0.000,6,0.196,0.034,2432,1792,3709,0,0,0,0,0,0
$GC,601,-1.11,-155.0,186.1,-28.1,102,610,0.17,2.17,0.00,0.000,4,0.194,0.045,2482,399,3711,0,0,0,0,0,0
$GC,699,-1.05,-155.0,208.1,-23.1,118,708,0.08,2.15,0.00,0.000,6,0.181,0.042,2493,1786,3712,0,0,0,0,0,0
$GC,1044,-1.03,-155.0,279.9,-19.3,179,1051,0.00,2.17,0.00,0.000,4,0.000,0.047,2493,388,3713,0,0,0,0,0,0
$GC,1136,-0.98,-155.0,300.1,-22.4,195,1141,0.15,2.17,0.00,0.000,6,0.187,0.044,2522,1810,3714,0,0,0,0,0,0
$GC,1464,-1.02,-155.0,358.4,-16.4,225,1468,0.00,2.22,0.00,0.000,4,0.000,0.049,2523,390,3714,0,0,0,0,0,0
$GC,1498,-1.05,-155.0,364.8,-17.3,228,1502,0.00,2.17,0.00,0.000,6,0.000,0.042,2515,1805,3714,0,0,0,0,0,0
$GC,1824,-1.09,-155.0,416.2,-15.5,258,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1805,3714,0,0,0,0,0,0
$GC,2144,-1.13,-155.0,467.3,-15.6,288,2148,0.12,2.25,0.00,0.000,4,0.096,0.050,2459,401,3714,0,0,0,0,0,0
$GC,2241,-1.09,-155.0,486.8,-21.6,296,2245,0.00,2.15,0.00,0.000,6,0.000,0.043,2459,1801,3713,0,0,0,0,0,0
$GC,2572,-1.07,-155.0,551.2,-18.4,327,2577,0.15,2.17,0.00,0.000,4,0.190,0.051,2494,3207,3713,0,0,0,0,0,0
$GC,2636,-1.12,-155.0,561.3,-15.1,332,2640,0.00,2.15,0.00,0.000,6,0.000,0.037,2494,1797,3711,0,0,0,0,0,0
$GC,2966,-1.14,-155.0,612.5,-14.8,359,2970,0.00,2.22,0.00,0.000,4,0.000,0.052,2494,386,3709,0,0,0,0,0,0
$GC,3008,-1.14,-155.0,618.9,-15.7,361,3012,0.00,2.20,0.00,0.000,6,0.000,0.045,2486,1798,3708,0,0,0,0,0,0
$GC,3335,-1.16,-155.0,672.8,-17.5,377,3339,0.00,2.20,0.00,0.000,4,0.000,0.050,2486,393,3706,0,0,0,0,0,0
$GC,3391,-1.16,-155.0,683.7,-18.7,379,3398,0.00,2.17,0.00,0.000,6,0.000,0.044,2476,1806,3705,0,0,0,0,0,0
$GC,3708,-1.16,-155.0,742.5,-18.8,395,3713,0.00,2.25,0.00,0.000,4,0.000,0.053,2476,387,3703,0,0,0,0,0,0
$GC,3752,-1.16,-155.0,751.8,-19.8,397,3757,0.00,2.20,0.00,0.000,6,0.000,0.046,2466,1798,3703,0,0,0,0,0,0
$GC,4082,-1.16,-155.0,812.1,-17.9,413,4086,0.00,2.22,0.00,0.000,4,0.000,0.053,2466,392,3699,0,0,0,0,0,0
$GC,4123,-1.13,-155.0,820.2,-19.1,415,4127,0.00,2.20,0.00,0.000,6,0.000,0.047,2456,1800,3699,0,0,0,0,0,0
$GC,4449,-1.13,-155.0,877.1,-17.0,431,4453,0.00,2.28,0.00,0.000,4,0.000,0.054,2456,391,3696,0,0,0,0,0,0
$GC,4492,-1.10,-155.0,884.5,-18.4,433,4497,0.15,2.20,0.00,0.000,6,0.195,0.047,2481,1798,3695,0,0,0,0,0,0
$GC,4822,-1.13,-155.0,936.2,-15.4,449,4826,0.00,2.22,0.00,0.000,4,0.000,0.054,2482,396,3692,0,0,0,0,0,0
$GC,4902,-1.13,-155.0,949.8,-17.1,452,4910,0.00,2.20,0.00,0.000,6,0.000,0.047,2473,1801,3691,0,0,0,0,0,0
$STATE,5216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5216,begin apogee
$GC,5222,-0.23,0.0,1001.1,16.1,468,5363,0.98,0.00,134.55,1.436,6,0.161,0.000,2758,1747,3071,0,0,0,0,0,0
$STATE,5364,end apogee,CONTROL_FINISHED_OK
$STATE,5364,begin climb
$GC,5366,1.47,155.0,1006.1,0.0,474,5521,1.60,2.42,141.62,1.381,4,0.071,0.057,3322,343,2438,0,0,0,0,0,0
$GC,5570,1.15,155.0,968.4,29.9,484,5575,0.43,2.25,0.00,0.000,6,0.239,0.049,3215,1750,2435,0,0,0,0,0,0
$GC,5899,0.95,155.0,889.4,23.0,500,5903,0.25,2.20,0.00,0.000,4,0.213,0.053,3156,347,2430,0,0,0,0,0,0
$GC,5932,0.79,155.0,881.4,20.6,501,5939,0.20,2.17,0.00,0.000,6,0.203,0.047,3100,1757,2430,0,0,0,0,0,0
$GC,6249,0.72,155.0,828.0,16.7,517,6253,0.00,2.17,0.00,0.000,4,0.000,0.053,3090,3157,2428,0,0,0,0,0,0
$GC,6306,0.66,155.0,818.4,16.5,519,6311,0.17,2.12,0.00,0.000,6,0.200,0.040,3056,1749,2426,0,0,0,0,0,0
$GC,6622,0.66,155.0,773.4,14.7,534,6626,0.00,2.20,0.00,0.000,4,0.000,0.049,3046,3164,2426,0,0,0,0,0,0
$GC,6649,0.66,155.0,769.2,14.6,535,6653,0.00,2.15,0.00,0.000,6,0.000,0.040,3054,1749,2424,0,0,0,0,0,0
$GC,6973,0.66,159.6,724.7,13.5,551,6977,0.00,2.20,0.00,0.000,4,0.000,0.054,3065,345,2424,0,0,0,0,0,0
$GC,7006,0.65,159.6,719.1,15.5,552,7013,0.00,2.15,0.00,0.000,6,0.000,0.041,3057,1750,2423,0,0,0,0,0,0
$GC,7322,0.65,162.9,676.9,13.6,568,7332,0.00,2.20,5.25,0.919,4,0.000,0.050,3047,3163,2407,0,0,0,0,0,0
$GC,7390,0.67,162.9,667.1,14.8,571,7394,0.00,2.17,0.00,0.000,6,0.000,0.039,3055,1744,2407,0,0,0,0,0,0
$GC,7711,0.67,162.9,621.7,14.7,587,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1744,2406,0,0,0,0,0,0
$GC,8027,0.67,162.9,577.6,14.0,609,8031,0.00,2.22,0.00,0.000,4,0.000,0.048,3047,3169,2405,0,0,0,0,0,0
$GC,8080,0.69,162.9,569.7,14.5,613,8083,0.00,2.17,0.00,0.000,6,0.000,0.040,3055,1742,2405,0,0,0,0,0,0
$GC,8411,0.73,186.2,526.6,11.8,644,8439,0.00,2.25,22.70,1.108,4,0.000,0.047,3047,3164,2311,0,0,0,0,0,0
$GC,8463,0.79,207.7,520.1,12.0,648,8490,0.12,2.20,20.65,1.079,6,0.089,0.039,3116,1739,2224,0,0,0,0,0,0
$GC,8818,0.75,207.7,459.9,17.6,681,8823,0.12,2.22,0.00,0.000,4,0.197,0.047,3076,3164,2220,0,0,0,0,0,0
$GC,8836,0.72,207.7,456.4,18.3,682,8840,0.00,2.15,0.00,0.000,6,0.000,0.037,3084,1749,2220,0,0,0,0,0,0
$GC,9161,0.72,207.7,406.6,14.8,712,9165,0.00,2.17,0.00,0.000,4,0.000,0.052,3095,343,2219,0,0,0,0,0,0
$GC,9269,0.72,207.7,390.4,14.8,721,9273,0.00,2.17,0.00,0.000,6,0.000,0.039,3088,1754,2218,0,0,0,0,0,0
$GC,9595,0.72,207.7,343.8,14.2,751,9599,0.00,2.17,0.00,0.000,4,0.000,0.050,3088,3164,2217,0,0,0,0,0,0
$GC,9649,0.74,207.7,335.7,14.9,755,9656,0.00,2.17,0.00,0.000,6,0.000,0.039,3096,1744,2215,0,0,0,0,0,0
$GC,9981,0.76,221.3,292.5,12.7,791,10002,0.00,2.25,12.10,0.858,4,0.000,0.054,3107,346,2169,0,0,0,0,0,0
$GC,10146,0.76,221.3,268.2,15.5,820,10155,0.00,2.20,0.00,0.000,6,0.000,0.039,3106,1759,2168,0,0,0,0,0,0
$GC,10491,0.76,221.3,220.9,14.3,881,10497,0.00,2.12,0.00,0.000,4,0.000,0.047,3105,3163,2168,0,0,0,0,0,0
$GC,10632,0.78,221.3,200.2,14.0,906,10640,0.00,2.17,0.00,0.000,6,0.000,0.037,3113,1741,2168,0,0,0,0,0,0
$GC,10976,0.83,241.2,153.8,12.1,967,11004,0.00,2.22,19.38,0.761,4,0.000,0.052,3124,348,2088,0,0,0,0,0,0
$GC,11014,0.91,274.2,149.4,10.9,972,11052,0.00,2.17,29.83,0.763,6,0.000,0.035,3122,1760,1953,0,0,0,0,0,0
$GC,11375,1.02,303.3,106.5,11.3,1037,11408,0.12,2.30,25.48,0.715,4,0.087,0.050,3194,342,1835,0,0,0,0,0,0
$GC,11569,1.02,303.3,76.3,14.8,1071,11577,0.00,2.17,0.00,0.000,6,0.000,0.037,3186,1752,1831,0,0,0,0,0,0
$GC,11895,1.02,303.3,27.1,14.8,1132,11904,0.00,2.15,0.00,0.000,4,0.000,0.044,3178,3160,1831,0,0,0,0,0,0
$GC,11993,1.05,303.3,12.9,14.0,1149,12001,0.00,2.15,0.00,0.000,6,0.000,0.036,3179,1755,1831,0,0,0,0,0,0
$STATE,12056,end climb,SURFACE_DEPTH_REACHED
$STATE,12056,begin surface coast
$FINISH,1.0,1.022580
$STATE,12073,end surface coast,CONTROL_FINISHED_OK
$STATE,12073,begin surface
$SM_CCo,12092,90.95,0.570,1,0,1441,400.08
$SM_GC,1.90,0.00,0.00,90.95,0.000,0.000,0.570,142,1751,1441,-8.44,-1.41,400.08
$IRIDIUM_FIX,2117.95,12542.75,111110,161641
$TT8_MAMPS,0.026964
$HUMID,42.00
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.60
$XPDR_PINGS,97
$24V_AH,22.7,95.045
$10V_AH,10.1,59.538
$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,21.975,123.050,411.550,90.950,0.000,24.916,19.936,205.475,24.250,0.000,17.162,2906.401,5862.544,577.551,2848.856,410.393,0.000,1676.405,0.000,2616.148,0.000,0.844,0.000
$DEVICE_MAMPS,239.445,115.515,1435.905,569.925,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.605,1005.598,1364.397,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70347,1163
$CAP_FILE_SIZE,140674,0
$CFSIZE,260165632,149168128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.167,138.5,1
$GPS,111110,234046,2120.880,12601.670,8,99.0,27,-2.9