version: 66.08
glider: 166
mission: 3
dive: 491
start: 11 11 110 23 49 13
data:
$ID,166
$MISSION,3
$DIVE,491
$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,-22202.283
$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,38
$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
$GPS1,111110,234046,2120.880,12601.670,8,99.0,27,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-73.7
$GPS2,111110,234836,2120.729,12601.688,18,1.5,28,-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,327.4,1820,-23.5,-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,-1.25,-149.9,0.0,0.0,0,95,0.00,0.00,-76.25,0.000,2,0.000,0.000,143,1751,3449,0,0,0,0,0,0
$GC,100,-1.27,-167.5,6.5,-12.8,11,125,9.35,2.28,-5.68,0.000,4,0.230,0.054,2411,3206,3756,0,0,0,0,0,0
$GC,228,-1.05,-167.5,59.8,-35.3,33,237,0.28,2.15,0.00,0.000,6,0.186,0.034,2494,1796,3758,0,0,0,0,0,0
$GC,554,-0.91,-167.5,157.9,-25.1,94,562,0.17,2.20,0.00,0.000,4,0.181,0.046,2542,398,3759,0,0,0,0,0,0
$GC,670,-0.86,-167.5,182.6,-20.2,114,680,0.00,2.17,0.00,0.000,6,0.000,0.043,2534,1796,3760,0,0,0,0,0,0
$GC,1006,-0.80,-167.5,247.2,-19.5,175,1014,0.17,2.17,0.00,0.000,4,0.174,0.047,2569,3217,3761,0,0,0,0,0,0
$GC,1045,-0.84,-167.5,253.9,-15.1,181,1053,0.00,2.15,0.00,0.000,6,0.000,0.035,2568,1795,3762,0,0,0,0,0,0
$GC,1382,-0.86,-167.5,304.8,-14.9,240,1386,0.00,2.20,0.00,0.000,4,0.000,0.050,2568,387,3762,0,0,0,0,0,0
$GC,1468,-0.88,-167.5,317.5,-14.8,247,1472,0.00,2.20,0.00,0.000,6,0.000,0.045,2566,1811,3762,0,0,0,0,0,0
$GC,1795,-0.93,-176.1,362.1,-13.4,277,1799,0.00,2.12,0.00,0.000,4,0.000,0.048,2558,3214,3762,0,0,0,0,0,0
$GC,1851,-1.02,-197.9,369.7,-12.5,281,1859,0.15,2.12,0.00,0.000,6,0.076,0.036,2485,1801,3762,0,0,0,0,0,0
$GC,2176,-0.95,-197.9,429.5,-17.4,312,2181,0.17,2.22,0.00,0.000,4,0.181,0.050,2532,390,3762,0,0,0,0,0,0
$GC,2251,-0.95,-197.9,442.1,-16.4,318,2260,0.00,2.20,0.00,0.000,6,0.000,0.044,2530,1799,3762,0,0,0,0,0,0
$GC,2578,-0.95,-197.9,491.2,-15.3,349,2582,0.00,2.17,0.00,0.000,4,0.000,0.050,2531,3224,3761,0,0,0,0,0,0
$GC,2611,-0.97,-197.9,496.4,-14.2,351,2618,0.00,2.15,0.00,0.000,6,0.000,0.036,2531,1789,3761,0,0,0,0,0,0
$GC,2937,-0.97,-197.9,544.5,-15.4,382,2940,0.00,2.20,0.00,0.000,4,0.000,0.050,2532,387,3759,0,0,0,0,0,0
$GC,2958,-0.97,-197.9,548.2,-15.7,383,2965,0.00,2.20,0.00,0.000,6,0.000,0.044,2523,1814,3758,0,0,0,0,0,0
$GC,3284,-0.97,-197.9,599.2,-15.4,414,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1814,3756,0,0,0,0,0,0
$GC,3604,-0.97,-197.9,650.0,-15.8,430,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1814,3754,0,0,0,0,0,0
$GC,3913,-0.97,-197.9,696.0,-14.2,445,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1814,3751,0,0,0,0,0,0
$GC,4224,-0.98,-202.7,737.9,-13.6,460,4228,0.00,2.28,0.00,0.000,4,0.000,0.054,2523,394,3748,0,0,0,0,0,0
$GC,4323,-0.98,-207.7,752.7,-13.6,464,4330,0.00,2.20,0.00,0.000,6,0.000,0.047,2513,1803,3747,0,0,0,0,0,0
$GC,4641,-0.98,-207.7,797.7,-14.4,480,4645,0.00,2.25,0.00,0.000,4,0.000,0.054,2513,388,3745,0,0,0,0,0,0
$GC,4673,-0.96,-207.7,803.1,-15.5,481,4681,0.00,2.20,0.00,0.000,6,0.000,0.047,2503,1796,3744,0,0,0,0,0,0
$GC,4990,-0.95,-207.7,849.7,-14.6,497,4992,0.12,0.00,0.00,0.000,6,0.190,0.000,2533,1797,3741,0,0,0,0,0,0
$GC,5301,-0.98,-214.1,888.8,-12.7,512,5305,0.00,2.22,0.00,0.000,4,0.000,0.055,2534,389,3738,0,0,0,0,0,0
$GC,5335,-1.00,-214.1,893.6,-13.4,513,5339,0.00,2.22,0.00,0.000,6,0.000,0.048,2525,1804,3738,0,0,0,0,0,0
$GC,5653,-1.02,-214.1,934.6,-13.2,528,5657,0.00,2.25,0.00,0.000,4,0.000,0.056,2525,389,3736,0,0,0,0,0,0
$GC,5696,-1.02,-214.1,941.6,-15.1,530,5700,0.00,2.20,0.00,0.000,6,0.000,0.049,2515,1803,3735,0,0,0,0,0,0
$GC,6026,-1.02,-214.1,989.9,-14.9,546,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1804,3733,0,0,0,0,0,0
$STATE,6105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6105,begin apogee
$GC,6112,-0.23,0.0,1002.3,15.2,550,6262,0.80,0.00,144.30,1.443,6,0.146,0.000,2757,1749,3071,0,0,0,0,0,0
$STATE,6263,end apogee,CONTROL_FINISHED_OK
$STATE,6263,begin climb
$GC,6267,1.33,214.1,1010.3,0.0,557,6479,1.48,2.47,199.25,1.390,4,0.071,0.059,3278,356,2199,0,0,0,0,0,0
$GC,6531,1.01,214.1,955.5,34.0,569,6536,0.40,2.28,0.00,0.000,6,0.216,0.050,3172,1748,2194,0,0,0,0,0,0
$GC,6854,0.80,214.1,869.2,26.3,585,6856,0.25,0.00,0.00,0.000,6,0.200,0.000,3106,1753,2190,0,0,0,0,0,0
$GC,7164,0.68,214.1,801.1,21.9,600,7168,0.17,2.20,0.00,0.000,4,0.194,0.060,3050,3167,2189,0,0,0,0,0,0
$GC,7185,0.59,214.1,796.0,20.8,601,7189,0.00,2.20,0.00,0.000,6,0.000,0.043,3058,1739,2187,0,0,0,0,0,0
$GC,7506,0.53,214.1,740.9,17.3,617,7508,0.17,0.00,0.00,0.000,6,0.176,0.000,3012,1739,2186,0,0,0,0,0,0
$GC,7817,0.56,223.9,699.6,13.3,632,7827,0.00,0.00,7.82,1.060,6,0.000,0.000,3012,1739,2159,0,0,0,0,0,0
$GC,8125,0.59,224.3,657.6,13.9,647,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1739,2158,0,0,0,0,0,0
$GC,8437,0.64,241.5,616.4,12.8,662,8458,0.10,0.00,18.30,1.162,6,0.110,0.000,3063,1739,2087,0,0,0,0,0,0
$GC,8770,0.60,241.5,564.3,15.4,688,8774,0.00,2.28,0.00,0.000,4,0.000,0.052,3061,3173,2084,0,0,0,0,0,0
$GC,8801,0.57,241.5,559.7,15.9,690,8806,0.17,2.20,0.00,0.000,6,0.181,0.042,3025,1739,2083,0,0,0,0,0,0
$GC,9127,0.62,266.0,519.8,12.4,720,9155,0.00,2.30,23.12,1.106,4,0.000,0.050,3015,3173,1986,0,0,0,0,0,0
$GC,9181,0.68,285.4,513.2,12.7,724,9206,0.10,2.20,19.17,1.072,6,0.099,0.041,3077,1742,1908,0,0,0,0,0,0
$GC,9524,0.65,285.4,456.9,15.8,756,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1742,1903,0,0,0,0,0,0
$GC,9843,0.63,285.4,404.6,16.6,786,9848,0.12,2.22,0.00,0.000,4,0.186,0.055,3055,337,1900,0,0,0,0,0,0
$GC,9923,0.66,285.4,392.1,14.3,792,9931,0.00,2.22,0.00,0.000,6,0.000,0.041,3047,1758,1899,0,0,0,0,0,0
$GC,10250,0.69,295.1,348.0,13.3,823,10265,0.00,2.25,8.62,0.864,4,0.000,0.050,3047,3163,1869,0,0,0,0,0,0
$GC,10307,0.73,295.1,340.1,14.8,828,10311,0.00,2.15,0.00,0.000,6,0.000,0.039,3055,1748,1869,0,0,0,0,0,0
$GC,10635,0.80,325.0,295.8,12.0,861,10670,0.12,2.30,28.48,0.917,4,0.091,0.053,3136,341,1746,0,0,0,0,0,0
$GC,10814,0.75,325.0,260.4,20.3,892,10823,0.15,2.20,0.00,0.000,6,0.154,0.041,3088,1746,1743,0,0,0,0,0,0
$GC,11149,0.75,325.0,207.4,14.8,953,11157,0.00,2.20,0.00,0.000,4,0.000,0.048,3078,3174,1743,0,0,0,0,0,0
$GC,11223,0.78,325.0,196.6,13.9,966,11231,0.00,2.20,0.00,0.000,6,0.000,0.039,3086,1747,1742,0,0,0,0,0,0
$GC,11560,0.84,351.2,149.8,12.3,1027,11590,0.00,2.20,24.02,0.770,4,0.000,0.051,3097,350,1640,0,0,0,0,0,0
$GC,11625,0.89,355.0,140.6,13.7,1037,11635,0.00,2.17,5.30,0.571,6,0.000,0.036,3097,1757,1624,0,0,0,0,0,0
$GC,11960,1.00,409.4,98.5,10.5,1098,12015,0.17,2.17,47.62,0.729,4,0.068,0.042,3175,3163,1403,0,0,0,0,0,0
$GC,12058,0.98,409.4,82.8,15.8,1112,12066,0.00,2.20,0.00,0.000,6,0.000,0.037,3183,1750,1402,0,0,0,0,0,0
$GC,12388,0.94,409.4,23.6,20.7,1173,12397,0.15,2.22,0.00,0.000,4,0.184,0.052,3154,353,1401,0,0,0,0,0,0
$GC,12443,0.97,409.4,13.5,15.9,1182,12450,0.00,2.15,0.00,0.000,6,0.000,0.037,3154,1752,1400,0,0,0,0,0,0
$STATE,12508,end climb,SURFACE_DEPTH_REACHED
$STATE,12508,begin surface coast
$FINISH,1.0,1.006675
$STATE,12526,end surface coast,CONTROL_FINISHED_OK
$STATE,12526,begin surface
$SM_CCo,12605,0.00,0.000,0,0,1398,410.63
$SM_GC,2.09,7.85,0.00,0.00,0.034,0.000,0.000,168,1821,1398,-8.33,0.59,410.63
$IRIDIUM_FIX,2111.01,12601.30,111110,202035
$TT8_MAMPS,0.026215
$HUMID,45.31
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.00
$XPDR_PINGS,103
$24V_AH,22.3,95.246
$10V_AH,10.0,59.671
$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,22.650,101.875,526.025,0.000,0.000,30.997,38.282,215.232,25.750,0.000,29.154,2965.500,6233.511,567.924,2888.073,421.025,0.000,1677.373,0.000,2615.752,0.000,0.844,0.000
$DEVICE_MAMPS,229.500,149.940,1442.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.869,1030.769,1369.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334052
$DATA_FILE_SIZE,70221,1197
$CAP_FILE_SIZE,140630,0
$CFSIZE,260165632,149090304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,206.8,1
$GPS,121110,032030,2121.197,12559.910,36,1.4,36,-2.9