version: 66.08
glider: 166
mission: 3
dive: 496
start: 11 12 110 11 13 4
data:
$ID,166
$MISSION,3
$DIVE,496
$N_DIVES,510
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$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,120
$T_MISSION,180
$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,-22208.752
$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,42
$R_STBD_OVSHOOT,45
$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
$GPS1,121110,110636,2121.670,12601.289,13,1.4,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-73.0
$GPS2,121110,111238,2121.652,12601.284,14,1.5,14,-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,234.5,173,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.41,-103.1,0.0,0.0,0,91,0.00,0.00,-73.80,0.000,2,0.000,0.000,145,1759,3326,0,0,0,0,0,0
$GC,94,-1.46,-142.3,5.6,-10.4,10,118,8.82,2.12,-6.60,0.000,4,0.223,0.054,2361,384,3653,0,0,0,0,0,0
$GC,358,-1.19,-142.3,115.5,-34.2,58,366,0.35,2.15,0.00,0.000,6,0.198,0.037,2447,1793,3655,0,0,0,0,0,0
$GC,697,-1.10,-142.3,204.7,-22.9,119,704,0.15,2.17,0.00,0.000,4,0.192,0.044,2486,395,3658,0,0,0,0,0,0
$GC,958,-1.05,-142.3,264.1,-21.4,165,964,0.00,2.15,0.00,0.000,6,0.000,0.039,2477,1810,3659,0,0,0,0,0,0
$GC,1300,-1.03,-142.3,334.3,-18.5,211,1305,0.12,2.22,0.00,0.000,4,0.199,0.046,2507,391,3659,0,0,0,0,0,0
$GC,1512,-1.04,-142.3,373.8,-17.4,229,1519,0.00,2.15,0.00,0.000,6,0.000,0.041,2501,1798,3659,0,0,0,0,0,0
$GC,1837,-1.04,-142.3,428.2,-16.7,260,1841,0.00,2.20,0.00,0.000,4,0.000,0.046,2500,391,3659,0,0,0,0,0,0
$GC,1866,-1.04,-142.3,433.4,-18.6,262,1870,0.00,2.17,0.00,0.000,6,0.000,0.043,2495,1807,3659,0,0,0,0,0,0
$GC,2191,-1.04,-142.3,488.6,-16.1,292,2195,0.00,2.17,0.00,0.000,4,0.000,0.048,2495,400,3659,0,0,0,0,0,0
$STATE,2255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2255,begin apogee
$GC,2263,-0.23,0.0,500.3,17.4,297,2392,0.90,0.00,116.95,0.994,6,0.151,0.000,2764,1754,3071,0,0,0,0,0,0
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2393,begin climb
$GC,2395,1.46,142.3,505.6,0.0,309,2523,1.52,2.35,116.03,0.972,4,0.073,0.050,3320,341,2492,0,0,0,0,0,0
$GC,2569,1.16,142.3,481.1,26.0,324,2575,0.38,2.17,0.00,0.000,6,0.225,0.041,3219,1760,2488,0,0,0,0,0,0
$GC,2897,0.99,142.3,414.4,19.2,354,2901,0.22,2.22,0.00,0.000,4,0.202,0.047,3171,346,2485,0,0,0,0,0,0
$GC,2929,0.85,142.3,408.2,17.0,356,2938,0.15,2.17,0.00,0.000,6,0.182,0.041,3118,1754,2485,0,0,0,0,0,0
$GC,3257,0.80,147.2,363.8,13.4,387,3269,0.00,2.17,4.15,0.581,4,0.000,0.044,3108,3157,2471,0,0,0,0,0,0
$GC,3286,0.78,159.9,359.3,12.7,389,3305,0.00,2.12,12.55,0.843,6,0.000,0.035,3116,1748,2420,0,0,0,0,0,0
$GC,3624,0.75,167.0,316.8,13.2,421,3638,0.12,2.22,7.32,0.741,4,0.200,0.049,3095,350,2390,0,0,0,0,0,0
$GC,3652,0.77,183.8,313.3,12.4,423,3677,0.00,2.12,16.10,0.842,6,0.000,0.038,3087,1753,2321,0,0,0,0,0,0
$GC,4000,0.81,192.3,269.8,13.1,476,4016,0.00,2.15,7.95,0.736,4,0.000,0.044,3077,3167,2288,0,0,0,0,0,0
$GC,4024,0.85,205.6,266.9,12.7,479,4046,0.00,2.12,13.18,0.793,6,0.000,0.036,3085,1751,2232,0,0,0,0,0,0
$GC,4387,0.92,229.9,225.4,11.7,542,4416,0.15,2.15,21.38,0.802,4,0.081,0.042,3153,3158,2133,0,0,0,0,0,0
$GC,4450,0.89,229.9,214.6,16.9,552,4460,0.10,2.15,0.00,0.000,6,0.179,0.035,3132,1751,2132,0,0,0,0,0,0
$GC,4797,0.90,229.9,162.2,15.1,613,4804,0.00,2.17,0.00,0.000,4,0.000,0.048,3141,338,2130,0,0,0,0,0,0
$GC,4900,0.91,235.6,147.7,13.4,631,4916,0.00,2.15,5.78,0.588,6,0.000,0.037,3133,1748,2111,0,0,0,0,0,0
$GC,5237,1.02,288.3,108.8,9.1,693,5290,0.10,2.28,45.12,0.718,4,0.101,0.047,3191,341,1895,0,0,0,0,0,0
$GC,5368,1.02,288.3,89.2,14.2,714,5376,0.00,2.15,0.00,0.000,6,0.000,0.036,3181,1748,1891,0,0,0,0,0,0
$GC,5694,1.02,288.3,43.4,15.2,775,5702,0.00,2.15,0.00,0.000,4,0.000,0.041,3170,3161,1889,0,0,0,0,0,0
$GC,5764,1.04,288.3,33.1,14.4,787,5772,0.00,2.12,0.00,0.000,6,0.000,0.034,3174,1751,1889,0,0,0,0,0,0
$STATE,5973,end climb,SURFACE_DEPTH_REACHED
$STATE,5973,begin surface coast
$FINISH,0.9,1.003388
$STATE,5999,end surface coast,CONTROL_FINISHED_OK
$STATE,5999,begin surface
$SM_CCo,6016,96.97,0.566,1,0,1440,400.08
$SM_GC,1.83,0.00,0.00,96.97,0.000,0.000,0.566,143,1746,1440,-8.44,-1.53,400.08
$IRIDIUM_FIX,2113.32,12601.30,121110,090900
$TT8_MAMPS,0.026964
$HUMID,43.58
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.80
$XPDR_PINGS,91
$24V_AH,24.0,96.029
$10V_AH,10.2,60.227
$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,20.975,60.825,366.500,96.975,0.000,26.127,43.437,140.500,22.750,0.000,15.453,1989.204,1506.941,519.319,2187.402,280.995,0.000,1263.588,0.000,1989.649,0.000,0.849,0.000
$DEVICE_MAMPS,224.910,53.550,993.735,566.100,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.022,838.622,1387.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333912
$DATA_FILE_SIZE,50218,830
$CAP_FILE_SIZE,86860,0
$CFSIZE,260165632,148873216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015,167.4,1
$GPS,121110,125616,2121.201,12601.030,12,2.6,31,-2.9