version: 66.08
glider: 166
mission: 3
dive: 501
start: 11 12 110 20 13 31
data:
$ID,166
$MISSION,3
$DIVE,501
$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,-22215.408
$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,54
$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
$GPS1,121110,200707,2121.521,12601.652,42,0.9,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.5
$GPS2,121110,201256,2121.489,12601.740,15,1.2,15,-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,292.6,954,-22.8,-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,-1.23,-158.7,0.0,0.0,0,111,0.00,0.00,-93.30,0.000,2,0.000,0.000,146,1823,3380,0,0,0,0,0,0
$GC,114,-1.30,-210.8,5.9,-10.8,12,139,9.23,2.28,-10.57,0.000,4,0.227,0.054,2415,385,3935,0,0,0,0,0,0
$GC,357,-1.08,-210.8,105.7,-36.1,56,365,0.28,2.17,0.00,0.000,6,0.164,0.044,2487,1776,3938,0,0,0,0,0,0
$GC,694,-0.96,-210.8,195.9,-25.8,117,702,0.15,2.12,0.00,0.000,4,0.187,0.044,2528,391,3941,0,0,0,0,0,0
$GC,791,-0.92,-210.8,215.9,-19.6,133,797,0.00,2.15,0.00,0.000,6,0.000,0.042,2519,1806,3941,0,0,0,0,0,0
$GC,1134,-0.88,-210.8,282.9,-19.0,194,1143,0.12,2.25,0.00,0.000,4,0.182,0.047,2550,390,3942,0,0,0,0,0,0
$GC,1191,-0.90,-210.8,293.0,-16.9,203,1197,0.00,2.17,0.00,0.000,6,0.000,0.044,2550,1807,3942,0,0,0,0,0,0
$GC,1526,-0.92,-210.8,344.9,-15.8,238,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1806,3942,0,0,0,0,0,0
$GC,1845,-0.95,-210.8,394.1,-15.4,268,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1807,3942,0,0,0,0,0,0
$GC,2177,-1.00,-214.1,437.7,-12.0,299,2180,0.00,2.20,0.00,0.000,4,0.000,0.050,2550,398,3941,0,0,0,0,0,0
$GC,2224,-1.05,-214.1,444.1,-12.6,303,2229,0.12,2.17,0.00,0.000,6,0.088,0.044,2487,1811,3941,0,0,0,0,0,0
$STATE,2537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2537,begin apogee
$GC,2543,-0.23,0.0,501.6,18.8,332,2723,0.88,0.00,171.05,0.995,6,0.147,0.000,2758,1737,3071,0,0,0,0,0,0
$STATE,2724,end apogee,CONTROL_FINISHED_OK
$STATE,2724,begin climb
$GC,2728,1.30,214.1,511.8,0.0,348,2911,1.35,0.00,173.50,0.968,6,0.057,0.000,3270,1737,2199,0,0,0,0,0,0
$GC,3228,1.02,214.1,404.0,24.7,395,3233,0.35,2.17,0.00,0.000,4,0.207,0.050,3185,349,2193,0,0,0,0,0,0
$GC,3268,0.81,214.1,393.9,23.8,398,3273,0.30,2.15,0.00,0.000,6,0.184,0.044,3105,1751,2193,0,0,0,0,0,0
$GC,3594,0.73,214.1,342.6,15.3,428,3598,0.00,2.12,0.00,0.000,4,0.000,0.046,3094,3169,2190,0,0,0,0,0,0
$GC,3636,0.67,214.1,336.4,15.0,431,3641,0.17,2.15,0.00,0.000,6,0.179,0.037,3057,1744,2188,0,0,0,0,0,0
$GC,3962,0.71,242.5,295.3,12.2,464,3997,0.00,2.25,24.02,0.854,4,0.000,0.051,3065,350,2082,0,0,0,0,0,0
$GC,4015,0.74,266.7,288.5,12.5,472,4044,0.00,2.17,22.02,0.829,6,0.000,0.039,3058,1753,1984,0,0,0,0,0,0
$GC,4380,0.76,272.2,241.6,13.6,536,4394,0.00,2.17,5.50,0.623,4,0.000,0.045,3058,3158,1962,0,0,0,0,0,0
$GC,4416,0.79,278.2,237.3,13.5,541,4432,0.00,2.12,7.30,0.682,6,0.000,0.037,3066,1749,1937,0,0,0,0,0,0
$GC,4769,0.88,325.1,194.1,11.1,603,4817,0.15,2.28,40.85,0.785,4,0.076,0.050,3167,339,1746,0,0,0,0,0,0
$GC,4892,0.81,325.1,170.6,18.9,623,4899,0.20,2.17,0.00,0.000,6,0.166,0.039,3104,1762,1743,0,0,0,0,0,0
$GC,5228,0.82,325.1,123.0,14.6,684,5236,0.00,2.22,0.00,0.000,4,0.000,0.050,3112,349,1742,0,0,0,0,0,0
$GC,5271,0.82,325.1,116.0,16.0,691,5278,0.00,2.15,0.00,0.000,6,0.000,0.037,3107,1754,1741,0,0,0,0,0,0
$GC,5600,0.97,397.0,80.3,9.7,752,5668,0.12,2.15,61.10,0.688,4,0.081,0.040,3170,3171,1453,0,0,0,0,0,0
$GC,5762,0.97,397.0,54.4,15.9,778,5771,0.00,2.17,0.00,0.000,6,0.000,0.036,3174,1749,1452,0,0,0,0,0,0
$STATE,6063,end climb,SURFACE_DEPTH_REACHED
$STATE,6063,begin surface coast
$FINISH,1.0,1.020377
$STATE,6080,end surface coast,CONTROL_FINISHED_OK
$STATE,6080,begin surface
$SM_CCo,6099,1.05,0.079,0,0,1442,400.08
$SM_GC,2.56,0.00,0.00,1.05,0.000,0.000,0.079,150,1822,1442,-8.41,0.65,400.08
$IRIDIUM_FIX,2113.32,12559.43,121110,181822
$TT8_MAMPS,0.026964
$HUMID,45.58
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.50
$XPDR_PINGS,81
$24V_AH,24.0,96.717
$10V_AH,10.1,60.754
$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,21.275,48.175,505.350,1.050,0.000,30.684,23.631,145.029,20.250,0.000,16.603,1955.681,1563.038,527.575,2135.243,280.849,0.000,1280.660,0.000,1952.472,0.000,0.846,0.000
$DEVICE_MAMPS,227.205,110.925,995.265,78.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.058,842.750,1377.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,50334,837
$CAP_FILE_SIZE,83169,0
$CFSIZE,260165632,148615168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.229,122.8,1
$GPS,121110,215602,2121.299,12601.561,13,1.9,13,-2.9