version: 66.08
glider: 166
mission: 3
dive: 431
start: 11 2 110 16 32 40
data:
$ID,166
$MISSION,3
$DIVE,431
$N_DIVES,431
$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,-22097.842
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,021110,162507,2127.209,12604.985,38,1.4,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.2
$GPS2,021110,163219,2127.191,12604.990,11,1.7,16,-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,223.6,12246,-19.7,-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,-1.16,-214.1,0.0,0.0,0,115,0.00,0.00,-95.53,0.000,2,0.000,0.000,148,1762,3271,0,0,0,0,0,0
$GC,118,-1.16,-214.1,5.2,-8.7,13,150,9.02,2.25,-13.23,0.000,4,0.219,0.054,2446,3210,3948,0,0,0,0,0,0
$GC,320,-0.94,-214.1,81.6,-35.4,49,329,0.28,2.17,0.00,0.000,6,0.167,0.036,2531,1797,3950,0,0,0,0,0,0
$GC,647,-0.81,-214.1,176.9,-23.8,110,656,0.17,2.22,0.00,0.000,4,0.167,0.048,2581,386,3952,0,0,0,0,0,0
$GC,684,-0.76,-214.1,183.2,-18.8,115,692,0.00,2.17,0.00,0.000,6,0.000,0.044,2577,1801,3953,0,0,0,0,0,0
$GC,1017,-0.74,-214.1,241.4,-15.5,176,1025,0.00,2.22,0.00,0.000,4,0.000,0.050,2577,395,3954,0,0,0,0,0,0
$GC,1103,-0.74,-214.1,254.3,-14.3,191,1110,0.00,2.17,0.00,0.000,6,0.000,0.045,2573,1808,3954,0,0,0,0,0,0
$GC,1437,-0.74,-214.1,305.0,-15.3,249,1441,0.00,2.22,0.00,0.000,4,0.000,0.050,2573,389,3955,0,0,0,0,0,0
$GC,1468,-0.74,-214.1,309.8,-15.0,251,1472,0.00,2.17,0.00,0.000,6,0.000,0.047,2572,1800,3955,0,0,0,0,0,0
$GC,1794,-0.74,-214.1,356.6,-13.7,281,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1800,3955,0,0,0,0,0,0
$GC,2115,-0.76,-214.1,399.1,-14.0,311,2119,0.00,2.17,0.00,0.000,4,0.000,0.053,2561,3208,3953,0,0,0,0,0,0
$GC,2151,-0.80,-214.1,404.3,-13.3,314,2155,0.00,2.15,0.00,0.000,6,0.000,0.037,2561,1789,3952,0,0,0,0,0,0
$GC,2478,-0.82,-214.1,449.1,-12.0,344,2482,0.00,2.15,0.00,0.000,4,0.000,0.052,2561,390,3951,0,0,0,0,0,0
$GC,2531,-0.83,-214.1,455.8,-13.4,348,2535,0.00,2.17,0.00,0.000,6,0.000,0.047,2561,1800,3951,0,0,0,0,0,0
$GC,2857,-0.86,-214.1,494.4,-12.0,378,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1801,3949,0,0,0,0,0,0
$GC,3179,-0.89,-214.1,533.4,-12.6,408,3183,0.00,2.17,0.00,0.000,4,0.000,0.054,2551,3209,3946,0,0,0,0,0,0
$GC,3213,-0.93,-214.1,538.3,-11.9,410,3220,0.00,2.15,0.00,0.000,6,0.000,0.037,2551,1790,3946,0,0,0,0,0,0
$GC,3539,-0.95,-214.1,580.3,-12.7,441,3543,0.00,2.17,0.00,0.000,4,0.000,0.054,2551,389,3944,0,0,0,0,0,0
$GC,3580,-0.98,-214.1,585.7,-12.8,444,3584,0.00,2.20,0.00,0.000,6,0.000,0.048,2550,1808,3943,0,0,0,0,0,0
$GC,3914,-1.00,-214.1,626.3,-12.1,465,3918,0.00,2.20,0.00,0.000,4,0.000,0.054,2550,396,3940,0,0,0,0,0,0
$GC,3935,-1.00,-214.1,629.4,-11.6,466,3939,0.00,2.20,0.00,0.000,6,0.000,0.049,2551,1811,3940,0,0,0,0,0,0
$GC,4258,-1.02,-214.1,667.9,-12.4,482,4263,0.12,2.17,0.00,0.000,4,0.092,0.054,2488,3213,3937,0,0,0,0,0,0
$GC,4314,-0.99,-214.1,676.7,-15.7,484,4321,0.12,2.17,0.00,0.000,6,0.173,0.040,2521,1792,3936,0,0,0,0,0,0
$GC,4630,-0.96,-214.1,724.8,-15.6,500,4634,0.00,2.17,0.00,0.000,4,0.000,0.055,2525,398,3934,0,0,0,0,0,0
$GC,4659,-0.94,-214.1,729.5,-15.9,501,4663,0.00,2.20,0.00,0.000,6,0.000,0.050,2517,1800,3933,0,0,0,0,0,0
$GC,4976,-0.91,-214.1,777.8,-15.1,516,4980,0.00,2.22,0.00,0.000,4,0.000,0.055,2517,393,3930,0,0,0,0,0,0
$GC,5033,-0.89,-214.1,786.6,-15.6,518,5041,0.15,2.20,0.00,0.000,6,0.165,0.048,2551,1805,3929,0,0,0,0,0,0
$GC,5350,-0.91,-214.1,826.2,-12.2,534,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1805,3926,0,0,0,0,0,0
$GC,5659,-0.93,-214.1,864.2,-12.5,549,5663,0.00,2.20,0.00,0.000,4,0.000,0.056,2552,396,3924,0,0,0,0,0,0
$GC,5695,-0.96,-214.1,868.7,-13.2,550,5701,0.00,2.20,0.00,0.000,6,0.000,0.050,2550,1800,3924,0,0,0,0,0,0
$GC,6011,-0.98,-214.1,908.5,-12.1,566,6015,0.00,2.22,0.00,0.000,4,0.000,0.060,2543,3206,3921,0,0,0,0,0,0
$GC,6029,-1.00,-214.1,910.9,-11.7,566,6036,0.00,2.15,0.00,0.000,6,0.000,0.041,2542,1793,3920,0,0,0,0,0,0
$GC,6346,-1.00,-214.1,951.0,-12.5,582,6350,0.00,2.17,0.00,0.000,4,0.000,0.058,2543,392,3918,0,0,0,0,0,0
$GC,6424,-1.01,-214.1,961.6,-12.7,585,6431,0.00,2.20,0.00,0.000,6,0.000,0.050,2533,1801,3918,0,0,0,0,0,0
$STATE,6717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6718,begin apogee
$GC,6725,-0.23,0.0,1000.9,13.3,600,6917,0.73,0.00,186.32,1.444,6,0.135,0.000,2761,1746,3072,0,0,0,0,0,0
$STATE,6918,end apogee,CONTROL_FINISHED_OK
$STATE,6918,begin climb
$GC,6922,1.16,214.1,1008.6,0.0,609,7131,1.30,0.00,202.80,1.382,6,0.055,0.000,3217,1746,2199,0,0,0,0,0,0
$GC,7440,0.84,214.1,882.2,29.5,634,7442,0.40,0.00,0.00,0.000,6,0.207,0.000,3114,1746,2192,0,0,0,0,0,0
$GC,7747,0.65,214.1,815.2,21.2,649,7752,0.22,2.22,0.00,0.000,4,0.189,0.054,3044,3158,2190,0,0,0,0,0,0
$GC,7789,0.55,214.1,807.6,16.7,651,7794,0.12,2.17,0.00,0.000,6,0.183,0.045,3021,1742,2188,0,0,0,0,0,0
$GC,8123,0.51,227.2,762.7,13.3,667,8146,0.00,2.28,11.85,1.176,4,0.000,0.059,3030,346,2144,0,0,0,0,0,0
$GC,8172,0.46,227.2,756.0,14.4,669,8177,0.15,2.20,0.00,0.000,6,0.169,0.047,2990,1747,2144,0,0,0,0,0,0
$GC,8500,0.53,286.2,718.7,11.3,685,8565,0.00,2.30,54.92,1.254,4,0.000,0.054,2988,3156,1905,0,0,0,0,0,0
$GC,8617,0.62,322.2,704.2,12.3,690,8657,0.12,2.20,34.35,1.211,6,0.083,0.043,3059,1741,1758,0,0,0,0,0,0
$GC,8964,0.55,322.2,638.7,19.4,707,8969,0.15,2.22,0.00,0.000,4,0.174,0.054,3010,3170,1751,0,0,0,0,0,0
$GC,8984,0.49,322.2,635.4,19.5,708,8988,0.00,2.17,0.00,0.000,6,0.000,0.043,3019,1747,1751,0,0,0,0,0,0
$GC,9302,0.49,322.2,588.8,14.8,727,9306,0.00,2.17,0.00,0.000,4,0.000,0.057,3029,343,1751,0,0,0,0,0,0
$GC,9333,0.49,322.2,584.4,15.2,729,9337,0.00,2.20,0.00,0.000,6,0.000,0.044,3030,1758,1749,0,0,0,0,0,0
$GC,9658,0.47,322.2,534.5,15.0,759,9663,0.12,2.15,0.00,0.000,4,0.171,0.053,2986,3173,1748,0,0,0,0,0,0
$GC,9735,0.64,403.3,525.4,10.4,765,9820,0.15,2.17,73.45,1.128,6,0.075,0.043,3070,1747,1427,0,0,0,0,0,0
$GC,10140,0.59,403.3,445.0,20.7,803,10142,0.15,0.00,0.00,0.000,6,0.171,0.000,3030,1747,1420,0,0,0,0,0,0
$GC,10459,0.63,407.7,398.1,13.7,833,10467,0.00,0.00,3.92,0.635,6,0.000,0.000,3030,1747,1409,0,0,0,0,0,0
$GC,10787,0.67,413.8,353.2,13.6,864,10797,0.00,0.00,7.15,0.821,6,0.000,0.000,3030,1747,1385,0,0,0,0,0,0
$GC,11116,0.74,434.2,311.0,13.0,895,11139,0.15,0.00,20.17,0.910,6,0.082,0.000,3109,1747,1301,0,0,0,0,0,0
$GC,11463,0.68,434.2,234.2,21.5,953,11470,0.17,0.00,0.00,0.000,6,0.162,0.000,3061,1747,1299,0,0,0,0,0,0
$GC,11798,0.79,479.1,190.2,11.9,1014,11847,0.00,2.28,39.95,0.819,4,0.000,0.054,3059,343,1117,0,0,0,0,0,0
$GC,11885,1.01,566.3,180.7,10.1,1027,11970,0.28,2.15,75.97,0.799,6,0.052,0.036,3184,1772,761,0,0,0,0,0,0
$GC,12292,0.95,566.3,78.9,23.3,1099,12302,0.15,2.12,0.00,0.000,4,0.169,0.045,3134,3143,757,0,0,0,0,0,0
$GC,12343,1.00,566.3,69.8,14.3,1107,12352,0.00,2.12,0.00,0.000,6,0.000,0.038,3141,1753,756,0,0,0,0,0,0
$GC,12672,1.00,566.3,13.9,17.6,1168,12679,0.00,2.20,0.00,0.000,4,0.000,0.052,3152,346,756,0,0,0,0,0,0
$GC,12735,1.05,566.3,3.0,14.6,1179,12744,0.00,2.12,0.00,0.000,6,0.000,0.038,3151,1730,756,0,0,0,0,0,0
$STATE,12750,end climb,SURFACE_DEPTH_REACHED
$STATE,12750,begin surface coast
$FINISH,1.0,1.000287
$STATE,12773,end surface coast,CONTROL_FINISHED_OK
$STATE,12773,begin surface
$SM_CCo,12852,0.00,0.000,0,0,756,568.11
$SM_GC,1.69,7.80,0.00,0.00,0.039,0.000,0.000,150,1840,756,-8.34,1.13,568.11
$IRIDIUM_FIX,2122.58,12605.39,021110,121213
$TT8_MAMPS,0.026215
$HUMID,43.22
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.50
$XPDR_PINGS,77
$24V_AH,22.1,81.194
$10V_AH,10.2,51.542
$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,22.050,105.325,710.875,0.000,0.000,30.842,19.819,196.251,19.250,0.000,17.655,2892.460,6385.906,742.818,2826.991,417.766,0.000,1882.969,0.000,2591.225,0.000,0.844,0.000
$DEVICE_MAMPS,218.790,117.810,1444.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.307,1010.445,1295.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333828
$DATA_FILE_SIZE,70261,1185
$CAP_FILE_SIZE,144324,0
$CFSIZE,260165632,153911296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,130.7,1
$GPS,021110,200806,2125.266,12604.045,38,1.4,38,-2.9