version: 66.08
glider: 166
mission: 3
dive: 432
start: 11 2 110 20 15 48
data:
$ID,166
$MISSION,3
$DIVE,432
$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,-22099.1
$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,37
$R_STBD_OVSHOOT,65
$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
$GPS1,021110,200806,2125.266,12604.045,38,1.4,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-64.3
$GPS2,021110,201526,2125.254,12604.077,15,1.4,15,-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,231.1,8392,-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,-95.65,0.000,2,0.000,0.000,151,1841,3139,0,0,0,0,0,0
$GC,118,-1.16,-214.1,5.1,-9.1,13,149,9.07,2.12,-15.82,0.000,4,0.220,0.062,2448,3185,3948,0,0,0,0,0,0
$GC,324,-0.93,-214.1,88.0,-35.3,50,333,0.28,2.10,0.00,0.000,6,0.166,0.035,2531,1799,3950,0,0,0,0,0,0
$GC,654,-0.80,-214.1,181.0,-25.0,111,663,0.17,2.17,0.00,0.000,4,0.169,0.049,2581,394,3952,0,0,0,0,0,0
$GC,898,-0.80,-214.1,222.6,-14.1,155,905,0.00,2.10,0.00,0.000,6,0.000,0.043,2574,1769,3954,0,0,0,0,0,0
$GC,1228,-0.80,-214.1,272.9,-15.0,216,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1769,3955,0,0,0,0,0,0
$GC,1566,-0.80,-214.1,321.4,-14.3,264,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1769,3955,0,0,0,0,0,0
$GC,1884,-0.81,-214.1,365.0,-13.3,294,1888,0.00,2.22,0.00,0.000,4,0.000,0.050,2563,3217,3954,0,0,0,0,0,0
$GC,1918,-0.85,-214.1,369.5,-13.0,296,1926,0.00,2.17,0.00,0.000,6,0.000,0.036,2563,1800,3954,0,0,0,0,0,0
$GC,2245,-0.87,-214.1,414.8,-13.5,327,2249,0.00,2.20,0.00,0.000,4,0.000,0.052,2563,386,3952,0,0,0,0,0,0
$GC,2322,-0.91,-214.1,425.1,-13.3,333,2326,0.00,2.17,0.00,0.000,6,0.000,0.045,2560,1799,3952,0,0,0,0,0,0
$GC,2649,-0.92,-214.1,467.3,-12.7,363,2653,0.00,2.20,0.00,0.000,4,0.000,0.050,2560,388,3950,0,0,0,0,0,0
$GC,2672,-0.94,-214.1,470.5,-12.7,364,2680,0.00,2.20,0.00,0.000,6,0.000,0.045,2553,1800,3950,0,0,0,0,0,0
$GC,2998,-0.94,-214.1,513.2,-13.1,395,3002,0.00,2.15,0.00,0.000,4,0.000,0.054,2548,3209,3947,0,0,0,0,0,0
$GC,3063,-1.00,-214.1,520.8,-11.4,400,3067,0.00,2.12,0.00,0.000,6,0.000,0.037,2549,1792,3947,0,0,0,0,0,0
$GC,3394,-1.02,-214.1,563.7,-12.7,431,3399,0.10,2.17,0.00,0.000,4,0.103,0.054,2496,396,3944,0,0,0,0,0,0
$GC,3417,-0.99,-214.1,567.2,-15.0,432,3425,0.12,2.17,0.00,0.000,6,0.180,0.046,2518,1807,3944,0,0,0,0,0,0
$GC,3740,-0.96,-214.1,615.9,-14.3,458,3744,0.00,2.15,0.00,0.000,4,0.000,0.054,2510,3208,3941,0,0,0,0,0,0
$GC,3758,-0.93,-214.1,618.7,-14.7,458,3765,0.10,2.12,0.00,0.000,6,0.171,0.038,2535,1802,3941,0,0,0,0,0,0
$GC,4073,-0.93,-214.1,661.9,-14.0,474,4077,0.00,2.20,0.00,0.000,4,0.000,0.054,2535,385,3938,0,0,0,0,0,0
$GC,4214,-0.93,-214.1,682.6,-14.4,480,4218,0.00,2.20,0.00,0.000,6,0.000,0.047,2528,1803,3937,0,0,0,0,0,0
$GC,4530,-0.93,-214.1,730.3,-15.2,495,4534,0.00,2.17,0.00,0.000,4,0.000,0.057,2519,3205,3934,0,0,0,0,0,0
$GC,4557,-0.93,-214.1,734.6,-15.1,496,4561,0.00,2.12,0.00,0.000,6,0.000,0.039,2518,1800,3934,0,0,0,0,0,0
$GC,4887,-0.91,-214.1,782.6,-14.5,512,4891,0.00,2.20,0.00,0.000,4,0.000,0.055,2517,388,3930,0,0,0,0,0,0
$GC,4975,-0.90,-214.1,796.2,-14.6,516,4980,0.15,2.20,0.00,0.000,6,0.163,0.048,2550,1805,3929,0,0,0,0,0,0
$GC,5301,-0.93,-214.1,830.9,-10.6,532,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1805,3926,0,0,0,0,0,0
$GC,5606,-0.97,-214.1,864.6,-11.2,547,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1805,3924,0,0,0,0,0,0
$GC,5916,-1.01,-214.1,900.6,-11.9,562,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1805,3921,0,0,0,0,0,0
$GC,6227,-1.05,-214.1,937.1,-11.7,577,6228,0.15,0.00,0.00,0.000,6,0.084,0.000,2486,1805,3919,0,0,0,0,0,0
$GC,6534,-0.99,-214.1,984.9,-15.4,592,6539,0.12,2.25,0.00,0.000,4,0.183,0.058,2521,398,3916,0,0,0,0,0,0
$GC,6613,-0.99,-214.1,996.0,-13.1,595,6621,0.00,2.20,0.00,0.000,6,0.000,0.050,2515,1796,3916,0,0,0,0,0,0
$STATE,6659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6659,begin apogee
$GC,6665,-0.23,0.0,1002.3,13.3,598,6858,0.77,0.00,186.98,1.447,6,0.138,0.000,2763,1742,3071,0,0,0,0,0,0
$STATE,6858,end apogee,CONTROL_FINISHED_OK
$STATE,6858,begin climb
$GC,6861,1.16,214.1,1009.5,0.0,607,7070,1.27,0.00,202.93,1.382,6,0.050,0.000,3223,1741,2199,0,0,0,0,0,0
$GC,7373,0.83,214.1,879.0,31.4,632,7378,0.40,2.22,0.00,0.000,4,0.209,0.055,3106,3161,2192,0,0,0,0,0,0
$GC,7401,0.58,214.1,870.0,28.3,633,7405,0.30,2.17,0.00,0.000,6,0.179,0.045,3032,1750,2191,0,0,0,0,0,0
$GC,7719,0.50,214.1,819.2,15.7,648,7724,0.12,2.22,0.00,0.000,4,0.173,0.055,2988,3161,2190,0,0,0,0,0,0
$GC,7737,0.42,214.1,816.2,15.6,649,7741,0.00,2.17,0.00,0.000,6,0.000,0.044,2996,1741,2189,0,0,0,0,0,0
$GC,8066,0.44,253.4,775.3,12.2,665,8108,0.00,0.00,36.35,1.276,6,0.000,0.000,2996,1741,2037,0,0,0,0,0,0
$GC,8419,0.47,275.3,729.7,12.9,682,8446,0.00,2.28,20.62,1.218,4,0.000,0.058,3006,346,1949,0,0,0,0,0,0
$GC,8460,0.52,317.7,724.4,12.0,684,8505,0.00,2.22,40.30,1.233,6,0.000,0.045,3006,1758,1776,0,0,0,0,0,0
$GC,8833,0.52,318.6,672.8,13.8,702,8837,0.00,2.15,0.00,0.000,4,0.000,0.054,3006,3160,1770,0,0,0,0,0,0
$GC,8913,0.56,330.4,661.8,13.4,705,8930,0.00,2.17,12.18,1.125,6,0.000,0.043,3016,1738,1725,0,0,0,0,0,0
$GC,9251,0.56,330.4,614.2,14.8,722,9255,0.00,2.17,0.00,0.000,4,0.000,0.057,3027,346,1723,0,0,0,0,0,0
$GC,9269,0.56,330.4,611.0,15.0,723,9273,0.00,2.17,0.00,0.000,6,0.000,0.044,3027,1749,1721,0,0,0,0,0,0
$GC,9593,0.53,330.4,558.9,16.0,750,9597,0.00,2.15,0.00,0.000,4,0.000,0.054,3027,3161,1721,0,0,0,0,0,0
$GC,9688,0.53,330.4,543.8,14.8,758,9692,0.00,2.15,0.00,0.000,6,0.000,0.044,3037,1749,1720,0,0,0,0,0,0
$GC,10021,0.50,330.4,491.5,15.6,789,10023,0.12,0.00,0.00,0.000,6,0.174,0.000,3004,1749,1719,0,0,0,0,0,0
$GC,10341,0.60,391.5,453.5,11.2,819,10404,0.00,0.00,55.60,1.078,6,0.000,0.000,3004,1749,1476,0,0,0,0,0,0
$GC,10723,0.75,463.2,410.1,10.8,855,10796,0.22,2.35,65.05,1.025,4,0.063,0.053,3111,3163,1182,0,0,0,0,0,0
$GC,10809,0.63,463.2,390.9,25.9,863,10817,0.28,2.22,0.00,0.000,6,0.162,0.040,3045,1749,1182,0,0,0,0,0,0
$GC,11134,0.63,463.2,335.5,17.3,894,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1748,1178,0,0,0,0,0,0
$GC,11458,0.66,463.2,283.6,15.8,933,11466,0.00,2.20,0.00,0.000,4,0.000,0.050,3043,3171,1177,0,0,0,0,0,0
$GC,11500,0.72,463.2,277.7,14.4,940,11508,0.00,2.20,0.00,0.000,6,0.000,0.041,3047,1750,1177,0,0,0,0,0,0
$GC,11835,0.75,463.2,228.4,15.2,1001,11842,0.00,2.22,0.00,0.000,4,0.000,0.054,3054,341,1177,0,0,0,0,0,0
$GC,11894,0.83,471.6,220.1,13.5,1011,11910,0.15,2.15,7.82,0.731,6,0.074,0.037,3141,1762,1148,0,0,0,0,0,0
$GC,12237,0.74,471.6,143.6,23.7,1073,12246,0.20,2.15,0.00,0.000,4,0.158,0.045,3072,3154,1148,0,0,0,0,0,0
$GC,12302,0.84,495.7,132.9,12.8,1084,12332,0.00,2.15,22.17,0.755,6,0.000,0.038,3078,1747,1050,0,0,0,0,0,0
$GC,12655,1.10,609.0,93.7,9.0,1148,12760,0.28,2.22,96.65,0.718,4,0.050,0.049,3235,340,586,0,0,0,0,0,0
$GC,12822,0.99,609.0,48.8,27.8,1173,12831,0.22,2.17,0.00,0.000,6,0.145,0.036,3162,1742,582,0,0,0,0,0,0
$STATE,13023,end climb,SURFACE_DEPTH_REACHED
$STATE,13023,begin surface coast
$FINISH,1.2,1.022144
$STATE,13042,end surface coast,CONTROL_FINISHED_OK
$STATE,13042,begin surface
$SM_CCo,13119,0.00,0.000,0,0,579,611.53
$SM_GC,1.72,7.78,0.00,0.00,0.034,0.000,0.000,147,1830,579,-8.34,0.85,611.53
$IRIDIUM_FIX,2120.26,12604.03,021110,161659
$TT8_MAMPS,0.026215
$HUMID,43.69
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.30
$XPDR_PINGS,92
$24V_AH,22.1,81.464
$10V_AH,10.1,51.676
$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,22.400,100.600,746.650,0.000,0.000,27.791,41.149,189.598,23.000,0.000,16.625,2957.302,6511.128,758.828,2906.748,412.826,0.000,1928.952,0.000,2656.042,0.000,0.847,0.000
$DEVICE_MAMPS,220.320,116.280,1447.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.739,1037.318,1331.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333808
$DATA_FILE_SIZE,73628,1213
$CAP_FILE_SIZE,143548,0
$CFSIZE,260165632,153829376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,119.0,1
$GPS,021110,235537,2123.606,12603.237,32,1.1,32,-2.9