version: 66.08
glider: 166
mission: 3
dive: 456
start: 11 6 110 12 34 48
data:
$ID,166
$MISSION,3
$DIVE,456
$N_DIVES,467
$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,-22158.254
$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,40
$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
$GPS1,061110,122724,2115.346,12601.207,38,1.2,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-67.0
$GPS2,061110,123426,2115.324,12601.202,12,1.8,12,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,5.5,6623,-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,-214.1,0.0,0.0,0,137,0.00,0.00,-117.53,0.000,2,0.000,0.000,146,1762,3400,0,0,0,0,0,0
$GC,140,-1.16,-214.1,6.2,-12.2,16,165,9.35,2.28,-10.02,0.000,4,0.227,0.056,2441,3212,3948,0,0,0,0,0,0
$GC,226,-0.90,-214.1,45.9,-41.0,30,235,0.35,2.17,0.00,0.000,6,0.174,0.035,2544,1791,3952,0,0,0,0,0,0
$GC,552,-0.77,-214.1,142.3,-24.6,91,561,0.17,2.20,0.00,0.000,4,0.179,0.047,2595,390,3953,0,0,0,0,0,0
$GC,749,-0.77,-214.1,179.7,-16.4,125,756,0.00,2.15,0.00,0.000,6,0.000,0.041,2590,1796,3955,0,0,0,0,0,0
$GC,1094,-0.73,-214.1,236.2,-17.5,186,1102,0.00,2.20,0.00,0.000,4,0.000,0.047,2589,398,3956,0,0,0,0,0,0
$GC,1193,-0.73,-214.1,252.4,-14.8,203,1200,0.00,2.12,0.00,0.000,6,0.000,0.041,2576,1806,3956,0,0,0,0,0,0
$GC,1538,-0.71,-214.1,305.3,-15.7,262,1539,0.12,0.00,0.00,0.000,6,0.177,0.000,2606,1806,3956,0,0,0,0,0,0
$GC,1858,-0.77,-214.1,343.1,-11.3,292,1862,0.00,2.12,0.00,0.000,4,0.000,0.049,2594,3209,3956,0,0,0,0,0,0
$GC,1888,-0.84,-214.1,346.5,-10.8,294,1892,0.00,2.12,0.00,0.000,6,0.000,0.035,2594,1802,3955,0,0,0,0,0,0
$GC,2215,-0.89,-214.1,381.9,-10.8,324,2220,0.12,2.17,0.00,0.000,4,0.086,0.050,2525,395,3954,0,0,0,0,0,0
$GC,2314,-0.85,-214.1,399.2,-17.0,332,2323,0.15,2.17,0.00,0.000,6,0.140,0.044,2561,1794,3954,0,0,0,0,0,0
$GC,2642,-0.85,-214.1,444.4,-13.5,363,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1794,3952,0,0,0,0,0,0
$GC,2961,-0.87,-214.1,485.5,-12.3,393,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1794,3951,0,0,0,0,0,0
$GC,3290,-0.89,-214.1,524.3,-11.3,424,3294,0.00,2.20,0.00,0.000,4,0.000,0.050,2561,388,3948,0,0,0,0,0,0
$GC,3334,-0.92,-214.1,530.2,-12.0,427,3341,0.00,2.17,0.00,0.000,6,0.000,0.046,2555,1806,3948,0,0,0,0,0,0
$GC,3660,-0.94,-214.1,569.1,-12.3,458,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1806,3946,0,0,0,0,0,0
$GC,3979,-0.96,-214.1,609.3,-13.0,485,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1807,3943,0,0,0,0,0,0
$GC,4288,-0.99,-214.1,648.0,-12.0,500,4293,0.10,2.22,0.00,0.000,4,0.105,0.054,2504,396,3940,0,0,0,0,0,0
$GC,4343,-0.94,-214.1,657.5,-16.7,502,4352,0.15,2.17,0.00,0.000,6,0.175,0.047,2538,1810,3939,0,0,0,0,0,0
$GC,4661,-0.94,-214.1,701.0,-13.5,518,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1809,3936,0,0,0,0,0,0
$GC,4969,-0.94,-214.1,742.3,-13.1,533,4973,0.00,2.15,0.00,0.000,4,0.000,0.057,2539,3204,3933,0,0,0,0,0,0
$GC,5003,-0.96,-214.1,746.9,-12.7,534,5010,0.00,2.15,0.00,0.000,6,0.000,0.040,2539,1795,3933,0,0,0,0,0,0
$GC,5320,-0.96,-214.1,788.4,-13.1,550,5324,0.00,2.20,0.00,0.000,4,0.000,0.055,2539,388,3930,0,0,0,0,0,0
$GC,5364,-0.96,-214.1,795.1,-14.5,552,5368,0.00,2.17,0.00,0.000,6,0.000,0.047,2528,1797,3930,0,0,0,0,0,0
$GC,5694,-0.94,-214.1,841.3,-14.5,568,5698,0.00,2.20,0.00,0.000,4,0.000,0.054,2529,396,3927,0,0,0,0,0,0
$GC,5743,-0.94,-214.1,849.5,-15.8,570,5747,0.00,2.17,0.00,0.000,6,0.000,0.047,2518,1805,3927,0,0,0,0,0,0
$GC,6065,-0.91,-214.1,899.3,-15.3,586,6069,0.00,2.22,0.00,0.000,4,0.000,0.056,2518,396,3924,0,0,0,0,0,0
$GC,6108,-0.87,-214.1,905.9,-16.5,588,6113,0.17,2.17,0.00,0.000,6,0.166,0.050,2555,1799,3923,0,0,0,0,0,0
$GC,6438,-0.89,-214.1,947.1,-12.3,604,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1800,3921,0,0,0,0,0,0
$GC,6747,-0.92,-214.1,985.0,-12.2,619,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1800,3919,0,0,0,0,0,0
$STATE,6865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6865,begin apogee
$GC,6871,-0.23,0.0,1000.2,12.4,625,7062,0.62,0.00,184.12,1.452,6,0.131,0.000,2757,1749,3072,0,0,0,0,0,0
$STATE,7062,end apogee,CONTROL_FINISHED_OK
$STATE,7062,begin climb
$GC,7065,1.16,214.1,1009.8,0.0,634,7272,1.33,0.00,203.20,1.385,6,0.059,0.000,3214,1749,2199,0,0,0,0,0,0
$GC,7573,0.84,214.1,886.3,30.2,659,7578,0.38,2.25,0.00,0.000,4,0.212,0.057,3124,337,2193,0,0,0,0,0,0
$GC,7594,0.55,214.1,878.8,29.0,660,7599,0.35,2.20,0.00,0.000,6,0.189,0.050,3024,1744,2192,0,0,0,0,0,0
$GC,7919,0.49,214.1,827.6,15.4,676,7923,0.00,2.20,0.00,0.000,4,0.000,0.054,3013,3170,2190,0,0,0,0,0,0
$GC,7961,0.43,214.1,821.0,15.1,678,7965,0.15,2.17,0.00,0.000,6,0.185,0.044,2985,1737,2188,0,0,0,0,0,0
$GC,8288,0.48,248.7,780.1,12.4,694,8324,0.00,2.25,31.80,1.284,4,0.000,0.057,2993,340,2057,0,0,0,0,0,0
$GC,8373,0.51,279.5,769.2,12.6,697,8408,0.00,2.22,29.80,1.256,6,0.000,0.046,2993,1755,1931,0,0,0,0,0,0
$GC,8725,0.53,294.0,722.1,13.3,714,8748,0.00,2.25,13.60,1.174,4,0.000,0.055,2993,3162,1873,0,0,0,0,0,0
$GC,8812,0.58,313.1,710.5,13.1,717,8841,0.00,2.15,19.10,1.200,6,0.000,0.041,3002,1747,1794,0,0,0,0,0,0
$GC,9150,0.59,319.3,664.4,13.6,734,9162,0.00,2.28,6.55,0.991,4,0.000,0.056,3013,341,1770,0,0,0,0,0,0
$GC,9187,0.59,323.6,659.1,13.7,735,9198,0.00,2.20,5.85,0.943,6,0.000,0.043,3013,1755,1752,0,0,0,0,0,0
$GC,9521,0.59,323.6,611.0,14.2,752,9525,0.00,2.15,0.00,0.000,4,0.000,0.053,3013,3162,1751,0,0,0,0,0,0
$GC,9578,0.61,336.6,602.8,13.3,754,9598,0.00,2.17,13.82,1.135,6,0.000,0.041,3023,1738,1698,0,0,0,0,0,0
$GC,9924,0.59,336.6,552.1,15.5,786,9928,0.00,2.15,0.00,0.000,4,0.000,0.055,3034,345,1696,0,0,0,0,0,0
$GC,9948,0.59,336.6,548.3,15.7,787,9954,0.00,2.17,0.00,0.000,6,0.000,0.041,3034,1752,1695,0,0,0,0,0,0
$GC,10273,0.57,336.6,498.5,15.4,818,10277,0.00,2.15,0.00,0.000,4,0.000,0.052,3033,3159,1695,0,0,0,0,0,0
$GC,10352,0.57,336.6,486.6,14.1,824,10360,0.00,2.17,0.00,0.000,6,0.000,0.042,3044,1750,1694,0,0,0,0,0,0
$GC,10679,0.54,336.6,435.7,16.4,855,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1750,1694,0,0,0,0,0,0
$GC,11000,0.51,336.6,386.7,15.4,885,11009,0.12,0.00,0.00,0.000,6,0.181,0.000,3011,1750,1693,0,0,0,0,0,0
$GC,11326,0.65,402.6,349.5,11.0,916,11391,0.12,2.28,58.92,0.999,4,0.090,0.053,3092,340,1429,0,0,0,0,0,0
$GC,11440,0.63,402.6,329.5,19.1,925,11445,0.17,2.17,0.00,0.000,6,0.151,0.040,3044,1748,1428,0,0,0,0,0,0
$GC,11774,0.67,419.3,281.9,13.2,967,11794,0.00,2.25,15.50,0.882,4,0.000,0.049,3044,3163,1362,0,0,0,0,0,0
$GC,11858,0.81,481.3,271.2,11.2,981,11921,0.15,2.15,55.28,0.907,6,0.073,0.038,3136,1741,1108,0,0,0,0,0,0
$GC,12257,0.73,481.3,181.5,20.9,1050,12266,0.22,2.20,0.00,0.000,4,0.164,0.051,3083,355,1105,0,0,0,0,0,0
$GC,12370,0.94,578.4,165.9,9.7,1069,12459,0.17,2.10,82.60,0.802,6,0.067,0.035,3172,1767,713,0,0,0,0,0,0
$GC,12781,0.89,578.4,77.4,21.2,1142,12791,0.17,2.28,0.00,0.000,4,0.162,0.052,3125,346,709,0,0,0,0,0,0
$GC,12837,1.01,610.5,68.1,12.5,1151,12871,0.08,2.12,28.15,0.699,6,0.051,0.035,3189,1742,582,0,0,0,0,0,0
$STATE,13113,end climb,SURFACE_DEPTH_REACHED
$STATE,13113,begin surface coast
$FINISH,1.1,1.022061
$STATE,13128,end surface coast,CONTROL_FINISHED_OK
$STATE,13128,begin surface
$SM_CCo,13206,0.00,0.000,0,0,577,612.02
$SM_GC,1.71,7.97,0.00,0.00,0.040,0.000,0.000,139,1803,577,-8.35,0.08,612.02
$IRIDIUM_FIX,2104.07,12559.94,061110,080820
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,8.65726
$TCM_TEMP,23.90
$XPDR_PINGS,87
$24V_AH,22.1,86.938
$10V_AH,10.1,54.891
$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,22.725,100.775,748.300,0.000,0.000,31.185,17.211,194.374,21.750,0.000,13.750,2918.435,6659.685,783.403,2835.390,416.139,0.000,1935.181,0.000,2604.422,0.000,0.844,0.000
$DEVICE_MAMPS,227.205,149.175,1451.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.701,1019.317,1283.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,70335,1203
$CAP_FILE_SIZE,143055,0
$CFSIZE,260165632,151920640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,195.3,1
$GPS,061110,161606,2117.121,12601.026,36,0.9,36,-2.9