version: 66.08
glider: 166
mission: 3
dive: 464
start: 11 7 110 18 11 30
data:
$ID,166
$MISSION,3
$DIVE,464
$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,-22168.318
$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,59
$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
$GPS1,071110,180406,2116.297,12601.663,28,1.1,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.8
$GPS2,071110,181056,2116.199,12601.695,13,1.1,13,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP_SOUTH_SOUTH
$TGT_LATLONG,2113.500,12601.200
$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,201.0,5071,-21.1,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.19,-187.1,0.0,0.0,0,128,0.00,0.00,-107.97,0.000,2,0.000,0.000,167,1825,3335,0,0,0,0,0,0
$GC,131,-1.22,-214.1,5.8,-11.4,15,163,9.07,2.30,-11.60,0.000,4,0.220,0.057,2440,386,3948,0,0,0,0,0,0
$GC,381,-1.03,-214.1,118.4,-34.7,60,389,0.22,2.17,0.00,0.000,6,0.174,0.044,2498,1774,3950,0,0,0,0,0,0
$GC,714,-0.87,-214.1,211.9,-27.5,121,722,0.20,2.17,0.00,0.000,4,0.179,0.046,2553,388,3953,0,0,0,0,0,0
$GC,893,-0.82,-214.1,249.2,-19.7,153,901,0.12,2.17,0.00,0.000,6,0.179,0.044,2575,1805,3954,0,0,0,0,0,0
$GC,1227,-0.82,-214.1,307.4,-16.6,210,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1805,3954,0,0,0,0,0,0
$GC,1547,-0.82,-214.1,358.2,-15.7,240,1551,0.00,2.15,0.00,0.000,4,0.000,0.049,2553,3205,3954,0,0,0,0,0,0
$GC,1603,-0.87,-214.1,366.2,-13.4,244,1611,0.00,2.15,0.00,0.000,6,0.000,0.036,2553,1804,3954,0,0,0,0,0,0
$GC,1929,-0.87,-214.1,413.9,-14.4,275,1933,0.00,2.17,0.00,0.000,4,0.000,0.050,2553,387,3953,0,0,0,0,0,0
$GC,1974,-0.87,-214.1,421.1,-16.1,278,1984,0.00,2.20,0.00,0.000,6,0.000,0.047,2550,1792,3953,0,0,0,0,0,0
$GC,2300,-0.89,-214.1,468.9,-14.3,309,2304,0.00,2.17,0.00,0.000,4,0.000,0.050,2539,3214,3951,0,0,0,0,0,0
$GC,2359,-0.95,-214.1,476.3,-12.2,314,2363,0.00,2.17,0.00,0.000,6,0.000,0.038,2539,1791,3951,0,0,0,0,0,0
$GC,2685,-0.95,-214.1,522.5,-14.6,344,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1790,3949,0,0,0,0,0,0
$GC,3007,-0.97,-214.1,570.6,-15.0,374,3011,0.00,2.25,0.00,0.000,4,0.000,0.055,2535,3216,3946,0,0,0,0,0,0
$GC,3047,-1.02,-214.1,576.8,-13.3,377,3051,0.00,2.15,0.00,0.000,6,0.000,0.039,2535,1793,3946,0,0,0,0,0,0
$GC,3369,-1.02,-214.1,625.4,-15.0,399,3373,0.00,2.17,0.00,0.000,4,0.000,0.054,2535,395,3943,0,0,0,0,0,0
$GC,3440,-1.05,-214.1,636.8,-15.3,402,3444,0.00,2.17,0.00,0.000,6,0.000,0.047,2533,1796,3942,0,0,0,0,0,0
$GC,3758,-1.05,-214.1,683.2,-14.2,417,3762,0.00,2.20,0.00,0.000,4,0.000,0.055,2532,3215,3939,0,0,0,0,0,0
$GC,3813,-1.09,-214.1,691.3,-13.7,419,3821,0.12,2.17,0.00,0.000,6,0.088,0.039,2472,1788,3938,0,0,0,0,0,0
$GC,4130,-1.01,-214.1,751.8,-19.7,435,4134,0.15,2.20,0.00,0.000,4,0.184,0.054,2510,392,3936,0,0,0,0,0,0
$GC,4240,-0.99,-214.1,770.5,-16.5,440,4244,0.00,2.20,0.00,0.000,6,0.000,0.047,2502,1805,3934,0,0,0,0,0,0
$GC,4569,-0.96,-214.1,826.8,-17.3,456,4574,0.12,2.22,0.00,0.000,4,0.190,0.056,2524,3217,3931,0,0,0,0,0,0
$GC,4638,-1.00,-214.1,836.7,-13.1,459,4642,0.00,2.15,0.00,0.000,6,0.000,0.041,2524,1796,3930,0,0,0,0,0,0
$GC,4959,-1.00,-214.1,883.8,-14.6,475,4963,0.00,2.20,0.00,0.000,4,0.000,0.056,2524,386,3928,0,0,0,0,0,0
$GC,5055,-1.00,-214.1,898.8,-15.1,479,5059,0.00,2.22,0.00,0.000,6,0.000,0.051,2514,1805,3926,0,0,0,0,0,0
$GC,5381,-1.00,-214.1,950.2,-15.7,495,5385,0.00,2.20,0.00,0.000,4,0.000,0.058,2503,3209,3923,0,0,0,0,0,0
$GC,5437,-1.02,-214.1,958.9,-15.0,497,5445,0.00,2.15,0.00,0.000,6,0.000,0.041,2503,1791,3923,0,0,0,0,0,0
$STATE,5709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5710,begin apogee
$GC,5717,-0.23,0.0,1002.7,16.0,511,5908,0.82,0.00,185.85,1.437,6,0.142,0.000,2758,1790,3072,0,0,0,0,0,0
$STATE,5909,end apogee,CONTROL_FINISHED_OK
$STATE,5909,begin climb
$GC,5913,1.22,214.1,1011.6,0.0,520,6126,1.35,2.42,199.30,1.374,4,0.057,0.055,3230,3158,2198,0,0,0,0,0,0
$GC,6160,0.92,214.1,963.3,30.7,531,6165,0.40,2.30,0.00,0.000,6,0.199,0.044,3141,1744,2196,0,0,0,0,0,0
$GC,6478,0.72,214.1,883.4,25.3,546,6480,0.25,0.00,0.00,0.000,6,0.185,0.000,3072,1743,2192,0,0,0,0,0,0
$GC,6785,0.61,214.1,823.5,19.1,561,6790,0.12,2.20,0.00,0.000,4,0.190,0.057,3047,341,2189,0,0,0,0,0,0
$GC,6832,0.53,214.1,815.1,18.8,563,6837,0.12,2.17,0.00,0.000,6,0.179,0.046,3014,1753,2189,0,0,0,0,0,0
$GC,7162,0.50,214.1,766.9,14.7,579,7166,0.00,2.15,0.00,0.000,4,0.000,0.054,3014,3161,2188,0,0,0,0,0,0
$GC,7218,0.48,214.1,758.1,14.8,581,7226,0.00,2.17,0.00,0.000,6,0.000,0.042,3022,1739,2186,0,0,0,0,0,0
$GC,7536,0.46,220.1,714.0,13.6,597,7546,0.12,2.22,4.57,0.858,4,0.185,0.057,2999,345,2174,0,0,0,0,0,0
$GC,7607,0.51,250.2,704.6,12.4,600,7646,0.00,2.20,30.23,1.232,6,0.000,0.044,2999,1758,2051,0,0,0,0,0,0
$GC,7959,0.55,268.7,660.3,13.0,617,7983,0.00,2.28,17.65,1.165,4,0.000,0.054,2999,3169,1976,0,0,0,0,0,0
$GC,8034,0.61,281.6,649.4,13.2,620,8054,0.00,2.20,13.73,1.122,6,0.000,0.044,3009,1743,1922,0,0,0,0,0,0
$GC,8388,0.66,307.9,603.5,12.6,637,8422,0.12,2.30,24.40,1.155,4,0.089,0.057,3082,343,1816,0,0,0,0,0,0
$GC,8462,0.59,307.9,589.5,19.6,642,8470,0.20,2.20,0.00,0.000,6,0.168,0.044,3029,1749,1813,0,0,0,0,0,0
$GC,8788,0.59,307.9,541.2,14.4,673,8791,0.00,2.15,0.00,0.000,4,0.000,0.053,3028,3160,1812,0,0,0,0,0,0
$GC,8809,0.59,307.9,537.8,14.6,674,8816,0.00,2.15,0.00,0.000,6,0.000,0.040,3036,1748,1810,0,0,0,0,0,0
$GC,9136,0.59,307.9,491.1,14.3,705,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1748,1809,0,0,0,0,0,0
$GC,9456,0.59,307.9,446.1,14.6,735,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1747,1808,0,0,0,0,0,0
$GC,9786,0.59,307.9,397.3,15.2,766,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1748,1807,0,0,0,0,0,0
$GC,10115,0.64,331.1,351.7,12.7,797,10141,0.00,2.30,20.90,0.958,4,0.000,0.055,3047,344,1721,0,0,0,0,0,0
$GC,10179,0.69,343.1,343.9,13.3,802,10196,0.00,2.15,12.35,0.894,6,0.000,0.038,3047,1757,1673,0,0,0,0,0,0
$GC,10519,0.70,343.1,297.3,14.2,834,10527,0.00,2.20,0.00,0.000,4,0.000,0.050,3047,3159,1671,0,0,0,0,0,0
$GC,10563,0.75,345.6,290.9,13.8,841,10571,0.00,2.15,0.00,0.000,6,0.000,0.040,3056,1750,1671,0,0,0,0,0,0
$GC,10899,0.81,369.6,246.1,12.7,902,10935,0.12,2.25,24.65,0.855,4,0.086,0.053,3141,356,1564,0,0,0,0,0,0
$GC,11017,0.74,369.6,223.0,20.8,921,11025,0.20,2.12,0.00,0.000,6,0.158,0.038,3085,1752,1563,0,0,0,0,0,0
$GC,11353,0.74,369.6,175.6,15.3,982,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1756,1562,0,0,0,0,0,0
$GC,11684,0.82,400.4,130.8,12.4,1043,11722,0.00,2.28,27.80,0.748,4,0.000,0.053,3094,346,1438,0,0,0,0,0,0
$GC,11796,0.95,449.5,117.0,11.4,1061,11850,0.10,2.17,43.42,0.734,6,0.045,0.035,3165,1764,1238,0,0,0,0,0,0
$GC,12172,0.91,449.5,54.1,17.1,1128,12179,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1766,1237,0,0,0,0,0,0
$STATE,12444,end climb,SURFACE_DEPTH_REACHED
$STATE,12444,begin surface coast
$FINISH,0.9,1.022416
$STATE,12461,end surface coast,CONTROL_FINISHED_OK
$STATE,12461,begin surface
$SM_CCo,12538,0.00,0.000,0,0,1233,451.11
$SM_GC,1.66,7.97,0.00,0.00,0.041,0.000,0.000,166,1769,1233,-8.34,-0.88,451.11
$IRIDIUM_FIX,2108.69,12601.30,071110,141449
$TT8_MAMPS,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.60
$XPDR_PINGS,108
$24V_AH,22.2,88.813
$10V_AH,10.1,55.973
$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,21.950,101.275,604.850,0.000,0.000,28.140,16.678,186.452,27.000,0.000,14.436,2917.565,6061.044,657.061,2897.693,413.833,0.000,1825.769,0.000,2673.110,0.000,0.845,0.000
$DEVICE_MAMPS,220.320,58.140,1437.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.256,1019.413,1341.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70410,1182
$CAP_FILE_SIZE,139749,0
$CFSIZE,260165632,151273472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,153.3,1
$GPS,071110,214137,2113.677,12601.551,31,1.2,31,-2.8