version: 66.08
glider: 166
mission: 3
dive: 447
start: 11 5 110 3 0 35
data:
$ID,166
$MISSION,3
$DIVE,447
$N_DIVES,454
$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,-22145.443
$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,34
$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
$GPS1,051110,025254,2116.746,12601.020,39,1.5,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-61.0
$GPS2,051110,030014,2116.635,12601.017,14,1.4,14,-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,6.9,4207,-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,-214.1,0.0,0.0,0,124,0.00,0.00,-104.65,0.000,2,0.000,0.000,134,1810,3372,0,0,0,0,0,0
$GC,128,-1.16,-214.1,5.8,-11.7,14,159,9.35,2.20,-10.82,0.000,4,0.227,0.057,2448,3217,3948,0,0,0,0,0,0
$GC,183,-0.83,-214.1,31.6,-44.6,22,191,0.38,2.15,0.00,0.000,6,0.168,0.034,2565,1800,3951,0,0,0,0,0,0
$GC,511,-0.71,-214.1,128.0,-25.4,83,519,0.15,2.20,0.00,0.000,4,0.177,0.047,2608,392,3951,0,0,0,0,0,0
$GC,597,-0.71,-214.1,145.2,-18.0,98,605,0.00,2.17,0.00,0.000,6,0.000,0.041,2599,1803,3952,0,0,0,0,0,0
$GC,939,-0.71,-214.1,205.9,-14.1,159,945,0.00,2.17,0.00,0.000,4,0.000,0.047,2599,398,3954,0,0,0,0,0,0
$GC,1079,-0.74,-214.1,225.9,-14.0,183,1086,0.00,2.15,0.00,0.000,6,0.000,0.041,2587,1808,3954,0,0,0,0,0,0
$GC,1418,-0.74,-214.1,274.8,-14.8,244,1426,0.00,2.15,0.00,0.000,4,0.000,0.047,2576,3210,3955,0,0,0,0,0,0
$GC,1475,-0.79,-214.1,282.5,-13.4,253,1481,0.00,2.10,0.00,0.000,6,0.000,0.034,2575,1795,3955,0,0,0,0,0,0
$GC,1805,-0.79,-214.1,331.4,-14.7,294,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1794,3955,0,0,0,0,0,0
$GC,2126,-0.81,-214.1,374.7,-12.8,324,2130,0.00,2.17,0.00,0.000,4,0.000,0.049,2575,397,3955,0,0,0,0,0,0
$GC,2202,-0.86,-214.1,384.4,-12.1,330,2206,0.00,2.12,0.00,0.000,6,0.000,0.043,2566,1800,3955,0,0,0,0,0,0
$GC,2528,-0.88,-214.1,427.3,-13.2,360,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1800,3954,0,0,0,0,0,0
$GC,2850,-0.91,-214.1,468.0,-12.1,390,2854,0.00,2.22,0.00,0.000,4,0.000,0.052,2566,399,3952,0,0,0,0,0,0
$GC,2916,-0.95,-214.1,476.4,-12.2,395,2920,0.00,2.15,0.00,0.000,6,0.000,0.046,2563,1800,3952,0,0,0,0,0,0
$GC,3242,-0.98,-214.1,516.8,-12.8,425,3244,0.12,0.00,0.00,0.000,6,0.091,0.000,2500,1801,3949,0,0,0,0,0,0
$GC,3559,-0.92,-214.1,569.7,-16.6,455,3561,0.15,0.00,0.00,0.000,6,0.175,0.000,2539,1801,3947,0,0,0,0,0,0
$GC,3887,-0.92,-214.1,616.2,-14.3,481,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1801,3944,0,0,0,0,0,0
$GC,4197,-0.92,-214.1,660.0,-13.8,496,4201,0.00,2.20,0.00,0.000,4,0.000,0.054,2540,401,3942,0,0,0,0,0,0
$GC,4241,-0.92,-214.1,666.7,-13.8,498,4245,0.00,2.17,0.00,0.000,6,0.000,0.049,2546,1806,3941,0,0,0,0,0,0
$GC,4562,-0.92,-214.1,709.6,-13.3,514,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1807,3938,0,0,0,0,0,0
$GC,4875,-0.92,-214.1,749.5,-12.5,529,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1807,3935,0,0,0,0,0,0
$GC,5182,-0.92,-214.1,789.3,-12.8,544,5186,0.00,2.22,0.00,0.000,4,0.000,0.055,2550,393,3933,0,0,0,0,0,0
$GC,5223,-0.94,-214.1,794.9,-13.6,546,5227,0.00,2.17,0.00,0.000,6,0.000,0.049,2545,1801,3932,0,0,0,0,0,0
$GC,5552,-0.94,-214.1,840.5,-14.2,562,5556,0.00,2.22,0.00,0.000,4,0.000,0.058,2534,3219,3928,0,0,0,0,0,0
$GC,5616,-0.98,-214.1,849.5,-13.4,565,5620,0.00,2.15,0.00,0.000,6,0.000,0.041,2534,1802,3928,0,0,0,0,0,0
$GC,5946,-0.98,-214.1,899.4,-15.0,581,5950,0.00,2.20,0.00,0.000,4,0.000,0.057,2534,388,3925,0,0,0,0,0,0
$GC,6031,-0.98,-214.1,913.2,-15.9,585,6035,0.00,2.20,0.00,0.000,6,0.000,0.050,2524,1806,3924,0,0,0,0,0,0
$GC,6360,-0.96,-214.1,962.6,-14.8,601,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1806,3922,0,0,0,0,0,0
$STATE,6623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6624,begin apogee
$GC,6629,-0.23,0.0,1001.5,14.3,614,6823,0.75,0.00,187.25,1.455,6,0.140,0.000,2758,1740,3072,0,0,0,0,0,0
$STATE,6824,end apogee,CONTROL_FINISHED_OK
$STATE,6824,begin climb
$GC,6828,1.16,214.1,1009.9,0.0,623,7040,1.30,2.50,202.45,1.392,4,0.059,0.058,3210,3154,2198,0,0,0,0,0,0
$GC,7071,0.86,214.1,965.4,29.2,634,7079,0.43,2.30,0.00,0.000,6,0.204,0.045,3119,1753,2196,0,0,0,0,0,0
$GC,7389,0.66,214.1,891.2,23.0,650,7391,0.22,0.00,0.00,0.000,6,0.185,0.000,3057,1753,2192,0,0,0,0,0,0
$GC,7697,0.54,214.1,836.6,17.4,665,7699,0.15,0.00,0.00,0.000,6,0.179,0.000,3016,1753,2191,0,0,0,0,0,0
$GC,8006,0.49,214.5,793.2,13.9,680,8010,0.00,2.20,0.00,0.000,4,0.000,0.055,3008,3169,2187,0,0,0,0,0,0
$GC,8052,0.46,214.5,786.4,14.3,682,8056,0.00,2.17,0.00,0.000,6,0.000,0.044,3017,1742,2187,0,0,0,0,0,0
$GC,8374,0.42,214.5,740.4,14.4,698,8379,0.15,2.17,0.00,0.000,4,0.174,0.057,2987,346,2187,0,0,0,0,0,0
$GC,8426,0.50,266.8,733.7,11.6,700,8479,0.00,2.17,47.80,1.274,6,0.000,0.046,2987,1757,1984,0,0,0,0,0,0
$GC,8790,0.56,302.2,688.9,12.4,717,8834,0.10,2.30,32.75,1.226,4,0.100,0.055,3039,3166,1839,0,0,0,0,0,0
$GC,8870,0.53,302.2,676.0,17.6,720,8875,0.15,2.17,0.00,0.000,6,0.177,0.042,3012,1750,1838,0,0,0,0,0,0
$GC,9186,0.53,302.2,629.6,14.3,735,9190,0.00,2.17,0.00,0.000,4,0.000,0.056,3021,347,1835,0,0,0,0,0,0
$GC,9221,0.53,302.2,624.5,15.4,736,9225,0.00,2.15,0.00,0.000,6,0.000,0.044,3020,1746,1833,0,0,0,0,0,0
$GC,9542,0.56,330.1,579.9,12.7,757,9576,0.00,2.25,26.10,1.169,4,0.000,0.054,3020,3162,1726,0,0,0,0,0,0
$GC,9614,0.56,330.1,569.4,13.9,763,9622,0.00,2.20,0.00,0.000,6,0.000,0.041,3028,1750,1725,0,0,0,0,0,0
$GC,9940,0.56,330.1,522.8,14.5,794,9944,0.00,2.20,0.00,0.000,4,0.000,0.057,3039,346,1723,0,0,0,0,0,0
$GC,9984,0.56,330.1,515.9,15.0,797,9991,0.00,2.20,0.00,0.000,6,0.000,0.042,3039,1751,1720,0,0,0,0,0,0
$GC,10310,0.54,330.1,466.7,14.5,828,10314,0.00,2.17,0.00,0.000,4,0.000,0.052,3038,3164,1720,0,0,0,0,0,0
$GC,10385,0.54,330.1,456.2,13.9,834,10390,0.12,2.15,0.00,0.000,6,0.172,0.041,3014,1743,1720,0,0,0,0,0,0
$GC,10711,0.62,380.0,418.0,11.7,864,10761,0.00,2.25,45.28,1.053,4,0.000,0.056,3023,341,1523,0,0,0,0,0,0
$GC,10822,0.77,431.8,405.1,11.6,873,10877,0.20,2.20,48.17,1.019,6,0.065,0.038,3118,1763,1311,0,0,0,0,0,0
$GC,11196,0.67,431.8,319.0,23.7,908,11201,0.22,2.15,0.00,0.000,4,0.167,0.048,3054,3154,1307,0,0,0,0,0,0
$GC,11257,0.73,431.8,307.9,14.5,913,11263,0.00,2.12,0.00,0.000,6,0.000,0.041,3061,1746,1306,0,0,0,0,0,0
$GC,11593,0.73,431.8,255.2,16.8,969,11600,0.00,2.17,0.00,0.000,4,0.000,0.054,3072,347,1305,0,0,0,0,0,0
$GC,11619,0.73,431.8,250.6,16.2,973,11626,0.00,2.15,0.00,0.000,6,0.000,0.039,3072,1752,1304,0,0,0,0,0,0
$GC,11961,0.80,475.8,200.4,12.0,1034,12009,0.00,2.30,37.92,0.839,4,0.000,0.053,3082,341,1131,0,0,0,0,0,0
$GC,12049,0.86,475.8,188.8,14.0,1047,12056,0.00,2.17,0.00,0.000,6,0.000,0.037,3082,1755,1130,0,0,0,0,0,0
$GC,12390,0.94,503.3,141.7,12.7,1108,12422,0.15,2.22,25.05,0.763,4,0.074,0.044,3159,3169,1019,0,0,0,0,0,0
$GC,12491,0.94,503.3,121.8,19.7,1124,12500,0.00,2.20,0.00,0.000,6,0.000,0.037,3161,1742,1018,0,0,0,0,0,0
$GC,12819,0.88,503.3,57.7,20.2,1185,12828,0.15,2.20,0.00,0.000,4,0.171,0.051,3127,350,1018,0,0,0,0,0,0
$GC,12875,0.97,543.6,49.0,12.1,1194,12919,0.00,2.12,35.05,0.682,6,0.000,0.034,3125,1755,855,0,0,0,0,0,0
$STATE,13169,end climb,SURFACE_DEPTH_REACHED
$STATE,13169,begin surface coast
$FINISH,1.0,1.022444
$STATE,13190,end surface coast,CONTROL_FINISHED_OK
$STATE,13190,begin surface
$SM_CCo,13267,0.00,0.000,0,0,852,544.32
$SM_GC,1.73,7.60,0.00,0.00,0.028,0.000,0.000,138,1758,852,-8.34,-1.19,544.32
$IRIDIUM_FIX,2108.69,12601.30,041110,232354
$TT8_MAMPS,0.026215
$HUMID,42.83
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.70
$XPDR_PINGS,89
$24V_AH,22.0,84.711
$10V_AH,10.1,53.678
$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,21.850,105.400,687.825,0.000,0.000,29.670,39.531,186.363,22.250,0.000,15.710,3047.347,6493.074,696.363,3032.064,422.705,0.000,1907.298,0.000,2779.073,0.000,0.843,0.000
$DEVICE_MAMPS,227.205,99.450,1455.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.005,1078.149,1415.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333740
$DATA_FILE_SIZE,73560,1251
$CAP_FILE_SIZE,145468,0
$CFSIZE,260165632,152641536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,177.8,1
$GPS,051110,064301,2118.091,12600.845,36,1.7,43,-2.9