version: 66.08
glider: 166
mission: 3
dive: 433
start: 11 3 110 0 11 48
data:
$ID,166
$MISSION,3
$DIVE,433
$N_DIVES,447
$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,-22127.73
$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,57
$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
$GPS1,031110,000731,2123.520,12603.322,10,1.4,10,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-58.7
$GPS2,031110,001126,2123.498,12603.340,13,1.4,13,-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,240.9,5096,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,129,0.00,0.00,-109.57,0.000,2,0.000,0.000,147,1832,3419,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.9,-9.7,15,157,9.05,2.30,-9.75,0.000,4,0.220,0.060,2461,389,3949,0,0,0,0,0,0
$GC,397,-0.89,-214.1,115.0,-36.6,63,406,0.30,2.15,0.00,0.000,6,0.159,0.046,2545,1768,3951,0,0,0,0,0,0
$GC,729,-0.78,-214.1,194.5,-22.7,124,738,0.15,2.17,0.00,0.000,4,0.180,0.050,2584,393,3953,0,0,0,0,0,0
$GC,905,-0.78,-214.1,225.3,-16.0,155,912,0.00,2.17,0.00,0.000,6,0.000,0.044,2576,1815,3954,0,0,0,0,0,0
$GC,1235,-0.78,-214.1,275.0,-14.9,216,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1816,3954,0,0,0,0,0,0
$GC,1566,-0.78,-214.1,321.8,-13.8,262,1570,0.00,2.10,0.00,0.000,4,0.000,0.049,2565,3211,3954,0,0,0,0,0,0
$GC,1609,-0.82,-214.1,327.3,-13.6,265,1613,0.00,2.12,0.00,0.000,6,0.000,0.037,2567,1798,3954,0,0,0,0,0,0
$GC,1940,-0.84,-214.1,371.4,-13.9,296,1944,0.00,2.17,0.00,0.000,4,0.000,0.050,2566,386,3953,0,0,0,0,0,0
$GC,1983,-0.84,-214.1,377.3,-14.3,299,1987,0.00,2.15,0.00,0.000,6,0.000,0.045,2561,1801,3952,0,0,0,0,0,0
$GC,2314,-0.84,-214.1,424.8,-14.0,330,2318,0.00,2.15,0.00,0.000,4,0.000,0.052,2554,3210,3950,0,0,0,0,0,0
$GC,2360,-0.89,-214.1,430.7,-12.5,333,2368,0.00,2.12,0.00,0.000,6,0.000,0.037,2554,1802,3950,0,0,0,0,0,0
$GC,2686,-0.91,-214.1,475.1,-13.5,364,2690,0.00,2.17,0.00,0.000,4,0.000,0.052,2554,392,3948,0,0,0,0,0,0
$GC,2709,-0.91,-214.1,478.2,-13.7,365,2717,0.00,2.17,0.00,0.000,6,0.000,0.046,2548,1805,3947,0,0,0,0,0,0
$GC,3035,-0.91,-214.1,523.2,-13.6,396,3039,0.00,2.20,0.00,0.000,4,0.000,0.051,2548,389,3945,0,0,0,0,0,0
$GC,3077,-0.93,-214.1,528.7,-13.2,399,3081,0.00,2.17,0.00,0.000,6,0.000,0.048,2548,1810,3944,0,0,0,0,0,0
$GC,3404,-0.93,-214.1,570.0,-12.2,429,3408,0.00,2.12,0.00,0.000,4,0.000,0.052,2539,3212,3941,0,0,0,0,0,0
$GC,3446,-0.97,-214.1,575.1,-12.0,432,3450,0.00,2.12,0.00,0.000,6,0.000,0.038,2538,1788,3941,0,0,0,0,0,0
$GC,3769,-0.97,-214.1,618.1,-13.7,456,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1788,3938,0,0,0,0,0,0
$GC,4077,-0.97,-214.1,661.9,-14.4,471,4080,0.00,2.17,0.00,0.000,4,0.000,0.054,2539,389,3934,0,0,0,0,0,0
$GC,4128,-0.99,-214.1,669.6,-15.1,473,4132,0.00,2.17,0.00,0.000,6,0.000,0.050,2535,1800,3933,0,0,0,0,0,0
$GC,4450,-0.99,-214.1,715.0,-13.6,489,4454,0.00,2.20,0.00,0.000,4,0.000,0.057,2525,3216,3930,0,0,0,0,0,0
$GC,4479,-1.01,-214.1,718.9,-13.1,490,4483,0.00,2.15,0.00,0.000,6,0.000,0.040,2525,1793,3930,0,0,0,0,0,0
$GC,4801,-1.01,-214.1,763.4,-13.7,506,4805,0.00,2.15,0.00,0.000,4,0.000,0.055,2525,396,3927,0,0,0,0,0,0
$GC,4867,-1.01,-214.1,772.9,-14.1,509,4872,0.00,2.22,0.00,0.000,6,0.000,0.050,2516,1801,3926,0,0,0,0,0,0
$GC,5197,-1.01,-214.1,818.5,-13.7,525,5201,0.00,2.22,0.00,0.000,4,0.000,0.055,2516,388,3923,0,0,0,0,0,0
$GC,5216,-0.99,-214.1,821.3,-13.8,526,5220,0.00,2.22,0.00,0.000,6,0.000,0.056,2508,1812,3922,0,0,0,0,0,0
$GC,5551,-0.96,-214.1,869.1,-14.0,542,5555,0.00,2.15,0.00,0.000,4,0.000,0.057,2500,3210,3920,0,0,0,0,0,0
$GC,5578,-0.94,-214.1,873.3,-13.6,543,5583,0.12,2.15,0.00,0.000,6,0.167,0.041,2534,1800,3919,0,0,0,0,0,0
$GC,5895,-0.94,-214.1,912.9,-12.9,558,5899,0.00,2.22,0.00,0.000,4,0.000,0.057,2534,396,3917,0,0,0,0,0,0
$GC,5945,-0.96,-214.1,919.9,-13.7,560,5949,0.00,2.17,0.00,0.000,6,0.000,0.050,2526,1800,3916,0,0,0,0,0,0
$GC,6261,-0.96,-214.1,961.9,-13.3,575,6265,0.00,2.22,0.00,0.000,4,0.000,0.057,2526,391,3914,0,0,0,0,0,0
$GC,6286,-0.96,-214.1,965.1,-13.7,576,6290,0.00,2.20,0.00,0.000,6,0.000,0.051,2520,1809,3914,0,0,0,0,0,0
$STATE,6549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6549,begin apogee
$GC,6555,-0.23,0.0,1002.5,14.4,589,6748,0.75,0.00,184.88,1.452,6,0.138,0.000,2761,1739,3072,0,0,0,0,0,0
$STATE,6749,end apogee,CONTROL_FINISHED_OK
$STATE,6749,begin climb
$GC,6751,1.16,214.1,1011.7,0.0,598,6960,1.30,0.00,202.40,1.392,6,0.053,0.000,3216,1739,2199,0,0,0,0,0,0
$GC,7262,0.84,214.1,887.4,29.8,623,7267,0.38,2.22,0.00,0.000,4,0.210,0.055,3105,3159,2192,0,0,0,0,0,0
$GC,7306,0.64,214.1,875.0,22.7,625,7311,0.22,2.15,0.00,0.000,6,0.186,0.043,3055,1752,2190,0,0,0,0,0,0
$GC,7631,0.53,214.1,820.4,16.5,641,7636,0.15,2.20,0.00,0.000,4,0.171,0.052,3003,3166,2189,0,0,0,0,0,0
$GC,7671,0.49,214.1,813.7,14.0,643,7675,0.00,2.15,0.00,0.000,6,0.000,0.042,3012,1740,2187,0,0,0,0,0,0
$GC,8000,0.47,233.8,770.1,13.0,659,8023,0.00,2.28,18.00,1.233,4,0.000,0.056,3022,342,2118,0,0,0,0,0,0
$GC,8051,0.43,233.8,762.7,14.8,661,8055,0.15,2.20,0.00,0.000,6,0.167,0.044,2984,1749,2117,0,0,0,0,0,0
$GC,8372,0.51,295.5,725.5,11.2,677,8437,0.00,2.25,56.83,1.258,4,0.000,0.053,2974,3161,1866,0,0,0,0,0,0
$GC,8475,0.65,360.6,713.6,11.1,681,8543,0.20,2.20,60.97,1.226,6,0.064,0.041,3077,1745,1601,0,0,0,0,0,0
$GC,8862,0.57,360.6,635.0,20.0,700,8866,0.20,2.17,0.00,0.000,4,0.166,0.054,3031,347,1595,0,0,0,0,0,0
$GC,8894,0.57,360.6,628.4,17.3,701,8902,0.00,2.17,0.00,0.000,6,0.000,0.041,3031,1758,1593,0,0,0,0,0,0
$GC,9216,0.57,360.6,579.2,15.3,723,9220,0.00,2.15,0.00,0.000,4,0.000,0.052,3030,3161,1591,0,0,0,0,0,0
$GC,9301,0.59,360.6,566.4,14.1,730,9305,0.00,2.12,0.00,0.000,6,0.000,0.042,3039,1750,1591,0,0,0,0,0,0
$GC,9626,0.59,360.6,515.2,15.5,760,9630,0.00,2.17,0.00,0.000,4,0.000,0.056,3050,343,1590,0,0,0,0,0,0
$GC,9660,0.57,360.6,509.7,16.2,763,9664,0.00,2.17,0.00,0.000,6,0.000,0.046,3050,1757,1588,0,0,0,0,0,0
$GC,9994,0.54,360.6,453.7,17.0,794,9998,0.12,2.12,0.00,0.000,4,0.171,0.050,3011,3164,1588,0,0,0,0,0,0
$GC,10059,0.65,401.6,444.1,12.1,799,10102,0.00,2.15,35.72,1.056,6,0.000,0.041,3020,1745,1434,0,0,0,0,0,0
$GC,10421,0.73,433.8,399.4,12.5,833,10458,0.15,2.28,29.95,1.008,4,0.076,0.055,3112,352,1302,0,0,0,0,0,0
$GC,10497,0.65,433.8,384.2,22.2,839,10505,0.20,2.17,0.00,0.000,6,0.164,0.040,3055,1751,1301,0,0,0,0,0,0
$GC,10823,0.65,433.8,329.1,16.4,870,10827,0.00,2.15,0.00,0.000,4,0.000,0.048,3053,3162,1300,0,0,0,0,0,0
$GC,10886,0.71,433.8,319.4,13.9,875,10890,0.00,2.12,0.00,0.000,6,0.000,0.041,3061,1751,1300,0,0,0,0,0,0
$GC,11215,0.71,433.8,265.8,16.4,924,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1750,1299,0,0,0,0,0,0
$GC,11547,0.80,481.2,214.1,11.8,985,11598,0.10,2.22,41.85,0.842,4,0.102,0.053,3132,341,1109,0,0,0,0,0,0
$GC,11612,0.74,481.2,202.0,21.6,994,11621,0.15,2.20,0.00,0.000,6,0.138,0.037,3080,1755,1109,0,0,0,0,0,0
$GC,11950,0.76,481.2,152.4,14.7,1055,11956,0.00,2.10,0.00,0.000,4,0.000,0.046,3069,3161,1108,0,0,0,0,0,0
$GC,11986,0.84,502.2,146.6,13.0,1061,12017,0.08,2.15,19.67,0.749,6,0.053,0.037,3136,1752,1023,0,0,0,0,0,0
$GC,12339,0.85,509.7,80.8,13.6,1125,12356,0.00,2.22,7.75,0.606,4,0.000,0.052,3147,347,994,0,0,0,0,0,0
$GC,12428,0.88,509.7,67.1,14.4,1140,12436,0.00,2.15,0.00,0.000,6,0.000,0.034,3147,1758,993,0,0,0,0,0,0
$GC,12758,0.88,509.7,8.5,16.4,1201,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1761,993,0,0,0,0,0,0
$STATE,12788,end climb,SURFACE_DEPTH_REACHED
$STATE,12788,begin surface coast
$FINISH,0.9,1.022177
$STATE,12805,end surface coast,CONTROL_FINISHED_OK
$STATE,12805,begin surface
$SM_CCo,12882,0.00,0.000,0,0,990,510.22
$SM_GC,1.84,7.82,0.00,0.00,0.041,0.000,0.000,152,1764,990,-8.34,-1.02,510.22
$IRIDIUM_FIX,2115.63,12604.53,031110,000005
$TT8_MAMPS,0.026964
$HUMID,43.42
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.50
$XPDR_PINGS,90
$24V_AH,22.1,81.726
$10V_AH,10.1,51.815
$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,21.600,122.025,658.025,0.000,0.000,0.000,0.000,0.000,22.500,0.000,13.941,2988.469,6240.907,711.600,2704.066,305.801,0.000,1885.401,0.000,2692.730,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,97.155,1451.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.961,1039.152,1349.256,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333824
$DATA_FILE_SIZE,70315,1209
$CAP_FILE_SIZE,154962,0
$CFSIZE,260165632,153739264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,137.7,1
$GPS,031110,034736,2121.545,12602.261,30,1.3,30,-2.9