version: 66.08
glider: 166
mission: 3
dive: 436
start: 11 3 110 11 15 6
data:
$ID,166
$MISSION,3
$DIVE,436
$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,-22131.508
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,031110,110737,2122.504,12601.152,35,1.0,35,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-66.3
$GPS2,031110,111443,2122.532,12601.197,12,1.1,17,-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,177.1,1725,-28.2,-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,-1.41,-103.1,0.0,0.0,0,90,0.00,0.00,-70.75,0.000,2,0.000,0.000,152,1800,3295,0,0,0,0,0,0
$GC,93,-1.50,-175.9,5.2,-7.3,10,118,8.73,2.25,-9.95,0.000,4,0.223,0.054,2354,382,3793,0,0,0,0,0,0
$GC,358,-1.22,-175.9,131.4,-47.7,58,367,0.32,2.20,0.00,0.000,6,0.195,0.044,2437,1791,3795,0,0,0,0,0,0
$GC,700,-1.11,-175.9,232.8,-27.3,119,707,0.15,2.17,0.00,0.000,4,0.188,0.046,2479,388,3798,0,0,0,0,0,0
$GC,959,-1.07,-175.9,299.7,-23.4,165,966,0.00,2.17,0.00,0.000,6,0.000,0.043,2470,1810,3799,0,0,0,0,0,0
$GC,1285,-1.03,-175.9,374.6,-21.9,196,1290,0.12,2.22,0.00,0.000,4,0.200,0.049,2505,386,3799,0,0,0,0,0,0
$GC,1447,-1.07,-175.9,406.4,-17.6,210,1451,0.00,2.15,0.00,0.000,6,0.000,0.044,2496,1801,3800,0,0,0,0,0,0
$GC,1772,-1.09,-175.9,461.5,-16.7,240,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1801,3799,0,0,0,0,0,0
$GC,2096,-1.13,-175.9,515.6,-16.5,270,2100,0.00,2.22,0.00,0.000,4,0.000,0.050,2495,389,3799,0,0,0,0,0,0
$GC,2147,-1.16,-175.9,525.3,-17.2,274,2151,0.00,2.15,0.00,0.000,6,0.000,0.045,2484,1802,3799,0,0,0,0,0,0
$GC,2475,-1.19,-175.9,582.9,-18.4,304,2478,0.00,2.20,0.00,0.000,4,0.000,0.050,2484,392,3798,0,0,0,0,0,0
$GC,2543,-1.21,-175.9,596.0,-18.2,310,2547,0.00,2.17,0.00,0.000,6,0.000,0.044,2475,1804,3797,0,0,0,0,0,0
$GC,2859,-1.24,-175.9,652.0,-17.5,326,2863,0.00,2.20,0.00,0.000,4,0.000,0.051,2476,388,3794,0,0,0,0,0,0
$GC,2907,-1.27,-175.9,660.4,-18.6,328,2912,0.12,2.17,0.00,0.000,6,0.097,0.046,2423,1804,3794,0,0,0,0,0,0
$GC,3241,-1.23,-175.9,728.9,-20.4,344,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1803,3791,0,0,0,0,0,0
$GC,3551,-1.19,-175.9,791.5,-20.4,359,3553,0.12,0.00,0.00,0.000,6,0.204,0.000,2451,1804,3788,0,0,0,0,0,0
$GC,3858,-1.19,-175.9,847.3,-17.7,374,3862,0.00,2.20,0.00,0.000,4,0.000,0.054,2460,394,3784,0,0,0,0,0,0
$GC,3931,-1.19,-175.9,861.0,-18.3,377,3935,0.00,2.17,0.00,0.000,6,0.000,0.048,2461,1808,3784,0,0,0,0,0,0
$GC,4248,-1.19,-175.9,918.0,-18.3,392,4252,0.00,2.22,0.00,0.000,4,0.000,0.054,2461,393,3780,0,0,0,0,0,0
$GC,4337,-1.19,-175.9,935.6,-18.7,396,4341,0.00,2.17,0.00,0.000,6,0.000,0.048,2451,1805,3780,0,0,0,0,0,0
$GC,4666,-1.19,-175.9,996.3,-18.5,412,4670,0.00,2.22,0.00,0.000,4,0.000,0.055,2451,393,3776,0,0,0,0,0,0
$STATE,4686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4686,begin apogee
$GC,4693,-0.23,0.0,1001.2,19.3,413,4858,1.08,0.00,154.12,1.438,6,0.164,0.000,2756,1748,3071,0,0,0,0,0,0
$STATE,4859,end apogee,CONTROL_FINISHED_OK
$STATE,4859,begin climb
$GC,4861,1.50,175.9,1007.8,0.0,421,5034,1.65,2.47,163.52,1.379,4,0.070,0.056,3333,342,2354,0,0,0,0,0,0
$GC,5107,1.17,175.9,951.9,36.2,432,5112,0.43,2.28,0.00,0.000,6,0.237,0.050,3224,1753,2349,0,0,0,0,0,0
$GC,5423,0.96,175.9,862.3,28.0,447,5425,0.28,0.00,0.00,0.000,6,0.210,0.000,3154,1757,2345,0,0,0,0,0,0
$GC,5734,0.83,175.9,789.3,23.1,462,5736,0.17,0.00,0.00,0.000,6,0.202,0.000,3108,1757,2343,0,0,0,0,0,0
$GC,6042,0.76,175.9,729.3,19.0,477,6046,0.00,2.15,0.00,0.000,4,0.000,0.052,3099,3169,2341,0,0,0,0,0,0
$GC,6082,0.70,175.9,721.7,19.5,478,6089,0.15,2.17,0.00,0.000,6,0.203,0.042,3071,1743,2340,0,0,0,0,0,0
$GC,6398,0.70,175.9,669.8,16.6,494,6402,0.00,2.22,0.00,0.000,4,0.000,0.052,3061,3176,2339,0,0,0,0,0,0
$GC,6430,0.70,175.9,664.1,15.9,495,6437,0.00,2.15,0.00,0.000,6,0.000,0.041,3069,1749,2338,0,0,0,0,0,0
$GC,6748,0.70,175.9,611.9,17.0,511,6752,0.00,2.20,0.00,0.000,4,0.000,0.051,3062,3171,2337,0,0,0,0,0,0
$GC,6814,0.70,175.9,600.5,15.8,514,6818,0.00,2.15,0.00,0.000,6,0.000,0.041,3070,1738,2336,0,0,0,0,0,0
$GC,7146,0.70,175.9,550.4,14.2,545,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1739,2336,0,0,0,0,0,0
$GC,7465,0.70,175.9,504.1,14.9,575,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1739,2335,0,0,0,0,0,0
$GC,7788,0.71,188.1,462.1,12.8,605,7803,0.00,2.25,8.60,0.962,4,0.000,0.054,3081,347,2305,0,0,0,0,0,0
$GC,7825,0.71,188.1,456.2,14.6,608,7834,0.00,2.17,0.00,0.000,6,0.000,0.039,3080,1752,2304,0,0,0,0,0,0
$GC,8152,0.71,188.1,409.1,15.3,639,8156,0.00,2.15,0.00,0.000,4,0.000,0.050,3080,3164,2303,0,0,0,0,0,0
$GC,8182,0.71,188.1,404.6,15.0,641,8186,0.00,2.12,0.00,0.000,6,0.000,0.039,3089,1748,2303,0,0,0,0,0,0
$GC,8511,0.72,191.1,358.2,13.6,671,8523,0.00,2.22,4.25,0.666,4,0.000,0.047,3081,3157,2292,0,0,0,0,0,0
$GC,8568,0.72,191.1,349.7,13.9,676,8572,0.00,2.12,0.00,0.000,6,0.000,0.038,3090,1745,2292,0,0,0,0,0,0
$GC,8896,0.75,202.2,305.8,12.9,706,8912,0.00,2.17,11.65,0.875,4,0.000,0.050,3101,350,2246,0,0,0,0,0,0
$GC,8948,0.75,202.2,298.2,14.8,711,8955,0.00,2.15,0.00,0.000,6,0.000,0.038,3097,1753,2245,0,0,0,0,0,0
$GC,9292,0.79,223.2,252.2,12.0,772,9320,0.00,2.20,19.35,0.863,4,0.000,0.047,3097,3161,2162,0,0,0,0,0,0
$GC,9351,0.81,229.9,244.5,13.3,781,9366,0.00,2.12,8.07,0.750,6,0.000,0.037,3106,1748,2134,0,0,0,0,0,0
$GC,9702,0.86,245.7,197.8,12.5,843,9722,0.00,0.00,15.45,0.791,6,0.000,0.000,3106,1747,2069,0,0,0,0,0,0
$GC,10057,0.97,275.4,153.5,11.2,906,10093,0.12,2.20,26.88,0.773,4,0.089,0.048,3181,344,1948,0,0,0,0,0,0
$GC,10234,0.95,275.4,123.2,14.2,937,10242,0.00,2.15,0.00,0.000,6,0.000,0.036,3173,1750,1946,0,0,0,0,0,0
$GC,10561,1.00,300.8,85.7,11.6,998,10592,0.00,2.17,22.67,0.698,4,0.000,0.042,3164,3158,1844,0,0,0,0,0,0
$GC,10704,1.05,308.6,67.1,13.2,1022,10719,0.00,2.15,8.38,0.595,6,0.000,0.037,3165,1753,1813,0,0,0,0,0,0
$GC,11043,1.08,308.6,16.0,16.7,1084,11052,0.00,2.17,0.00,0.000,4,0.000,0.044,3157,3156,1813,0,0,0,0,0,0
$GC,11113,1.16,321.8,4.9,12.7,1096,11131,0.10,2.15,12.40,0.584,2,0.051,0.037,3225,1753,1763,0,0,0,0,0,0
$STATE,11132,end climb,SURFACE_DEPTH_REACHED
$STATE,11132,begin surface coast
$FINISH,1.0,1.001593
$STATE,11155,end surface coast,CONTROL_FINISHED_OK
$STATE,11156,begin surface
$SM_CCo,11175,72.22,0.550,1,0,1440,400.08
$SM_GC,1.58,0.00,0.00,72.22,0.000,0.000,0.550,139,1815,1440,-8.44,0.42,400.08
$IRIDIUM_FIX,2115.63,12627.67,031110,070751
$TT8_MAMPS,0.026964
$HUMID,40.74
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,25.30
$XPDR_PINGS,88
$24V_AH,22.3,82.231
$10V_AH,10.2,52.214
$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,21.500,92.000,455.350,72.225,0.000,29.625,18.496,190.715,22.000,0.000,18.051,2723.338,5292.926,562.090,2707.079,381.039,0.000,1591.010,0.000,2475.657,0.000,0.845,0.000
$DEVICE_MAMPS,237.150,146.115,1438.200,550.035,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.061,965.613,1326.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63715,1102
$CAP_FILE_SIZE,126134,0
$CFSIZE,260165632,153534464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.004, 46.9,1
$GPS,031110,142400,2121.367,12601.844,37,1.2,42,-2.9