version: 66.08
glider: 166
mission: 3
dive: 439
start: 11 3 110 21 37 54
data:
$ID,166
$MISSION,3
$DIVE,439
$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,-22135.381
$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,39
$R_STBD_OVSHOOT,58
$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
$GPS1,031110,213007,2119.734,12601.551,34,0.9,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-63.9
$GPS2,031110,213732,2119.679,12601.610,13,1.2,13,-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,199.6,11466,-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,-214.1,0.0,0.0,0,93,0.00,0.00,-73.55,0.000,2,0.000,0.000,138,1835,3369,0,0,0,0,0,0
$GC,96,-1.16,-214.1,6.2,-11.7,10,128,9.38,2.30,-10.77,0.000,4,0.230,0.057,2455,382,3948,0,0,0,0,0,0
$GC,368,-0.87,-214.1,119.0,-39.5,59,377,0.35,2.15,0.00,0.000,6,0.179,0.041,2548,1774,3951,0,0,0,0,0,0
$GC,705,-0.78,-214.1,206.0,-19.6,120,714,0.15,2.17,0.00,0.000,4,0.179,0.047,2591,398,3954,0,0,0,0,0,0
$GC,776,-0.78,-214.1,218.1,-16.7,131,782,0.00,2.15,0.00,0.000,6,0.000,0.043,2581,1804,3954,0,0,0,0,0,0
$GC,1117,-0.78,-214.1,275.5,-15.7,192,1125,0.00,2.22,0.00,0.000,4,0.000,0.049,2582,401,3956,0,0,0,0,0,0
$GC,1184,-0.80,-214.1,285.7,-14.1,203,1191,0.00,2.15,0.00,0.000,6,0.000,0.044,2570,1802,3956,0,0,0,0,0,0
$GC,1519,-0.80,-214.1,337.6,-14.7,242,1523,0.00,2.20,0.00,0.000,4,0.000,0.050,2570,400,3956,0,0,0,0,0,0
$GC,1548,-0.80,-214.1,341.9,-15.7,244,1552,0.00,2.15,0.00,0.000,6,0.000,0.044,2564,1797,3956,0,0,0,0,0,0
$GC,1875,-0.80,-214.1,389.5,-13.8,274,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1798,3956,0,0,0,0,0,0
$GC,2195,-0.80,-214.1,435.0,-13.9,304,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1799,3954,0,0,0,0,0,0
$GC,2525,-0.82,-214.1,477.5,-12.1,335,2529,0.00,2.17,0.00,0.000,4,0.000,0.052,2556,3216,3953,0,0,0,0,0,0
$GC,2564,-0.88,-214.1,482.9,-11.9,338,2572,0.00,2.17,0.00,0.000,6,0.000,0.037,2555,1805,3953,0,0,0,0,0,0
$GC,2891,-0.89,-214.1,523.4,-13.2,369,2895,0.00,2.20,0.00,0.000,4,0.000,0.053,2556,385,3951,0,0,0,0,0,0
$GC,2963,-0.92,-214.1,533.5,-13.1,375,2970,0.00,2.20,0.00,0.000,6,0.000,0.046,2561,1805,3950,0,0,0,0,0,0
$GC,3288,-0.92,-214.1,577.0,-13.6,406,3292,0.00,2.17,0.00,0.000,4,0.000,0.053,2558,3218,3948,0,0,0,0,0,0
$GC,3344,-0.97,-214.1,584.5,-12.1,410,3351,0.00,2.15,0.00,0.000,6,0.000,0.037,2558,1800,3947,0,0,0,0,0,0
$GC,3676,-0.97,-214.1,628.2,-13.0,432,3680,0.00,2.20,0.00,0.000,4,0.000,0.054,2558,383,3945,0,0,0,0,0,0
$GC,3702,-0.97,-214.1,632.4,-13.9,433,3707,0.00,2.20,0.00,0.000,6,0.000,0.047,2555,1801,3944,0,0,0,0,0,0
$GC,4025,-0.97,-214.1,674.0,-13.0,449,4029,0.00,2.20,0.00,0.000,4,0.000,0.059,2545,3218,3942,0,0,0,0,0,0
$GC,4100,-1.01,-214.1,683.1,-11.5,452,4104,0.00,2.12,0.00,0.000,6,0.000,0.038,2545,1799,3940,0,0,0,0,0,0
$GC,4422,-1.01,-214.1,725.5,-13.0,468,4425,0.00,2.17,0.00,0.000,4,0.000,0.054,2545,386,3938,0,0,0,0,0,0
$GC,4483,-1.01,-214.1,733.9,-13.4,470,4490,0.00,2.20,0.00,0.000,6,0.000,0.047,2535,1805,3937,0,0,0,0,0,0
$GC,4801,-1.00,-214.1,778.8,-14.7,486,4805,0.00,2.17,0.00,0.000,4,0.000,0.055,2525,3206,3934,0,0,0,0,0,0
$GC,4822,-1.00,-214.1,782.5,-14.4,487,4826,0.00,2.12,0.00,0.000,6,0.000,0.039,2525,1789,3933,0,0,0,0,0,0
$GC,5152,-0.97,-214.1,830.1,-14.5,503,5156,0.00,2.17,0.00,0.000,4,0.000,0.055,2524,389,3930,0,0,0,0,0,0
$GC,5201,-0.95,-214.1,838.0,-14.1,505,5206,0.00,2.20,0.00,0.000,6,0.000,0.050,2514,1803,3930,0,0,0,0,0,0
$GC,5524,-0.92,-214.1,884.9,-14.5,521,5528,0.00,2.22,0.00,0.000,4,0.000,0.055,2514,388,3927,0,0,0,0,0,0
$GC,5547,-0.88,-214.1,888.5,-15.5,522,5551,0.17,2.20,0.00,0.000,6,0.161,0.050,2552,1800,3927,0,0,0,0,0,0
$GC,5876,-0.90,-214.1,925.5,-11.2,538,5880,0.00,2.25,0.00,0.000,4,0.000,0.059,2543,3218,3925,0,0,0,0,0,0
$GC,5900,-0.94,-214.1,928.4,-11.6,539,5904,0.00,2.15,0.00,0.000,6,0.000,0.040,2543,1791,3924,0,0,0,0,0,0
$GC,6221,-0.94,-214.1,966.3,-11.9,555,6225,0.00,2.15,0.00,0.000,4,0.000,0.056,2543,398,3922,0,0,0,0,0,0
$GC,6242,-0.94,-214.1,969.3,-12.6,556,6246,0.00,2.20,0.00,0.000,6,0.000,0.049,2533,1810,3922,0,0,0,0,0,0
$STATE,6500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6500,begin apogee
$GC,6508,-0.23,0.0,1002.6,12.9,569,6702,0.73,0.00,187.38,1.451,6,0.133,0.000,2761,1739,3072,0,0,0,0,0,0
$STATE,6703,end apogee,CONTROL_FINISHED_OK
$STATE,6703,begin climb
$GC,6707,1.16,214.1,1011.2,0.0,578,6914,1.30,0.00,201.65,1.386,6,0.056,0.000,3218,1739,2199,0,0,0,0,0,0
$GC,7222,0.84,214.1,882.8,31.0,603,7227,0.38,2.25,0.00,0.000,4,0.210,0.054,3108,3169,2191,0,0,0,0,0,0
$GC,7254,0.62,214.1,873.2,25.4,604,7263,0.28,2.15,0.00,0.000,6,0.184,0.044,3043,1755,2191,0,0,0,0,0,0
$GC,7572,0.52,214.1,819.1,17.1,620,7574,0.12,0.00,0.00,0.000,6,0.175,0.000,3008,1755,2189,0,0,0,0,0,0
$GC,7880,0.49,221.5,776.3,13.6,635,7892,0.00,2.22,6.45,1.029,4,0.000,0.054,3017,337,2168,0,0,0,0,0,0
$GC,7905,0.46,231.5,772.9,13.5,636,7923,0.00,2.17,11.45,1.167,6,0.000,0.044,3017,1751,2128,0,0,0,0,0,0
$GC,8232,0.41,231.5,724.6,15.3,652,8237,0.15,2.17,0.00,0.000,4,0.167,0.053,2972,3165,2125,0,0,0,0,0,0
$GC,8274,0.47,262.5,719.0,12.5,654,8309,0.00,2.17,30.20,1.241,6,0.000,0.043,2981,1742,2000,0,0,0,0,0,0
$GC,8628,0.55,304.1,675.1,12.1,671,8671,0.10,0.00,38.85,1.219,6,0.103,0.000,3037,1742,1832,0,0,0,0,0,0
$GC,8982,0.50,304.1,616.9,16.6,688,8987,0.12,2.22,0.00,0.000,4,0.176,0.057,2995,3161,1826,0,0,0,0,0,0
$GC,8998,0.48,304.1,613.5,16.7,688,9006,0.00,2.15,0.00,0.000,6,0.000,0.041,3004,1750,1825,0,0,0,0,0,0
$GC,9323,0.50,325.5,572.0,13.0,714,9349,0.00,2.28,20.40,1.137,4,0.000,0.057,3014,353,1745,0,0,0,0,0,0
$GC,9379,0.53,330.4,564.1,13.7,719,9392,0.00,2.17,6.03,0.893,6,0.000,0.041,3014,1753,1725,0,0,0,0,0,0
$GC,9710,0.53,330.4,517.0,14.4,750,9714,0.00,2.15,0.00,0.000,4,0.000,0.050,3014,3167,1723,0,0,0,0,0,0
$GC,9751,0.56,330.4,511.0,15.5,753,9755,0.00,2.17,0.00,0.000,6,0.000,0.042,3025,1745,1722,0,0,0,0,0,0
$GC,10079,0.56,330.4,463.4,14.5,783,10083,0.00,2.17,0.00,0.000,4,0.000,0.056,3035,347,1721,0,0,0,0,0,0
$GC,10126,0.58,330.4,456.3,14.8,787,10130,0.00,2.15,0.00,0.000,6,0.000,0.041,3035,1759,1720,0,0,0,0,0,0
$GC,10454,0.58,330.4,408.7,14.3,817,10458,0.00,2.15,0.00,0.000,4,0.000,0.050,3035,3159,1720,0,0,0,0,0,0
$GC,10514,0.58,330.4,399.4,14.1,822,10522,0.00,2.17,0.00,0.000,6,0.000,0.041,3045,1749,1720,0,0,0,0,0,0
$GC,10841,0.58,331.9,352.5,13.8,853,10845,0.00,2.20,0.00,0.000,4,0.000,0.054,3056,338,1720,0,0,0,0,0,0
$GC,10898,0.60,331.9,343.8,14.8,857,10905,0.00,2.15,0.00,0.000,6,0.000,0.039,3056,1753,1719,0,0,0,0,0,0
$GC,11226,0.58,331.9,293.0,14.8,892,11235,0.00,2.17,0.00,0.000,4,0.000,0.047,3056,3163,1719,0,0,0,0,0,0
$GC,11304,0.58,331.9,281.7,14.9,905,11311,0.15,2.15,0.00,0.000,6,0.161,0.040,3026,1747,1719,0,0,0,0,0,0
$GC,11645,0.73,417.1,244.3,10.2,966,11734,0.15,2.28,77.45,0.877,4,0.078,0.053,3119,355,1370,0,0,0,0,0,0
$GC,11781,0.70,417.1,221.7,17.8,986,11790,0.15,2.17,0.00,0.000,6,0.135,0.037,3072,1743,1368,0,0,0,0,0,0
$GC,12129,0.79,456.5,174.7,12.2,1047,12171,0.00,2.25,34.72,0.793,4,0.000,0.045,3071,3163,1209,0,0,0,0,0,0
$GC,12224,0.96,507.3,162.3,11.7,1062,12274,0.17,2.17,43.80,0.776,6,0.035,0.037,3173,1753,1004,0,0,0,0,0,0
$GC,12596,0.90,507.3,77.0,20.9,1129,12605,0.15,2.22,0.00,0.000,4,0.171,0.051,3139,347,1000,0,0,0,0,0,0
$GC,12655,0.90,507.3,65.4,15.8,1139,12663,0.00,2.15,0.00,0.000,6,0.000,0.034,3132,1758,999,0,0,0,0,0,0
$GC,12985,0.91,516.0,13.3,13.5,1200,13001,0.00,2.17,8.50,0.561,4,0.000,0.041,3132,3155,968,0,0,0,0,0,0
$GC,13047,1.06,549.0,3.1,12.5,1210,13056,0.00,2.17,4.82,0.447,2,0.000,0.040,3150,1757,952,0,0,0,0,0,0
$STATE,13057,end climb,SURFACE_DEPTH_REACHED
$STATE,13057,begin surface coast
$FINISH,1.0,1.022901
$STATE,13085,end surface coast,CONTROL_FINISHED_OK
$STATE,13085,begin surface
$SM_CCo,13163,0.00,0.000,0,0,950,520.53
$SM_GC,1.74,7.80,0.00,0.00,0.032,0.000,0.000,169,1756,950,-8.34,-1.24,520.53
$IRIDIUM_FIX,2115.63,12559.43,031110,181854
$TT8_MAMPS,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.70
$XPDR_PINGS,94
$24V_AH,22.1,82.835
$10V_AH,10.1,52.611
$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,21.800,126.850,671.700,0.000,0.000,30.446,43.489,203.326,23.500,0.000,13.950,2984.985,6569.749,696.732,2919.702,424.028,0.000,1879.692,0.000,2656.913,0.000,0.845,0.000
$DEVICE_MAMPS,229.500,97.155,1451.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.868,1034.873,1311.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333816
$DATA_FILE_SIZE,73559,1216
$CAP_FILE_SIZE,149403,0
$CFSIZE,260165632,153272320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,123.2,1
$GPS,041110,011830,2117.573,12601.688,37,1.3,37,-2.9