version: 66.08
glider: 166
mission: 3
dive: 443
start: 11 4 110 12 6 29
data:
$ID,166
$MISSION,3
$DIVE,443
$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,-22140.414
$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,48
$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
$GPS1,041110,115900,2116.953,12600.757,34,1.3,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-57.0
$GPS2,041110,120608,2116.943,12600.775,11,1.9,11,-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,166.5,6418,-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,15,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,123,0.00,0.00,-103.15,0.000,2,0.000,0.000,138,1824,3302,0,0,0,0,0,0
$GC,126,-1.16,-214.1,5.4,-9.0,14,157,9.35,2.25,-12.50,0.000,4,0.226,0.057,2466,395,3947,0,0,0,0,0,0
$GC,312,-0.92,-214.1,75.9,-37.4,47,321,0.28,2.17,0.00,0.000,6,0.175,0.045,2538,1787,3949,0,0,0,0,0,0
$GC,641,-0.80,-214.1,165.1,-22.2,108,651,0.15,2.20,0.00,0.000,4,0.184,0.045,2573,3207,3951,0,0,0,0,0,0
$GC,660,-0.70,-214.1,169.1,-21.6,110,669,0.10,2.15,0.00,0.000,6,0.146,0.034,2605,1802,3952,0,0,0,0,0,0
$GC,1001,-0.70,-214.1,220.7,-13.7,171,1010,0.00,2.17,0.00,0.000,4,0.000,0.047,2601,388,3954,0,0,0,0,0,0
$GC,1174,-0.76,-214.1,245.9,-13.8,201,1181,0.00,2.15,0.00,0.000,6,0.000,0.043,2594,1808,3953,0,0,0,0,0,0
$GC,1520,-0.78,-214.1,292.5,-13.3,262,1528,0.00,2.15,0.00,0.000,4,0.000,0.048,2584,3205,3954,0,0,0,0,0,0
$GC,1608,-0.86,-214.1,303.3,-11.0,274,1615,0.00,2.15,0.00,0.000,6,0.000,0.035,2584,1798,3954,0,0,0,0,0,0
$GC,1935,-0.88,-214.1,346.8,-13.5,305,1939,0.00,2.17,0.00,0.000,4,0.000,0.050,2583,395,3954,0,0,0,0,0,0
$GC,2035,-0.91,-214.1,360.6,-14.6,313,2038,0.00,2.17,0.00,0.000,6,0.000,0.046,2579,1809,3954,0,0,0,0,0,0
$GC,2366,-0.94,-214.1,405.5,-11.9,344,2371,0.12,2.15,0.00,0.000,4,0.091,0.050,2506,3215,3953,0,0,0,0,0,0
$GC,2422,-0.91,-214.1,413.8,-14.9,348,2432,0.10,2.17,0.00,0.000,6,0.146,0.037,2539,1797,3952,0,0,0,0,0,0
$GC,2749,-0.90,-214.1,459.8,-14.6,379,2753,0.00,2.17,0.00,0.000,4,0.000,0.052,2539,392,3950,0,0,0,0,0,0
$GC,2860,-0.90,-214.1,477.0,-15.4,388,2869,0.00,2.20,0.00,0.000,6,0.000,0.047,2539,1795,3950,0,0,0,0,0,0
$GC,3186,-0.90,-214.1,522.3,-13.9,419,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1795,3949,0,0,0,0,0,0
$GC,3506,-0.90,-214.1,567.8,-15.0,449,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1796,3947,0,0,0,0,0,0
$GC,3830,-0.90,-214.1,615.8,-14.6,475,3834,0.00,2.20,0.00,0.000,4,0.000,0.054,2544,3211,3943,0,0,0,0,0,0
$GC,3881,-0.94,-214.1,622.4,-12.0,477,3885,0.00,2.15,0.00,0.000,6,0.000,0.040,2544,1791,3943,0,0,0,0,0,0
$GC,4197,-0.94,-214.1,664.7,-13.4,492,4201,0.00,2.20,0.00,0.000,4,0.000,0.054,2544,386,3941,0,0,0,0,0,0
$GC,4248,-0.94,-214.1,671.8,-13.8,494,4252,0.00,2.20,0.00,0.000,6,0.000,0.047,2535,1809,3940,0,0,0,0,0,0
$GC,4569,-0.92,-214.1,719.4,-15.3,510,4573,0.00,2.15,0.00,0.000,4,0.000,0.054,2524,3211,3937,0,0,0,0,0,0
$GC,4618,-0.94,-214.1,727.0,-14.7,512,4622,0.00,2.15,0.00,0.000,6,0.000,0.040,2524,1801,3937,0,0,0,0,0,0
$GC,4936,-0.91,-214.1,777.1,-15.7,527,4940,0.00,2.17,0.00,0.000,4,0.000,0.054,2524,395,3933,0,0,0,0,0,0
$GC,4975,-0.88,-214.1,783.9,-16.0,528,4983,0.15,2.17,0.00,0.000,6,0.168,0.047,2553,1810,3932,0,0,0,0,0,0
$GC,5294,-0.90,-214.1,825.4,-12.7,544,5298,0.00,2.15,0.00,0.000,4,0.000,0.056,2545,3209,3930,0,0,0,0,0,0
$GC,5327,-0.95,-214.1,829.9,-11.8,545,5334,0.00,2.15,0.00,0.000,6,0.000,0.041,2545,1797,3929,0,0,0,0,0,0
$GC,5644,-0.95,-214.1,869.9,-12.4,561,5648,0.00,2.20,0.00,0.000,4,0.000,0.057,2545,389,3927,0,0,0,0,0,0
$GC,5735,-0.96,-214.1,881.6,-13.2,565,5739,0.00,2.20,0.00,0.000,6,0.000,0.050,2536,1808,3926,0,0,0,0,0,0
$GC,6057,-0.96,-214.1,923.0,-12.9,581,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1808,3923,0,0,0,0,0,0
$GC,6367,-0.96,-214.1,961.9,-12.3,596,6371,0.00,2.25,0.00,0.000,4,0.000,0.057,2535,388,3921,0,0,0,0,0,0
$GC,6400,-0.96,-214.1,966.9,-14.4,597,6407,0.00,2.22,0.00,0.000,6,0.000,0.050,2525,1802,3921,0,0,0,0,0,0
$STATE,6652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6652,begin apogee
$GC,6658,-0.23,0.0,1000.2,13.2,610,6853,0.75,0.00,186.82,1.447,6,0.138,0.000,2759,1750,3071,0,0,0,0,0,0
$STATE,6853,end apogee,CONTROL_FINISHED_OK
$STATE,6854,begin climb
$GC,6856,1.16,214.1,1008.4,0.0,619,7070,1.33,2.45,203.35,1.383,4,0.056,0.057,3229,343,2198,0,0,0,0,0,0
$GC,7076,0.83,214.1,969.4,29.4,629,7081,0.47,2.40,0.00,0.000,6,0.206,0.049,3112,1749,2196,0,0,0,0,0,0
$GC,7401,0.64,214.1,895.1,22.1,645,7406,0.22,2.22,0.00,0.000,4,0.187,0.053,3041,3175,2191,0,0,0,0,0,0
$GC,7445,0.54,214.1,885.5,17.7,647,7450,0.12,2.17,0.00,0.000,6,0.195,0.041,3020,1746,2189,0,0,0,0,0,0
$GC,7768,0.48,214.1,839.2,14.1,663,7772,0.00,2.17,0.00,0.000,4,0.000,0.056,3029,343,2188,0,0,0,0,0,0
$GC,7786,0.42,214.2,836.3,13.9,663,7794,0.17,2.20,0.00,0.000,6,0.173,0.044,2982,1758,2188,0,0,0,0,0,0
$GC,8102,0.50,282.6,800.6,10.9,679,8171,0.00,2.25,62.85,1.307,4,0.000,0.052,2972,3164,1919,0,0,0,0,0,0
$GC,8209,0.63,343.0,788.3,11.3,684,8273,0.17,2.20,57.00,1.273,6,0.070,0.044,3064,1751,1672,0,0,0,0,0,0
$GC,8602,0.56,343.0,713.0,19.8,703,8607,0.15,2.20,0.00,0.000,4,0.177,0.057,3034,344,1667,0,0,0,0,0,0
$GC,8626,0.51,343.0,707.7,20.4,704,8630,0.00,2.17,0.00,0.000,6,0.000,0.043,3034,1757,1665,0,0,0,0,0,0
$GC,8948,0.49,343.0,652.3,16.9,720,8952,0.12,2.15,0.00,0.000,4,0.175,0.052,2990,3164,1662,0,0,0,0,0,0
$GC,9012,0.59,370.1,643.6,12.7,723,9043,0.10,2.15,24.62,1.183,6,0.099,0.043,3056,1749,1563,0,0,0,0,0,0
$GC,9359,0.55,370.1,581.4,18.1,744,9364,0.15,2.22,0.00,0.000,4,0.171,0.057,3025,340,1560,0,0,0,0,0,0
$GC,9387,0.55,370.1,576.2,15.9,746,9391,0.00,2.17,0.00,0.000,6,0.000,0.041,3025,1752,1557,0,0,0,0,0,0
$GC,9712,0.55,370.1,525.9,15.8,776,9716,0.00,2.17,0.00,0.000,4,0.000,0.052,3025,3172,1558,0,0,0,0,0,0
$GC,9770,0.60,370.1,517.5,14.0,781,9774,0.00,2.15,0.00,0.000,6,0.000,0.043,3035,1748,1557,0,0,0,0,0,0
$GC,10097,0.60,370.1,467.5,14.9,811,10101,0.00,2.20,0.00,0.000,4,0.000,0.056,3046,343,1557,0,0,0,0,0,0
$GC,10151,0.60,370.1,459.4,14.9,815,10155,0.00,2.15,0.00,0.000,6,0.000,0.040,3045,1752,1555,0,0,0,0,0,0
$GC,10481,0.60,370.1,405.8,15.2,846,10485,0.00,2.17,0.00,0.000,4,0.000,0.051,3046,3167,1556,0,0,0,0,0,0
$GC,10524,0.60,370.1,399.5,16.0,849,10528,0.00,2.15,0.00,0.000,6,0.000,0.041,3056,1750,1555,0,0,0,0,0,0
$GC,10855,0.58,370.1,347.7,16.6,880,10859,0.00,2.17,0.00,0.000,4,0.000,0.055,3066,344,1555,0,0,0,0,0,0
$GC,10878,0.55,370.1,343.7,17.7,881,10888,0.17,2.17,0.00,0.000,6,0.155,0.039,3015,1765,1553,0,0,0,0,0,0
$GC,11203,0.73,465.2,306.2,9.8,912,11295,0.17,0.00,84.90,0.935,6,0.070,0.000,3103,1769,1174,0,0,0,0,0,0
$GC,11631,0.68,465.2,222.3,19.5,983,11638,0.15,2.12,0.00,0.000,4,0.168,0.048,3054,3158,1171,0,0,0,0,0,0
$GC,11680,0.76,465.2,212.9,14.3,991,11687,0.00,2.15,0.00,0.000,6,0.000,0.039,3062,1747,1171,0,0,0,0,0,0
$GC,12022,0.87,499.9,171.3,12.4,1052,12060,0.15,2.28,30.45,0.789,4,0.074,0.052,3162,343,1033,0,0,0,0,0,0
$GC,12153,0.82,499.9,144.1,21.0,1073,12162,0.15,2.17,0.00,0.000,6,0.137,0.037,3111,1745,1032,0,0,0,0,0,0
$GC,12485,0.97,570.9,100.1,10.8,1134,12553,0.12,2.20,60.70,0.727,4,0.083,0.042,3175,3167,744,0,0,0,0,0,0
$GC,12594,0.97,570.9,78.6,18.7,1150,12602,0.00,2.20,0.00,0.000,6,0.000,0.038,3174,1756,742,0,0,0,0,0,0
$GC,12921,0.92,570.9,6.3,19.7,1211,12930,0.15,2.25,0.00,0.000,4,0.175,0.057,3147,348,742,0,0,0,0,0,0
$STATE,12942,end climb,SURFACE_DEPTH_REACHED
$STATE,12942,begin surface coast
$FINISH,1.2,1.022331
$STATE,12962,end surface coast,CONTROL_FINISHED_OK
$STATE,12962,begin surface
$SM_CCo,13044,0.00,0.000,0,0,738,572.28
$SM_GC,1.79,7.90,0.00,0.00,0.041,0.000,0.000,155,1816,738,-8.36,0.45,572.28
$IRIDIUM_FIX,2108.69,12558.07,041110,080815
$TT8_MAMPS,0.026964
$HUMID,43.22
$INTERNAL_PRESSURE,8.68656
$TCM_TEMP,24.60
$XPDR_PINGS,100
$24V_AH,22.1,83.763
$10V_AH,10.1,53.143
$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,23.000,127.250,710.700,0.000,0.000,27.196,28.641,190.382,25.000,0.000,11.906,2993.553,6326.991,759.690,2952.291,422.158,0.000,1952.909,0.000,2708.825,0.000,0.843,0.000
$DEVICE_MAMPS,226.440,117.810,1446.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.475,1046.117,1364.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333724
$DATA_FILE_SIZE,73547,1217
$CAP_FILE_SIZE,149550,0
$CFSIZE,260165632,152956928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,276.3,1
$GPS,041110,154506,2115.266,12601.113,37,1.0,37,-2.9