version: 66.08
glider: 166
mission: 3
dive: 388
start: 10 26 110 20 55 35
data:
$ID,166
$MISSION,3
$DIVE,388
$N_DIVES,393
$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,-22043.656
$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,46
$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
$GPS1,261010,204807,2244.765,12625.109,34,1.2,35,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-52.6
$GPS2,261010,205514,2244.777,12624.916,15,1.5,15,-3.3
$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,189.7,159382,-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,-214.1,0.0,0.0,0,107,0.00,0.00,-87.85,0.000,2,0.000,0.000,144,1760,3275,0,0,0,0,0,0
$GC,111,-1.16,-214.1,6.3,-12.7,12,142,9.12,2.22,-12.65,0.000,4,0.225,0.057,2448,3198,3950,0,0,0,0,0,0
$GC,382,-1.02,-214.1,110.0,-25.2,61,390,0.17,2.12,0.00,0.000,6,0.161,0.036,2503,1801,3953,0,0,0,0,0,0
$GC,716,-0.89,-214.1,196.6,-24.3,122,724,0.17,2.22,0.00,0.000,4,0.168,0.052,2555,389,3955,0,0,0,0,0,0
$GC,775,-0.84,-214.1,209.0,-20.7,131,782,0.00,2.15,0.00,0.000,6,0.000,0.044,2548,1798,3955,0,0,0,0,0,0
$GC,1116,-0.79,-214.1,273.0,-17.5,192,1126,0.15,2.22,0.00,0.000,4,0.169,0.050,2588,392,3955,0,0,0,0,0,0
$GC,1152,-0.79,-214.1,278.7,-15.8,197,1159,0.00,2.12,0.00,0.000,6,0.000,0.044,2579,1805,3955,0,0,0,0,0,0
$GC,1483,-0.79,-214.1,328.1,-14.5,240,1487,0.00,2.12,0.00,0.000,4,0.000,0.049,2568,3218,3956,0,0,0,0,0,0
$GC,1551,-0.84,-214.1,337.6,-13.6,246,1555,0.00,2.10,0.00,0.000,6,0.000,0.036,2568,1801,3955,0,0,0,0,0,0
$GC,1877,-0.85,-214.1,383.3,-13.9,276,1881,0.00,2.17,0.00,0.000,4,0.000,0.051,2568,396,3955,0,0,0,0,0,0
$GC,1978,-0.87,-214.1,398.0,-14.1,284,1987,0.00,2.15,0.00,0.000,6,0.000,0.043,2560,1795,3954,0,0,0,0,0,0
$GC,2305,-0.89,-214.1,442.0,-13.3,315,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1795,3952,0,0,0,0,0,0
$GC,2625,-0.91,-214.1,484.3,-13.2,345,2629,0.00,2.15,0.00,0.000,4,0.000,0.052,2551,3205,3951,0,0,0,0,0,0
$GC,2683,-0.98,-214.1,492.0,-11.8,350,2687,0.00,2.10,0.00,0.000,6,0.000,0.037,2551,1802,3950,0,0,0,0,0,0
$GC,3011,-1.00,-214.1,534.4,-12.5,380,3015,0.00,2.20,0.00,0.000,4,0.000,0.054,2551,391,3948,0,0,0,0,0,0
$GC,3055,-1.02,-214.1,540.7,-13.0,383,3062,0.12,2.15,0.00,0.000,6,0.091,0.047,2488,1799,3948,0,0,0,0,0,0
$GC,3382,-0.95,-214.1,596.9,-17.2,414,3387,0.15,2.22,0.00,0.000,4,0.174,0.053,2530,389,3945,0,0,0,0,0,0
$GC,3425,-0.95,-214.1,604.2,-14.2,416,3429,0.00,2.15,0.00,0.000,6,0.000,0.047,2526,1801,3944,0,0,0,0,0,0
$GC,3753,-0.95,-214.1,650.1,-14.1,432,3757,0.00,2.17,0.00,0.000,4,0.000,0.054,2521,3213,3942,0,0,0,0,0,0
$GC,3781,-0.95,-214.1,654.3,-15.1,433,3785,0.00,2.12,0.00,0.000,6,0.000,0.038,2522,1790,3942,0,0,0,0,0,0
$GC,4097,-0.93,-214.1,703.6,-15.8,448,4101,0.00,2.15,0.00,0.000,4,0.000,0.054,2522,398,3939,0,0,0,0,0,0
$GC,4182,-0.93,-214.1,717.6,-16.8,452,4186,0.00,2.15,0.00,0.000,6,0.000,0.047,2516,1806,3938,0,0,0,0,0,0
$GC,4513,-0.91,-214.1,771.0,-16.2,468,4515,0.10,0.00,0.00,0.000,6,0.188,0.000,2542,1806,3934,0,0,0,0,0,0
$GC,4819,-0.91,-214.1,814.5,-14.0,483,4823,0.00,2.22,0.00,0.000,4,0.000,0.056,2542,392,3932,0,0,0,0,0,0
$GC,4861,-0.92,-214.1,820.4,-14.9,485,4866,0.00,2.17,0.00,0.000,6,0.000,0.048,2537,1808,3931,0,0,0,0,0,0
$GC,5189,-0.92,-214.1,867.8,-14.5,501,5193,0.00,2.17,0.00,0.000,4,0.000,0.057,2525,3208,3928,0,0,0,0,0,0
$GC,5216,-0.94,-214.1,871.8,-14.2,502,5220,0.00,2.12,0.00,0.000,6,0.000,0.040,2525,1791,3928,0,0,0,0,0,0
$GC,5534,-0.94,-214.1,919.0,-14.7,517,5538,0.00,2.20,0.00,0.000,4,0.000,0.057,2525,391,3925,0,0,0,0,0,0
$GC,5619,-0.94,-214.1,931.8,-15.1,521,5623,0.00,2.17,0.00,0.000,6,0.000,0.049,2514,1806,3924,0,0,0,0,0,0
$GC,5947,-0.94,-214.1,979.2,-14.0,537,5951,0.00,2.22,0.00,0.000,4,0.000,0.057,2514,393,3922,0,0,0,0,0,0
$GC,5994,-0.92,-214.1,986.2,-14.8,539,5998,0.15,2.20,0.00,0.000,6,0.164,0.050,2544,1804,3921,0,0,0,0,0,0
$STATE,6118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6118,begin apogee
$GC,6124,-0.23,0.0,1001.8,11.9,545,6316,0.65,0.00,185.98,1.436,6,0.124,0.000,2760,1744,3072,0,0,0,0,0,0
$STATE,6317,end apogee,CONTROL_FINISHED_OK
$STATE,6317,begin climb
$GC,6319,1.16,214.1,1009.9,0.0,554,6530,1.27,2.50,201.57,1.372,4,0.049,0.058,3227,350,2199,0,0,0,0,0,0
$GC,6541,0.83,214.1,972.1,28.6,564,6546,0.47,2.35,0.00,0.000,6,0.203,0.046,3109,1744,2198,0,0,0,0,0,0
$GC,6859,0.64,214.1,899.2,22.5,579,6861,0.22,0.00,0.00,0.000,6,0.178,0.000,3047,1749,2193,0,0,0,0,0,0
$GC,7166,0.53,214.1,845.6,16.8,594,7171,0.12,2.20,0.00,0.000,4,0.185,0.053,3003,3166,2191,0,0,0,0,0,0
$GC,7217,0.49,214.1,837.5,14.7,596,7221,0.00,2.15,0.00,0.000,6,0.000,0.046,3011,1747,2189,0,0,0,0,0,0
$GC,7539,0.44,214.1,792.6,14.1,612,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1747,2188,0,0,0,0,0,0
$GC,7849,0.40,228.9,750.7,13.2,627,7872,0.15,2.28,13.32,1.193,4,0.176,0.054,2962,3165,2138,0,0,0,0,0,0
$GC,7879,0.46,271.9,746.9,12.0,628,7926,0.00,2.17,41.15,1.257,6,0.000,0.041,2970,1752,1963,0,0,0,0,0,0
$GC,8249,0.59,350.5,708.1,10.5,646,8327,0.17,2.33,71.85,1.247,4,0.073,0.057,3066,356,1643,0,0,0,0,0,0
$GC,8383,0.54,350.5,684.4,20.2,652,8387,0.17,2.17,0.00,0.000,6,0.163,0.042,3018,1749,1640,0,0,0,0,0,0
$GC,8718,0.54,350.5,631.3,15.9,668,8722,0.00,2.15,0.00,0.000,4,0.000,0.052,3017,3165,1637,0,0,0,0,0,0
$GC,8758,0.55,350.5,624.8,16.3,670,8762,0.00,2.15,0.00,0.000,6,0.000,0.041,3025,1749,1636,0,0,0,0,0,0
$GC,9083,0.55,350.5,574.5,14.9,693,9087,0.00,2.17,0.00,0.000,4,0.000,0.056,3036,340,1635,0,0,0,0,0,0
$GC,9117,0.55,350.5,568.3,16.8,696,9121,0.00,2.17,0.00,0.000,6,0.000,0.041,3036,1766,1634,0,0,0,0,0,0
$GC,9448,0.54,350.5,515.1,15.6,727,9452,0.00,2.12,0.00,0.000,4,0.000,0.051,3033,3158,1633,0,0,0,0,0,0
$GC,9494,0.54,350.5,507.6,15.4,730,9501,0.00,2.15,0.00,0.000,6,0.000,0.040,3041,1740,1633,0,0,0,0,0,0
$GC,9821,0.51,350.5,456.9,15.5,761,9826,0.12,2.17,0.00,0.000,4,0.173,0.054,3016,337,1633,0,0,0,0,0,0
$GC,9855,0.53,351.6,451.5,13.8,763,9862,0.00,2.15,0.00,0.000,6,0.000,0.039,3016,1760,1631,0,0,0,0,0,0
$GC,10183,0.59,381.2,408.4,12.6,794,10220,0.00,2.20,26.95,1.021,4,0.000,0.050,3016,3149,1516,0,0,0,0,0,0
$GC,10273,0.68,396.8,396.3,13.2,801,10295,0.00,2.15,15.35,0.962,6,0.000,0.041,3026,1749,1454,0,0,0,0,0,0
$GC,10623,0.72,408.9,351.0,13.4,834,10641,0.12,2.17,12.27,0.907,4,0.088,0.053,3108,348,1404,0,0,0,0,0,0
$GC,10715,0.67,408.9,332.6,22.1,841,10722,0.17,2.12,0.00,0.000,6,0.160,0.039,3059,1754,1403,0,0,0,0,0,0
$GC,11045,0.67,408.9,277.4,15.6,884,11054,0.00,2.15,0.00,0.000,4,0.000,0.047,3058,3152,1403,0,0,0,0,0,0
$GC,11083,0.68,408.9,271.5,15.7,890,11091,0.00,2.15,0.00,0.000,6,0.000,0.039,3068,1753,1403,0,0,0,0,0,0
$GC,11423,0.68,408.9,220.1,15.1,951,11430,0.00,2.17,0.00,0.000,4,0.000,0.052,3078,347,1403,0,0,0,0,0,0
$GC,11521,0.71,408.9,204.7,14.7,968,11530,0.00,2.15,0.00,0.000,6,0.000,0.037,3078,1752,1403,0,0,0,0,0,0
$GC,11868,0.72,416.6,150.0,13.6,1029,11883,0.00,2.12,8.38,0.691,4,0.000,0.044,3077,3159,1373,0,0,0,0,0,0
$GC,11951,0.77,423.2,138.2,13.6,1043,11968,0.00,2.15,7.88,0.669,6,0.000,0.038,3082,1752,1346,0,0,0,0,0,0
$GC,12290,0.84,448.7,93.6,12.8,1105,12321,0.00,0.00,23.00,0.721,6,0.000,0.000,3082,1752,1241,0,0,0,0,0,0
$GC,12644,1.09,578.7,60.7,8.2,1169,12766,0.25,2.25,108.55,0.685,4,0.053,0.048,3223,353,711,0,0,0,0,0,0
$GC,12826,0.99,578.7,10.4,41.9,1196,12836,0.17,2.17,0.00,0.000,6,0.122,0.041,3164,1749,708,0,0,0,0,0,0
$STATE,12873,end climb,SURFACE_DEPTH_REACHED
$STATE,12873,begin surface coast
$FINISH,1.4,1.021851
$STATE,12920,end surface coast,CONTROL_FINISHED_OK
$STATE,12920,begin surface
$SM_CCo,12997,0.00,0.000,0,0,702,581.12
$SM_GC,1.22,7.70,0.00,0.00,0.026,0.000,0.000,140,1755,702,-8.36,-1.27,581.12
$IRIDIUM_FIX,2237.01,12624.15,261010,171709
$TT8_MAMPS,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.60
$XPDR_PINGS,94
$24V_AH,22.3,70.205
$10V_AH,10.2,45.585
$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,21.950,122.150,716.250,0.000,0.000,27.719,21.906,194.864,23.500,0.000,16.553,2989.361,6292.289,721.130,2989.426,414.241,0.000,1943.984,0.000,2749.112,0.000,0.845,0.000
$DEVICE_MAMPS,224.910,113.220,1435.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.764,1046.191,1402.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333792
$DATA_FILE_SIZE,73572,1212
$CAP_FILE_SIZE,149624,0
$CFSIZE,260165632,157433856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,348.8,1
$GPS,271010,003330,2243.250,12624.447,37,1.1,42,-3.3