version: 66.08
glider: 166
mission: 3
dive: 395
start: 10 27 110 23 23 36
data:
$ID,166
$MISSION,3
$DIVE,395
$N_DIVES,404
$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,-22052.465
$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,42
$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
$GPS1,271010,231606,2232.311,12621.834,37,1.4,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-58.0
$GPS2,271010,232314,2232.217,12621.806,16,1.4,16,-3.2
$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,193.5,135524,-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,16,-1.16,-214.1,0.0,0.0,0,87,0.00,0.00,-68.35,0.000,2,0.000,0.000,150,1770,2921,0,0,0,0,0,0
$GC,90,-1.16,-214.1,6.0,-14.0,9,128,9.07,2.25,-19.08,0.000,4,0.223,0.060,2445,3207,3949,0,0,0,0,0,0
$GC,300,-0.97,-214.1,89.7,-34.6,46,308,0.22,2.15,0.00,0.000,6,0.161,0.035,2516,1798,3951,0,0,0,0,0,0
$GC,629,-0.86,-214.1,173.4,-21.9,107,637,0.15,2.17,0.00,0.000,4,0.172,0.049,2559,393,3954,0,0,0,0,0,0
$GC,780,-0.86,-214.1,200.9,-17.2,133,787,0.00,2.15,0.00,0.000,6,0.000,0.046,2559,1796,3955,0,0,0,0,0,0
$GC,1111,-0.84,-214.1,256.8,-16.7,194,1119,0.00,2.20,0.00,0.000,4,0.000,0.049,2558,389,3955,0,0,0,0,0,0
$GC,1191,-0.84,-214.1,270.0,-14.8,208,1199,0.00,2.17,0.00,0.000,6,0.000,0.044,2549,1797,3955,0,0,0,0,0,0
$GC,1526,-0.81,-214.1,325.4,-16.7,255,1531,0.10,2.17,0.00,0.000,4,0.187,0.050,2564,3217,3955,0,0,0,0,0,0
$GC,1578,-0.87,-214.1,332.8,-12.6,259,1582,0.00,2.12,0.00,0.000,6,0.000,0.035,2566,1788,3955,0,0,0,0,0,0
$GC,1905,-0.89,-214.1,378.8,-13.7,289,1909,0.00,2.15,0.00,0.000,4,0.000,0.050,2566,386,3954,0,0,0,0,0,0
$GC,2035,-0.92,-214.1,397.8,-15.1,300,2039,0.00,2.17,0.00,0.000,6,0.000,0.044,2559,1811,3953,0,0,0,0,0,0
$GC,2361,-0.94,-214.1,447.5,-14.8,330,2365,0.00,2.17,0.00,0.000,4,0.000,0.050,2559,390,3952,0,0,0,0,0,0
$GC,2402,-0.95,-214.1,453.4,-14.5,333,2406,0.00,2.15,0.00,0.000,6,0.000,0.046,2558,1806,3952,0,0,0,0,0,0
$GC,2729,-0.98,-214.1,497.4,-12.9,363,2734,0.10,2.17,0.00,0.000,4,0.106,0.050,2494,3218,3950,0,0,0,0,0,0
$GC,2772,-0.98,-214.1,504.5,-16.5,366,2779,0.00,2.15,0.00,0.000,6,0.000,0.036,2494,1777,3949,0,0,0,0,0,0
$GC,3098,-0.93,-214.1,560.7,-17.3,397,3103,0.15,2.15,0.00,0.000,4,0.166,0.052,2535,395,3946,0,0,0,0,0,0
$GC,3172,-0.96,-214.1,572.1,-14.9,403,3176,0.00,2.17,0.00,0.000,6,0.000,0.046,2534,1809,3947,0,0,0,0,0,0
$GC,3500,-0.96,-214.1,614.7,-13.1,428,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3944,0,0,0,0,0,0
$GC,3805,-0.96,-214.1,655.4,-13.2,443,3809,0.00,2.17,0.00,0.000,4,0.000,0.053,2534,397,3941,0,0,0,0,0,0
$GC,3851,-0.97,-214.1,662.2,-14.5,445,3855,0.00,2.15,0.00,0.000,6,0.000,0.047,2525,1803,3941,0,0,0,0,0,0
$GC,4172,-0.97,-214.1,706.7,-13.7,461,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1803,3938,0,0,0,0,0,0
$GC,4483,-0.97,-214.1,750.3,-14.2,476,4487,0.00,2.20,0.00,0.000,4,0.000,0.055,2525,398,3934,0,0,0,0,0,0
$GC,4550,-0.99,-214.1,760.9,-15.5,479,4554,0.00,2.15,0.00,0.000,6,0.000,0.048,2521,1799,3934,0,0,0,0,0,0
$GC,4872,-0.99,-214.1,808.0,-14.6,495,4876,0.00,2.20,0.00,0.000,4,0.000,0.055,2521,397,3931,0,0,0,0,0,0
$GC,4923,-1.01,-214.1,815.7,-15.5,497,4927,0.00,2.20,0.00,0.000,6,0.000,0.049,2512,1811,3930,0,0,0,0,0,0
$GC,5244,-1.01,-214.1,862.7,-14.0,513,5248,0.00,2.20,0.00,0.000,4,0.000,0.056,2512,392,3928,0,0,0,0,0,0
$GC,5277,-1.01,-214.1,867.6,-14.7,514,5284,0.00,2.20,0.00,0.000,6,0.000,0.049,2504,1810,3927,0,0,0,0,0,0
$GC,5595,-1.01,-214.1,910.8,-13.6,530,5599,0.00,2.22,0.00,0.000,4,0.000,0.056,2504,392,3925,0,0,0,0,0,0
$GC,5683,-1.01,-214.1,924.2,-14.3,534,5687,0.00,2.20,0.00,0.000,6,0.000,0.050,2501,1804,3924,0,0,0,0,0,0
$GC,6013,-0.98,-214.1,971.3,-14.8,550,6017,0.00,2.22,0.00,0.000,4,0.000,0.057,2506,389,3921,0,0,0,0,0,0
$GC,6040,-0.95,-214.1,976.2,-16.1,551,6045,0.12,2.20,0.00,0.000,6,0.175,0.051,2531,1809,3921,0,0,0,0,0,0
$STATE,6235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6235,begin apogee
$GC,6241,-0.23,0.0,1002.1,13.0,561,6434,0.70,0.00,186.35,1.436,6,0.131,0.000,2758,1741,3072,0,0,0,0,0,0
$STATE,6434,end apogee,CONTROL_FINISHED_OK
$STATE,6434,begin climb
$GC,6437,1.16,214.1,1010.6,0.0,570,6651,1.33,2.45,201.77,1.379,4,0.057,0.057,3225,341,2199,0,0,0,0,0,0
$GC,6658,0.83,214.1,972.6,30.0,580,6663,0.45,2.40,0.00,0.000,6,0.203,0.048,3111,1751,2197,0,0,0,0,0,0
$GC,6984,0.64,214.1,896.6,22.1,596,6988,0.22,2.17,0.00,0.000,4,0.184,0.052,3040,3169,2192,0,0,0,0,0,0
$GC,7024,0.54,214.1,888.2,17.3,598,7029,0.12,2.17,0.00,0.000,6,0.189,0.043,3017,1746,2190,0,0,0,0,0,0
$GC,7357,0.49,214.1,840.6,14.8,614,7361,0.00,2.20,0.00,0.000,4,0.000,0.061,3026,343,2190,0,0,0,0,0,0
$GC,7384,0.42,214.1,835.2,15.0,615,7389,0.17,2.20,0.00,0.000,6,0.166,0.044,2979,1757,2189,0,0,0,0,0,0
$GC,7702,0.48,260.5,797.3,11.9,630,7750,0.00,2.25,42.78,1.294,4,0.000,0.052,2973,3171,2008,0,0,0,0,0,0
$GC,7768,0.56,306.7,789.1,11.9,633,7819,0.12,2.22,43.40,1.267,6,0.084,0.042,3045,1751,1821,0,0,0,0,0,0
$GC,8136,0.51,306.7,724.0,17.7,651,8141,0.15,2.22,0.00,0.000,4,0.171,0.058,3014,344,1814,0,0,0,0,0,0
$GC,8168,0.51,306.7,718.4,16.3,652,8175,0.00,2.17,0.00,0.000,6,0.000,0.044,3014,1761,1813,0,0,0,0,0,0
$GC,8487,0.52,314.0,673.9,13.6,668,8498,0.00,2.22,6.57,0.986,4,0.000,0.053,3014,3162,1791,0,0,0,0,0,0
$GC,8543,0.52,314.0,665.8,14.1,670,8550,0.00,2.15,0.00,0.000,6,0.000,0.041,3023,1749,1791,0,0,0,0,0,0
$GC,8859,0.52,314.0,621.7,14.7,686,8863,0.00,2.20,0.00,0.000,4,0.000,0.056,3034,341,1790,0,0,0,0,0,0
$GC,8882,0.50,314.0,618.5,14.1,687,8886,0.12,2.20,0.00,0.000,6,0.167,0.042,3002,1760,1789,0,0,0,0,0,0
$GC,9205,0.57,348.9,577.6,12.4,710,9243,0.00,2.20,33.60,1.162,4,0.000,0.050,3001,3164,1647,0,0,0,0,0,0
$GC,9293,0.66,374.8,566.8,12.8,717,9328,0.12,2.20,25.00,1.120,6,0.081,0.047,3073,1747,1544,0,0,0,0,0,0
$GC,9646,0.60,374.8,499.9,19.3,750,9650,0.15,2.20,0.00,0.000,4,0.173,0.056,3042,343,1540,0,0,0,0,0,0
$GC,9661,0.56,374.8,496.4,18.8,751,9669,0.00,2.17,0.00,0.000,6,0.000,0.039,3042,1764,1538,0,0,0,0,0,0
$GC,9988,0.56,374.8,447.0,14.6,782,9991,0.00,2.15,0.00,0.000,4,0.000,0.050,3042,3170,1538,0,0,0,0,0,0
$GC,10064,0.59,381.9,435.5,13.6,788,10076,0.00,2.20,6.78,0.868,6,0.000,0.041,3053,1744,1515,0,0,0,0,0,0
$GC,10399,0.59,381.9,384.7,16.4,819,10403,0.00,2.20,0.00,0.000,4,0.000,0.060,3062,338,1515,0,0,0,0,0,0
$GC,10460,0.61,381.9,373.9,16.6,824,10468,0.00,2.17,0.00,0.000,6,0.000,0.039,3063,1742,1513,0,0,0,0,0,0
$GC,10787,0.61,381.9,316.4,16.9,855,10790,0.00,2.17,0.00,0.000,4,0.000,0.049,3060,3170,1513,0,0,0,0,0,0
$GC,10853,0.65,389.0,305.9,13.6,860,10865,0.00,2.17,7.85,0.808,6,0.000,0.040,3067,1755,1486,0,0,0,0,0,0
$GC,11192,0.67,406.3,257.2,13.1,918,11214,0.00,2.28,17.05,0.855,4,0.000,0.054,3077,342,1415,0,0,0,0,0,0
$GC,11295,0.69,406.3,242.2,15.2,935,11303,0.00,2.15,0.00,0.000,6,0.000,0.037,3077,1759,1413,0,0,0,0,0,0
$GC,11627,0.69,406.3,191.6,15.1,996,11635,0.00,2.15,0.00,0.000,4,0.000,0.047,3077,3163,1413,0,0,0,0,0,0
$GC,11670,0.72,406.3,185.0,15.9,1003,11678,0.00,2.15,0.00,0.000,6,0.000,0.038,3082,1740,1413,0,0,0,0,0,0
$GC,12002,0.77,433.0,139.8,12.7,1064,12033,0.00,2.25,24.45,0.756,4,0.000,0.044,3081,3165,1306,0,0,0,0,0,0
$GC,12135,0.91,496.1,122.5,11.1,1086,12196,0.08,2.17,54.65,0.747,6,0.053,0.037,3150,1750,1048,0,0,0,0,0,0
$GC,12522,0.89,496.1,55.9,17.5,1154,12530,0.00,2.22,0.00,0.000,4,0.000,0.050,3159,343,1046,0,0,0,0,0,0
$GC,12565,0.89,496.1,48.0,16.4,1161,12574,0.08,2.15,0.00,0.000,6,0.129,0.035,3132,1758,1045,0,0,0,0,0,0
$GC,12896,0.93,496.1,6.0,15.1,1222,12904,0.00,2.10,0.00,0.000,4,0.000,0.039,3130,3157,1045,0,0,0,0,0,0
$GC,12914,1.12,593.9,4.3,9.6,1224,12947,0.12,2.17,27.02,0.622,2,0.040,0.041,3227,1744,922,0,0,0,0,0,0
$STATE,12947,end climb,SURFACE_DEPTH_REACHED
$STATE,12947,begin surface coast
$FINISH,1.2,1.021976
$STATE,12954,end surface coast,CONTROL_FINISHED_OK
$STATE,12954,begin surface
$SM_CCo,13033,0.00,0.000,0,0,917,528.38
$SM_GC,1.63,8.02,0.00,0.00,0.037,0.000,0.000,145,1808,917,-8.35,0.23,528.38
$IRIDIUM_FIX,2225.34,12621.38,271010,191913
$TT8_MAMPS,0.026964
$HUMID,41.84
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,25.10
$XPDR_PINGS,104
$24V_AH,22.2,71.993
$10V_AH,10.2,46.552
$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,21.900,136.100,677.275,0.000,0.000,25.753,19.488,197.446,26.000,0.000,17.764,3053.424,6240.066,683.282,3043.736,423.919,0.000,1912.931,0.000,2793.272,0.000,0.844,0.000
$DEVICE_MAMPS,223.380,111.690,1435.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.307,1058.719,1412.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333812
$DATA_FILE_SIZE,73552,1229
$CAP_FILE_SIZE,154372,0
$CFSIZE,260165632,156860416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,299.1,1
$GPS,281010,030206,2230.527,12621.441,41,2.0,41,-3.2