version: 66.08
glider: 166
mission: 3
dive: 396
start: 10 28 110 3 10 14
data:
$ID,166
$MISSION,3
$DIVE,396
$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,-22053.723
$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,44
$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
$GPS1,281010,030206,2230.527,12621.441,41,2.0,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-51.2
$GPS2,281010,030952,2230.412,12621.409,14,2.2,33,-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,193.9,132120,-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,-214.1,0.0,0.0,0,109,0.00,0.00,-89.57,0.000,2,0.000,0.000,143,1814,3221,0,0,0,0,0,0
$GC,112,-1.16,-214.1,5.5,-9.4,12,143,9.00,2.15,-13.32,0.000,4,0.220,0.055,2449,3202,3947,0,0,0,0,0,0
$GC,217,-0.93,-214.1,50.6,-38.6,29,225,0.28,2.12,0.00,0.000,6,0.156,0.035,2534,1804,3949,0,0,0,0,0,0
$GC,543,-0.82,-214.1,146.1,-22.4,90,553,0.15,2.22,0.00,0.000,4,0.174,0.051,2575,390,3950,0,0,0,0,0,0
$GC,671,-0.85,-214.1,169.6,-15.1,111,677,0.00,2.15,0.00,0.000,6,0.000,0.045,2567,1794,3951,0,0,0,0,0,0
$GC,1013,-0.81,-214.1,230.5,-17.8,172,1021,0.00,2.17,0.00,0.000,4,0.000,0.050,2566,402,3953,0,0,0,0,0,0
$GC,1126,-0.81,-214.1,248.2,-14.7,191,1133,0.00,2.15,0.00,0.000,6,0.000,0.044,2560,1811,3952,0,0,0,0,0,0
$GC,1468,-0.81,-214.1,301.8,-15.3,251,1472,0.00,2.17,0.00,0.000,4,0.000,0.050,2560,389,3953,0,0,0,0,0,0
$GC,1623,-0.83,-214.1,324.8,-14.0,264,1627,0.00,2.17,0.00,0.000,6,0.000,0.045,2550,1811,3952,0,0,0,0,0,0
$GC,1948,-0.83,-214.1,374.3,-15.4,294,1952,0.00,2.12,0.00,0.000,4,0.000,0.051,2546,3219,3951,0,0,0,0,0,0
$GC,1968,-0.83,-214.1,377.1,-15.3,295,1972,0.00,2.12,0.00,0.000,6,0.000,0.036,2546,1803,3951,0,0,0,0,0,0
$GC,2294,-0.83,-214.1,425.5,-14.4,325,2298,0.00,2.17,0.00,0.000,4,0.000,0.051,2546,387,3950,0,0,0,0,0,0
$GC,2447,-0.84,-214.1,447.6,-13.7,338,2451,0.00,2.17,0.00,0.000,6,0.000,0.046,2545,1798,3949,0,0,0,0,0,0
$GC,2772,-0.84,-214.1,491.8,-13.4,368,2776,0.00,2.15,0.00,0.000,4,0.000,0.051,2537,3216,3947,0,0,0,0,0,0
$GC,2792,-0.84,-214.1,494.2,-13.2,369,2797,0.10,2.12,0.00,0.000,6,0.161,0.037,2563,1794,3946,0,0,0,0,0,0
$GC,3118,-0.88,-214.1,534.7,-12.1,399,3122,0.00,2.15,0.00,0.000,4,0.000,0.053,2565,392,3944,0,0,0,0,0,0
$GC,3174,-0.93,-214.1,542.0,-12.4,403,3181,0.00,2.17,0.00,0.000,6,0.000,0.047,2561,1808,3944,0,0,0,0,0,0
$GC,3500,-0.96,-214.1,581.3,-11.9,434,3504,0.00,2.15,0.00,0.000,4,0.000,0.053,2554,3209,3941,0,0,0,0,0,0
$GC,3519,-1.00,-214.1,583.4,-11.2,435,3524,0.10,2.12,0.00,0.000,6,0.099,0.037,2497,1789,3941,0,0,0,0,0,0
$GC,3842,-0.96,-214.1,634.7,-16.9,455,3847,0.12,2.17,0.00,0.000,4,0.177,0.054,2533,395,3938,0,0,0,0,0,0
$GC,3892,-0.97,-214.1,643.2,-14.2,457,3896,0.00,2.15,0.00,0.000,6,0.000,0.047,2525,1801,3937,0,0,0,0,0,0
$GC,4209,-0.97,-214.1,688.4,-14.4,472,4213,0.00,2.17,0.00,0.000,4,0.000,0.054,2526,396,3934,0,0,0,0,0,0
$GC,4249,-0.97,-214.1,694.6,-14.3,474,4253,0.00,2.17,0.00,0.000,6,0.000,0.047,2517,1803,3934,0,0,0,0,0,0
$GC,4578,-0.97,-214.1,742.4,-14.5,490,4582,0.00,2.17,0.00,0.000,4,0.000,0.054,2517,396,3931,0,0,0,0,0,0
$GC,4623,-0.97,-214.1,749.5,-15.5,492,4627,0.00,2.17,0.00,0.000,6,0.000,0.055,2508,1800,3930,0,0,0,0,0,0
$GC,4944,-0.95,-214.1,797.6,-14.4,508,4948,0.00,2.20,0.00,0.000,4,0.000,0.055,2510,398,3927,0,0,0,0,0,0
$GC,4979,-0.92,-214.1,802.9,-15.4,509,4986,0.15,2.20,0.00,0.000,6,0.166,0.050,2544,1809,3926,0,0,0,0,0,0
$GC,5297,-0.94,-214.1,843.1,-12.8,525,5301,0.00,2.22,0.00,0.000,4,0.000,0.056,2545,389,3924,0,0,0,0,0,0
$GC,5343,-0.98,-214.1,849.5,-14.0,527,5347,0.00,2.22,0.00,0.000,6,0.000,0.054,2537,1809,3924,0,0,0,0,0,0
$GC,5678,-0.98,-214.1,894.1,-13.2,543,5682,0.00,2.17,0.00,0.000,4,0.000,0.057,2531,3217,3921,0,0,0,0,0,0
$GC,5712,-1.01,-214.1,898.8,-12.9,544,5719,0.00,2.15,0.00,0.000,6,0.000,0.042,2531,1795,3920,0,0,0,0,0,0
$GC,6028,-1.01,-214.1,941.0,-13.2,560,6032,0.00,2.17,0.00,0.000,4,0.000,0.058,2532,393,3918,0,0,0,0,0,0
$GC,6136,-1.01,-214.1,955.7,-14.3,565,6140,0.00,2.17,0.00,0.000,6,0.000,0.050,2521,1801,3917,0,0,0,0,0,0
$STATE,6466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6467,begin apogee
$GC,6474,-0.23,0.0,1001.4,13.5,581,6666,0.75,0.00,185.23,1.441,6,0.142,0.000,2756,1749,3072,0,0,0,0,0,0
$STATE,6667,end apogee,CONTROL_FINISHED_OK
$STATE,6667,begin climb
$GC,6671,1.16,214.1,1008.5,0.0,590,6882,1.35,2.47,201.50,1.380,4,0.068,0.059,3222,347,2199,0,0,0,0,0,0
$GC,6915,0.83,214.1,961.5,33.2,601,6922,0.43,2.35,0.00,0.000,6,0.207,0.050,3112,1748,2196,0,0,0,0,0,0
$GC,7231,0.63,214.1,884.3,23.7,617,7236,0.25,2.20,0.00,0.000,4,0.187,0.056,3029,3165,2191,0,0,0,0,0,0
$GC,7282,0.56,214.1,874.2,17.3,619,7286,0.00,2.15,0.00,0.000,6,0.000,0.043,3036,1744,2189,0,0,0,0,0,0
$GC,7598,0.47,214.1,822.6,16.2,634,7600,0.15,0.00,0.00,0.000,6,0.180,0.000,2997,1744,2189,0,0,0,0,0,0
$GC,7908,0.52,270.8,785.1,11.4,649,7965,0.00,2.30,51.42,1.291,4,0.000,0.058,3006,342,1968,0,0,0,0,0,0
$GC,7990,0.56,302.3,775.3,12.5,652,8026,0.00,2.25,30.55,1.238,6,0.000,0.044,3006,1758,1838,0,0,0,0,0,0
$GC,8349,0.56,305.0,726.8,13.8,670,8353,0.00,2.17,0.00,0.000,4,0.000,0.054,3006,3169,1832,0,0,0,0,0,0
$GC,8393,0.56,305.0,719.8,15.3,672,8397,0.00,2.17,0.00,0.000,6,0.000,0.043,3016,1745,1831,0,0,0,0,0,0
$GC,8720,0.56,305.0,669.7,15.5,688,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1745,1829,0,0,0,0,0,0
$GC,9032,0.56,305.0,623.7,14.6,703,9036,0.00,2.17,0.00,0.000,4,0.000,0.057,3027,350,1827,0,0,0,0,0,0
$GC,9049,0.56,305.0,620.8,15.0,704,9053,0.00,2.17,0.00,0.000,6,0.000,0.043,3026,1760,1827,0,0,0,0,0,0
$GC,9372,0.55,305.0,570.5,15.5,728,9376,0.00,2.15,0.00,0.000,4,0.000,0.052,3026,3171,1826,0,0,0,0,0,0
$GC,9420,0.55,305.0,563.0,16.0,732,9424,0.00,2.17,0.00,0.000,6,0.000,0.042,3037,1743,1826,0,0,0,0,0,0
$GC,9745,0.52,305.0,510.2,16.4,762,9749,0.00,2.17,0.00,0.000,4,0.000,0.054,3047,347,1826,0,0,0,0,0,0
$GC,9776,0.49,305.0,505.2,17.2,764,9781,0.17,2.15,0.00,0.000,6,0.158,0.041,2999,1761,1824,0,0,0,0,0,0
$GC,10102,0.60,362.2,466.0,11.4,794,10164,0.10,2.28,53.58,1.086,4,0.104,0.050,3054,3160,1595,0,0,0,0,0,0
$GC,10192,0.58,362.2,453.3,15.8,801,10197,0.12,2.17,0.00,0.000,6,0.174,0.040,3031,1751,1594,0,0,0,0,0,0
$GC,10524,0.61,390.3,408.0,12.7,832,10562,0.00,2.28,25.85,1.014,4,0.000,0.056,3040,346,1480,0,0,0,0,0,0
$GC,10597,0.65,390.3,397.6,14.6,838,10601,0.00,2.17,0.00,0.000,6,0.000,0.039,3040,1761,1478,0,0,0,0,0,0
$GC,10922,0.65,390.3,350.8,14.9,868,10926,0.00,2.12,0.00,0.000,4,0.000,0.052,3040,3162,1477,0,0,0,0,0,0
$GC,10951,0.67,390.3,346.5,15.6,870,10955,0.00,2.15,0.00,0.000,6,0.000,0.040,3049,1746,1476,0,0,0,0,0,0
$GC,11276,0.67,390.3,299.3,14.6,900,11284,0.00,2.17,0.00,0.000,4,0.000,0.054,3059,355,1476,0,0,0,0,0,0
$GC,11302,0.67,390.3,295.5,14.6,904,11310,0.00,2.15,0.00,0.000,6,0.000,0.037,3059,1754,1475,0,0,0,0,0,0
$GC,11645,0.67,390.3,246.9,15.7,965,11651,0.00,2.20,0.00,0.000,4,0.000,0.054,3069,344,1475,0,0,0,0,0,0
$GC,11697,0.69,390.3,238.3,15.9,974,11706,0.00,2.17,0.00,0.000,6,0.000,0.039,3069,1749,1475,0,0,0,0,0,0
$GC,12042,0.69,390.3,186.8,14.8,1035,12049,0.00,2.12,0.00,0.000,4,0.000,0.047,3069,3168,1475,0,0,0,0,0,0
$GC,12076,0.72,390.3,181.9,15.2,1040,12084,0.00,2.17,0.00,0.000,6,0.000,0.039,3077,1747,1475,0,0,0,0,0,0
$GC,12411,0.72,390.3,132.1,14.1,1101,12419,0.00,2.20,0.00,0.000,4,0.000,0.052,3085,341,1475,0,0,0,0,0,0
$GC,12566,0.77,399.5,111.1,13.5,1129,12583,0.00,2.17,9.02,0.662,6,0.000,0.036,3084,1766,1443,0,0,0,0,0,0
$GC,12904,0.99,522.9,74.6,8.5,1191,13016,0.20,2.35,104.78,0.705,4,0.062,0.050,3188,340,939,0,0,0,0,0,0
$GC,13043,0.95,522.9,52.0,20.7,1210,13053,0.10,2.20,0.00,0.000,6,0.143,0.036,3152,1748,938,0,0,0,0,0,0
$STATE,13339,end climb,SURFACE_DEPTH_REACHED
$STATE,13339,begin surface coast
$FINISH,0.8,0.997387
$STATE,13360,end surface coast,CONTROL_FINISHED_OK
$STATE,13360,begin surface
$SM_CCo,13438,0.00,0.000,0,0,934,524.21
$SM_GC,1.77,7.93,0.00,0.00,0.047,0.000,0.000,144,1822,934,-8.35,0.62,524.21
$IRIDIUM_FIX,2223.01,12620.00,271010,232351
$TT8_MAMPS,0.026215
$HUMID,43.38
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.60
$XPDR_PINGS,98
$24V_AH,22.2,72.239
$10V_AH,10.2,46.696
$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,21.450,135.650,661.925,0.000,0.000,30.331,41.599,191.559,24.500,0.000,35.364,3138.624,6475.159,673.344,3165.543,434.309,0.000,1937.649,0.000,2887.274,0.000,0.845,0.000
$DEVICE_MAMPS,219.555,145.350,1441.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.300,1096.643,1471.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333796
$DATA_FILE_SIZE,76794,1269
$CAP_FILE_SIZE,154905,0
$CFSIZE,260165632,156774400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,246.4,1
$GPS,281010,065524,2228.250,12620.702,36,2.0,36,-3.2