version: 66.08
glider: 166
mission: 3
dive: 400
start: 10 28 110 18 11 17
data:
$ID,166
$MISSION,3
$DIVE,400
$N_DIVES,410
$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,-22058.758
$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,43
$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
$GPS1,281010,180324,2223.620,12619.231,25,1.3,43,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-58.0
$GPS2,281010,181055,2223.597,12619.312,16,1.4,33,-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,193.2,118992,-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,-214.1,0.0,0.0,0,115,0.00,0.00,-95.57,0.000,2,0.000,0.000,146,1766,3239,0,0,0,0,0,0
$GC,118,-1.16,-214.1,5.3,-9.8,13,149,9.20,2.22,-13.35,0.000,4,0.227,0.056,2449,3199,3946,0,0,0,0,0,0
$GC,347,-0.97,-214.1,89.4,-35.6,54,355,0.20,2.15,0.00,0.000,6,0.145,0.037,2514,1803,3948,0,0,0,0,0,0
$GC,677,-0.85,-214.1,178.7,-24.1,115,685,0.17,2.20,0.00,0.000,4,0.173,0.051,2563,392,3951,0,0,0,0,0,0
$GC,772,-0.80,-214.1,198.7,-19.2,131,779,0.00,2.15,0.00,0.000,6,0.000,0.047,2560,1790,3951,0,0,0,0,0,0
$GC,1108,-0.77,-214.1,261.4,-18.1,192,1117,0.12,2.22,0.00,0.000,4,0.175,0.050,2594,389,3952,0,0,0,0,0,0
$GC,1173,-0.80,-214.1,271.7,-14.4,203,1181,0.00,2.17,0.00,0.000,6,0.000,0.046,2589,1808,3952,0,0,0,0,0,0
$GC,1513,-0.82,-214.1,317.7,-13.6,253,1517,0.00,2.15,0.00,0.000,4,0.000,0.050,2578,3222,3953,0,0,0,0,0,0
$GC,1544,-0.86,-214.1,321.8,-12.8,255,1549,0.00,2.12,0.00,0.000,6,0.000,0.036,2579,1794,3953,0,0,0,0,0,0
$GC,1871,-0.89,-214.1,367.6,-14.2,285,1875,0.00,2.15,0.00,0.000,4,0.000,0.051,2579,396,3952,0,0,0,0,0,0
$GC,1946,-0.93,-214.1,377.5,-12.9,291,1950,0.00,2.12,0.00,0.000,6,0.000,0.044,2573,1804,3952,0,0,0,0,0,0
$GC,2273,-0.96,-214.1,417.4,-11.8,321,2278,0.12,2.17,0.00,0.000,4,0.092,0.050,2506,396,3951,0,0,0,0,0,0
$GC,2303,-0.91,-214.1,421.8,-15.5,323,2308,0.17,2.12,0.00,0.000,6,0.161,0.044,2545,1805,3950,0,0,0,0,0,0
$GC,2630,-0.91,-214.1,468.1,-14.6,353,2634,0.00,2.15,0.00,0.000,4,0.000,0.053,2545,3206,3949,0,0,0,0,0,0
$GC,2651,-0.91,-214.1,471.4,-13.6,354,2659,0.00,2.15,0.00,0.000,6,0.000,0.037,2545,1792,3949,0,0,0,0,0,0
$GC,2977,-0.91,-214.1,517.0,-15.0,385,2981,0.00,2.15,0.00,0.000,4,0.000,0.053,2545,396,3946,0,0,0,0,0,0
$GC,3073,-0.91,-214.1,531.7,-14.9,393,3077,0.00,2.15,0.00,0.000,6,0.000,0.047,2546,1804,3946,0,0,0,0,0,0
$GC,3398,-0.91,-214.1,579.3,-13.7,423,3402,0.00,2.20,0.00,0.000,4,0.000,0.052,2546,388,3944,0,0,0,0,0,0
$GC,3431,-0.91,-214.1,584.3,-14.2,425,3438,0.00,2.15,0.00,0.000,6,0.000,0.047,2541,1802,3943,0,0,0,0,0,0
$GC,3763,-0.91,-214.1,626.9,-12.7,447,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1803,3941,0,0,0,0,0,0
$GC,4071,-0.93,-214.1,664.2,-11.9,462,4075,0.00,2.20,0.00,0.000,4,0.000,0.055,2541,387,3938,0,0,0,0,0,0
$GC,4099,-0.93,-214.1,667.9,-13.0,463,4103,0.00,2.20,0.00,0.000,6,0.000,0.050,2538,1797,3937,0,0,0,0,0,0
$GC,4422,-0.93,-214.1,709.7,-13.8,479,4426,0.00,2.17,0.00,0.000,4,0.000,0.054,2538,398,3935,0,0,0,0,0,0
$GC,4455,-0.95,-214.1,714.9,-15.1,480,4462,0.00,2.20,0.00,0.000,6,0.000,0.048,2529,1812,3934,0,0,0,0,0,0
$GC,4773,-0.95,-214.1,760.8,-14.9,496,4777,0.00,2.22,0.00,0.000,4,0.000,0.055,2529,398,3931,0,0,0,0,0,0
$GC,4813,-0.95,-214.1,767.2,-14.8,498,4817,0.00,2.20,0.00,0.000,6,0.000,0.050,2526,1808,3930,0,0,0,0,0,0
$GC,5140,-0.95,-214.1,814.3,-13.9,514,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1808,3928,0,0,0,0,0,0
$GC,5451,-0.95,-214.1,856.6,-13.8,529,5455,0.00,2.22,0.00,0.000,4,0.000,0.056,2526,396,3925,0,0,0,0,0,0
$GC,5523,-0.96,-214.1,867.6,-14.4,532,5527,0.00,2.17,0.00,0.000,6,0.000,0.050,2518,1800,3925,0,0,0,0,0,0
$GC,5847,-0.96,-214.1,913.8,-14.6,548,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1800,3922,0,0,0,0,0,0
$GC,6154,-0.96,-214.1,957.6,-13.9,563,6158,0.00,2.22,0.00,0.000,4,0.000,0.058,2519,398,3919,0,0,0,0,0,0
$GC,6209,-0.96,-214.1,966.0,-14.5,565,6216,0.00,2.17,0.00,0.000,6,0.000,0.050,2512,1799,3918,0,0,0,0,0,0
$STATE,6462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6462,begin apogee
$GC,6469,-0.23,0.0,1002.0,14.0,578,6661,0.77,0.00,186.23,1.434,6,0.135,0.000,2764,1746,3071,0,0,0,0,0,0
$STATE,6662,end apogee,CONTROL_FINISHED_OK
$STATE,6662,begin climb
$GC,6666,1.16,214.1,1010.3,0.0,587,6877,1.27,2.42,202.43,1.372,4,0.050,0.057,3227,352,2198,0,0,0,0,0,0
$GC,6895,0.83,214.1,967.9,30.7,598,6900,0.45,2.38,0.00,0.000,6,0.203,0.048,3112,1744,2196,0,0,0,0,0,0
$GC,7218,0.64,214.1,889.4,23.2,614,7223,0.22,2.20,0.00,0.000,4,0.184,0.053,3040,3171,2191,0,0,0,0,0,0
$GC,7263,0.55,214.1,879.7,19.3,616,7268,0.12,2.20,0.00,0.000,6,0.191,0.043,3018,1739,2189,0,0,0,0,0,0
$GC,7588,0.51,230.3,834.0,13.2,632,7608,0.00,2.22,15.00,1.226,4,0.000,0.057,3027,342,2133,0,0,0,0,0,0
$GC,7630,0.45,230.3,827.4,14.4,634,7635,0.15,2.22,0.00,0.000,6,0.167,0.045,2988,1755,2132,0,0,0,0,0,0
$GC,7948,0.52,281.2,789.8,11.7,649,8003,0.00,2.33,47.78,1.284,4,0.000,0.054,2980,3169,1924,0,0,0,0,0,0
$GC,8060,0.59,306.7,776.6,12.8,654,8091,0.12,2.22,24.58,1.228,6,0.084,0.043,3052,1745,1820,0,0,0,0,0,0
$GC,8413,0.52,306.7,712.0,18.5,671,8418,0.15,2.20,0.00,0.000,4,0.174,0.057,3021,346,1815,0,0,0,0,0,0
$GC,8444,0.49,306.7,706.6,16.8,672,8448,0.00,2.20,0.00,0.000,6,0.000,0.044,3018,1762,1814,0,0,0,0,0,0
$GC,8760,0.47,306.7,660.0,14.8,687,8764,0.00,2.15,0.00,0.000,4,0.000,0.054,3018,3168,1813,0,0,0,0,0,0
$GC,8809,0.47,306.7,652.1,14.9,689,8813,0.12,2.17,0.00,0.000,6,0.174,0.043,2996,1740,1812,0,0,0,0,0,0
$GC,9133,0.55,342.2,611.0,12.3,705,9175,0.00,2.30,32.20,1.178,4,0.000,0.057,3004,344,1677,0,0,0,0,0,0
$GC,9227,0.64,365.1,599.0,12.9,709,9258,0.12,2.20,22.52,1.135,6,0.088,0.041,3060,1750,1583,0,0,0,0,0,0
$GC,9574,0.59,365.1,535.7,18.6,742,9579,0.12,2.22,0.00,0.000,4,0.176,0.053,3018,3173,1581,0,0,0,0,0,0
$GC,9660,0.65,378.6,522.9,13.3,749,9683,0.00,2.17,13.40,1.050,6,0.000,0.041,3026,1749,1528,0,0,0,0,0,0
$GC,10003,0.67,378.6,473.6,14.7,781,10007,0.00,2.20,0.00,0.000,4,0.000,0.056,3037,338,1525,0,0,0,0,0,0
$GC,10048,0.70,378.6,466.9,14.1,784,10056,0.00,2.20,0.00,0.000,6,0.000,0.041,3037,1748,1525,0,0,0,0,0,0
$GC,10374,0.70,378.6,419.0,14.1,815,10378,0.00,2.15,0.00,0.000,4,0.000,0.050,3037,3170,1524,0,0,0,0,0,0
$GC,10419,0.72,378.6,412.1,14.7,818,10427,0.00,2.17,0.00,0.000,6,0.000,0.041,3047,1757,1525,0,0,0,0,0,0
$GC,10745,0.72,378.6,360.4,15.8,849,10749,0.00,2.20,0.00,0.000,4,0.000,0.055,3058,343,1525,0,0,0,0,0,0
$GC,10787,0.72,378.6,354.0,16.2,852,10791,0.00,2.17,0.00,0.000,6,0.000,0.037,3057,1770,1523,0,0,0,0,0,0
$GC,11112,0.72,378.6,301.9,15.4,882,11116,0.00,2.10,0.00,0.000,4,0.000,0.047,3057,3171,1523,0,0,0,0,0,0
$GC,11169,0.74,378.6,293.6,14.9,890,11177,0.00,2.17,0.00,0.000,6,0.000,0.039,3065,1750,1523,0,0,0,0,0,0
$GC,11503,0.74,378.6,243.8,15.4,951,11511,0.00,2.17,0.00,0.000,4,0.000,0.053,3075,345,1523,0,0,0,0,0,0
$GC,11574,0.74,378.6,232.9,16.3,963,11582,0.00,2.12,0.00,0.000,6,0.000,0.037,3075,1760,1522,0,0,0,0,0,0
$GC,11909,0.74,378.6,182.6,14.9,1024,11916,0.00,2.15,0.00,0.000,4,0.000,0.046,3075,3169,1523,0,0,0,0,0,0
$GC,11966,0.81,399.0,174.2,13.0,1034,11995,0.00,2.17,19.45,0.779,6,0.000,0.037,3077,1744,1444,0,0,0,0,0,0
$GC,12321,0.82,399.7,127.3,13.9,1098,12329,0.00,2.17,0.00,0.000,4,0.000,0.042,3076,3165,1444,0,0,0,0,0,0
$GC,12357,0.87,409.0,122.7,13.5,1103,12375,0.08,2.15,10.45,0.679,6,0.052,0.037,3145,1757,1403,0,0,0,0,0,0
$GC,12695,0.85,409.0,66.1,16.7,1165,12703,0.12,0.00,0.00,0.000,6,0.171,0.000,3112,1758,1402,0,0,0,0,0,0
$GC,13022,0.89,410.2,20.9,13.8,1226,13031,0.00,2.20,0.00,0.000,4,0.000,0.049,3120,338,1402,0,0,0,0,0,0
$GC,13045,0.97,439.1,17.6,12.6,1229,13077,0.00,2.15,26.80,0.640,6,0.000,0.034,3120,1761,1281,0,0,0,0,0,0
$STATE,13165,end climb,SURFACE_DEPTH_REACHED
$STATE,13165,begin surface coast
$FINISH,1.0,1.010172
$STATE,13188,end surface coast,CONTROL_FINISHED_OK
$STATE,13188,begin surface
$SM_CCo,13265,0.00,0.000,0,0,1279,439.82
$SM_GC,1.61,7.60,0.00,0.00,0.030,0.000,0.000,136,1767,1279,-8.35,-0.93,439.82
$IRIDIUM_FIX,2220.67,12618.62,281010,141426
$TT8_MAMPS,0.026215
$HUMID,42.43
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,25.20
$XPDR_PINGS,93
$24V_AH,22.2,73.242
$10V_AH,10.2,47.243
$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,21.450,131.500,600.825,0.000,0.000,27.714,36.851,182.537,23.250,0.000,34.429,3118.235,6401.677,671.047,3086.474,422.860,0.000,1879.390,0.000,2823.768,0.000,0.844,0.000
$DEVICE_MAMPS,227.205,117.810,1433.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.021,1082.013,1458.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73725,1253
$CAP_FILE_SIZE,153994,0
$CFSIZE,260165632,156450816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,101.7,1
$GPS,281010,215400,2221.501,12619.266,62,1.0,62,-3.2