version: 66.08
glider: 166
mission: 3
dive: 401
start: 10 28 110 22 1 47
data:
$ID,166
$MISSION,3
$DIVE,401
$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,-22060.012
$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,37
$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
$GPS1,281010,215400,2221.501,12619.266,62,1.0,62,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.3
$GPS2,281010,220125,2221.482,12619.314,15,1.5,15,-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,202.4,115219,-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,-214.1,0.0,0.0,0,99,0.00,0.00,-80.38,0.000,2,0.000,0.000,136,1768,3380,0,0,0,0,0,0
$GC,102,-1.16,-214.1,5.6,-9.2,11,127,9.23,2.25,-10.45,0.000,4,0.226,0.056,2446,3208,3947,0,0,0,0,0,0
$GC,329,-0.94,-214.1,94.0,-33.0,52,337,0.28,2.15,0.00,0.000,6,0.164,0.034,2531,1791,3950,0,0,0,0,0,0
$GC,656,-0.84,-214.1,174.9,-21.8,113,666,0.12,0.00,0.00,0.000,6,0.181,0.000,2564,1791,3954,0,0,0,0,0,0
$GC,989,-0.80,-214.1,235.6,-16.8,174,997,0.00,2.17,0.00,0.000,4,0.000,0.050,2564,396,3955,0,0,0,0,0,0
$GC,1067,-0.77,-214.1,248.5,-16.4,187,1074,0.12,2.15,0.00,0.000,6,0.173,0.045,2594,1797,3955,0,0,0,0,0,0
$GC,1402,-0.80,-214.1,293.7,-13.6,248,1409,0.00,2.17,0.00,0.000,4,0.000,0.050,2584,3204,3955,0,0,0,0,0,0
$GC,1445,-0.86,-214.1,299.6,-12.5,255,1452,0.00,2.10,0.00,0.000,6,0.000,0.034,2585,1791,3955,0,0,0,0,0,0
$GC,1774,-0.89,-214.1,341.6,-11.8,286,1777,0.00,2.15,0.00,0.000,4,0.000,0.050,2585,395,3954,0,0,0,0,0,0
$GC,1815,-0.93,-214.1,346.9,-12.4,289,1820,0.12,2.15,0.00,0.000,6,0.088,0.045,2519,1802,3954,0,0,0,0,0,0
$GC,2144,-0.87,-214.1,401.6,-16.5,319,2149,0.15,2.17,0.00,0.000,4,0.172,0.050,2550,3215,3953,0,0,0,0,0,0
$GC,2174,-0.87,-214.1,406.7,-15.2,321,2178,0.00,2.10,0.00,0.000,6,0.000,0.036,2550,1802,3953,0,0,0,0,0,0
$GC,2501,-0.87,-214.1,452.4,-14.2,351,2505,0.00,2.17,0.00,0.000,4,0.000,0.051,2550,386,3951,0,0,0,0,0,0
$GC,2614,-0.87,-214.1,468.4,-13.7,361,2618,0.00,2.17,0.00,0.000,6,0.000,0.045,2547,1796,3950,0,0,0,0,0,0
$GC,2940,-0.87,-214.1,514.5,-14.4,391,2944,0.00,2.17,0.00,0.000,4,0.000,0.050,2547,389,3948,0,0,0,0,0,0
$GC,2975,-0.87,-214.1,519.8,-15.3,393,2982,0.00,2.20,0.00,0.000,6,0.000,0.047,2547,1811,3948,0,0,0,0,0,0
$GC,3302,-0.87,-214.1,563.9,-13.1,424,3306,0.00,2.15,0.00,0.000,4,0.000,0.052,2539,3211,3946,0,0,0,0,0,0
$GC,3335,-0.91,-214.1,568.5,-12.7,426,3342,0.00,2.15,0.00,0.000,6,0.000,0.037,2538,1793,3945,0,0,0,0,0,0
$GC,3671,-0.91,-214.1,611.7,-13.0,454,3675,0.00,2.17,0.00,0.000,4,0.000,0.052,2538,389,3943,0,0,0,0,0,0
$GC,3690,-0.91,-214.1,614.1,-12.8,455,3694,0.00,2.17,0.00,0.000,6,0.000,0.047,2536,1802,3943,0,0,0,0,0,0
$GC,4017,-0.91,-214.1,656.8,-13.1,471,4021,0.00,2.20,0.00,0.000,4,0.000,0.053,2535,387,3940,0,0,0,0,0,0
$GC,4034,-0.91,-214.1,659.2,-13.4,472,4038,0.00,2.20,0.00,0.000,6,0.000,0.046,2526,1810,3940,0,0,0,0,0,0
$GC,4363,-0.91,-214.1,705.8,-14.3,488,4367,0.00,2.20,0.00,0.000,4,0.000,0.054,2526,391,3936,0,0,0,0,0,0
$GC,4389,-0.91,-214.1,710.4,-15.7,489,4393,0.00,2.17,0.00,0.000,6,0.000,0.047,2517,1799,3935,0,0,0,0,0,0
$GC,4711,-0.91,-214.1,759.1,-15.0,505,4716,0.10,2.20,0.00,0.000,4,0.184,0.057,2541,3204,3933,0,0,0,0,0,0
$GC,4739,-0.94,-214.1,763.0,-13.8,506,4743,0.00,2.12,0.00,0.000,6,0.000,0.037,2540,1801,3932,0,0,0,0,0,0
$GC,5063,-0.96,-214.1,805.7,-13.3,522,5067,0.00,2.17,0.00,0.000,4,0.000,0.055,2542,391,3929,0,0,0,0,0,0
$GC,5086,-0.96,-214.1,809.3,-14.3,523,5090,0.00,2.20,0.00,0.000,6,0.000,0.049,2536,1806,3929,0,0,0,0,0,0
$GC,5413,-0.96,-214.1,856.3,-15.2,539,5417,0.00,2.20,0.00,0.000,4,0.000,0.055,2535,388,3926,0,0,0,0,0,0
$GC,5457,-0.96,-214.1,863.4,-15.6,541,5461,0.00,2.22,0.00,0.000,6,0.000,0.051,2526,1807,3926,0,0,0,0,0,0
$GC,5786,-0.96,-214.1,911.8,-14.5,557,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1807,3923,0,0,0,0,0,0
$GC,6094,-0.96,-214.1,953.8,-13.3,572,6098,0.00,2.22,0.00,0.000,4,0.000,0.057,2525,391,3921,0,0,0,0,0,0
$GC,6178,-0.96,-214.1,965.4,-13.5,575,6185,0.00,2.20,0.00,0.000,6,0.000,0.050,2515,1800,3920,0,0,0,0,0,0
$STATE,6451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6451,begin apogee
$GC,6457,-0.23,0.0,1002.3,13.5,589,6650,0.77,0.00,186.60,1.439,6,0.134,0.000,2761,1747,3072,0,0,0,0,0,0
$STATE,6651,end apogee,CONTROL_FINISHED_OK
$STATE,6651,begin climb
$GC,6653,1.16,214.1,1009.4,0.0,598,6866,1.30,2.45,202.20,1.379,4,0.057,0.057,3231,349,2198,0,0,0,0,0,0
$GC,6894,0.81,214.1,962.7,35.1,609,6900,0.47,2.35,0.00,0.000,6,0.203,0.050,3109,1756,2195,0,0,0,0,0,0
$GC,7219,0.62,214.1,885.8,23.2,625,7224,0.25,2.17,0.00,0.000,4,0.183,0.052,3024,3170,2190,0,0,0,0,0,0
$GC,7246,0.50,214.1,879.6,18.9,626,7251,0.12,2.17,0.00,0.000,6,0.188,0.041,3002,1744,2189,0,0,0,0,0,0
$GC,7566,0.49,227.3,837.7,13.3,641,7588,0.00,2.25,12.05,1.193,4,0.000,0.056,3011,349,2145,0,0,0,0,0,0
$GC,7646,0.45,227.3,825.5,15.2,644,7650,0.00,2.17,0.00,0.000,6,0.000,0.043,3011,1758,2144,0,0,0,0,0,0
$GC,7962,0.41,227.3,779.7,14.2,659,7967,0.12,2.17,0.00,0.000,4,0.179,0.053,2968,3174,2142,0,0,0,0,0,0
$GC,8019,0.52,291.9,772.7,11.1,661,8089,0.00,2.17,60.17,1.278,6,0.000,0.041,2976,1743,1882,0,0,0,0,0,0
$GC,8400,0.62,339.0,727.9,11.8,680,8452,0.17,2.33,43.88,1.245,4,0.074,0.055,3072,340,1690,0,0,0,0,0,0
$GC,8489,0.55,339.0,711.2,21.3,684,8494,0.20,2.20,0.00,0.000,6,0.165,0.042,3018,1758,1688,0,0,0,0,0,0
$GC,8818,0.55,339.0,659.4,14.6,700,8822,0.00,2.15,0.00,0.000,4,0.000,0.053,3017,3156,1685,0,0,0,0,0,0
$GC,8874,0.57,339.0,650.6,14.4,702,8881,0.00,2.15,0.00,0.000,6,0.000,0.041,3025,1740,1683,0,0,0,0,0,0
$GC,9191,0.57,339.0,606.3,14.4,718,9194,0.00,2.17,0.00,0.000,4,0.000,0.056,3036,343,1682,0,0,0,0,0,0
$GC,9232,0.57,339.0,599.9,16.9,720,9236,0.00,2.12,0.00,0.000,6,0.000,0.041,3036,1742,1681,0,0,0,0,0,0
$GC,9560,0.54,339.0,544.3,17.9,750,9564,0.00,2.15,0.00,0.000,4,0.000,0.052,3036,3164,1681,0,0,0,0,0,0
$GC,9658,0.54,339.0,527.2,17.2,758,9663,0.12,2.15,0.00,0.000,6,0.172,0.041,3013,1750,1681,0,0,0,0,0,0
$GC,9984,0.62,380.5,481.6,12.1,788,10031,0.00,2.30,37.72,1.090,4,0.000,0.057,3022,350,1520,0,0,0,0,0,0
$GC,10093,0.75,433.2,468.6,11.6,797,10153,0.17,2.20,48.60,1.064,6,0.071,0.043,3106,1763,1305,0,0,0,0,0,0
$GC,10470,0.66,433.2,383.7,23.4,832,10475,0.20,2.17,0.00,0.000,4,0.166,0.054,3041,3170,1302,0,0,0,0,0,0
$GC,10543,0.72,439.9,371.5,13.6,838,10557,0.00,2.15,6.82,0.818,6,0.000,0.041,3049,1741,1277,0,0,0,0,0,0
$GC,10875,0.72,439.9,320.1,16.0,869,10878,0.00,2.15,0.00,0.000,4,0.000,0.057,3060,349,1276,0,0,0,0,0,0
$GC,10929,0.78,439.9,311.0,15.0,873,10937,0.00,2.15,0.00,0.000,6,0.000,0.037,3059,1759,1275,0,0,0,0,0,0
$GC,11259,0.80,439.9,259.6,15.4,927,11266,0.10,2.12,0.00,0.000,4,0.100,0.047,3118,3165,1275,0,0,0,0,0,0
$GC,11287,0.78,439.9,254.5,18.4,931,11294,0.12,2.15,0.00,0.000,6,0.172,0.039,3096,1743,1275,0,0,0,0,0,0
$GC,11618,0.75,439.9,192.4,16.2,992,11625,0.00,2.17,0.00,0.000,4,0.000,0.053,3105,350,1275,0,0,0,0,0,0
$GC,11693,0.75,439.9,178.7,17.0,1005,11700,0.00,2.12,0.00,0.000,6,0.000,0.037,3097,1751,1275,0,0,0,0,0,0
$GC,12026,0.75,439.9,125.4,15.4,1066,12034,0.00,2.15,0.00,0.000,4,0.000,0.046,3096,3160,1275,0,0,0,0,0,0
$GC,12043,0.75,439.9,123.0,14.7,1068,12050,0.00,2.15,0.00,0.000,6,0.000,0.036,3098,1747,1275,0,0,0,0,0,0
$GC,12373,0.96,541.4,78.8,9.5,1129,12472,0.15,2.28,85.90,0.713,4,0.073,0.050,3192,344,863,0,0,0,0,0,0
$GC,12500,0.90,541.4,52.7,25.2,1146,12508,0.17,2.17,0.00,0.000,6,0.142,0.035,3131,1749,862,0,0,0,0,0,0
$STATE,12804,end climb,SURFACE_DEPTH_REACHED
$STATE,12804,begin surface coast
$FINISH,1.1,1.022004
$STATE,12823,end surface coast,CONTROL_FINISHED_OK
$STATE,12823,begin surface
$SM_CCo,12900,0.00,0.000,0,0,860,542.36
$SM_GC,1.66,7.75,0.00,0.00,0.040,0.000,0.000,145,1754,860,-8.34,-1.30,542.36
$IRIDIUM_FIX,2213.68,12620.49,281010,181807
$TT8_MAMPS,0.026215
$HUMID,42.99
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.70
$XPDR_PINGS,86
$24V_AH,22.2,73.498
$10V_AH,10.1,47.380
$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,22.350,131.150,683.950,0.000,0.000,41.462,19.486,200.053,21.500,0.000,15.982,2990.336,6214.631,699.537,3002.237,421.070,0.000,1922.378,0.000,2743.895,0.000,0.846,0.000
$DEVICE_MAMPS,226.440,116.280,1438.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,822.654,1033.104,1364.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70155,1206
$CAP_FILE_SIZE,151159,0
$CFSIZE,260165632,156372992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,255.5,1
$GPS,291010,013800,2219.613,12618.633,37,1.3,37,-3.1