version: 66.08
glider: 166
mission: 3
dive: 402
start: 10 29 110 1 52 49
data:
$ID,166
$MISSION,3
$DIVE,402
$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,-22061.271
$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,40
$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
$GPS1,291010,013800,2219.613,12618.633,37,1.3,37,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.4
$GPS2,291010,015226,2219.540,12618.659,12,1.7,12,-3.1
$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,197.7,111450,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,112,0.00,0.00,-94.03,0.000,2,0.000,0.000,143,1757,3287,0,0,0,0,0,0
$GC,115,-1.16,-214.1,5.6,-10.8,13,147,9.18,2.28,-12.48,0.000,4,0.225,0.059,2447,3206,3949,0,0,0,0,0,0
$GC,348,-0.95,-214.1,98.0,-34.7,55,358,0.25,2.15,0.00,0.000,6,0.154,0.035,2526,1800,3950,0,0,0,0,0,0
$GC,677,-0.84,-214.1,177.1,-21.9,116,685,0.15,2.22,0.00,0.000,4,0.177,0.050,2568,388,3953,0,0,0,0,0,0
$GC,866,-0.81,-214.1,210.2,-17.1,150,874,0.00,2.17,0.00,0.000,6,0.000,0.044,2563,1791,3954,0,0,0,0,0,0
$GC,1200,-0.78,-214.1,266.6,-16.7,211,1207,0.00,2.15,0.00,0.000,4,0.000,0.048,2563,388,3954,0,0,0,0,0,0
$GC,1258,-0.76,-214.1,277.1,-17.3,221,1266,0.12,2.17,0.00,0.000,6,0.174,0.045,2591,1811,3954,0,0,0,0,0,0
$GC,1594,-0.79,-214.1,320.6,-12.1,268,1598,0.00,2.10,0.00,0.000,4,0.000,0.050,2585,3209,3953,0,0,0,0,0,0
$GC,1676,-0.87,-214.1,329.8,-10.2,275,1684,0.00,2.10,0.00,0.000,6,0.000,0.035,2585,1793,3953,0,0,0,0,0,0
$GC,2002,-0.92,-214.1,365.7,-11.3,306,2007,0.12,2.15,0.00,0.000,4,0.090,0.051,2519,396,3951,0,0,0,0,0,0
$GC,2117,-0.89,-214.1,384.6,-17.0,316,2126,0.12,2.17,0.00,0.000,6,0.136,0.044,2550,1803,3950,0,0,0,0,0,0
$GC,2444,-0.89,-214.1,431.0,-14.0,347,2448,0.00,2.15,0.00,0.000,4,0.000,0.050,2550,397,3949,0,0,0,0,0,0
$GC,2486,-0.89,-214.1,437.6,-14.8,350,2495,0.00,2.17,0.00,0.000,6,0.000,0.045,2548,1807,3948,0,0,0,0,0,0
$GC,2814,-0.89,-214.1,480.8,-12.9,381,2818,0.00,2.15,0.00,0.000,4,0.000,0.053,2548,3211,3946,0,0,0,0,0,0
$GC,2852,-0.93,-214.1,485.9,-12.0,384,2860,0.00,2.15,0.00,0.000,6,0.000,0.037,2547,1795,3945,0,0,0,0,0,0
$GC,3178,-0.93,-214.1,529.7,-13.8,415,3182,0.00,2.12,0.00,0.000,4,0.000,0.051,2547,398,3943,0,0,0,0,0,0
$GC,3218,-0.93,-214.1,535.4,-14.5,418,3222,0.00,2.17,0.00,0.000,6,0.000,0.047,2547,1811,3943,0,0,0,0,0,0
$GC,3544,-0.93,-214.1,578.8,-13.1,448,3548,0.00,2.15,0.00,0.000,4,0.000,0.052,2538,3212,3940,0,0,0,0,0,0
$GC,3585,-0.97,-214.1,583.9,-12.6,451,3588,0.00,2.10,0.00,0.000,6,0.000,0.037,2538,1801,3939,0,0,0,0,0,0
$GC,3917,-0.97,-214.1,630.0,-13.4,472,3921,0.00,2.17,0.00,0.000,4,0.000,0.054,2538,395,3936,0,0,0,0,0,0
$GC,3961,-0.97,-214.1,636.6,-13.5,474,3965,0.00,2.17,0.00,0.000,6,0.000,0.047,2536,1800,3935,0,0,0,0,0,0
$GC,4284,-0.97,-214.1,677.0,-12.5,490,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1801,3932,0,0,0,0,0,0
$GC,4592,-0.97,-214.1,716.0,-12.7,505,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1801,3929,0,0,0,0,0,0
$GC,4902,-0.99,-214.1,755.0,-12.2,520,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1801,3926,0,0,0,0,0,0
$GC,5212,-1.01,-214.1,794.2,-12.7,535,5216,0.00,2.20,0.00,0.000,4,0.000,0.054,2536,399,3923,0,0,0,0,0,0
$GC,5235,-1.03,-214.1,797.6,-13.6,536,5239,0.00,2.20,0.00,0.000,6,0.000,0.049,2527,1807,3923,0,0,0,0,0,0
$GC,5557,-1.03,-214.1,840.6,-13.5,552,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1807,3919,0,0,0,0,0,0
$GC,5867,-1.03,-214.1,882.2,-13.3,567,5871,0.00,2.22,0.00,0.000,4,0.000,0.057,2527,399,3917,0,0,0,0,0,0
$GC,5931,-1.05,-214.1,890.9,-12.9,570,5935,0.00,2.20,0.00,0.000,6,0.000,0.050,2517,1806,3916,0,0,0,0,0,0
$GC,6260,-1.05,-214.1,935.1,-13.1,586,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1807,3914,0,0,0,0,0,0
$GC,6568,-1.05,-214.1,975.8,-13.1,601,6572,0.00,2.20,0.00,0.000,4,0.000,0.057,2517,398,3912,0,0,0,0,0,0
$GC,6608,-1.05,-214.1,981.3,-14.1,603,6612,0.00,2.20,0.00,0.000,6,0.000,0.050,2509,1802,3912,0,0,0,0,0,0
$STATE,6747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6747,begin apogee
$GC,6755,-0.23,0.0,1000.6,13.8,610,6946,0.77,0.00,185.38,1.440,6,0.135,0.000,2760,1749,3072,0,0,0,0,0,0
$STATE,6947,end apogee,CONTROL_FINISHED_OK
$STATE,6947,begin climb
$GC,6951,1.16,214.1,1009.3,0.0,619,7164,1.27,2.45,202.20,1.384,4,0.049,0.057,3233,352,2198,0,0,0,0,0,0
$GC,7215,0.81,214.1,956.7,32.7,631,7220,0.47,2.33,0.00,0.000,6,0.205,0.050,3109,1747,2194,0,0,0,0,0,0
$GC,7538,0.62,214.1,880.4,23.0,647,7543,0.22,2.20,0.00,0.000,4,0.184,0.053,3037,3174,2191,0,0,0,0,0,0
$GC,7589,0.54,214.1,870.0,18.6,649,7593,0.12,2.17,0.00,0.000,6,0.190,0.042,3014,1744,2189,0,0,0,0,0,0
$GC,7910,0.49,214.1,822.5,14.4,665,7914,0.00,2.17,0.00,0.000,4,0.000,0.055,3023,341,2188,0,0,0,0,0,0
$GC,7955,0.43,214.1,815.7,15.7,667,7960,0.15,2.20,0.00,0.000,6,0.171,0.045,2983,1756,2187,0,0,0,0,0,0
$GC,8277,0.50,265.2,777.5,11.7,683,8328,0.00,2.28,46.58,1.287,4,0.000,0.054,2973,3167,1990,0,0,0,0,0,0
$GC,8372,0.59,309.0,766.2,12.0,687,8419,0.15,2.20,41.17,1.254,6,0.077,0.043,3054,1750,1812,0,0,0,0,0,0
$GC,8741,0.52,309.0,697.4,19.4,705,8743,0.17,0.00,0.00,0.000,6,0.171,0.000,3007,1750,1806,0,0,0,0,0,0
$GC,9052,0.52,309.0,651.8,14.1,720,9056,0.00,2.20,0.00,0.000,4,0.000,0.057,3017,344,1804,0,0,0,0,0,0
$GC,9074,0.52,309.0,648.1,15.1,721,9078,0.00,2.17,0.00,0.000,6,0.000,0.041,3016,1746,1803,0,0,0,0,0,0
$GC,9401,0.52,309.0,598.9,15.3,737,9405,0.00,2.17,0.00,0.000,4,0.000,0.053,3016,3171,1803,0,0,0,0,0,0
$GC,9458,0.52,309.0,590.3,15.0,741,9464,0.00,2.17,0.00,0.000,6,0.000,0.041,3025,1745,1801,0,0,0,0,0,0
$GC,9785,0.52,309.0,540.1,15.2,772,9789,0.00,2.17,0.00,0.000,4,0.000,0.050,3025,3162,1800,0,0,0,0,0,0
$GC,9830,0.52,309.0,532.9,14.8,775,9838,0.00,2.17,0.00,0.000,6,0.000,0.041,3033,1739,1800,0,0,0,0,0,0
$GC,10156,0.50,311.0,484.5,13.8,806,10161,0.12,2.20,0.00,0.000,4,0.176,0.055,3010,342,1800,0,0,0,0,0,0
$GC,10177,0.50,312.7,482.0,13.8,807,10181,0.00,2.15,0.00,0.000,6,0.000,0.039,3010,1761,1799,0,0,0,0,0,0
$GC,10504,0.56,347.3,440.4,12.4,837,10543,0.00,2.17,34.08,1.065,4,0.000,0.050,3010,3157,1657,0,0,0,0,0,0
$GC,10583,0.62,362.7,430.7,13.2,843,10608,0.00,2.17,16.00,0.998,6,0.000,0.041,3019,1750,1592,0,0,0,0,0,0
$GC,10928,0.67,387.5,386.8,12.8,875,10957,0.10,2.28,23.02,0.995,4,0.103,0.061,3089,349,1491,0,0,0,0,0,0
$GC,11005,0.64,387.5,373.3,17.9,881,11013,0.15,2.17,0.00,0.000,6,0.160,0.041,3049,1770,1490,0,0,0,0,0,0
$GC,11331,0.64,387.5,323.8,15.0,912,11335,0.00,2.12,0.00,0.000,4,0.000,0.049,3039,3153,1488,0,0,0,0,0,0
$GC,11379,0.68,387.5,316.6,13.9,916,11387,0.00,2.17,0.00,0.000,6,0.000,0.040,3048,1743,1488,0,0,0,0,0,0
$GC,11705,0.71,399.8,268.6,13.4,966,11728,0.00,2.22,12.00,0.840,4,0.000,0.054,3057,349,1442,0,0,0,0,0,0
$GC,11741,0.71,399.8,263.4,15.0,971,11749,0.00,2.12,0.00,0.000,6,0.000,0.037,3057,1743,1441,0,0,0,0,0,0
$GC,12072,0.71,399.8,212.2,14.9,1032,12080,0.00,2.17,0.00,0.000,4,0.000,0.047,3056,3157,1442,0,0,0,0,0,0
$GC,12129,0.77,399.8,204.7,14.2,1041,12136,0.00,2.12,0.00,0.000,6,0.000,0.038,3058,1748,1441,0,0,0,0,0,0
$GC,12465,0.81,413.4,162.9,13.3,1102,12489,0.12,2.22,13.90,0.755,4,0.086,0.052,3144,349,1386,0,0,0,0,0,0
$GC,12567,0.75,413.4,143.2,18.6,1119,12577,0.17,2.15,0.00,0.000,6,0.146,0.035,3079,1751,1384,0,0,0,0,0,0
$GC,12901,0.77,413.4,94.2,14.3,1180,12909,0.00,2.15,0.00,0.000,4,0.000,0.045,3075,3157,1384,0,0,0,0,0,0
$GC,12925,0.86,449.4,90.9,12.3,1183,12965,0.05,2.15,32.08,0.722,6,0.060,0.036,3138,1747,1239,0,0,0,0,0,0
$GC,13285,0.86,449.4,36.6,16.0,1248,13292,0.00,2.17,0.00,0.000,4,0.000,0.050,3149,352,1238,0,0,0,0,0,0
$GC,13313,0.84,449.4,32.6,14.7,1252,13322,0.10,2.12,0.00,0.000,6,0.132,0.035,3114,1754,1238,0,0,0,0,0,0
$STATE,13598,end climb,SURFACE_DEPTH_REACHED
$STATE,13598,begin surface coast
$FINISH,0.9,1.009429
$STATE,13644,end surface coast,CONTROL_FINISHED_OK
$STATE,13644,begin surface
$SM_CCo,13721,0.00,0.000,0,0,1237,450.13
$SM_GC,1.70,7.65,0.00,0.00,0.037,0.000,0.000,141,1758,1237,-8.35,-1.19,450.13
$IRIDIUM_FIX,2213.68,12630.76,281010,212102
$TT8_MAMPS,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,25.30
$XPDR_PINGS,92
$24V_AH,22.2,73.740
$10V_AH,10.2,47.530
$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,21.775,126.650,606.400,0.000,0.000,140.534,113.267,183.785,23.000,0.000,13.556,3244.341,6845.295,655.616,3374.970,452.900,0.000,1915.994,0.000,2946.759,0.000,0.846,0.000
$DEVICE_MAMPS,224.910,116.280,1440.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.217,1140.280,1534.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76930,1313
$CAP_FILE_SIZE,159812,0
$CFSIZE,260165632,156274688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,224.3,1
$GPS,291010,054237,2217.527,12617.977,29,1.2,29,-3.1