version: 66.08
glider: 166
mission: 3
dive: 403
start: 10 29 110 5 59 49
data:
$ID,166
$MISSION,3
$DIVE,403
$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,-22062.533
$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,40
$R_STBD_OVSHOOT,45
$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
$GPS1,291010,054237,2217.527,12617.977,29,1.2,29,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-65.4
$GPS2,291010,055926,2217.398,12617.826,15,1.6,15,-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,196.0,107243,-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,-214.1,0.0,0.0,0,101,0.00,0.00,-82.57,0.000,2,0.000,0.000,139,1761,3416,0,0,0,0,0,0
$GC,104,-1.16,-214.1,6.1,-11.0,11,129,9.18,2.28,-9.75,0.000,4,0.224,0.060,2446,3202,3948,0,0,0,0,0,0
$GC,301,-0.92,-214.1,86.9,-37.3,46,309,0.30,2.15,0.00,0.000,6,0.155,0.036,2539,1800,3951,0,0,0,0,0,0
$GC,627,-0.81,-214.1,168.1,-22.3,107,635,0.15,2.20,0.00,0.000,4,0.175,0.050,2582,387,3953,0,0,0,0,0,0
$GC,788,-0.81,-214.1,196.6,-16.3,135,795,0.00,2.15,0.00,0.000,6,0.000,0.045,2574,1792,3953,0,0,0,0,0,0
$GC,1124,-0.78,-214.1,250.5,-16.9,196,1132,0.00,2.20,0.00,0.000,4,0.000,0.050,2574,386,3954,0,0,0,0,0,0
$GC,1161,-0.76,-214.1,256.8,-15.6,202,1169,0.00,2.17,0.00,0.000,6,0.000,0.044,2564,1796,3954,0,0,0,0,0,0
$GC,1495,-0.76,-214.1,310.9,-15.2,257,1500,0.10,2.17,0.00,0.000,4,0.188,0.050,2580,3215,3954,0,0,0,0,0,0
$GC,1528,-0.82,-214.1,315.4,-12.8,259,1535,0.00,2.12,0.00,0.000,6,0.000,0.036,2579,1785,3954,0,0,0,0,0,0
$GC,1854,-0.84,-214.1,357.1,-13.2,290,1858,0.00,2.15,0.00,0.000,4,0.000,0.050,2580,388,3952,0,0,0,0,0,0
$GC,1909,-0.89,-214.1,364.5,-12.8,294,1917,0.00,2.20,0.00,0.000,6,0.000,0.045,2575,1806,3952,0,0,0,0,0,0
$GC,2237,-0.93,-214.1,404.1,-12.6,325,2240,0.00,2.15,0.00,0.000,4,0.000,0.050,2566,3221,3950,0,0,0,0,0,0
$GC,2268,-0.97,-214.1,407.7,-11.6,327,2272,0.12,2.12,0.00,0.000,6,0.084,0.036,2495,1789,3949,0,0,0,0,0,0
$GC,2594,-0.91,-214.1,467.0,-19.3,357,2599,0.17,2.17,0.00,0.000,4,0.167,0.050,2543,386,3948,0,0,0,0,0,0
$GC,2692,-0.92,-214.1,482.2,-15.1,365,2696,0.00,2.17,0.00,0.000,6,0.000,0.044,2535,1809,3947,0,0,0,0,0,0
$GC,3017,-0.92,-214.1,528.3,-13.6,395,3021,0.00,2.17,0.00,0.000,4,0.000,0.051,2535,395,3945,0,0,0,0,0,0
$GC,3059,-0.92,-214.1,534.1,-14.8,398,3063,0.00,2.17,0.00,0.000,6,0.000,0.047,2535,1803,3945,0,0,0,0,0,0
$GC,3384,-0.92,-214.1,580.1,-14.5,428,3388,0.00,2.17,0.00,0.000,4,0.000,0.054,2527,3221,3942,0,0,0,0,0,0
$GC,3471,-0.95,-214.1,591.8,-13.2,435,3475,0.00,2.12,0.00,0.000,6,0.000,0.038,2526,1794,3940,0,0,0,0,0,0
$GC,3799,-0.95,-214.1,642.6,-15.5,453,3802,0.00,2.17,0.00,0.000,4,0.000,0.053,2526,389,3937,0,0,0,0,0,0
$GC,3854,-0.95,-214.1,651.7,-15.2,455,3861,0.00,2.20,0.00,0.000,6,0.000,0.048,2525,1809,3936,0,0,0,0,0,0
$GC,4172,-0.95,-214.1,698.3,-14.3,471,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1810,3934,0,0,0,0,0,0
$GC,4480,-0.95,-214.1,741.8,-13.8,486,4484,0.00,2.22,0.00,0.000,4,0.000,0.054,2524,400,3930,0,0,0,0,0,0
$GC,4520,-0.95,-214.1,747.6,-14.6,488,4525,0.00,2.17,0.00,0.000,6,0.000,0.047,2517,1802,3929,0,0,0,0,0,0
$GC,4849,-0.95,-214.1,793.6,-13.7,504,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1802,3926,0,0,0,0,0,0
$GC,5157,-0.95,-214.1,835.7,-13.4,519,5161,0.00,2.22,0.00,0.000,4,0.000,0.055,2517,389,3923,0,0,0,0,0,0
$GC,5248,-0.95,-214.1,848.2,-13.5,523,5252,0.00,2.17,0.00,0.000,6,0.000,0.050,2510,1799,3922,0,0,0,0,0,0
$GC,5570,-0.94,-214.1,893.5,-14.2,539,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1800,3919,0,0,0,0,0,0
$GC,5880,-0.92,-214.1,937.0,-13.9,554,5885,0.12,2.22,0.00,0.000,4,0.182,0.057,2544,393,3916,0,0,0,0,0,0
$GC,5932,-0.96,-214.1,943.7,-12.1,556,5936,0.00,2.22,0.00,0.000,6,0.000,0.052,2544,1808,3916,0,0,0,0,0,0
$GC,6248,-0.99,-214.1,981.0,-12.0,571,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1809,3913,0,0,0,0,0,0
$STATE,6410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6410,begin apogee
$GC,6418,-0.23,0.0,1000.8,12.1,579,6610,0.65,0.00,184.88,1.444,6,0.127,0.000,2757,1752,3072,0,0,0,0,0,0
$STATE,6610,end apogee,CONTROL_FINISHED_OK
$STATE,6611,begin climb
$GC,6614,1.16,214.1,1009.6,0.0,588,6825,1.30,2.53,201.65,1.385,4,0.053,0.058,3228,350,2199,0,0,0,0,0,0
$GC,6837,0.83,214.1,972.7,29.5,598,6843,0.47,2.40,0.00,0.000,6,0.206,0.049,3110,1750,2197,0,0,0,0,0,0
$GC,7154,0.63,214.1,901.5,21.6,613,7159,0.22,2.17,0.00,0.000,4,0.183,0.052,3039,3165,2192,0,0,0,0,0,0
$GC,7218,0.54,214.1,890.2,17.0,616,7223,0.12,2.17,0.00,0.000,6,0.191,0.042,3017,1744,2190,0,0,0,0,0,0
$GC,7547,0.48,214.1,843.2,14.6,632,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1743,2189,0,0,0,0,0,0
$GC,7854,0.41,214.1,798.5,14.8,647,7859,0.15,2.17,0.00,0.000,4,0.172,0.054,2985,347,2188,0,0,0,0,0,0
$GC,7888,0.44,234.5,793.8,13.0,648,7918,0.00,2.17,18.92,1.255,6,0.000,0.043,2984,1753,2114,0,0,0,0,0,0
$GC,8227,0.51,290.6,753.9,11.5,665,8284,0.00,2.25,52.03,1.274,4,0.000,0.052,2984,3159,1887,0,0,0,0,0,0
$GC,8321,0.60,339.4,742.7,11.8,668,8377,0.10,2.20,46.60,1.240,6,0.096,0.041,3047,1749,1687,0,0,0,0,0,0
$GC,8687,0.54,339.4,678.9,17.5,686,8691,0.00,2.20,0.00,0.000,4,0.000,0.056,3057,340,1681,0,0,0,0,0,0
$GC,8711,0.49,339.4,674.1,17.9,687,8716,0.20,2.17,0.00,0.000,6,0.160,0.043,3001,1759,1680,0,0,0,0,0,0
$GC,9040,0.52,346.8,629.2,13.6,703,9052,0.00,2.22,6.53,0.960,4,0.000,0.053,2999,3158,1658,0,0,0,0,0,0
$GC,9115,0.58,358.2,618.8,13.4,706,9134,0.00,2.15,12.68,1.101,6,0.000,0.041,3008,1751,1611,0,0,0,0,0,0
$GC,9454,0.60,358.2,570.8,13.9,732,9458,0.00,2.17,0.00,0.000,4,0.000,0.050,3008,3160,1608,0,0,0,0,0,0
$GC,9484,0.64,369.6,566.5,13.4,734,9500,0.00,2.15,11.90,1.070,6,0.000,0.041,3017,1746,1565,0,0,0,0,0,0
$GC,9821,0.64,369.6,517.8,15.2,765,9825,0.00,2.17,0.00,0.000,4,0.000,0.056,3027,343,1562,0,0,0,0,0,0
$GC,9860,0.66,369.6,511.5,14.8,768,9867,0.00,2.15,0.00,0.000,6,0.000,0.041,3027,1762,1561,0,0,0,0,0,0
$GC,10188,0.66,369.6,460.8,15.4,799,10192,0.00,2.12,0.00,0.000,4,0.000,0.051,3027,3154,1561,0,0,0,0,0,0
$GC,10232,0.69,369.6,453.2,15.8,802,10240,0.00,2.15,0.00,0.000,6,0.000,0.041,3038,1751,1561,0,0,0,0,0,0
$GC,10559,0.69,369.6,401.2,15.6,833,10563,0.00,2.17,0.00,0.000,4,0.000,0.055,3049,347,1561,0,0,0,0,0,0
$GC,10592,0.69,369.6,395.4,17.0,835,10599,0.00,2.12,0.00,0.000,6,0.000,0.039,3049,1751,1560,0,0,0,0,0,0
$GC,10918,0.66,369.6,340.0,16.7,866,10922,0.00,2.15,0.00,0.000,4,0.000,0.049,3048,3173,1559,0,0,0,0,0,0
$GC,10993,0.68,369.6,328.0,15.2,872,10997,0.00,2.17,0.00,0.000,6,0.000,0.041,3060,1742,1559,0,0,0,0,0,0
$GC,11321,0.67,369.6,277.9,15.9,915,11328,0.00,2.15,0.00,0.000,4,0.000,0.052,3071,343,1559,0,0,0,0,0,0
$GC,11372,0.68,369.6,269.1,15.9,924,11380,0.00,2.17,0.00,0.000,6,0.000,0.038,3071,1757,1559,0,0,0,0,0,0
$GC,11709,0.66,369.6,216.5,16.3,985,11719,0.00,2.15,0.00,0.000,4,0.000,0.047,3071,3157,1559,0,0,0,0,0,0
$GC,11837,0.66,369.6,196.3,14.1,1008,11845,0.00,2.15,0.00,0.000,6,0.000,0.038,3077,1750,1559,0,0,0,0,0,0
$GC,12173,0.66,369.6,148.5,14.3,1069,12182,0.00,2.22,0.00,0.000,4,0.000,0.052,3084,343,1559,0,0,0,0,0,0
$GC,12223,0.66,369.6,141.3,14.8,1077,12232,0.00,2.15,0.00,0.000,6,0.000,0.035,3084,1748,1559,0,0,0,0,0,0
$GC,12552,0.76,449.9,97.8,10.4,1138,12625,0.00,0.00,69.60,0.736,6,0.000,0.000,3083,1752,1237,0,0,0,0,0,0
$GC,12949,0.98,536.3,60.6,10.1,1208,13031,0.20,2.25,72.15,0.682,4,0.061,0.044,3177,3165,884,0,0,0,0,0,0
$GC,13060,0.93,536.3,38.2,24.2,1223,13069,0.12,2.20,0.00,0.000,6,0.151,0.037,3146,1756,883,0,0,0,0,0,0
$STATE,13249,end climb,SURFACE_DEPTH_REACHED
$STATE,13249,begin surface coast
$FINISH,1.0,1.022032
$STATE,13273,end surface coast,CONTROL_FINISHED_OK
$STATE,13273,begin surface
$SM_CCo,13352,0.00,0.000,0,0,880,537.70
$SM_GC,1.51,7.75,0.00,0.00,0.037,0.000,0.000,146,1818,880,-8.34,0.51,537.70
$IRIDIUM_FIX,2206.70,12620.99,291010,050523
$TT8_MAMPS,0.026215
$HUMID,41.84
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,25.10
$XPDR_PINGS,83
$24V_AH,22.2,74.001
$10V_AH,10.2,47.676
$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,21.450,122.675,676.925,0.000,0.000,151.461,78.926,309.178,20.750,0.000,16.170,3113.824,6689.199,694.579,3390.672,454.792,0.000,1923.693,0.000,2837.501,0.000,1.150,0.000
$DEVICE_MAMPS,224.145,113.985,1444.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,861.457,1087.100,1458.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333800
$DATA_FILE_SIZE,73697,1262
$CAP_FILE_SIZE,156672,0
$CFSIZE,260165632,156196864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,258.2,1
$GPS,291010,094336,2215.225,12616.502,39,1.1,39,-3.1