version: 66.08
glider: 166
mission: 3
dive: 414
start: 10 30 110 23 31 36
data:
$ID,166
$MISSION,3
$DIVE,414
$N_DIVES,424
$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,-22076.361
$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,42
$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
$GPS1,301010,232354,2159.501,12613.175,37,1.9,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.8
$GPS2,301010,233114,2159.468,12613.147,14,1.8,14,-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,210.9,73096,-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,-214.1,0.0,0.0,0,116,0.00,0.00,-96.60,0.000,2,0.000,0.000,145,1808,3303,0,0,0,0,0,0
$GC,119,-1.16,-214.1,5.4,-8.5,13,150,9.18,2.17,-12.05,0.000,4,0.225,0.056,2449,3203,3949,0,0,0,0,0,0
$GC,310,-0.93,-214.1,82.6,-36.5,47,320,0.28,2.15,0.00,0.000,6,0.162,0.035,2532,1798,3951,0,0,0,0,0,0
$GC,638,-0.81,-214.1,168.1,-22.8,108,647,0.15,2.20,0.00,0.000,4,0.181,0.049,2574,399,3953,0,0,0,0,0,0
$GC,818,-0.78,-214.1,201.8,-17.1,140,826,0.00,2.15,0.00,0.000,6,0.000,0.042,2565,1794,3954,0,0,0,0,0,0
$GC,1155,-0.74,-214.1,257.5,-15.0,201,1163,0.12,2.17,0.00,0.000,4,0.180,0.048,2588,3211,3955,0,0,0,0,0,0
$GC,1175,-0.74,-214.1,261.1,-15.5,204,1183,0.00,2.15,0.00,0.000,6,0.000,0.035,2588,1795,3955,0,0,0,0,0,0
$GC,1512,-0.76,-214.1,311.1,-14.1,259,1516,0.00,2.15,0.00,0.000,4,0.000,0.050,2588,396,3955,0,0,0,0,0,0
$GC,1587,-0.80,-214.1,322.0,-14.1,265,1591,0.00,2.15,0.00,0.000,6,0.000,0.044,2588,1804,3955,0,0,0,0,0,0
$GC,1914,-0.83,-214.1,364.6,-12.4,295,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1805,3954,0,0,0,0,0,0
$GC,2236,-0.88,-214.1,404.0,-11.7,325,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1805,3953,0,0,0,0,0,0
$GC,2563,-0.94,-214.1,441.3,-10.7,356,2568,0.15,2.22,0.00,0.000,4,0.083,0.051,2512,391,3951,0,0,0,0,0,0
$GC,2594,-0.92,-214.1,445.6,-15.2,358,2598,0.12,2.20,0.00,0.000,6,0.176,0.047,2540,1810,3951,0,0,0,0,0,0
$GC,2919,-0.92,-214.1,493.9,-14.4,388,2923,0.00,2.20,0.00,0.000,4,0.000,0.050,2541,390,3949,0,0,0,0,0,0
$GC,2956,-0.92,-214.1,499.4,-15.2,390,2964,0.00,2.20,0.00,0.000,6,0.000,0.046,2535,1799,3948,0,0,0,0,0,0
$GC,3283,-0.92,-214.1,546.9,-14.7,421,3287,0.00,2.20,0.00,0.000,4,0.000,0.051,2535,389,3946,0,0,0,0,0,0
$GC,3326,-0.92,-214.1,554.1,-15.5,424,3333,0.00,2.17,0.00,0.000,6,0.000,0.047,2536,1800,3946,0,0,0,0,0,0
$GC,3652,-0.92,-214.1,598.8,-13.5,455,3655,0.00,2.17,0.00,0.000,4,0.000,0.052,2535,397,3944,0,0,0,0,0,0
$GC,3692,-0.92,-214.1,604.5,-14.1,457,3696,0.00,2.17,0.00,0.000,6,0.000,0.048,2534,1803,3943,0,0,0,0,0,0
$GC,4020,-0.92,-214.1,650.1,-14.1,473,4024,0.00,2.17,0.00,0.000,4,0.000,0.054,2525,3213,3940,0,0,0,0,0,0
$GC,4041,-0.92,-214.1,653.7,-14.4,474,4045,0.00,2.17,0.00,0.000,6,0.000,0.038,2525,1794,3940,0,0,0,0,0,0
$GC,4368,-0.92,-214.1,703.4,-15.5,490,4372,0.00,2.17,0.00,0.000,4,0.000,0.054,2525,396,3937,0,0,0,0,0,0
$GC,4436,-0.92,-214.1,714.2,-15.7,493,4440,0.00,2.17,0.00,0.000,6,0.000,0.054,2517,1801,3935,0,0,0,0,0,0
$GC,4763,-0.90,-214.1,765.0,-14.9,509,4768,0.12,2.22,0.00,0.000,4,0.178,0.054,2549,395,3933,0,0,0,0,0,0
$GC,4792,-0.92,-214.1,769.1,-13.8,510,4796,0.00,2.20,0.00,0.000,6,0.000,0.049,2550,1806,3933,0,0,0,0,0,0
$GC,5109,-0.95,-214.1,806.8,-11.9,525,5113,0.00,2.17,0.00,0.000,4,0.000,0.055,2545,3210,3930,0,0,0,0,0,0
$GC,5153,-1.02,-214.1,811.9,-10.3,527,5157,0.00,2.12,0.00,0.000,6,0.000,0.038,2546,1790,3929,0,0,0,0,0,0
$GC,5477,-1.04,-214.1,849.9,-11.9,543,5482,0.12,2.17,0.00,0.000,4,0.091,0.056,2487,399,3926,0,0,0,0,0,0
$GC,5538,-0.99,-214.1,859.9,-16.0,545,5545,0.12,2.17,0.00,0.000,6,0.181,0.047,2515,1804,3925,0,0,0,0,0,0
$GC,5856,-0.97,-214.1,905.3,-14.1,561,5860,0.00,2.20,0.00,0.000,4,0.000,0.057,2510,3216,3923,0,0,0,0,0,0
$GC,5896,-0.97,-214.1,911.0,-13.2,563,5900,0.00,2.12,0.00,0.000,6,0.000,0.041,2510,1803,3923,0,0,0,0,0,0
$GC,6225,-0.94,-214.1,958.3,-14.9,579,6228,0.00,2.20,0.00,0.000,4,0.000,0.056,2511,392,3920,0,0,0,0,0,0
$GC,6310,-0.92,-214.1,971.9,-15.2,583,6315,0.15,2.20,0.00,0.000,6,0.173,0.047,2540,1810,3919,0,0,0,0,0,0
$STATE,6531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6531,begin apogee
$GC,6539,-0.23,0.0,1000.9,12.8,594,6731,0.68,0.00,186.35,1.441,6,0.132,0.000,2758,1740,3072,0,0,0,0,0,0
$STATE,6732,end apogee,CONTROL_FINISHED_OK
$STATE,6732,begin climb
$GC,6736,1.16,214.1,1010.8,0.0,603,6948,1.30,2.47,202.30,1.380,4,0.055,0.056,3224,350,2198,0,0,0,0,0,0
$GC,6965,0.83,214.1,972.8,30.0,614,6970,0.45,2.35,0.00,0.000,6,0.205,0.046,3109,1745,2196,0,0,0,0,0,0
$GC,7294,0.64,214.1,895.1,22.4,630,7299,0.22,2.20,0.00,0.000,4,0.183,0.054,3037,3165,2191,0,0,0,0,0,0
$GC,7372,0.55,214.1,880.1,17.9,633,7379,0.00,2.15,0.00,0.000,6,0.000,0.041,3045,1750,2189,0,0,0,0,0,0
$GC,7689,0.44,214.1,825.7,17.3,649,7693,0.20,2.20,0.00,0.000,4,0.168,0.057,2998,348,2188,0,0,0,0,0,0
$GC,7729,0.42,215.1,819.6,13.8,651,7733,0.00,2.17,0.00,0.000,6,0.000,0.043,2998,1757,2188,0,0,0,0,0,0
$GC,8064,0.42,233.5,776.0,13.1,667,8087,0.00,2.20,17.40,1.232,4,0.000,0.052,2998,3165,2120,0,0,0,0,0,0
$GC,8149,0.44,249.1,764.3,13.2,670,8171,0.00,2.17,16.48,1.209,6,0.000,0.041,3007,1749,2056,0,0,0,0,0,0
$GC,8485,0.44,266.5,719.6,13.1,686,8507,0.00,2.30,16.77,1.197,4,0.000,0.056,3018,338,1985,0,0,0,0,0,0
$GC,8532,0.42,272.6,712.7,13.6,688,8547,0.15,2.20,7.25,1.021,6,0.161,0.041,2978,1759,1960,0,0,0,0,0,0
$GC,8869,0.52,325.3,673.5,11.6,704,8925,0.00,2.30,48.80,1.229,4,0.000,0.050,2977,3162,1744,0,0,0,0,0,0
$GC,8968,0.66,375.0,661.1,11.7,708,9022,0.20,2.20,46.35,1.198,6,0.063,0.041,3076,1750,1543,0,0,0,0,0,0
$GC,9333,0.57,375.0,580.8,22.8,729,9335,0.17,0.00,0.00,0.000,6,0.174,0.000,3030,1750,1537,0,0,0,0,0,0
$GC,9651,0.57,375.0,527.3,16.3,759,9655,0.00,2.20,0.00,0.000,4,0.000,0.057,3038,348,1536,0,0,0,0,0,0
$GC,9690,0.57,375.0,521.0,16.0,762,9694,0.00,2.17,0.00,0.000,6,0.000,0.040,3038,1760,1533,0,0,0,0,0,0
$GC,10016,0.55,375.0,466.8,16.1,792,10020,0.00,2.12,0.00,0.000,4,0.000,0.050,3038,3162,1533,0,0,0,0,0,0
$GC,10102,0.57,375.0,453.9,15.1,799,10105,0.00,2.15,0.00,0.000,6,0.000,0.041,3048,1750,1533,0,0,0,0,0,0
$GC,10428,0.55,375.0,401.9,16.0,829,10432,0.00,2.20,0.00,0.000,4,0.000,0.054,3059,338,1533,0,0,0,0,0,0
$GC,10469,0.55,375.0,395.2,16.2,832,10474,0.15,2.15,0.00,0.000,6,0.151,0.039,3016,1760,1531,0,0,0,0,0,0
$GC,10795,0.62,398.9,355.1,12.9,862,10820,0.00,2.22,21.08,0.960,4,0.000,0.048,3016,3159,1445,0,0,0,0,0,0
$GC,10848,0.73,430.6,348.2,12.5,866,10883,0.10,2.20,29.62,0.954,6,0.045,0.040,3091,1747,1316,0,0,0,0,0,0
$GC,11204,0.67,430.6,275.6,20.6,910,11213,0.12,2.22,0.00,0.000,4,0.177,0.054,3068,347,1314,0,0,0,0,0,0
$GC,11261,0.70,430.6,266.3,15.0,919,11269,0.00,2.12,0.00,0.000,6,0.000,0.036,3069,1761,1313,0,0,0,0,0,0
$GC,11589,0.70,430.6,215.0,15.5,980,11598,0.00,2.12,0.00,0.000,4,0.000,0.047,3068,3150,1313,0,0,0,0,0,0
$GC,11635,0.73,430.6,208.1,14.3,987,11643,0.00,2.12,0.00,0.000,6,0.000,0.040,3067,1749,1312,0,0,0,0,0,0
$GC,11968,0.73,430.6,157.7,15.3,1048,11976,0.00,2.20,0.00,0.000,4,0.000,0.052,3077,341,1312,0,0,0,0,0,0
$GC,12011,0.77,430.6,150.9,14.9,1055,12019,0.00,2.10,0.00,0.000,6,0.000,0.035,3077,1750,1312,0,0,0,0,0,0
$GC,12341,0.82,435.7,103.1,13.7,1116,12357,0.00,2.25,5.82,0.578,4,0.000,0.050,3087,344,1295,0,0,0,0,0,0
$GC,12373,0.87,435.7,98.6,13.9,1120,12382,0.08,2.15,0.00,0.000,6,0.052,0.036,3147,1751,1294,0,0,0,0,0,0
$GC,12701,0.83,435.7,44.3,18.6,1181,12710,0.15,2.15,0.00,0.000,4,0.157,0.044,3096,3151,1294,0,0,0,0,0,0
$GC,12814,0.96,465.6,28.5,12.6,1201,12853,0.08,2.15,27.40,0.658,6,0.048,0.037,3170,1738,1172,0,0,0,0,0,0
$STATE,12977,end climb,SURFACE_DEPTH_REACHED
$STATE,12977,begin surface coast
$FINISH,1.1,1.021117
$STATE,12994,end surface coast,CONTROL_FINISHED_OK
$STATE,12994,begin surface
$SM_CCo,13072,0.00,0.000,0,0,1166,467.30
$SM_GC,1.74,7.93,0.00,0.00,0.043,0.000,0.000,147,1815,1166,-8.34,0.42,467.30
$IRIDIUM_FIX,2152.74,12610.36,301010,191956
$TT8_MAMPS,0.026215
$HUMID,42.83
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.50
$XPDR_PINGS,101
$24V_AH,22.2,76.829
$10V_AH,10.2,49.183
$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,22.500,131.475,625.625,0.000,0.000,31.347,40.155,188.038,25.250,0.000,15.019,3075.591,6252.216,673.674,3069.531,424.061,0.000,1899.140,0.000,2812.855,0.000,0.846,0.000
$DEVICE_MAMPS,224.910,110.925,1441.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,841.153,1063.777,1422.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,73547,1232
$CAP_FILE_SIZE,155243,0
$CFSIZE,260165632,155299840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,110.3,1
$GPS,311010,031036,2157.548,12612.760,32,1.0,32,-3.0