version: 66.08
glider: 166
mission: 3
dive: 420
start: 10 31 110 22 26 48
data:
$ID,166
$MISSION,3
$DIVE,420
$N_DIVES,431
$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,-22083.91
$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,54
$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
$GPS1,311010,221936,2148.604,12610.375,34,0.9,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-56.6
$GPS2,311010,222626,2148.575,12610.461,15,1.6,15,-3.0
$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,210.2,52449,-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,-214.1,0.0,0.0,0,130,0.00,0.00,-110.78,0.000,2,0.000,0.000,144,1765,3384,0,0,0,0,0,0
$GC,133,-1.16,-214.1,6.0,-10.5,15,158,9.25,2.20,-10.27,0.000,4,0.229,0.059,2460,383,3948,0,0,0,0,0,0
$GC,398,-0.92,-214.1,112.2,-30.5,63,406,0.28,2.17,0.00,0.000,6,0.167,0.047,2535,1772,3951,0,0,0,0,0,0
$GC,727,-0.81,-214.1,191.5,-22.3,124,736,0.15,2.25,0.00,0.000,4,0.183,0.048,2566,3221,3954,0,0,0,0,0,0
$GC,773,-0.81,-214.1,199.8,-17.6,131,780,0.00,2.15,0.00,0.000,6,0.000,0.035,2569,1790,3955,0,0,0,0,0,0
$GC,1106,-0.78,-214.1,256.7,-17.6,192,1114,0.00,2.17,0.00,0.000,4,0.000,0.050,2569,393,3955,0,0,0,0,0,0
$GC,1212,-0.78,-214.1,273.2,-15.3,211,1219,0.00,2.15,0.00,0.000,6,0.000,0.044,2561,1808,3955,0,0,0,0,0,0
$GC,1550,-0.77,-214.1,327.0,-15.2,257,1555,0.12,2.15,0.00,0.000,4,0.177,0.050,2586,3204,3956,0,0,0,0,0,0
$GC,1580,-0.81,-214.1,330.9,-12.9,259,1584,0.00,2.10,0.00,0.000,6,0.000,0.036,2586,1793,3955,0,0,0,0,0,0
$GC,1907,-0.84,-214.1,371.5,-12.7,289,1911,0.00,2.15,0.00,0.000,4,0.000,0.051,2586,389,3955,0,0,0,0,0,0
$GC,1960,-0.89,-214.1,378.4,-12.9,293,1964,0.00,2.17,0.00,0.000,6,0.000,0.045,2583,1809,3955,0,0,0,0,0,0
$GC,2287,-0.93,-214.1,422.2,-14.0,323,2292,0.12,2.22,0.00,0.000,4,0.093,0.050,2517,392,3953,0,0,0,0,0,0
$GC,2319,-0.88,-214.1,427.8,-17.4,325,2328,0.17,2.17,0.00,0.000,6,0.167,0.045,2556,1808,3952,0,0,0,0,0,0
$GC,2644,-0.88,-214.1,475.1,-14.0,356,2648,0.00,2.15,0.00,0.000,4,0.000,0.051,2548,3206,3951,0,0,0,0,0,0
$GC,2677,-0.92,-214.1,479.7,-12.6,358,2685,0.00,2.15,0.00,0.000,6,0.000,0.037,2548,1803,3951,0,0,0,0,0,0
$GC,3004,-0.92,-214.1,524.9,-13.5,389,3008,0.00,2.17,0.00,0.000,4,0.000,0.053,2548,393,3949,0,0,0,0,0,0
$GC,3112,-0.92,-214.1,540.1,-14.3,398,3116,0.00,2.17,0.00,0.000,6,0.000,0.047,2548,1802,3948,0,0,0,0,0,0
$GC,3438,-0.92,-214.1,585.5,-13.6,428,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1802,3945,0,0,0,0,0,0
$GC,3750,-0.92,-214.1,629.9,-14.4,448,3754,0.00,2.17,0.00,0.000,4,0.000,0.056,2542,3214,3943,0,0,0,0,0,0
$GC,3775,-0.94,-214.1,633.0,-13.7,449,3779,0.00,2.12,0.00,0.000,6,0.000,0.038,2542,1800,3943,0,0,0,0,0,0
$GC,4102,-0.96,-214.1,678.0,-13.6,465,4106,0.00,2.20,0.00,0.000,4,0.000,0.054,2542,389,3940,0,0,0,0,0,0
$GC,4154,-0.97,-214.1,685.7,-14.3,467,4158,0.00,2.20,0.00,0.000,6,0.000,0.047,2537,1808,3939,0,0,0,0,0,0
$GC,4470,-0.97,-214.1,728.2,-12.8,482,4474,0.00,2.15,0.00,0.000,4,0.000,0.055,2529,3209,3937,0,0,0,0,0,0
$GC,4498,-1.00,-214.1,731.9,-12.3,483,4502,0.00,2.15,0.00,0.000,6,0.000,0.039,2529,1792,3936,0,0,0,0,0,0
$GC,4817,-1.00,-214.1,773.3,-13.6,498,4821,0.00,2.17,0.00,0.000,4,0.000,0.055,2529,393,3934,0,0,0,0,0,0
$GC,4883,-1.00,-214.1,782.9,-13.7,501,4887,0.00,2.17,0.00,0.000,6,0.000,0.047,2519,1800,3933,0,0,0,0,0,0
$GC,5207,-1.00,-214.1,828.1,-14.1,517,5211,0.00,2.20,0.00,0.000,4,0.000,0.057,2520,3211,3929,0,0,0,0,0,0
$GC,5270,-1.01,-214.1,836.3,-12.4,520,5274,0.00,2.12,0.00,0.000,6,0.000,0.039,2521,1795,3929,0,0,0,0,0,0
$GC,5597,-0.99,-214.1,882.1,-14.0,536,5601,0.00,2.17,0.00,0.000,4,0.000,0.055,2521,395,3926,0,0,0,0,0,0
$GC,5631,-0.96,-214.1,887.2,-15.6,537,5639,0.00,2.20,0.00,0.000,6,0.000,0.047,2514,1810,3926,0,0,0,0,0,0
$GC,5947,-0.92,-214.1,936.2,-16.0,553,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1811,3923,0,0,0,0,0,0
$GC,6258,-0.89,-214.1,984.6,-15.7,568,6263,0.15,2.25,0.00,0.000,4,0.179,0.057,2555,397,3920,0,0,0,0,0,0
$GC,6281,-0.89,-214.1,988.5,-15.4,569,6285,0.00,2.20,0.00,0.000,6,0.000,0.050,2548,1802,3920,0,0,0,0,0,0
$STATE,6379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6379,begin apogee
$GC,6385,-0.23,0.0,1001.6,13.2,574,6579,0.68,0.00,187.20,1.444,6,0.130,0.000,2763,1746,3072,0,0,0,0,0,0
$STATE,6580,end apogee,CONTROL_FINISHED_OK
$STATE,6580,begin climb
$GC,6583,1.16,214.1,1011.6,0.0,583,6797,1.27,2.45,202.85,1.382,4,0.054,0.057,3222,355,2198,0,0,0,0,0,0
$GC,6843,0.83,214.1,962.0,32.6,595,6849,0.43,2.30,0.00,0.000,6,0.206,0.053,3114,1741,2195,0,0,0,0,0,0
$GC,7174,0.63,214.1,884.1,22.9,611,7179,0.25,2.20,0.00,0.000,4,0.180,0.053,3028,3171,2191,0,0,0,0,0,0
$GC,7245,0.56,214.1,870.1,17.1,614,7249,0.00,2.17,0.00,0.000,6,0.000,0.041,3036,1746,2188,0,0,0,0,0,0
$GC,7563,0.47,214.1,817.4,17.0,629,7565,0.15,0.00,0.00,0.000,6,0.176,0.000,2997,1746,2187,0,0,0,0,0,0
$GC,7872,0.46,225.6,775.2,13.4,644,7886,0.00,2.25,9.90,1.154,4,0.000,0.050,2987,3171,2152,0,0,0,0,0,0
$GC,7917,0.46,225.6,769.0,14.0,646,7922,0.00,2.20,0.00,0.000,6,0.000,0.042,2995,1743,2151,0,0,0,0,0,0
$GC,8246,0.48,247.1,725.9,13.0,662,8273,0.00,2.22,21.95,1.235,4,0.000,0.054,3005,347,2063,0,0,0,0,0,0
$GC,8310,0.48,247.1,717.2,14.0,665,8314,0.00,2.17,0.00,0.000,6,0.000,0.041,3004,1754,2061,0,0,0,0,0,0
$GC,8640,0.49,265.2,674.8,13.1,681,8663,0.00,2.28,17.17,1.184,4,0.000,0.054,3004,3165,1991,0,0,0,0,0,0
$GC,8719,0.49,271.3,663.8,13.6,684,8732,0.00,2.20,7.68,1.027,6,0.000,0.042,3013,1743,1965,0,0,0,0,0,0
$GC,9042,0.48,271.3,620.3,14.0,700,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1743,1963,0,0,0,0,0,0
$GC,9354,0.49,284.5,577.5,13.3,722,9377,0.00,2.30,12.95,1.099,4,0.000,0.052,3013,3170,1911,0,0,0,0,0,0
$GC,9391,0.49,284.5,572.3,14.0,725,9395,0.00,2.20,0.00,0.000,6,0.000,0.041,3023,1740,1909,0,0,0,0,0,0
$GC,9717,0.49,296.4,527.7,13.4,755,9734,0.00,2.22,11.98,1.051,4,0.000,0.054,3034,337,1862,0,0,0,0,0,0
$GC,9771,0.47,296.4,520.0,15.5,759,9776,0.15,2.17,0.00,0.000,6,0.160,0.040,2993,1757,1860,0,0,0,0,0,0
$GC,10098,0.59,369.5,483.7,10.7,789,10171,0.10,2.30,66.62,1.089,4,0.103,0.050,3047,3163,1564,0,0,0,0,0,0
$GC,10211,0.59,369.5,465.8,15.8,798,10219,0.00,2.22,0.00,0.000,6,0.000,0.040,3057,1746,1563,0,0,0,0,0,0
$GC,10538,0.55,369.5,411.6,16.2,829,10543,0.15,2.20,0.00,0.000,4,0.172,0.055,3026,347,1561,0,0,0,0,0,0
$GC,10571,0.58,382.6,406.5,13.3,831,10591,0.00,2.12,12.23,0.944,6,0.000,0.038,3026,1752,1511,0,0,0,0,0,0
$GC,10910,0.61,388.0,361.8,13.7,863,10923,0.00,2.15,6.22,0.781,4,0.000,0.047,3026,3159,1489,0,0,0,0,0,0
$GC,10960,0.67,388.0,354.8,14.0,867,10964,0.00,2.15,0.00,0.000,6,0.000,0.040,3034,1748,1489,0,0,0,0,0,0
$GC,11287,0.68,388.0,308.7,14.1,897,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1747,1489,0,0,0,0,0,0
$GC,11608,0.76,426.0,266.5,12.2,951,11651,0.15,2.20,34.58,0.883,4,0.078,0.050,3131,348,1334,0,0,0,0,0,0
$GC,11698,0.68,426.0,249.1,22.7,965,11706,0.25,2.17,0.00,0.000,6,0.155,0.038,3061,1763,1333,0,0,0,0,0,0
$GC,12034,0.72,448.8,198.4,12.9,1026,12061,0.00,2.12,21.08,0.801,4,0.000,0.045,3059,3156,1241,0,0,0,0,0,0
$GC,12097,0.80,464.3,189.8,13.2,1036,12121,0.08,2.17,15.10,0.763,6,0.051,0.037,3121,1745,1178,0,0,0,0,0,0
$GC,12445,0.73,464.3,116.2,21.8,1099,12454,0.17,0.00,0.00,0.000,6,0.167,0.000,3073,1744,1177,0,0,0,0,0,0
$GC,12775,0.99,594.7,77.4,8.2,1160,12898,0.22,2.25,110.00,0.704,4,0.056,0.050,3201,348,646,0,0,0,0,0,0
$GC,12927,0.89,594.7,47.4,25.3,1181,12936,0.20,2.17,0.00,0.000,6,0.144,0.034,3133,1755,643,0,0,0,0,0,0
$STATE,13214,end climb,SURFACE_DEPTH_REACHED
$STATE,13214,begin surface coast
$FINISH,1.0,1.004380
$STATE,13247,end surface coast,CONTROL_FINISHED_OK
$STATE,13247,begin surface
$SM_CCo,13324,0.00,0.000,0,0,639,596.81
$SM_GC,1.71,7.72,0.00,0.00,0.039,0.000,0.000,159,1760,639,-8.33,-1.13,596.81
$IRIDIUM_FIX,2143.45,12610.86,311010,181803
$TT8_MAMPS,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.60
$XPDR_PINGS,96
$24V_AH,22.1,78.365
$10V_AH,10.2,50.012
$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,22.225,122.900,737.500,0.000,0.000,23.991,19.096,187.603,24.000,0.000,16.163,3042.821,6517.308,732.183,3009.974,417.368,0.000,1979.469,0.000,2779.112,0.000,0.843,0.000
$DEVICE_MAMPS,228.735,115.515,1444.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.723,1061.863,1394.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333828
$DATA_FILE_SIZE,73534,1240
$CAP_FILE_SIZE,153979,0
$CFSIZE,260165632,154804224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,101.6,1
$GPS,011110,021006,2146.394,12610.716,38,0.9,38,-3.0