version: 66.08
glider: 166
mission: 3
dive: 426
start: 11 1 110 21 25 14
data:
$ID,166
$MISSION,3
$DIVE,426
$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,-22091.455
$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,41
$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
$GPS1,011110,211726,2137.032,12607.671,33,2.2,52,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-64.3
$GPS2,011110,212452,2137.050,12607.757,12,2.9,31,-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,210.9,30767,-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,16,-1.16,-214.1,0.0,0.0,0,115,0.00,0.00,-95.68,0.000,2,0.000,0.000,152,1750,3283,0,0,0,0,0,0
$GC,118,-1.16,-214.1,5.9,-12.4,13,149,9.05,2.15,-12.35,0.000,4,0.221,0.058,2460,386,3949,0,0,0,0,0,0
$GC,386,-0.94,-214.1,109.4,-32.1,62,394,0.25,2.17,0.00,0.000,6,0.165,0.044,2527,1790,3951,0,0,0,0,0,0
$GC,718,-0.82,-214.1,197.6,-22.8,123,726,0.17,2.17,0.00,0.000,4,0.176,0.047,2576,393,3954,0,0,0,0,0,0
$GC,791,-0.82,-214.1,211.3,-16.5,135,799,0.00,2.15,0.00,0.000,6,0.000,0.044,2573,1802,3954,0,0,0,0,0,0
$GC,1121,-0.80,-214.1,263.4,-15.8,196,1129,0.00,2.17,0.00,0.000,4,0.000,0.049,2562,3213,3955,0,0,0,0,0,0
$GC,1200,-0.83,-214.1,275.3,-13.5,210,1208,0.00,2.15,0.00,0.000,6,0.000,0.035,2562,1801,3955,0,0,0,0,0,0
$GC,1532,-0.81,-214.1,327.2,-15.4,255,1536,0.00,2.20,0.00,0.000,4,0.000,0.050,2562,390,3955,0,0,0,0,0,0
$GC,1641,-0.81,-214.1,344.1,-14.1,264,1650,0.00,2.17,0.00,0.000,6,0.000,0.045,2560,1796,3955,0,0,0,0,0,0
$GC,1969,-0.81,-214.1,388.8,-13.5,295,1973,0.00,2.17,0.00,0.000,4,0.000,0.049,2560,384,3954,0,0,0,0,0,0
$GC,2008,-0.81,-214.1,394.3,-14.0,298,2012,0.00,2.17,0.00,0.000,6,0.000,0.043,2551,1809,3954,0,0,0,0,0,0
$GC,2334,-0.81,-214.1,441.8,-14.6,328,2338,0.00,2.15,0.00,0.000,4,0.000,0.051,2548,3209,3952,0,0,0,0,0,0
$GC,2389,-0.86,-214.1,449.7,-13.1,332,2397,0.00,2.15,0.00,0.000,6,0.000,0.036,2548,1799,3952,0,0,0,0,0,0
$GC,2716,-0.86,-214.1,495.1,-13.3,363,2719,0.00,2.17,0.00,0.000,4,0.000,0.051,2547,390,3950,0,0,0,0,0,0
$GC,2797,-0.86,-214.1,506.8,-13.3,370,2804,0.00,2.17,0.00,0.000,6,0.000,0.046,2546,1807,3949,0,0,0,0,0,0
$GC,3123,-0.86,-214.1,551.6,-13.9,401,3127,0.00,2.12,0.00,0.000,4,0.000,0.051,2536,3205,3947,0,0,0,0,0,0
$GC,3169,-0.90,-214.1,558.0,-13.5,405,3173,0.00,2.10,0.00,0.000,6,0.000,0.037,2536,1801,3946,0,0,0,0,0,0
$GC,3503,-0.90,-214.1,607.8,-15.0,434,3507,0.00,2.20,0.00,0.000,4,0.000,0.054,2536,398,3944,0,0,0,0,0,0
$GC,3604,-0.90,-214.1,623.4,-14.5,438,3611,0.00,2.17,0.00,0.000,6,0.000,0.046,2527,1809,3942,0,0,0,0,0,0
$GC,3922,-0.88,-214.1,671.0,-14.7,454,3927,0.10,2.22,0.00,0.000,4,0.188,0.053,2557,386,3939,0,0,0,0,0,0
$GC,3945,-0.88,-214.1,674.6,-14.5,455,3949,0.00,2.17,0.00,0.000,6,0.000,0.046,2550,1797,3939,0,0,0,0,0,0
$GC,4272,-0.91,-214.1,715.5,-12.8,471,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1798,3935,0,0,0,0,0,0
$GC,4585,-0.94,-214.1,754.4,-12.5,486,4589,0.00,2.17,0.00,0.000,4,0.000,0.054,2549,398,3933,0,0,0,0,0,0
$GC,4635,-0.97,-214.1,761.6,-13.0,488,4639,0.00,2.20,0.00,0.000,6,0.000,0.048,2549,1809,3933,0,0,0,0,0,0
$GC,4954,-1.01,-214.1,799.6,-11.9,503,4958,0.00,2.17,0.00,0.000,4,0.000,0.055,2540,3209,3929,0,0,0,0,0,0
$GC,4981,-1.05,-214.1,803.5,-11.8,504,4986,0.10,2.15,0.00,0.000,6,0.099,0.038,2488,1793,3929,0,0,0,0,0,0
$GC,5299,-0.99,-214.1,853.3,-15.5,519,5304,0.12,2.20,0.00,0.000,4,0.187,0.056,2519,397,3926,0,0,0,0,0,0
$GC,5384,-0.99,-214.1,865.1,-12.5,523,5388,0.00,2.20,0.00,0.000,6,0.000,0.047,2512,1811,3925,0,0,0,0,0,0
$GC,5713,-0.98,-214.1,908.5,-13.6,539,5717,0.00,2.22,0.00,0.000,4,0.000,0.056,2511,398,3923,0,0,0,0,0,0
$GC,5785,-0.98,-214.1,919.7,-14.6,542,5790,0.00,2.22,0.00,0.000,6,0.000,0.054,2502,1801,3922,0,0,0,0,0,0
$GC,6107,-0.94,-214.1,968.8,-15.6,558,6112,0.12,2.22,0.00,0.000,4,0.185,0.057,2534,3211,3919,0,0,0,0,0,0
$GC,6142,-0.98,-214.1,973.7,-13.7,559,6152,0.00,2.12,0.00,0.000,6,0.000,0.041,2535,1803,3919,0,0,0,0,0,0
$STATE,6352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6352,begin apogee
$GC,6358,-0.23,0.0,1001.9,13.3,570,6551,0.70,0.00,186.18,1.444,6,0.135,0.000,2760,1740,3071,0,0,0,0,0,0
$STATE,6552,end apogee,CONTROL_FINISHED_OK
$STATE,6552,begin climb
$GC,6555,1.16,214.1,1011.4,0.0,579,6766,1.30,2.53,201.43,1.382,4,0.055,0.060,3211,3156,2199,0,0,0,0,0,0
$GC,6794,0.84,214.1,967.5,30.5,590,6799,0.43,2.30,0.00,0.000,6,0.203,0.042,3118,1754,2196,0,0,0,0,0,0
$GC,7112,0.64,214.1,890.6,23.8,605,7117,0.25,2.20,0.00,0.000,4,0.178,0.050,3033,3165,2192,0,0,0,0,0,0
$GC,7133,0.49,214.1,884.9,21.9,606,7138,0.15,2.17,0.00,0.000,6,0.179,0.042,3003,1742,2191,0,0,0,0,0,0
$GC,7458,0.45,214.1,836.8,15.1,622,7462,0.00,2.17,0.00,0.000,4,0.000,0.055,3012,345,2190,0,0,0,0,0,0
$GC,7486,0.40,214.1,831.7,15.6,623,7491,0.15,2.17,0.00,0.000,6,0.167,0.044,2972,1762,2189,0,0,0,0,0,0
$GC,7802,0.48,277.5,795.3,11.1,638,7867,0.00,2.22,57.97,1.301,4,0.000,0.051,2965,3159,1939,0,0,0,0,0,0
$GC,7910,0.60,329.3,783.3,11.6,642,7964,0.17,2.20,48.62,1.265,6,0.071,0.041,3056,1743,1729,0,0,0,0,0,0
$GC,8286,0.51,329.3,708.6,20.5,661,8291,0.17,2.20,0.00,0.000,4,0.175,0.051,3000,3162,1723,0,0,0,0,0,0
$GC,8306,0.44,329.3,704.9,20.4,662,8310,0.00,2.15,0.00,0.000,6,0.000,0.040,3008,1741,1722,0,0,0,0,0,0
$GC,8639,0.44,329.3,656.8,14.0,678,8643,0.00,2.17,0.00,0.000,4,0.000,0.050,3008,3163,1720,0,0,0,0,0,0
$GC,8666,0.44,329.3,652.3,14.3,679,8671,0.12,2.15,0.00,0.000,6,0.173,0.041,2985,1744,1719,0,0,0,0,0,0
$GC,8989,0.55,379.3,615.2,11.7,695,9041,0.10,2.28,45.25,1.193,4,0.106,0.055,3050,357,1525,0,0,0,0,0,0
$GC,9081,0.53,379.3,599.7,18.3,699,9086,0.15,2.20,0.00,0.000,6,0.160,0.048,3011,1763,1523,0,0,0,0,0,0
$GC,9409,0.55,379.3,552.7,14.4,729,9413,0.00,2.12,0.00,0.000,4,0.000,0.053,3008,3158,1521,0,0,0,0,0,0
$GC,9453,0.59,381.1,545.7,13.8,732,9460,0.00,2.15,0.00,0.000,6,0.000,0.041,3017,1749,1521,0,0,0,0,0,0
$GC,9782,0.59,381.1,498.6,14.6,763,9785,0.00,2.17,0.00,0.000,4,0.000,0.056,3028,349,1520,0,0,0,0,0,0
$GC,9812,0.62,381.1,493.9,14.9,765,9816,0.00,2.12,0.00,0.000,6,0.000,0.040,3028,1749,1518,0,0,0,0,0,0
$GC,10138,0.62,381.1,441.7,15.9,795,10142,0.00,2.17,0.00,0.000,4,0.000,0.051,3028,3167,1518,0,0,0,0,0,0
$GC,10215,0.66,389.2,430.7,13.5,801,10230,0.00,2.15,9.55,0.944,6,0.000,0.041,3038,1749,1484,0,0,0,0,0,0
$GC,10559,0.66,389.2,375.9,15.3,833,10563,0.00,2.17,0.00,0.000,4,0.000,0.047,3037,3161,1483,0,0,0,0,0,0
$GC,10611,0.69,389.2,367.6,15.9,837,10615,0.00,2.15,0.00,0.000,6,0.000,0.040,3048,1744,1483,0,0,0,0,0,0
$GC,10939,0.69,389.2,316.9,15.2,867,10943,0.00,2.17,0.00,0.000,4,0.000,0.053,3058,340,1483,0,0,0,0,0,0
$GC,10987,0.72,389.2,308.9,14.8,871,10995,0.00,2.15,0.00,0.000,6,0.000,0.037,3058,1754,1482,0,0,0,0,0,0
$GC,11317,0.72,389.2,258.8,14.8,927,11324,0.00,2.15,0.00,0.000,4,0.000,0.049,3058,3162,1482,0,0,0,0,0,0
$GC,11375,0.72,389.2,250.3,13.9,937,11382,0.00,2.15,0.00,0.000,6,0.000,0.039,3062,1744,1482,0,0,0,0,0,0
$GC,11707,0.73,403.7,200.9,13.3,998,11729,0.00,2.17,14.35,0.792,4,0.000,0.045,3061,3157,1426,0,0,0,0,0,0
$GC,11810,0.87,465.6,188.6,11.2,1015,11872,0.15,2.15,55.38,0.816,6,0.073,0.037,3146,1740,1172,0,0,0,0,0,0
$GC,12194,0.80,465.6,106.5,20.1,1084,12202,0.17,2.20,0.00,0.000,4,0.165,0.050,3105,356,1170,0,0,0,0,0,0
$GC,12226,0.80,465.6,100.6,16.5,1089,12234,0.00,2.12,0.00,0.000,6,0.000,0.034,3105,1752,1168,0,0,0,0,0,0
$GC,12555,0.94,544.2,59.8,10.5,1150,12633,0.10,2.22,66.28,0.688,4,0.096,0.044,3164,3161,852,0,0,0,0,0,0
$GC,12686,0.94,544.2,36.3,19.5,1169,12694,0.10,2.17,0.00,0.000,6,0.141,0.037,3141,1753,851,0,0,0,0,0,0
$STATE,12909,end climb,SURFACE_DEPTH_REACHED
$STATE,12909,begin surface coast
$FINISH,1.0,1.022203
$STATE,12927,end surface coast,CONTROL_FINISHED_OK
$STATE,12927,begin surface
$SM_CCo,13005,0.00,0.000,0,0,848,545.55
$SM_GC,1.83,7.78,0.00,0.00,0.040,0.000,0.000,151,1749,848,-8.34,-1.44,545.55
$IRIDIUM_FIX,2131.85,12610.00,011110,171750
$TT8_MAMPS,0.026215
$HUMID,43.50
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.70
$XPDR_PINGS,98
$24V_AH,22.1,79.912
$10V_AH,10.1,50.847
$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,21.925,135.350,685.000,0.000,0.000,24.524,26.413,196.648,24.500,0.000,33.101,3003.907,6270.524,699.508,3035.569,426.471,0.000,1942.157,0.000,2771.806,0.000,0.845,0.000
$DEVICE_MAMPS,221.085,126.990,1443.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.600,1039.962,1364.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73721,1214
$CAP_FILE_SIZE,153889,0
$CFSIZE,260165632,154312704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,102.3,1
$GPS,021110,010306,2135.098,12608.012,31,1.1,31,-2.9