version: 66.08
glider: 166
mission: 3
dive: 381
start: 10 25 110 18 16 30
data:
$ID,166
$MISSION,3
$DIVE,381
$N_DIVES,393
$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,-22034.85
$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,42
$R_STBD_OVSHOOT,63
$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
$GPS1,251010,180836,2254.117,12628.182,35,0.9,35,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-61.6
$GPS2,251010,181608,2254.160,12628.077,12,0.9,12,-3.3
$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,185.6,177578,-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,-214.1,0.0,0.0,0,101,0.00,0.00,-81.55,0.000,2,0.000,0.000,172,1785,3216,0,0,0,0,0,0
$GC,104,-1.16,-214.1,5.7,-10.3,11,135,9.12,2.15,-13.48,0.000,4,0.226,0.054,2457,394,3946,0,0,0,0,0,0
$GC,279,-0.97,-214.1,80.1,-30.0,42,288,0.25,2.12,0.00,0.000,6,0.168,0.040,2520,1774,3949,0,0,0,0,0,0
$GC,611,-0.81,-214.1,175.4,-26.5,103,618,0.20,2.20,0.00,0.000,4,0.179,0.047,2566,3216,3951,0,0,0,0,0,0
$GC,677,-0.79,-214.1,187.3,-16.3,113,684,0.00,2.10,0.00,0.000,6,0.000,0.034,2565,1797,3952,0,0,0,0,0,0
$GC,1018,-0.74,-214.1,251.3,-19.0,174,1027,0.12,2.17,0.00,0.000,4,0.174,0.048,2598,399,3954,0,0,0,0,0,0
$GC,1132,-0.78,-214.1,268.0,-14.7,193,1139,0.00,2.10,0.00,0.000,6,0.000,0.039,2591,1811,3954,0,0,0,0,0,0
$GC,1468,-0.80,-214.1,316.0,-14.5,244,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1811,3954,0,0,0,0,0,0
$GC,1790,-0.83,-214.1,359.8,-13.0,274,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1812,3953,0,0,0,0,0,0
$GC,2120,-0.88,-214.1,399.9,-12.1,305,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1811,3952,0,0,0,0,0,0
$GC,2449,-0.93,-214.1,439.3,-12.1,336,2454,0.15,2.17,0.00,0.000,4,0.083,0.052,2508,3212,3949,0,0,0,0,0,0
$GC,2482,-0.93,-214.1,444.9,-15.8,338,2492,0.08,2.15,0.00,0.000,6,0.142,0.035,2533,1801,3950,0,0,0,0,0,0
$GC,2810,-0.91,-214.1,499.4,-16.4,369,2814,0.00,2.15,0.00,0.000,4,0.000,0.050,2533,399,3948,0,0,0,0,0,0
$GC,2854,-0.89,-214.1,507.6,-16.7,372,2861,0.00,2.12,0.00,0.000,6,0.000,0.042,2533,1797,3947,0,0,0,0,0,0
$GC,3181,-0.89,-214.1,558.3,-14.4,403,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1798,3945,0,0,0,0,0,0
$GC,3499,-0.89,-214.1,603.3,-13.8,432,3503,0.00,2.17,0.00,0.000,4,0.000,0.050,2532,398,3942,0,0,0,0,0,0
$GC,3531,-0.89,-214.1,608.6,-14.2,433,3535,0.00,2.12,0.00,0.000,6,0.000,0.041,2525,1814,3942,0,0,0,0,0,0
$GC,3853,-0.89,-214.1,656.1,-14.9,449,3857,0.00,2.20,0.00,0.000,4,0.000,0.050,2525,394,3939,0,0,0,0,0,0
$GC,3881,-0.88,-214.1,660.7,-15.7,450,3885,0.12,2.12,0.00,0.000,6,0.173,0.043,2553,1800,3939,0,0,0,0,0,0
$GC,4207,-0.91,-214.1,700.9,-12.4,466,4211,0.00,2.20,0.00,0.000,4,0.000,0.057,2553,3201,3935,0,0,0,0,0,0
$GC,4240,-0.96,-214.1,705.6,-11.7,467,4247,0.00,2.08,0.00,0.000,6,0.000,0.036,2552,1798,3935,0,0,0,0,0,0
$GC,4557,-1.00,-214.1,745.2,-12.5,483,4561,0.00,2.15,0.00,0.000,4,0.000,0.052,2552,399,3933,0,0,0,0,0,0
$GC,4626,-1.03,-214.1,754.2,-13.1,486,4630,0.12,2.17,0.00,0.000,6,0.092,0.049,2494,1800,3932,0,0,0,0,0,0
$GC,4949,-0.97,-214.1,810.6,-17.7,502,4953,0.12,2.17,0.00,0.000,4,0.183,0.054,2523,3211,3928,0,0,0,0,0,0
$GC,4971,-0.95,-214.1,815.0,-17.5,503,4975,0.00,2.15,0.00,0.000,6,0.000,0.041,2523,1790,3928,0,0,0,0,0,0
$GC,5293,-0.95,-214.1,863.6,-15.0,519,5297,0.00,2.15,0.00,0.000,4,0.000,0.054,2523,399,3925,0,0,0,0,0,0
$GC,5387,-0.95,-214.1,879.2,-17.0,523,5391,0.00,2.12,0.00,0.000,6,0.000,0.044,2514,1802,3924,0,0,0,0,0,0
$GC,5712,-0.92,-214.1,929.2,-15.6,539,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1803,3921,0,0,0,0,0,0
$GC,6019,-0.90,-214.1,975.4,-15.1,554,6023,0.12,2.22,0.00,0.000,4,0.181,0.055,2548,395,3919,0,0,0,0,0,0
$GC,6065,-0.93,-214.1,981.8,-13.3,556,6069,0.00,2.15,0.00,0.000,6,0.000,0.046,2541,1797,3919,0,0,0,0,0,0
$STATE,6219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6219,begin apogee
$GC,6224,-0.23,0.0,1000.9,12.2,564,6416,0.68,0.00,185.55,1.429,6,0.130,0.000,2760,1799,3072,0,0,0,0,0,0
$STATE,6417,end apogee,CONTROL_FINISHED_OK
$STATE,6417,begin climb
$GC,6419,1.16,214.1,1008.5,0.0,573,6633,1.30,2.55,201.00,1.366,4,0.051,0.055,3228,353,2199,0,0,0,0,0,0
$GC,6650,0.83,214.1,965.3,31.6,583,6658,0.45,2.33,0.00,0.000,6,0.201,0.047,3112,1743,2196,0,0,0,0,0,0
$GC,6968,0.64,214.1,892.4,21.7,599,6973,0.22,2.22,0.00,0.000,4,0.185,0.053,3040,3173,2192,0,0,0,0,0,0
$GC,7024,0.55,214.1,881.4,17.2,601,7031,0.12,2.17,0.00,0.000,6,0.194,0.041,3019,1741,2190,0,0,0,0,0,0
$GC,7342,0.50,223.7,839.4,13.5,617,7356,0.00,2.22,8.62,1.116,4,0.000,0.054,3027,343,2160,0,0,0,0,0,0
$GC,7401,0.45,223.7,830.1,14.8,619,7409,0.15,2.17,0.00,0.000,6,0.168,0.042,2988,1762,2160,0,0,0,0,0,0
$GC,7718,0.50,265.0,792.0,12.1,635,7764,0.00,2.28,39.53,1.284,4,0.000,0.054,2978,3161,1990,0,0,0,0,0,0
$GC,7818,0.59,306.6,780.0,12.1,639,7864,0.12,2.17,39.55,1.252,6,0.086,0.040,3050,1749,1820,0,0,0,0,0,0
$GC,8181,0.52,306.6,715.3,18.0,657,8185,0.15,2.17,0.00,0.000,4,0.172,0.055,3019,348,1815,0,0,0,0,0,0
$GC,8223,0.52,306.6,708.1,15.4,659,8228,0.00,2.15,0.00,0.000,6,0.000,0.040,3011,1753,1813,0,0,0,0,0,0
$GC,8553,0.52,306.6,662.3,14.0,675,8557,0.00,2.12,0.00,0.000,4,0.000,0.052,3011,3158,1811,0,0,0,0,0,0
$GC,8616,0.52,306.6,653.0,14.2,678,8620,0.00,2.12,0.00,0.000,6,0.000,0.041,3020,1745,1811,0,0,0,0,0,0
$GC,8943,0.52,306.6,603.2,15.8,694,8947,0.00,2.17,0.00,0.000,4,0.000,0.054,3030,340,1809,0,0,0,0,0,0
$GC,8988,0.52,306.6,595.2,17.7,696,8995,0.00,2.15,0.00,0.000,6,0.000,0.040,3029,1757,1809,0,0,0,0,0,0
$GC,9316,0.50,306.6,538.8,17.6,727,9319,0.00,2.12,0.00,0.000,4,0.000,0.051,3029,3162,1808,0,0,0,0,0,0
$GC,9346,0.48,306.6,533.4,17.6,729,9351,0.15,2.15,0.00,0.000,6,0.166,0.041,2997,1742,1807,0,0,0,0,0,0
$GC,9677,0.55,340.1,487.8,12.4,760,9715,0.00,2.20,29.83,1.082,4,0.000,0.052,3006,344,1684,0,0,0,0,0,0
$GC,9744,0.63,370.7,479.4,12.6,765,9779,0.12,2.20,29.12,1.057,6,0.086,0.037,3067,1764,1560,0,0,0,0,0,0
$GC,10100,0.57,370.7,414.1,19.0,798,10105,0.15,2.15,0.00,0.000,4,0.168,0.050,3025,3156,1557,0,0,0,0,0,0
$GC,10161,0.63,376.5,404.4,13.6,803,10172,0.00,2.12,6.32,0.815,6,0.000,0.039,3034,1744,1536,0,0,0,0,0,0
$GC,10493,0.63,376.5,356.3,14.1,834,10497,0.00,2.17,0.00,0.000,4,0.000,0.055,3045,341,1535,0,0,0,0,0,0
$GC,10529,0.65,376.5,351.2,14.6,837,10533,0.00,2.12,0.00,0.000,6,0.000,0.037,3045,1753,1534,0,0,0,0,0,0
$GC,10857,0.65,376.5,303.2,14.9,867,10861,0.00,2.15,0.00,0.000,4,0.000,0.050,3045,3158,1534,0,0,0,0,0,0
$GC,10892,0.65,376.5,297.6,15.4,871,10899,0.00,2.12,0.00,0.000,6,0.000,0.039,3054,1750,1533,0,0,0,0,0,0
$GC,11234,0.65,376.5,245.8,14.4,932,11242,0.00,2.20,0.00,0.000,4,0.000,0.052,3062,355,1534,0,0,0,0,0,0
$GC,11278,0.65,376.5,239.1,15.8,939,11285,0.00,2.12,0.00,0.000,6,0.000,0.037,3060,1754,1533,0,0,0,0,0,0
$GC,11618,0.65,376.5,189.5,14.3,1000,11626,0.00,2.17,0.00,0.000,4,0.000,0.047,3059,3159,1533,0,0,0,0,0,0
$GC,11663,0.70,391.1,183.8,13.3,1007,11683,0.00,2.12,14.50,0.771,6,0.000,0.037,3064,1745,1476,0,0,0,0,0,0
$GC,12016,0.75,422.5,137.3,12.5,1070,12054,0.00,2.22,28.15,0.758,4,0.000,0.051,3073,344,1349,0,0,0,0,0,0
$GC,12079,0.82,443.7,129.0,13.0,1079,12109,0.00,2.17,19.83,0.727,6,0.000,0.035,3073,1757,1262,0,0,0,0,0,0
$GC,12430,0.93,486.4,83.3,12.0,1143,12475,0.17,2.15,37.10,0.703,4,0.066,0.042,3162,3161,1088,0,0,0,0,0,0
$GC,12567,0.95,486.4,59.1,16.6,1165,12575,0.00,2.17,0.00,0.000,6,0.000,0.038,3168,1754,1088,0,0,0,0,0,0
$GC,12894,0.95,486.4,3.8,15.6,1226,12903,0.00,2.20,0.00,0.000,4,0.000,0.050,3179,343,1086,0,0,0,0,0,0
$STATE,12909,end climb,SURFACE_DEPTH_REACHED
$STATE,12909,begin surface coast
$FINISH,0.9,1.008206
$STATE,12928,end surface coast,CONTROL_FINISHED_OK
$STATE,12928,begin surface
$SM_CCo,13007,0.00,0.000,0,0,1084,487.66
$SM_GC,1.56,7.80,0.00,0.00,0.036,0.000,0.000,149,1805,1084,-8.34,0.14,487.66
$IRIDIUM_FIX,2246.36,12628.81,251010,141418
$TT8_MAMPS,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.80
$XPDR_PINGS,91
$24V_AH,22.3,68.423
$10V_AH,10.2,44.617
$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,22.025,126.000,639.100,0.000,0.000,31.011,21.263,216.943,22.750,0.000,13.701,3041.417,6284.403,671.659,3033.862,410.999,0.000,1884.157,0.000,2763.720,0.000,0.846,0.000
$DEVICE_MAMPS,226.440,56.610,1429.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.716,1062.242,1412.773,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333808
$DATA_FILE_SIZE,73497,1231
$CAP_FILE_SIZE,151250,0
$CFSIZE,260165632,158007296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,349.4,1
$GPS,251010,215422,2252.958,12627.847,9,99.0,28,-3.3