version: 66.08
glider: 166
mission: 3
dive: 384
start: 10 26 110 5 48 23
data:
$ID,166
$MISSION,3
$DIVE,384
$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,-22038.625
$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,39
$R_STBD_OVSHOOT,37
$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
$GPS1,261010,054006,2249.990,12626.565,37,1.0,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-48.0
$GPS2,261010,054801,2249.970,12626.489,14,1.8,14,-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,183.5,169374,-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,-214.1,0.0,0.0,0,131,0.00,0.00,-112.40,0.000,2,0.000,0.000,171,1812,3517,0,0,0,0,0,0
$GC,135,-1.16,-214.1,6.4,-12.9,15,159,9.00,2.12,-7.53,0.000,4,0.225,0.050,2445,3226,3947,0,0,0,0,0,0
$GC,289,-0.96,-214.1,75.6,-34.6,42,297,0.25,2.17,0.00,0.000,6,0.155,0.034,2522,1796,3950,0,0,0,0,0,0
$GC,618,-0.83,-214.1,167.4,-23.0,103,626,0.17,2.15,0.00,0.000,4,0.170,0.050,2574,398,3952,0,0,0,0,0,0
$GC,746,-0.79,-214.1,192.6,-18.8,125,754,0.00,2.10,0.00,0.000,6,0.000,0.040,2564,1805,3953,0,0,0,0,0,0
$GC,1079,-0.76,-214.1,253.2,-16.9,186,1088,0.12,2.22,0.00,0.000,4,0.174,0.048,2599,398,3954,0,0,0,0,0,0
$GC,1145,-0.80,-214.1,262.9,-12.5,197,1152,0.00,2.10,0.00,0.000,6,0.000,0.040,2590,1805,3954,0,0,0,0,0,0
$GC,1474,-0.82,-214.1,307.0,-14.7,254,1478,0.00,2.17,0.00,0.000,4,0.000,0.047,2591,396,3955,0,0,0,0,0,0
$GC,1523,-0.85,-214.1,314.6,-14.3,258,1531,0.00,2.15,0.00,0.000,6,0.000,0.040,2580,1808,3954,0,0,0,0,0,0
$GC,1851,-0.88,-214.1,361.4,-13.8,289,1854,0.00,2.15,0.00,0.000,4,0.000,0.048,2580,398,3954,0,0,0,0,0,0
$GC,1872,-0.91,-214.1,364.9,-14.4,290,1880,0.00,2.15,0.00,0.000,6,0.000,0.041,2574,1803,3954,0,0,0,0,0,0
$GC,2200,-0.94,-214.1,406.4,-11.5,321,2204,0.10,2.15,0.00,0.000,4,0.104,0.047,2509,3213,3952,0,0,0,0,0,0
$GC,2221,-0.94,-214.1,409.4,-12.2,322,2229,0.00,2.12,0.00,0.000,6,0.000,0.034,2509,1800,3951,0,0,0,0,0,0
$GC,2548,-0.89,-214.1,463.2,-17.1,353,2552,0.15,2.15,0.00,0.000,4,0.164,0.050,2550,397,3950,0,0,0,0,0,0
$GC,2640,-0.89,-214.1,477.5,-14.4,361,2647,0.00,2.12,0.00,0.000,6,0.000,0.043,2547,1799,3949,0,0,0,0,0,0
$GC,2965,-0.89,-214.1,523.5,-13.9,392,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1800,3947,0,0,0,0,0,0
$GC,3288,-0.89,-214.1,567.4,-13.4,422,3292,0.00,2.22,0.00,0.000,4,0.000,0.052,2547,390,3944,0,0,0,0,0,0
$GC,3368,-0.91,-214.1,579.1,-13.4,428,3375,0.00,2.17,0.00,0.000,6,0.000,0.044,2547,1806,3943,0,0,0,0,0,0
$GC,3701,-0.94,-214.1,622.6,-13.4,452,3705,0.00,2.17,0.00,0.000,4,0.000,0.052,2547,399,3941,0,0,0,0,0,0
$GC,3725,-0.96,-214.1,626.1,-13.9,453,3729,0.00,2.15,0.00,0.000,6,0.000,0.043,2539,1805,3940,0,0,0,0,0,0
$GC,4047,-0.97,-214.1,670.0,-13.4,469,4051,0.00,2.17,0.00,0.000,4,0.000,0.051,2539,391,3937,0,0,0,0,0,0
$GC,4088,-0.97,-214.1,675.8,-14.1,471,4092,0.00,2.17,0.00,0.000,6,0.000,0.045,2535,1808,3937,0,0,0,0,0,0
$GC,4415,-0.97,-214.1,720.7,-13.4,487,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1808,3934,0,0,0,0,0,0
$GC,4725,-0.99,-214.1,760.6,-12.9,502,4729,0.00,2.17,0.00,0.000,4,0.000,0.054,2536,401,3930,0,0,0,0,0,0
$GC,4748,-0.99,-214.1,763.8,-13.6,503,4752,0.00,2.15,0.00,0.000,6,0.000,0.044,2527,1810,3930,0,0,0,0,0,0
$GC,5074,-0.99,-214.1,809.3,-14.5,519,5078,0.00,2.20,0.00,0.000,4,0.000,0.054,2527,401,3927,0,0,0,0,0,0
$GC,5165,-0.99,-214.1,823.3,-15.1,523,5169,0.00,2.15,0.00,0.000,6,0.000,0.046,2519,1805,3926,0,0,0,0,0,0
$GC,5486,-0.99,-214.1,872.3,-14.8,539,5490,0.00,2.20,0.00,0.000,4,0.000,0.056,2519,401,3923,0,0,0,0,0,0
$GC,5535,-0.99,-214.1,880.2,-15.1,541,5539,0.00,2.15,0.00,0.000,6,0.000,0.047,2510,1803,3922,0,0,0,0,0,0
$GC,5862,-0.97,-214.1,928.8,-15.0,557,5866,0.00,2.17,0.00,0.000,4,0.000,0.056,2509,3215,3920,0,0,0,0,0,0
$GC,5884,-0.97,-214.1,933.1,-15.1,558,5888,0.00,2.17,0.00,0.000,6,0.000,0.039,2510,1799,3920,0,0,0,0,0,0
$GC,6212,-0.95,-214.1,983.2,-15.0,574,6216,0.00,2.20,0.00,0.000,4,0.000,0.056,2510,389,3917,0,0,0,0,0,0
$STATE,6318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6318,begin apogee
$GC,6327,-0.23,0.0,1000.8,16.7,579,6519,0.82,0.00,184.93,1.437,6,0.137,0.000,2760,1752,3071,0,0,0,0,0,0
$STATE,6520,end apogee,CONTROL_FINISHED_OK
$STATE,6520,begin climb
$GC,6523,1.16,214.1,1011.8,0.0,588,6734,1.33,2.45,202.38,1.373,4,0.048,0.058,3234,352,2198,0,0,0,0,0,0
$GC,6756,0.82,214.1,971.2,30.6,599,6762,0.50,2.33,0.00,0.000,6,0.203,0.045,3106,1745,2196,0,0,0,0,0,0
$GC,7073,0.63,214.1,900.3,21.4,614,7078,0.22,2.20,0.00,0.000,4,0.181,0.050,3034,3164,2191,0,0,0,0,0,0
$GC,7137,0.54,214.1,888.9,15.8,617,7141,0.00,2.15,0.00,0.000,6,0.000,0.041,3043,1738,2189,0,0,0,0,0,0
$GC,7465,0.45,214.1,834.5,16.5,633,7470,0.20,2.17,0.00,0.000,4,0.169,0.054,2996,335,2188,0,0,0,0,0,0
$GC,7493,0.39,214.1,830.1,14.1,634,7498,0.00,2.20,0.00,0.000,6,0.000,0.041,2992,1763,2188,0,0,0,0,0,0
$GC,7810,0.39,229.2,788.7,13.2,649,7830,0.00,0.00,13.77,1.209,6,0.000,0.000,2992,1763,2136,0,0,0,0,0,0
$GC,8141,0.41,242.0,744.1,13.3,665,8164,0.00,2.20,13.30,1.183,4,0.000,0.052,2992,3155,2083,0,0,0,0,0,0
$GC,8225,0.41,242.0,731.9,14.4,668,8233,0.12,2.15,0.00,0.000,6,0.181,0.041,2971,1737,2082,0,0,0,0,0,0
$GC,8542,0.52,308.0,696.4,11.0,684,8610,0.10,2.33,60.33,1.247,4,0.106,0.055,3033,341,1815,0,0,0,0,0,0
$GC,8628,0.48,308.0,683.5,16.0,688,8633,0.15,2.22,0.00,0.000,6,0.158,0.040,2994,1749,1813,0,0,0,0,0,0
$GC,8959,0.52,323.8,639.4,13.2,704,8981,0.00,2.20,14.73,1.132,4,0.000,0.051,2990,3167,1752,0,0,0,0,0,0
$GC,9021,0.59,339.8,630.7,13.2,706,9042,0.00,2.17,16.55,1.131,6,0.000,0.041,2998,1741,1685,0,0,0,0,0,0
$GC,9356,0.65,363.6,587.4,12.9,726,9389,0.15,2.30,22.55,1.134,4,0.077,0.055,3088,340,1589,0,0,0,0,0,0
$GC,9417,0.56,363.6,575.1,22.8,731,9425,0.22,2.20,0.00,0.000,6,0.161,0.041,3024,1759,1587,0,0,0,0,0,0
$GC,9743,0.56,363.6,523.5,15.5,762,9747,0.00,2.15,0.00,0.000,4,0.000,0.050,3024,3168,1585,0,0,0,0,0,0
$GC,9781,0.58,363.6,517.5,14.6,765,9789,0.00,2.15,0.00,0.000,6,0.000,0.041,3032,1749,1584,0,0,0,0,0,0
$GC,10106,0.58,363.6,469.9,14.8,796,10110,0.00,2.17,0.00,0.000,4,0.000,0.054,3044,340,1584,0,0,0,0,0,0
$GC,10135,0.58,363.6,465.5,15.7,798,10140,0.00,2.15,0.00,0.000,6,0.000,0.038,3043,1765,1582,0,0,0,0,0,0
$GC,10463,0.56,363.6,412.3,17.1,828,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1767,1583,0,0,0,0,0,0
$GC,10783,0.54,363.6,359.0,17.2,858,10787,0.00,2.12,0.00,0.000,4,0.000,0.049,3043,3164,1583,0,0,0,0,0,0
$GC,10839,0.55,363.6,349.4,15.7,862,10847,0.10,2.17,0.00,0.000,6,0.144,0.040,3022,1744,1582,0,0,0,0,0,0
$GC,11166,0.64,399.5,308.5,12.3,893,11204,0.00,2.28,31.67,0.932,4,0.000,0.053,3031,346,1443,0,0,0,0,0,0
$GC,11261,0.76,436.1,297.4,12.3,903,11303,0.15,2.15,33.65,0.910,6,0.076,0.035,3114,1762,1294,0,0,0,0,0,0
$GC,11632,0.68,436.1,213.6,22.3,969,11640,0.17,2.10,0.00,0.000,4,0.161,0.045,3056,3150,1292,0,0,0,0,0,0
$GC,11703,0.75,436.5,201.6,13.9,981,11711,0.00,2.12,0.00,0.000,6,0.000,0.038,3058,1744,1292,0,0,0,0,0,0
$GC,12037,0.82,468.7,154.9,12.5,1042,12073,0.12,2.20,29.08,0.781,4,0.085,0.048,3144,341,1161,0,0,0,0,0,0
$GC,12130,0.73,468.7,135.6,24.9,1057,12139,0.17,2.15,0.00,0.000,6,0.145,0.034,3083,1748,1159,0,0,0,0,0,0
$GC,12461,0.86,513.9,89.1,11.9,1118,12507,0.10,2.15,39.00,0.721,4,0.098,0.042,3137,3153,975,0,0,0,0,0,0
$GC,12538,0.86,513.9,77.4,16.8,1129,12547,0.00,2.17,0.00,0.000,6,0.000,0.037,3143,1754,975,0,0,0,0,0,0
$GC,12869,0.84,513.9,31.6,15.2,1190,12878,0.12,2.22,0.00,0.000,4,0.174,0.048,3119,341,974,0,0,0,0,0,0
$GC,12933,0.92,529.5,21.8,13.2,1201,12957,0.00,2.12,14.65,0.616,6,0.000,0.034,3118,1749,912,0,0,0,0,0,0
$STATE,13125,end climb,SURFACE_DEPTH_REACHED
$STATE,13125,begin surface coast
$FINISH,0.8,0.998150
$STATE,13148,end surface coast,CONTROL_FINISHED_OK
$STATE,13148,begin surface
$SM_CCo,13225,0.00,0.000,0,0,910,530.34
$SM_GC,1.50,7.65,0.00,0.00,0.035,0.000,0.000,153,1754,910,-8.34,-1.30,530.34
$IRIDIUM_FIX,2241.69,12622.27,261010,010125
$TT8_MAMPS,0.026964
$HUMID,42.55
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,25.40
$XPDR_PINGS,102
$24V_AH,22.3,69.175
$10V_AH,10.2,45.034
$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,22.225,130.725,676.575,0.000,0.000,30.566,37.730,221.956,25.500,0.000,14.793,3057.841,6372.747,747.784,3080.096,426.797,0.000,1967.162,0.000,2787.853,0.000,0.844,0.000
$DEVICE_MAMPS,224.910,58.140,1437.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.182,1063.469,1425.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333796
$DATA_FILE_SIZE,73419,1239
$CAP_FILE_SIZE,154401,0
$CFSIZE,260165632,157757440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,305.2,1
$GPS,261010,093006,2248.493,12625.756,42,1.3,42,-3.3