version: 66.08
glider: 166
mission: 3
dive: 385
start: 10 26 110 9 38 12
data:
$ID,166
$MISSION,3
$DIVE,385
$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,-22039.887
$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,36
$R_STBD_OVSHOOT,44
$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
$GPS1,261010,093006,2248.493,12625.756,42,1.3,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-52.3
$GPS2,261010,093750,2248.451,12625.633,14,1.5,14,-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,173.5,166277,-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,-214.1,0.0,0.0,0,119,0.00,0.00,-99.85,0.000,2,0.000,0.000,153,1754,3458,0,0,0,0,0,0
$GC,122,-1.16,-214.1,6.2,-12.7,13,148,8.88,2.17,-9.07,0.000,4,0.217,0.060,2461,387,3947,0,0,0,0,0,0
$GC,354,-0.89,-214.1,106.7,-41.8,55,364,0.30,2.17,0.00,0.000,6,0.158,0.043,2548,1792,3951,0,0,0,0,0,0
$GC,685,-0.79,-214.1,182.7,-20.7,116,693,0.12,2.20,0.00,0.000,4,0.181,0.048,2586,399,3953,0,0,0,0,0,0
$GC,778,-0.81,-214.1,198.1,-15.1,132,786,0.00,2.15,0.00,0.000,6,0.000,0.041,2576,1803,3954,0,0,0,0,0,0
$GC,1113,-0.80,-214.1,252.9,-15.7,193,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1805,3954,0,0,0,0,0,0
$GC,1452,-0.80,-214.1,303.8,-15.1,253,1456,0.00,2.20,0.00,0.000,4,0.000,0.049,2574,386,3954,0,0,0,0,0,0
$GC,1484,-0.80,-214.1,309.4,-14.7,255,1492,0.00,2.15,0.00,0.000,6,0.000,0.041,2564,1799,3954,0,0,0,0,0,0
$GC,1809,-0.80,-214.1,357.6,-14.8,286,1813,0.00,2.20,0.00,0.000,4,0.000,0.049,2564,392,3953,0,0,0,0,0,0
$GC,1852,-0.80,-214.1,363.4,-14.3,289,1856,0.00,2.12,0.00,0.000,6,0.000,0.043,2558,1799,3953,0,0,0,0,0,0
$GC,2183,-0.80,-214.1,410.4,-13.5,320,2187,0.00,2.15,0.00,0.000,4,0.000,0.050,2550,3204,3951,0,0,0,0,0,0
$GC,2240,-0.85,-214.1,417.7,-11.8,324,2248,0.00,2.12,0.00,0.000,6,0.000,0.034,2550,1797,3950,0,0,0,0,0,0
$GC,2566,-0.85,-214.1,463.6,-14.1,355,2570,0.00,2.12,0.00,0.000,4,0.000,0.050,2550,397,3949,0,0,0,0,0,0
$GC,2643,-0.87,-214.1,473.9,-13.6,361,2647,0.00,2.12,0.00,0.000,6,0.000,0.043,2547,1808,3948,0,0,0,0,0,0
$GC,2968,-0.87,-214.1,518.9,-13.1,391,2972,0.00,2.12,0.00,0.000,4,0.000,0.052,2548,3211,3946,0,0,0,0,0,0
$GC,3000,-0.89,-214.1,522.6,-12.7,393,3004,0.00,2.10,0.00,0.000,6,0.000,0.036,2548,1789,3946,0,0,0,0,0,0
$GC,3325,-0.89,-214.1,564.9,-13.3,423,3329,0.00,2.12,0.00,0.000,4,0.000,0.051,2548,394,3944,0,0,0,0,0,0
$GC,3394,-0.92,-214.1,574.3,-13.7,429,3399,0.00,2.12,0.00,0.000,6,0.000,0.044,2548,1797,3943,0,0,0,0,0,0
$GC,3718,-0.94,-214.1,616.4,-13.0,453,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1797,3941,0,0,0,0,0,0
$GC,4028,-0.96,-214.1,657.6,-13.2,468,4032,0.00,2.20,0.00,0.000,4,0.000,0.052,2548,393,3938,0,0,0,0,0,0
$GC,4069,-0.98,-214.1,663.8,-14.1,470,4073,0.00,2.15,0.00,0.000,6,0.000,0.044,2541,1812,3937,0,0,0,0,0,0
$GC,4397,-0.98,-214.1,709.1,-13.9,486,4401,0.00,2.17,0.00,0.000,4,0.000,0.052,2541,401,3934,0,0,0,0,0,0
$GC,4419,-0.98,-214.1,712.7,-14.6,487,4423,0.00,2.12,0.00,0.000,6,0.000,0.045,2539,1799,3933,0,0,0,0,0,0
$GC,4748,-0.98,-214.1,758.8,-13.9,503,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1800,3931,0,0,0,0,0,0
$GC,5058,-1.00,-214.1,799.5,-12.6,518,5062,0.00,2.22,0.00,0.000,4,0.000,0.055,2538,393,3927,0,0,0,0,0,0
$GC,5103,-1.02,-214.1,805.8,-13.2,520,5107,0.00,2.17,0.00,0.000,6,0.000,0.047,2531,1801,3927,0,0,0,0,0,0
$GC,5426,-1.02,-214.1,846.7,-12.6,536,5430,0.00,2.20,0.00,0.000,4,0.000,0.054,2531,395,3924,0,0,0,0,0,0
$GC,5491,-1.02,-214.1,855.6,-13.3,539,5495,0.00,2.15,0.00,0.000,6,0.000,0.047,2522,1800,3924,0,0,0,0,0,0
$GC,5818,-1.02,-214.1,901.3,-14.1,555,5822,0.00,2.20,0.00,0.000,4,0.000,0.056,2519,3204,3920,0,0,0,0,0,0
$GC,5869,-1.05,-214.1,908.6,-14.0,557,5873,0.00,2.10,0.00,0.000,6,0.000,0.040,2519,1802,3920,0,0,0,0,0,0
$GC,6185,-1.05,-214.1,956.2,-15.0,572,6189,0.00,2.17,0.00,0.000,4,0.000,0.057,2519,392,3918,0,0,0,0,0,0
$GC,6248,-1.03,-214.1,966.1,-16.2,575,6253,0.00,2.17,0.00,0.000,6,0.000,0.049,2511,1804,3917,0,0,0,0,0,0
$STATE,6470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6470,begin apogee
$GC,6478,-0.23,0.0,1000.5,15.3,586,6669,0.77,0.00,185.27,1.446,6,0.133,0.000,2757,1750,3072,0,0,0,0,0,0
$STATE,6670,end apogee,CONTROL_FINISHED_OK
$STATE,6670,begin climb
$GC,6674,1.16,214.1,1009.9,0.0,595,6887,1.30,2.45,201.27,1.377,4,0.052,0.061,3207,3158,2199,0,0,0,0,0,0
$GC,6925,0.86,214.1,961.9,31.0,606,6933,0.40,2.28,0.00,0.000,6,0.200,0.042,3120,1751,2196,0,0,0,0,0,0
$GC,7243,0.66,214.1,886.5,23.6,622,7248,0.22,2.20,0.00,0.000,4,0.184,0.051,3049,3158,2192,0,0,0,0,0,0
$GC,7276,0.54,214.1,878.7,19.9,623,7285,0.15,2.15,0.00,0.000,6,0.185,0.041,3018,1734,2191,0,0,0,0,0,0
$GC,7592,0.48,214.1,829.5,14.9,639,7596,0.00,2.17,0.00,0.000,4,0.000,0.057,3027,337,2191,0,0,0,0,0,0
$GC,7621,0.42,214.1,825.0,16.0,640,7626,0.17,2.17,0.00,0.000,6,0.164,0.044,2979,1754,2190,0,0,0,0,0,0
$GC,7945,0.50,278.5,787.2,11.1,656,8009,0.00,2.33,58.72,1.287,4,0.000,0.054,2975,3164,1935,0,0,0,0,0,0
$GC,8046,0.60,327.9,775.4,11.7,660,8101,0.15,2.20,46.17,1.249,6,0.074,0.041,3056,1743,1735,0,0,0,0,0,0
$GC,8409,0.53,327.9,710.0,17.9,678,8413,0.17,2.20,0.00,0.000,4,0.169,0.057,3018,338,1728,0,0,0,0,0,0
$GC,8437,0.50,327.9,704.9,16.0,679,8442,0.00,2.17,0.00,0.000,6,0.000,0.042,3018,1761,1727,0,0,0,0,0,0
$GC,8759,0.50,327.9,659.3,14.4,695,8763,0.00,2.15,0.00,0.000,4,0.000,0.053,3018,3168,1726,0,0,0,0,0,0
$GC,8786,0.50,327.9,654.7,15.4,696,8790,0.00,2.15,0.00,0.000,6,0.000,0.043,3027,1739,1725,0,0,0,0,0,0
$GC,9117,0.48,327.9,601.5,16.9,712,9122,0.12,2.17,0.00,0.000,4,0.177,0.057,3003,347,1724,0,0,0,0,0,0
$GC,9138,0.48,327.9,597.3,15.8,713,9145,0.00,2.12,0.00,0.000,6,0.000,0.041,3003,1751,1723,0,0,0,0,0,0
$GC,9465,0.50,334.0,553.1,13.6,744,9477,0.00,2.20,4.90,0.821,4,0.000,0.053,3003,3164,1710,0,0,0,0,0,0
$GC,9513,0.54,334.0,546.4,14.0,748,9517,0.00,2.12,0.00,0.000,6,0.000,0.041,3013,1749,1709,0,0,0,0,0,0
$GC,9839,0.54,334.0,500.1,14.4,778,9842,0.00,2.20,0.00,0.000,4,0.000,0.055,3024,338,1710,0,0,0,0,0,0
$GC,9880,0.56,334.0,494.2,15.2,781,9884,0.00,2.17,0.00,0.000,6,0.000,0.040,3024,1758,1708,0,0,0,0,0,0
$GC,10206,0.57,342.4,447.0,13.5,811,10222,0.00,2.22,9.38,0.950,4,0.000,0.050,3024,3165,1675,0,0,0,0,0,0
$GC,10313,0.64,373.9,432.5,12.5,820,10348,0.00,2.17,30.25,1.034,6,0.000,0.040,3034,1752,1547,0,0,0,0,0,0
$GC,10669,0.64,373.9,381.7,14.8,853,10673,0.00,2.17,0.00,0.000,4,0.000,0.054,3047,340,1544,0,0,0,0,0,0
$GC,10721,0.67,373.9,373.5,16.4,857,10725,0.00,2.15,0.00,0.000,6,0.000,0.037,3046,1750,1543,0,0,0,0,0,0
$GC,11047,0.67,373.9,321.9,16.1,887,11051,0.00,2.15,0.00,0.000,4,0.000,0.050,3046,3171,1543,0,0,0,0,0,0
$GC,11121,0.69,373.9,310.3,15.1,893,11125,0.00,2.12,0.00,0.000,6,0.000,0.040,3056,1748,1543,0,0,0,0,0,0
$GC,11452,0.69,373.9,258.1,14.7,947,11459,0.00,2.17,0.00,0.000,4,0.000,0.052,3067,338,1543,0,0,0,0,0,0
$GC,11516,0.71,373.9,248.5,14.7,958,11524,0.00,2.17,0.00,0.000,6,0.000,0.036,3067,1761,1543,0,0,0,0,0,0
$GC,11852,0.73,393.0,200.1,13.1,1019,11880,0.00,2.17,18.00,0.806,4,0.000,0.047,3064,3157,1469,0,0,0,0,0,0
$GC,11893,0.73,393.0,194.0,14.1,1025,11900,0.00,2.15,0.00,0.000,6,0.000,0.037,3069,1740,1469,0,0,0,0,0,0
$GC,12229,0.76,396.1,147.4,13.8,1086,12238,0.00,2.20,4.50,0.539,4,0.000,0.050,3076,345,1457,0,0,0,0,0,0
$GC,12345,0.82,417.1,132.5,13.0,1106,12370,0.00,2.15,19.75,0.746,6,0.000,0.034,3076,1762,1371,0,0,0,0,0,0
$GC,12690,1.00,509.6,89.6,9.9,1169,12779,0.22,2.30,78.85,0.718,4,0.058,0.049,3193,356,992,0,0,0,0,0,0
$GC,12799,0.90,509.6,67.6,22.9,1184,12808,0.17,2.15,0.00,0.000,6,0.149,0.033,3135,1750,991,0,0,0,0,0,0
$GC,13131,0.90,509.6,23.6,17.0,1245,13139,0.00,2.20,0.00,0.000,4,0.000,0.050,3143,350,990,0,0,0,0,0,0
$GC,13163,0.92,509.6,17.2,17.8,1250,13171,0.00,2.12,0.00,0.000,6,0.000,0.033,3142,1758,989,0,0,0,0,0,0
$STATE,13246,end climb,SURFACE_DEPTH_REACHED
$STATE,13246,begin surface coast
$FINISH,1.2,1.021865
$STATE,13270,end surface coast,CONTROL_FINISHED_OK
$STATE,13270,begin surface
$SM_CCo,13347,0.00,0.000,0,0,988,511.21
$SM_GC,1.64,7.65,0.00,0.00,0.031,0.000,0.000,146,1764,988,-8.35,-1.02,511.21
$IRIDIUM_FIX,2239.35,12625.54,261010,050551
$TT8_MAMPS,0.026215
$HUMID,41.96
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,25.10
$XPDR_PINGS,97
$24V_AH,22.3,69.421
$10V_AH,10.2,45.178
$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,20.825,134.925,657.075,0.000,0.000,31.591,39.796,210.093,24.250,0.000,14.919,3143.811,6393.579,682.578,3145.764,429.522,0.000,1937.077,0.000,2864.535,0.000,0.846,0.000
$DEVICE_MAMPS,217.260,116.280,1445.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.553,1093.184,1453.602,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73651,1269
$CAP_FILE_SIZE,155971,0
$CFSIZE,260165632,157671424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,316.9,1
$GPS,261010,132200,2247.231,12625.441,42,1.3,42,-3.3