version: 66.08
glider: 166
mission: 3
dive: 408
start: 10 30 110 0 56 17
data:
$ID,166
$MISSION,3
$DIVE,408
$N_DIVES,410
$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,-22068.82
$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,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
$GPS1,301010,004906,2209.523,12615.576,38,1.1,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-61.8
$GPS2,301010,005555,2209.555,12615.558,10,1.5,15,-3.1
$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,201.0,92200,-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,-214.1,0.0,0.0,0,109,0.00,0.00,-89.82,0.000,2,0.000,0.000,150,1757,3367,0,0,0,0,0,0
$GC,112,-1.16,-214.1,5.7,-9.5,12,143,9.12,2.17,-10.88,0.000,4,0.225,0.059,2459,386,3949,0,0,0,0,0,0
$GC,383,-0.96,-214.1,113.4,-32.6,61,391,0.25,2.17,0.00,0.000,6,0.161,0.044,2527,1783,3951,0,0,0,0,0,0
$GC,718,-0.84,-214.1,196.6,-19.5,122,728,0.15,2.22,0.00,0.000,4,0.179,0.048,2559,3213,3955,0,0,0,0,0,0
$GC,757,-0.81,-214.1,202.8,-17.0,127,763,0.00,2.10,0.00,0.000,6,0.000,0.035,2560,1800,3955,0,0,0,0,0,0
$GC,1094,-0.77,-214.1,258.4,-17.2,188,1103,0.12,2.20,0.00,0.000,4,0.171,0.050,2593,396,3956,0,0,0,0,0,0
$GC,1243,-0.81,-214.1,279.4,-12.9,214,1252,0.00,2.17,0.00,0.000,6,0.000,0.043,2588,1803,3956,0,0,0,0,0,0
$GC,1579,-0.84,-214.1,322.0,-12.1,259,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1803,3956,0,0,0,0,0,0
$GC,1908,-0.88,-214.1,362.7,-11.9,290,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1804,3956,0,0,0,0,0,0
$GC,2237,-0.94,-214.1,401.4,-11.8,321,2244,0.15,0.00,0.00,0.000,6,0.084,0.000,2511,1803,3954,0,0,0,0,0,0
$GC,2563,-0.88,-214.1,457.4,-16.5,352,2567,0.15,2.22,0.00,0.000,4,0.170,0.050,2552,388,3952,0,0,0,0,0,0
$GC,2582,-0.84,-214.1,460.4,-16.4,353,2586,0.00,2.17,0.00,0.000,6,0.000,0.044,2547,1802,3952,0,0,0,0,0,0
$GC,2908,-0.84,-214.1,503.8,-13.1,383,2912,0.00,2.17,0.00,0.000,4,0.000,0.050,2548,398,3950,0,0,0,0,0,0
$GC,2941,-0.85,-214.1,508.5,-13.4,385,2948,0.00,2.17,0.00,0.000,6,0.000,0.046,2548,1802,3951,0,0,0,0,0,0
$GC,3267,-0.85,-214.1,552.4,-13.7,416,3271,0.00,2.17,0.00,0.000,4,0.000,0.054,2549,3208,3948,0,0,0,0,0,0
$GC,3310,-0.91,-214.1,558.1,-11.3,419,3317,0.00,2.12,0.00,0.000,6,0.000,0.037,2549,1794,3948,0,0,0,0,0,0
$GC,3636,-0.93,-214.1,598.1,-11.6,450,3640,0.00,2.15,0.00,0.000,4,0.000,0.054,2549,396,3945,0,0,0,0,0,0
$GC,3687,-0.95,-214.1,604.9,-12.5,452,3691,0.00,2.17,0.00,0.000,6,0.000,0.048,2549,1797,3945,0,0,0,0,0,0
$GC,4005,-0.97,-214.1,643.0,-12.1,467,4009,0.00,2.20,0.00,0.000,4,0.000,0.053,2549,390,3943,0,0,0,0,0,0
$GC,4033,-0.98,-214.1,646.9,-13.5,468,4037,0.00,2.22,0.00,0.000,6,0.000,0.049,2542,1815,3942,0,0,0,0,0,0
$GC,4355,-0.98,-214.1,687.3,-12.5,484,4359,0.00,2.22,0.00,0.000,4,0.000,0.053,2543,391,3940,0,0,0,0,0,0
$GC,4395,-1.00,-214.1,692.6,-13.0,485,4402,0.00,2.20,0.00,0.000,6,0.000,0.048,2539,1805,3939,0,0,0,0,0,0
$GC,4713,-1.00,-214.1,734.8,-13.5,501,4717,0.00,2.17,0.00,0.000,4,0.000,0.055,2532,3207,3936,0,0,0,0,0,0
$GC,4731,-1.00,-214.1,737.4,-13.4,502,4735,0.00,2.15,0.00,0.000,6,0.000,0.043,2532,1793,3935,0,0,0,0,0,0
$GC,5066,-1.00,-214.1,783.0,-13.5,518,5070,0.00,2.15,0.00,0.000,4,0.000,0.056,2532,398,3933,0,0,0,0,0,0
$GC,5086,-1.00,-214.1,785.4,-13.3,519,5090,0.00,2.17,0.00,0.000,6,0.000,0.048,2523,1798,3933,0,0,0,0,0,0
$GC,5415,-1.00,-214.1,830.5,-13.8,535,5419,0.00,2.20,0.00,0.000,4,0.000,0.057,2523,3207,3930,0,0,0,0,0,0
$GC,5459,-1.02,-214.1,836.9,-13.5,537,5463,0.00,2.12,0.00,0.000,6,0.000,0.041,2522,1798,3929,0,0,0,0,0,0
$GC,5780,-1.00,-214.1,883.7,-14.9,553,5784,0.00,2.20,0.00,0.000,4,0.000,0.057,2522,387,3926,0,0,0,0,0,0
$GC,5837,-1.00,-214.1,892.4,-15.3,555,5841,0.00,2.22,0.00,0.000,6,0.000,0.050,2512,1808,3926,0,0,0,0,0,0
$GC,6153,-0.97,-214.1,942.2,-15.8,570,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1808,3924,0,0,0,0,0,0
$GC,6464,-0.94,-214.1,987.7,-14.3,585,6468,0.00,2.25,0.00,0.000,4,0.000,0.057,2513,386,3922,0,0,0,0,0,0
$STATE,6547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6547,begin apogee
$GC,6555,-0.23,0.0,1000.4,14.6,589,6747,0.82,0.00,187.50,1.436,6,0.138,0.000,2761,1751,3072,0,0,0,0,0,0
$STATE,6748,end apogee,CONTROL_FINISHED_OK
$STATE,6748,begin climb
$GC,6750,1.16,214.1,1007.3,0.0,598,6962,1.30,2.50,202.70,1.375,4,0.052,0.057,3228,347,2198,0,0,0,0,0,0
$GC,6990,0.82,214.1,959.7,34.6,609,6995,0.45,2.35,0.00,0.000,6,0.203,0.048,3111,1748,2196,0,0,0,0,0,0
$GC,7308,0.62,214.1,883.0,22.9,624,7313,0.25,2.22,0.00,0.000,4,0.177,0.058,3025,3170,2191,0,0,0,0,0,0
$GC,7352,0.55,214.1,873.9,17.1,626,7356,0.00,2.17,0.00,0.000,6,0.000,0.041,3033,1747,2189,0,0,0,0,0,0
$GC,7675,0.47,214.1,823.6,15.6,642,7680,0.15,2.20,0.00,0.000,4,0.176,0.056,3002,341,2189,0,0,0,0,0,0
$GC,7693,0.40,214.1,820.6,15.5,643,7698,0.12,2.17,0.00,0.000,6,0.177,0.043,2970,1763,2189,0,0,0,0,0,0
$GC,8022,0.47,273.0,783.4,11.3,659,8086,0.00,2.30,53.80,1.292,4,0.000,0.053,2961,3164,1959,0,0,0,0,0,0
$GC,8142,0.59,317.7,769.3,11.9,664,8190,0.17,2.20,42.33,1.253,6,0.070,0.041,3051,1743,1776,0,0,0,0,0,0
$GC,8499,0.52,317.7,702.6,18.8,681,8504,0.15,2.20,0.00,0.000,4,0.174,0.056,3021,343,1770,0,0,0,0,0,0
$GC,8528,0.49,317.7,697.1,17.4,682,8532,0.00,2.15,0.00,0.000,6,0.000,0.041,3021,1746,1767,0,0,0,0,0,0
$GC,8852,0.47,317.7,648.0,14.7,698,8856,0.00,2.17,0.00,0.000,4,0.000,0.052,3021,3175,1766,0,0,0,0,0,0
$GC,8896,0.47,317.7,640.4,16.4,700,8901,0.12,2.17,0.00,0.000,6,0.176,0.041,2998,1742,1766,0,0,0,0,0,0
$GC,9226,0.53,341.8,598.3,12.8,716,9253,0.00,2.20,22.02,1.157,4,0.000,0.055,3007,348,1677,0,0,0,0,0,0
$GC,9318,0.61,366.7,586.3,12.8,723,9347,0.00,2.20,23.88,1.138,6,0.000,0.041,3008,1758,1577,0,0,0,0,0,0
$GC,9666,0.64,366.7,537.8,14.0,756,9671,0.12,2.17,0.00,0.000,4,0.088,0.051,3068,3165,1575,0,0,0,0,0,0
$GC,9734,0.60,366.7,525.5,18.6,762,9739,0.15,2.17,0.00,0.000,6,0.175,0.043,3039,1743,1574,0,0,0,0,0,0
$GC,10059,0.60,366.7,471.8,15.2,792,10063,0.00,2.15,0.00,0.000,4,0.000,0.056,3048,345,1573,0,0,0,0,0,0
$GC,10131,0.60,366.7,459.9,16.1,798,10135,0.00,2.15,0.00,0.000,6,0.000,0.040,3049,1761,1572,0,0,0,0,0,0
$GC,10457,0.58,366.7,405.1,17.4,828,10461,0.00,2.15,0.00,0.000,4,0.000,0.052,3048,3162,1572,0,0,0,0,0,0
$GC,10530,0.59,366.7,393.2,14.8,834,10534,0.00,2.15,0.00,0.000,6,0.000,0.042,3058,1749,1572,0,0,0,0,0,0
$GC,10856,0.57,366.7,339.3,15.8,864,10860,0.12,2.20,0.00,0.000,4,0.179,0.057,3034,346,1571,0,0,0,0,0,0
$GC,10897,0.60,366.7,333.2,14.6,867,10901,0.00,2.15,0.00,0.000,6,0.000,0.041,3034,1764,1569,0,0,0,0,0,0
$GC,11230,0.60,366.7,287.4,14.2,905,11236,0.00,2.15,0.00,0.000,4,0.000,0.056,3034,3159,1569,0,0,0,0,0,0
$GC,11291,0.67,374.0,279.3,13.6,915,11306,0.00,2.15,6.95,0.766,6,0.000,0.039,3044,1741,1547,0,0,0,0,0,0
$GC,11642,0.74,411.0,229.4,12.3,977,11685,0.10,2.20,34.28,0.858,4,0.103,0.051,3117,341,1396,0,0,0,0,0,0
$GC,11752,0.68,411.0,208.7,21.4,994,11761,0.17,2.20,0.00,0.000,6,0.139,0.039,3060,1760,1395,0,0,0,0,0,0
$GC,12100,0.79,471.5,160.5,11.3,1055,12161,0.10,2.15,53.28,0.793,4,0.103,0.044,3120,3152,1149,0,0,0,0,0,0
$GC,12214,0.79,471.5,139.6,18.1,1073,12222,0.00,2.17,0.00,0.000,6,0.000,0.038,3122,1754,1148,0,0,0,0,0,0
$GC,12541,0.77,471.5,79.7,18.1,1134,12550,0.12,0.00,0.00,0.000,6,0.164,0.000,3087,1754,1147,0,0,0,0,0,0
$GC,12870,1.01,582.7,50.3,9.1,1195,12975,0.22,2.30,92.75,0.674,4,0.057,0.052,3213,345,694,0,0,0,0,0,0
$GC,13021,0.89,582.7,14.8,28.1,1217,13030,0.25,2.15,0.00,0.000,6,0.147,0.034,3132,1740,693,0,0,0,0,0,0
$STATE,13078,end climb,SURFACE_DEPTH_REACHED
$STATE,13078,begin surface coast
$FINISH,1.0,1.022025
$STATE,13095,end surface coast,CONTROL_FINISHED_OK
$STATE,13099,begin surface
$SM_CCo,13176,0.00,0.000,0,0,690,584.30
$SM_GC,1.66,7.70,0.00,0.00,0.034,0.000,0.000,152,1832,690,-8.33,0.90,584.30
$IRIDIUM_FIX,2202.04,12616.36,291010,212115
$TT8_MAMPS,0.026215
$HUMID,42.99
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.70
$XPDR_PINGS,95
$24V_AH,22.2,75.275
$10V_AH,10.2,48.356
$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,22.575,127.175,719.475,0.000,0.000,29.577,15.706,184.484,23.750,0.000,16.147,3023.708,6411.809,718.113,2993.674,423.477,0.000,1958.346,0.000,2766.106,0.000,0.842,0.000
$DEVICE_MAMPS,224.910,112.455,1435.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.455,1054.811,1382.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73601,1230
$CAP_FILE_SIZE,154473,0
$CFSIZE,260165632,155791360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,193.7,1
$GPS,301010,043706,2207.571,12615.094,37,0.9,37,-3.1