version: 66.08
glider: 166
mission: 3
dive: 410
start: 10 30 110 8 26 18
data:
$ID,166
$MISSION,3
$DIVE,410
$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,-22071.334
$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,43
$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
$GPS1,301010,081906,2205.317,12614.248,31,1.1,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.3
$GPS2,301010,082556,2205.264,12614.236,12,1.0,12,-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,185.6,83934,-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,-214.1,0.0,0.0,0,129,0.00,0.00,-109.78,0.000,2,0.000,0.000,144,1774,3371,0,0,0,0,0,0
$GC,132,-1.16,-214.1,6.3,-13.1,15,157,9.10,2.25,-10.25,0.000,4,0.223,0.055,2445,3211,3948,0,0,0,0,0,0
$GC,344,-0.90,-214.1,97.6,-38.9,53,353,0.30,2.15,0.00,0.000,6,0.161,0.034,2539,1800,3951,0,0,0,0,0,0
$GC,675,-0.80,-214.1,179.7,-20.7,114,684,0.15,2.20,0.00,0.000,4,0.174,0.048,2581,393,3954,0,0,0,0,0,0
$GC,788,-0.80,-214.1,199.2,-17.8,133,795,0.00,2.15,0.00,0.000,6,0.000,0.044,2574,1797,3955,0,0,0,0,0,0
$GC,1124,-0.78,-214.1,252.6,-16.1,194,1132,0.00,2.20,0.00,0.000,4,0.000,0.050,2574,399,3956,0,0,0,0,0,0
$GC,1177,-0.78,-214.1,260.8,-15.2,203,1183,0.00,2.12,0.00,0.000,6,0.000,0.044,2572,1800,3956,0,0,0,0,0,0
$GC,1508,-0.78,-214.1,309.1,-14.1,258,1512,0.00,2.15,0.00,0.000,4,0.000,0.050,2561,3209,3955,0,0,0,0,0,0
$GC,1550,-0.81,-214.1,314.7,-13.6,261,1554,0.00,2.10,0.00,0.000,6,0.000,0.036,2561,1802,3956,0,0,0,0,0,0
$GC,1881,-0.81,-214.1,361.3,-14.7,292,1885,0.00,2.17,0.00,0.000,4,0.000,0.050,2561,395,3955,0,0,0,0,0,0
$GC,1987,-0.81,-214.1,376.6,-13.7,301,1992,0.00,2.15,0.00,0.000,6,0.000,0.044,2559,1812,3955,0,0,0,0,0,0
$GC,2314,-0.81,-214.1,419.6,-12.7,331,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1812,3953,0,0,0,0,0,0
$GC,2636,-0.83,-214.1,462.4,-13.2,361,2640,0.00,2.22,0.00,0.000,4,0.000,0.050,2559,389,3951,0,0,0,0,0,0
$GC,2670,-0.85,-214.1,467.8,-14.5,364,2674,0.00,2.15,0.00,0.000,6,0.000,0.044,2551,1802,3951,0,0,0,0,0,0
$GC,2996,-0.85,-214.1,510.5,-12.5,394,3000,0.00,2.17,0.00,0.000,4,0.000,0.054,2549,3209,3948,0,0,0,0,0,0
$GC,3053,-0.91,-214.1,517.3,-10.9,398,3060,0.00,2.12,0.00,0.000,6,0.000,0.037,2548,1791,3947,0,0,0,0,0,0
$GC,3379,-0.93,-214.1,556.3,-12.2,429,3383,0.00,2.15,0.00,0.000,4,0.000,0.053,2548,389,3945,0,0,0,0,0,0
$GC,3481,-0.96,-214.1,569.8,-13.0,437,3489,0.00,2.15,0.00,0.000,6,0.000,0.047,2548,1797,3944,0,0,0,0,0,0
$GC,3808,-0.97,-214.1,612.1,-13.4,464,3812,0.00,2.15,0.00,0.000,4,0.000,0.054,2540,3208,3941,0,0,0,0,0,0
$GC,3858,-1.03,-214.1,619.3,-12.3,466,3862,0.00,2.12,0.00,0.000,6,0.000,0.038,2539,1791,3940,0,0,0,0,0,0
$GC,4174,-1.03,-214.1,663.1,-13.5,481,4178,0.00,2.15,0.00,0.000,4,0.000,0.054,2539,398,3937,0,0,0,0,0,0
$GC,4208,-1.03,-214.1,668.0,-14.5,482,4212,0.00,2.17,0.00,0.000,6,0.000,0.048,2539,1811,3937,0,0,0,0,0,0
$GC,4524,-1.03,-214.1,711.9,-13.9,497,4528,0.00,2.20,0.00,0.000,4,0.000,0.054,2539,394,3934,0,0,0,0,0,0
$GC,4561,-1.03,-214.1,717.4,-14.7,498,4568,0.00,2.20,0.00,0.000,6,0.000,0.047,2530,1825,3934,0,0,0,0,0,0
$GC,4879,-1.03,-214.1,765.0,-15.6,514,4884,0.00,2.25,0.00,0.000,4,0.000,0.054,2530,390,3931,0,0,0,0,0,0
$GC,4923,-1.03,-214.1,772.6,-15.8,516,4927,0.00,2.20,0.00,0.000,6,0.000,0.049,2522,1809,3930,0,0,0,0,0,0
$GC,5251,-1.03,-214.1,822.9,-15.2,532,5255,0.00,2.22,0.00,0.000,4,0.000,0.062,2523,392,3927,0,0,0,0,0,0
$GC,5300,-1.03,-214.1,830.1,-16.3,534,5304,0.00,2.20,0.00,0.000,6,0.000,0.050,2515,1802,3926,0,0,0,0,0,0
$GC,5627,-1.00,-214.1,882.1,-15.3,550,5631,0.00,2.20,0.00,0.000,4,0.000,0.056,2516,392,3924,0,0,0,0,0,0
$GC,5656,-0.97,-214.1,886.9,-16.7,551,5661,0.00,2.22,0.00,0.000,6,0.000,0.051,2506,1810,3923,0,0,0,0,0,0
$GC,5973,-0.94,-214.1,935.5,-15.4,566,5975,0.12,0.00,0.00,0.000,6,0.186,0.000,2538,1810,3921,0,0,0,0,0,0
$GC,6282,-0.95,-214.1,974.8,-12.2,581,6286,0.00,2.22,0.00,0.000,4,0.000,0.058,2538,391,3918,0,0,0,0,0,0
$GC,6325,-0.97,-214.1,980.0,-13.0,583,6329,0.00,2.22,0.00,0.000,6,0.000,0.051,2530,1809,3918,0,0,0,0,0,0
$STATE,6484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6484,begin apogee
$GC,6490,-0.23,0.0,1000.6,12.7,591,6683,0.73,0.00,186.45,1.447,6,0.132,0.000,2761,1738,3072,0,0,0,0,0,0
$STATE,6683,end apogee,CONTROL_FINISHED_OK
$STATE,6683,begin climb
$GC,6686,1.16,214.1,1008.4,0.0,600,6900,1.27,2.45,203.23,1.383,4,0.052,0.056,3227,347,2198,0,0,0,0,0,0
$GC,6952,0.82,214.1,955.5,33.6,612,6957,0.45,2.30,0.00,0.000,6,0.203,0.049,3107,1749,2194,0,0,0,0,0,0
$GC,7277,0.63,214.1,881.5,21.8,628,7282,0.22,2.17,0.00,0.000,4,0.184,0.052,3035,3162,2190,0,0,0,0,0,0
$GC,7318,0.54,214.1,872.9,18.4,630,7322,0.00,2.15,0.00,0.000,6,0.000,0.044,3044,1743,2189,0,0,0,0,0,0
$GC,7648,0.44,214.1,817.8,16.8,646,7653,0.20,2.20,0.00,0.000,4,0.168,0.056,2997,341,2188,0,0,0,0,0,0
$GC,7698,0.45,217.9,809.6,13.7,648,7702,0.00,2.15,0.00,0.000,6,0.000,0.043,2997,1752,2187,0,0,0,0,0,0
$GC,8022,0.46,254.8,768.3,12.3,664,8066,0.00,2.33,37.17,1.280,4,0.000,0.054,2997,3169,2033,0,0,0,0,0,0
$GC,8105,0.50,284.4,757.1,12.6,667,8138,0.00,2.22,28.23,1.239,6,0.000,0.043,3006,1747,1912,0,0,0,0,0,0
$GC,8462,0.51,301.8,709.5,13.1,685,8486,0.00,2.25,16.50,1.185,4,0.000,0.057,3017,343,1840,0,0,0,0,0,0
$GC,8532,0.51,301.8,699.2,14.7,688,8536,0.00,2.20,0.00,0.000,6,0.000,0.043,3017,1749,1838,0,0,0,0,0,0
$GC,8862,0.48,301.8,650.2,14.6,704,8866,0.00,2.17,0.00,0.000,4,0.000,0.054,3017,3172,1836,0,0,0,0,0,0
$GC,8902,0.48,301.8,643.8,14.6,706,8907,0.12,2.15,0.00,0.000,6,0.174,0.042,2995,1751,1835,0,0,0,0,0,0
$GC,9232,0.52,331.9,602.3,12.6,722,9262,0.00,0.00,28.25,1.175,6,0.000,0.000,2995,1752,1717,0,0,0,0,0,0
$GC,9579,0.62,388.0,560.0,11.5,754,9636,0.12,2.35,51.33,1.151,4,0.091,0.057,3073,342,1490,0,0,0,0,0,0
$GC,9707,0.59,388.0,537.1,19.3,765,9712,0.15,2.22,0.00,0.000,6,0.161,0.041,3033,1771,1486,0,0,0,0,0,0
$GC,10033,0.59,388.0,485.1,15.7,795,10037,0.00,2.12,0.00,0.000,4,0.000,0.050,3031,3158,1484,0,0,0,0,0,0
$GC,10087,0.62,388.0,477.0,14.9,799,10091,0.00,2.15,0.00,0.000,6,0.000,0.041,3039,1749,1483,0,0,0,0,0,0
$GC,10414,0.62,388.0,423.2,16.2,829,10418,0.00,2.20,0.00,0.000,4,0.000,0.056,3050,344,1482,0,0,0,0,0,0
$GC,10472,0.62,388.0,413.7,15.9,834,10476,0.00,2.15,0.00,0.000,6,0.000,0.039,3050,1746,1481,0,0,0,0,0,0
$GC,10798,0.60,388.0,357.8,17.8,864,10802,0.00,2.15,0.00,0.000,4,0.000,0.049,3050,3170,1481,0,0,0,0,0,0
$GC,10831,0.60,388.0,352.0,16.6,866,10840,0.00,2.20,0.00,0.000,6,0.000,0.041,3060,1744,1480,0,0,0,0,0,0
$GC,11158,0.58,388.0,299.2,14.5,897,11167,0.12,2.15,0.00,0.000,4,0.172,0.054,3036,346,1480,0,0,0,0,0,0
$GC,11192,0.60,391.7,294.6,13.7,902,11200,0.00,2.17,0.00,0.000,6,0.000,0.037,3036,1760,1479,0,0,0,0,0,0
$GC,11529,0.66,419.9,250.2,12.7,963,11563,0.00,2.22,27.77,0.876,4,0.000,0.046,3036,3166,1359,0,0,0,0,0,0
$GC,11647,0.82,480.1,235.1,11.3,983,11710,0.17,2.17,53.70,0.861,6,0.067,0.037,3136,1737,1114,0,0,0,0,0,0
$GC,12036,0.74,480.1,145.1,22.9,1052,12045,0.20,2.20,0.00,0.000,4,0.162,0.050,3085,344,1111,0,0,0,0,0,0
$GC,12076,0.74,480.1,137.3,19.0,1058,12084,0.00,2.15,0.00,0.000,6,0.000,0.036,3085,1749,1110,0,0,0,0,0,0
$GC,12404,0.86,529.3,91.6,11.8,1119,12459,0.10,2.20,41.80,0.724,4,0.096,0.045,3148,3149,914,0,0,0,0,0,0
$GC,12477,0.86,529.3,81.0,15.1,1129,12487,0.10,2.17,0.00,0.000,6,0.139,0.038,3124,1749,913,0,0,0,0,0,0
$GC,12809,0.90,529.3,35.0,16.8,1190,12817,0.00,2.20,0.00,0.000,4,0.000,0.050,3132,343,912,0,0,0,0,0,0
$GC,12869,0.98,541.2,26.6,13.4,1200,12886,0.00,2.15,11.95,0.605,6,0.000,0.034,3132,1760,864,0,0,0,0,0,0
$STATE,13054,end climb,SURFACE_DEPTH_REACHED
$STATE,13054,begin surface coast
$FINISH,0.8,1.020147
$STATE,13083,end surface coast,CONTROL_FINISHED_OK
$STATE,13083,begin surface
$SM_CCo,13162,0.00,0.000,0,0,860,542.36
$SM_GC,1.68,7.72,0.00,0.00,0.039,0.000,0.000,151,1766,860,-8.33,-0.96,542.36
$IRIDIUM_FIX,2159.71,12613.10,301010,040456
$TT8_MAMPS,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,25.10
$XPDR_PINGS,88
$24V_AH,22.1,75.802
$10V_AH,10.2,48.633
$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,21.375,131.575,686.375,0.000,0.000,24.784,19.099,186.320,22.000,0.000,13.373,3059.147,6323.559,710.514,3037.624,424.770,0.000,1951.532,0.000,2813.056,0.000,0.843,0.000
$DEVICE_MAMPS,223.380,96.390,1446.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.999,1062.609,1425.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73559,1239
$CAP_FILE_SIZE,152929,0
$CFSIZE,260165632,155627520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,272.3,1
$GPS,301010,120654,2203.332,12613.014,38,1.2,38,-3.1