version: 66.08
glider: 166
mission: 3
dive: 415
start: 10 31 110 3 18 0
data:
$ID,166
$MISSION,3
$DIVE,415
$N_DIVES,424
$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,-22077.619
$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,41
$R_STBD_OVSHOOT,51
$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
$GPS1,311010,031036,2157.548,12612.760,32,1.0,32,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.5
$GPS2,311010,031738,2157.575,12612.711,15,1.3,15,-3.0
$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,208.7,69520,-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,-214.1,0.0,0.0,0,100,0.00,0.00,-81.18,0.000,2,0.000,0.000,145,1817,3262,0,0,0,0,0,0
$GC,103,-1.16,-214.1,5.4,-10.3,11,134,9.20,2.20,-12.68,0.000,4,0.226,0.056,2459,386,3946,0,0,0,0,0,0
$GC,337,-0.96,-214.1,97.8,-31.7,53,346,0.22,2.17,0.00,0.000,6,0.154,0.045,2522,1784,3950,0,0,0,0,0,0
$GC,669,-0.83,-214.1,178.5,-24.0,114,679,0.17,2.17,0.00,0.000,4,0.176,0.048,2572,402,3952,0,0,0,0,0,0
$GC,744,-0.83,-214.1,192.5,-17.4,126,752,0.00,2.17,0.00,0.000,6,0.000,0.043,2563,1812,3953,0,0,0,0,0,0
$GC,1086,-0.80,-214.1,252.7,-16.9,187,1093,0.00,2.12,0.00,0.000,4,0.000,0.049,2551,3212,3954,0,0,0,0,0,0
$GC,1101,-0.77,-214.1,255.5,-16.5,189,1109,0.15,2.12,0.00,0.000,6,0.159,0.035,2592,1794,3954,0,0,0,0,0,0
$GC,1444,-0.80,-214.1,298.6,-12.1,250,1453,0.00,2.17,0.00,0.000,4,0.000,0.050,2593,401,3954,0,0,0,0,0,0
$GC,1505,-0.87,-214.1,306.0,-11.2,256,1509,0.00,2.15,0.00,0.000,6,0.000,0.043,2588,1809,3954,0,0,0,0,0,0
$GC,1831,-0.90,-214.1,345.3,-11.8,286,1835,0.12,2.22,0.00,0.000,4,0.094,0.050,2524,393,3954,0,0,0,0,0,0
$GC,1852,-0.90,-214.1,348.7,-13.9,287,1859,0.00,2.17,0.00,0.000,6,0.000,0.045,2521,1813,3953,0,0,0,0,0,0
$GC,2178,-0.85,-214.1,402.1,-16.1,318,2183,0.15,2.22,0.00,0.000,4,0.176,0.050,2561,396,3952,0,0,0,0,0,0
$GC,2253,-0.88,-214.1,412.8,-12.7,324,2257,0.00,2.17,0.00,0.000,6,0.000,0.045,2559,1811,3952,0,0,0,0,0,0
$GC,2578,-0.88,-214.1,455.5,-13.2,354,2582,0.00,2.15,0.00,0.000,4,0.000,0.050,2550,3218,3950,0,0,0,0,0,0
$GC,2607,-0.91,-214.1,459.4,-13.9,356,2611,0.00,2.12,0.00,0.000,6,0.000,0.036,2550,1792,3950,0,0,0,0,0,0
$GC,2933,-0.91,-214.1,502.9,-13.3,386,2936,0.00,2.15,0.00,0.000,4,0.000,0.053,2550,389,3948,0,0,0,0,0,0
$GC,2963,-0.91,-214.1,507.0,-14.2,388,2967,0.00,2.17,0.00,0.000,6,0.000,0.047,2548,1800,3948,0,0,0,0,0,0
$GC,3289,-0.91,-214.1,550.8,-13.2,418,3293,0.00,2.17,0.00,0.000,4,0.000,0.053,2548,390,3945,0,0,0,0,0,0
$GC,3317,-0.91,-214.1,554.7,-14.0,420,3322,0.00,2.17,0.00,0.000,6,0.000,0.047,2548,1804,3945,0,0,0,0,0,0
$GC,3649,-0.93,-214.1,598.2,-13.1,451,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1804,3943,0,0,0,0,0,0
$GC,3960,-0.95,-214.1,637.7,-12.4,467,3964,0.00,2.17,0.00,0.000,4,0.000,0.056,2539,3207,3941,0,0,0,0,0,0
$GC,3982,-0.98,-214.1,640.7,-12.5,468,3986,0.00,2.12,0.00,0.000,6,0.000,0.039,2539,1791,3940,0,0,0,0,0,0
$GC,4305,-0.98,-214.1,681.4,-12.8,484,4309,0.00,2.17,0.00,0.000,4,0.000,0.055,2539,387,3937,0,0,0,0,0,0
$GC,4368,-0.99,-214.1,690.3,-14.3,487,4372,0.00,2.20,0.00,0.000,6,0.000,0.047,2530,1805,3936,0,0,0,0,0,0
$GC,4696,-0.99,-214.1,735.0,-13.6,503,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1805,3933,0,0,0,0,0,0
$GC,5005,-0.99,-214.1,776.6,-13.4,518,5009,0.00,2.17,0.00,0.000,4,0.000,0.057,2522,3212,3930,0,0,0,0,0,0
$GC,5032,-0.99,-214.1,780.3,-12.8,519,5036,0.00,2.12,0.00,0.000,6,0.000,0.041,2522,1803,3930,0,0,0,0,0,0
$GC,5349,-0.99,-214.1,824.2,-14.2,534,5353,0.00,2.20,0.00,0.000,4,0.000,0.061,2522,392,3927,0,0,0,0,0,0
$GC,5412,-0.99,-214.1,833.8,-14.9,537,5416,0.00,2.20,0.00,0.000,6,0.000,0.050,2512,1802,3927,0,0,0,0,0,0
$GC,5740,-0.99,-214.1,883.0,-14.9,553,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1802,3924,0,0,0,0,0,0
$GC,6048,-0.99,-214.1,928.1,-14.4,568,6052,0.00,2.22,0.00,0.000,4,0.000,0.057,2513,386,3922,0,0,0,0,0,0
$GC,6102,-0.99,-214.1,936.8,-15.3,570,6110,0.00,2.22,0.00,0.000,6,0.000,0.050,2505,1804,3921,0,0,0,0,0,0
$GC,6421,-0.97,-214.1,983.8,-14.6,586,6425,0.00,2.25,0.00,0.000,4,0.000,0.057,2507,385,3918,0,0,0,0,0,0
$GC,6453,-0.94,-214.1,989.2,-16.0,587,6461,0.12,2.22,0.00,0.000,6,0.176,0.050,2535,1802,3918,0,0,0,0,0,0
$STATE,6540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6540,begin apogee
$GC,6548,-0.23,0.0,1000.4,12.8,592,6740,0.70,0.00,187.05,1.446,6,0.131,0.000,2763,1745,3072,0,0,0,0,0,0
$STATE,6740,end apogee,CONTROL_FINISHED_OK
$STATE,6741,begin climb
$GC,6743,1.16,214.1,1009.0,0.0,601,6954,1.30,2.53,203.15,1.382,4,0.053,0.057,3211,3154,2199,0,0,0,0,0,0
$GC,6965,0.84,214.1,969.3,29.8,611,6971,0.45,2.35,0.00,0.000,6,0.203,0.043,3115,1753,2197,0,0,0,0,0,0
$GC,7283,0.65,214.1,896.6,22.8,626,7285,0.22,0.00,0.00,0.000,6,0.178,0.000,3053,1753,2193,0,0,0,0,0,0
$GC,7591,0.54,214.1,842.4,16.8,641,7593,0.12,0.00,0.00,0.000,6,0.181,0.000,3019,1753,2191,0,0,0,0,0,0
$GC,7902,0.49,214.1,797.1,14.6,656,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1752,2190,0,0,0,0,0,0
$GC,8210,0.43,214.1,752.6,14.3,671,8215,0.12,2.20,0.00,0.000,4,0.173,0.054,2975,3166,2189,0,0,0,0,0,0
$GC,8237,0.46,231.3,748.7,13.1,672,8258,0.00,2.17,15.65,1.219,6,0.000,0.042,2983,1742,2129,0,0,0,0,0,0
$GC,8584,0.51,277.5,708.3,11.9,689,8630,0.00,0.00,44.10,1.251,6,0.000,0.000,2983,1742,1940,0,0,0,0,0,0
$GC,8931,0.57,305.6,664.8,12.7,706,8963,0.12,2.28,25.90,1.201,4,0.092,0.057,3058,338,1825,0,0,0,0,0,0
$GC,8992,0.51,305.6,654.0,19.1,708,9000,0.20,2.20,0.00,0.000,6,0.161,0.042,3004,1748,1824,0,0,0,0,0,0
$GC,9310,0.51,305.6,607.4,14.4,724,9314,0.00,2.17,0.00,0.000,4,0.000,0.053,3003,3174,1821,0,0,0,0,0,0
$GC,9361,0.55,307.5,600.1,13.8,726,9365,0.00,2.17,0.00,0.000,6,0.000,0.043,3010,1753,1820,0,0,0,0,0,0
$GC,9692,0.56,321.1,553.3,13.3,757,9715,0.00,2.25,15.15,1.103,4,0.000,0.057,3022,341,1763,0,0,0,0,0,0
$GC,9741,0.56,321.1,546.4,15.2,761,9745,0.00,2.17,0.00,0.000,6,0.000,0.040,3022,1760,1761,0,0,0,0,0,0
$GC,10068,0.56,321.1,498.2,14.7,791,10072,0.00,2.12,0.00,0.000,4,0.000,0.051,3022,3161,1760,0,0,0,0,0,0
$GC,10099,0.56,321.1,493.6,15.1,793,10104,0.00,2.15,0.00,0.000,6,0.000,0.041,3032,1747,1759,0,0,0,0,0,0
$GC,10427,0.55,321.1,444.0,14.5,823,10431,0.00,2.20,0.00,0.000,4,0.000,0.055,3043,339,1758,0,0,0,0,0,0
$GC,10450,0.53,321.1,439.9,16.4,824,10459,0.08,2.20,0.00,0.000,6,0.149,0.040,3017,1756,1757,0,0,0,0,0,0
$GC,10777,0.54,332.8,395.3,13.4,855,10794,0.00,2.17,11.68,0.961,4,0.000,0.049,3017,3164,1715,0,0,0,0,0,0
$GC,10846,0.59,335.0,385.7,13.8,860,10855,0.00,2.20,3.97,0.648,6,0.000,0.041,3025,1753,1705,0,0,0,0,0,0
$GC,11172,0.63,367.8,343.5,12.5,891,11208,0.00,2.30,30.55,0.978,4,0.000,0.055,3036,346,1571,0,0,0,0,0,0
$GC,11261,0.72,404.0,332.6,12.3,898,11305,0.08,2.20,33.60,0.953,6,0.056,0.038,3092,1755,1423,0,0,0,0,0,0
$GC,11632,0.67,404.0,259.6,19.3,950,11641,0.12,2.17,0.00,0.000,4,0.177,0.047,3056,3152,1419,0,0,0,0,0,0
$GC,11682,0.69,404.0,250.4,14.4,958,11691,0.00,2.17,0.00,0.000,6,0.000,0.040,3063,1743,1419,0,0,0,0,0,0
$GC,12026,0.70,409.8,200.1,13.6,1019,12041,0.00,2.22,5.68,0.651,4,0.000,0.054,3068,347,1401,0,0,0,0,0,0
$GC,12061,0.71,420.5,195.4,13.4,1024,12083,0.00,2.15,11.48,0.767,6,0.000,0.037,3069,1748,1356,0,0,0,0,0,0
$GC,12416,0.71,420.5,141.5,15.4,1087,12424,0.00,2.15,0.00,0.000,4,0.000,0.045,3067,3155,1356,0,0,0,0,0,0
$GC,12492,0.81,442.8,131.0,12.9,1100,12522,0.00,2.15,20.90,0.754,6,0.000,0.038,3071,1749,1265,0,0,0,0,0,0
$GC,12843,0.94,500.2,88.1,11.4,1164,12903,0.20,2.25,49.35,0.724,4,0.061,0.050,3185,350,1031,0,0,0,0,0,0
$GC,12967,0.89,500.2,62.2,19.9,1183,12976,0.15,2.15,0.00,0.000,6,0.144,0.035,3134,1750,1030,0,0,0,0,0,0
$GC,13296,0.89,500.2,8.9,19.0,1244,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1754,1029,0,0,0,0,0,0
$STATE,13341,end climb,SURFACE_DEPTH_REACHED
$STATE,13341,begin surface coast
$FINISH,0.9,0.997472
$STATE,13368,end surface coast,CONTROL_FINISHED_OK
$STATE,13368,begin surface
$SM_CCo,13447,0.00,0.000,0,0,1026,501.88
$SM_GC,1.78,7.72,0.00,0.00,0.038,0.000,0.000,155,1754,1026,-8.33,-1.30,501.88
$IRIDIUM_FIX,2150.42,12621.98,301010,232345
$TT8_MAMPS,0.026215
$HUMID,43.50
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.40
$XPDR_PINGS,96
$24V_AH,22.1,77.073
$10V_AH,10.1,49.323
$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,21.750,122.900,658.200,0.000,0.000,30.957,26.119,183.618,24.000,0.000,16.185,3094.510,6637.610,703.209,2999.844,416.702,0.000,1899.634,0.000,2763.349,0.000,0.844,0.000
$DEVICE_MAMPS,225.675,115.515,1445.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.733,1077.048,1425.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333828
$DATA_FILE_SIZE,73465,1257
$CAP_FILE_SIZE,152667,0
$CFSIZE,260165632,155217920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,189.6,1
$GPS,311010,070321,2155.184,12611.886,23,2.0,38,-3.0