version: 66.08
glider: 166
mission: 3
dive: 417
start: 10 31 110 11 0 42
data:
$ID,166
$MISSION,3
$DIVE,417
$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,-22080.135
$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
$GPS1,311010,105236,2153.027,12610.661,30,0.9,30,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-64.7
$GPS2,311010,110020,2153.050,12610.598,17,1.1,17,-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,183.4,60458,-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,-214.1,0.0,0.0,0,108,0.00,0.00,-88.70,0.000,2,0.000,0.000,150,1745,3283,0,0,0,0,0,0
$GC,111,-1.16,-214.1,5.4,-11.0,12,142,9.10,2.30,-12.70,0.000,4,0.221,0.058,2448,3207,3948,0,0,0,0,0,0
$GC,339,-0.95,-214.1,92.3,-33.0,53,348,0.25,2.15,0.00,0.000,6,0.158,0.037,2525,1800,3951,0,0,0,0,0,0
$GC,666,-0.83,-214.1,174.9,-23.8,114,675,0.15,2.20,0.00,0.000,4,0.176,0.050,2568,399,3953,0,0,0,0,0,0
$GC,713,-0.78,-214.1,184.3,-20.0,121,721,0.00,2.12,0.00,0.000,6,0.000,0.044,2562,1791,3953,0,0,0,0,0,0
$GC,1050,-0.74,-214.1,247.4,-17.2,182,1059,0.15,2.20,0.00,0.000,4,0.175,0.050,2592,3206,3955,0,0,0,0,0,0
$GC,1072,-0.74,-214.1,251.2,-16.2,185,1080,0.00,2.10,0.00,0.000,6,0.000,0.035,2594,1793,3955,0,0,0,0,0,0
$GC,1407,-0.77,-214.1,297.7,-13.1,246,1415,0.00,2.17,0.00,0.000,4,0.000,0.051,2594,396,3954,0,0,0,0,0,0
$GC,1500,-0.82,-214.1,310.5,-13.8,256,1503,0.00,2.12,0.00,0.000,6,0.000,0.044,2587,1804,3954,0,0,0,0,0,0
$GC,1826,-0.86,-214.1,354.2,-12.8,286,1830,0.00,2.12,0.00,0.000,4,0.000,0.050,2577,3213,3954,0,0,0,0,0,0
$GC,1859,-0.93,-214.1,358.3,-12.0,288,1867,0.08,2.15,0.00,0.000,6,0.054,0.036,2519,1798,3954,0,0,0,0,0,0
$GC,2185,-0.87,-214.1,413.8,-16.3,319,2187,0.15,0.00,0.00,0.000,6,0.169,0.000,2558,1798,3953,0,0,0,0,0,0
$GC,2505,-0.89,-214.1,457.9,-14.3,349,2509,0.00,2.15,0.00,0.000,4,0.000,0.051,2559,388,3951,0,0,0,0,0,0
$GC,2533,-0.91,-214.1,462.6,-15.0,351,2539,0.00,2.15,0.00,0.000,6,0.000,0.044,2551,1807,3951,0,0,0,0,0,0
$GC,2858,-0.91,-214.1,510.2,-14.6,382,2862,0.00,2.15,0.00,0.000,4,0.000,0.052,2548,3205,3949,0,0,0,0,0,0
$GC,2916,-0.97,-214.1,518.0,-12.5,386,2922,0.00,2.10,0.00,0.000,6,0.000,0.036,2548,1799,3948,0,0,0,0,0,0
$GC,3241,-0.97,-214.1,560.3,-12.5,417,3245,0.00,2.15,0.00,0.000,4,0.000,0.053,2548,395,3946,0,0,0,0,0,0
$GC,3276,-0.97,-214.1,564.9,-13.3,419,3283,0.00,2.15,0.00,0.000,6,0.000,0.047,2548,1799,3946,0,0,0,0,0,0
$GC,3611,-0.99,-214.1,608.5,-13.3,448,3614,0.00,2.17,0.00,0.000,4,0.000,0.054,2546,3210,3943,0,0,0,0,0,0
$GC,3640,-1.01,-214.1,612.5,-13.5,449,3644,0.00,2.12,0.00,0.000,6,0.000,0.038,2546,1793,3943,0,0,0,0,0,0
$GC,3961,-1.01,-214.1,657.0,-13.9,465,3965,0.00,2.15,0.00,0.000,4,0.000,0.054,2546,391,3940,0,0,0,0,0,0
$GC,4010,-1.04,-214.1,664.0,-13.7,467,4014,0.00,2.17,0.00,0.000,6,0.000,0.047,2539,1810,3939,0,0,0,0,0,0
$GC,4334,-1.04,-214.1,708.1,-13.2,483,4338,0.00,2.20,0.00,0.000,4,0.000,0.054,2542,388,3936,0,0,0,0,0,0
$GC,4383,-1.04,-214.1,715.4,-13.6,485,4387,0.00,2.17,0.00,0.000,6,0.000,0.047,2537,1807,3935,0,0,0,0,0,0
$GC,4701,-1.04,-214.1,760.4,-14.6,500,4705,0.00,2.15,0.00,0.000,4,0.000,0.054,2527,3207,3933,0,0,0,0,0,0
$GC,4722,-1.04,-214.1,764.0,-14.4,501,4726,0.00,2.12,0.00,0.000,6,0.000,0.038,2526,1791,3933,0,0,0,0,0,0
$GC,5050,-1.01,-214.1,814.4,-15.5,517,5054,0.00,2.17,0.00,0.000,4,0.000,0.056,2526,390,3929,0,0,0,0,0,0
$GC,5084,-0.99,-214.1,819.8,-16.2,518,5088,0.00,2.17,0.00,0.000,6,0.000,0.049,2516,1801,3929,0,0,0,0,0,0
$GC,5400,-0.95,-214.1,869.2,-15.7,533,5404,0.00,2.20,0.00,0.000,4,0.000,0.057,2516,397,3926,0,0,0,0,0,0
$GC,5451,-0.93,-214.1,877.6,-16.2,535,5455,0.12,2.20,0.00,0.000,6,0.174,0.050,2538,1805,3925,0,0,0,0,0,0
$GC,5774,-0.93,-214.1,918.0,-12.2,551,5778,0.00,2.20,0.00,0.000,4,0.000,0.057,2539,398,3923,0,0,0,0,0,0
$GC,5795,-0.93,-214.1,921.3,-12.6,552,5799,0.00,2.17,0.00,0.000,6,0.000,0.049,2530,1806,3922,0,0,0,0,0,0
$GC,6119,-0.93,-214.1,964.2,-13.7,568,6123,0.00,2.22,0.00,0.000,4,0.000,0.056,2530,398,3920,0,0,0,0,0,0
$GC,6173,-0.93,-214.1,972.3,-13.8,570,6180,0.00,2.17,0.00,0.000,6,0.000,0.050,2520,1804,3919,0,0,0,0,0,0
$STATE,6384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6384,begin apogee
$GC,6391,-0.23,0.0,1002.9,14.6,581,6584,0.75,0.00,186.43,1.447,6,0.136,0.000,2756,1749,3072,0,0,0,0,0,0
$STATE,6585,end apogee,CONTROL_FINISHED_OK
$STATE,6585,begin climb
$GC,6588,1.16,214.1,1012.0,0.0,590,6798,1.33,2.53,202.27,1.386,4,0.055,0.058,3226,343,2199,0,0,0,0,0,0
$GC,6804,0.83,214.1,975.7,27.5,600,6810,0.45,2.40,0.00,0.000,6,0.207,0.047,3115,1744,2199,0,0,0,0,0,0
$GC,7128,0.63,214.1,902.6,22.3,616,7133,0.25,2.20,0.00,0.000,4,0.181,0.053,3036,3173,2192,0,0,0,0,0,0
$GC,7155,0.50,214.1,896.6,18.8,617,7160,0.15,2.15,0.00,0.000,6,0.181,0.042,3005,1750,2191,0,0,0,0,0,0
$GC,7473,0.49,238.8,855.7,12.8,632,7503,0.00,2.30,23.20,1.287,4,0.000,0.057,3015,344,2098,0,0,0,0,0,0
$GC,7526,0.45,238.8,847.8,14.4,634,7530,0.00,2.20,0.00,0.000,6,0.000,0.044,3015,1758,2097,0,0,0,0,0,0
$GC,7844,0.41,238.8,800.8,14.9,649,7848,0.15,2.20,0.00,0.000,4,0.169,0.054,2965,3172,2094,0,0,0,0,0,0
$GC,7908,0.50,285.7,792.4,11.8,652,7956,0.00,2.15,43.33,1.291,6,0.000,0.042,2973,1749,1907,0,0,0,0,0,0
$GC,8279,0.57,309.6,746.8,12.8,670,8309,0.15,2.30,22.75,1.235,4,0.081,0.057,3058,347,1809,0,0,0,0,0,0
$GC,8326,0.49,309.6,738.2,19.3,672,8331,0.20,2.22,0.00,0.000,6,0.165,0.043,3005,1757,1807,0,0,0,0,0,0
$GC,8649,0.49,309.6,688.2,15.2,688,8653,0.00,2.15,0.00,0.000,4,0.000,0.051,3002,3170,1806,0,0,0,0,0,0
$GC,8670,0.49,309.6,684.4,15.4,689,8674,0.00,2.15,0.00,0.000,6,0.000,0.041,3010,1744,1804,0,0,0,0,0,0
$GC,8998,0.49,309.6,636.2,14.2,705,9002,0.00,2.20,0.00,0.000,4,0.000,0.057,3021,337,1803,0,0,0,0,0,0
$GC,9039,0.49,309.6,630.2,15.5,707,9043,0.00,2.17,0.00,0.000,6,0.000,0.041,3021,1760,1802,0,0,0,0,0,0
$GC,9362,0.48,309.6,582.0,15.2,728,9365,0.00,2.15,0.00,0.000,4,0.000,0.053,3021,3172,1802,0,0,0,0,0,0
$GC,9403,0.48,309.6,575.7,15.2,731,9410,0.12,2.15,0.00,0.000,6,0.171,0.042,3000,1750,1801,0,0,0,0,0,0
$GC,9729,0.56,350.5,534.4,12.1,762,9775,0.00,2.28,37.78,1.140,4,0.000,0.055,3009,341,1642,0,0,0,0,0,0
$GC,9813,0.63,369.6,524.2,13.1,769,9839,0.12,2.20,18.90,1.074,6,0.089,0.040,3061,1759,1565,0,0,0,0,0,0
$GC,10157,0.58,369.6,462.1,18.1,801,10162,0.12,2.15,0.00,0.000,4,0.175,0.052,3024,3159,1563,0,0,0,0,0,0
$GC,10212,0.61,371.4,453.8,13.8,805,10216,0.00,2.15,0.00,0.000,6,0.000,0.042,3032,1749,1562,0,0,0,0,0,0
$GC,10544,0.61,371.4,405.0,14.0,836,10548,0.00,2.17,0.00,0.000,4,0.000,0.055,3043,340,1562,0,0,0,0,0,0
$GC,10587,0.63,371.4,398.1,14.8,839,10594,0.00,2.15,0.00,0.000,6,0.000,0.040,3043,1758,1559,0,0,0,0,0,0
$GC,10913,0.64,375.9,349.6,13.7,870,10927,0.00,2.15,6.60,0.806,4,0.000,0.047,3043,3167,1538,0,0,0,0,0,0
$GC,10985,0.68,383.6,340.0,13.6,876,10999,0.00,2.17,8.65,0.851,6,0.000,0.043,3052,1738,1508,0,0,0,0,0,0
$GC,11318,0.68,383.6,292.8,14.0,911,11325,0.00,2.17,0.00,0.000,4,0.000,0.054,3062,338,1508,0,0,0,0,0,0
$GC,11398,0.73,398.3,281.5,13.3,925,11419,0.00,2.15,14.73,0.867,6,0.000,0.037,3062,1754,1448,0,0,0,0,0,0
$GC,11750,0.73,398.3,227.4,15.5,988,11757,0.00,2.15,0.00,0.000,4,0.000,0.047,3062,3156,1447,0,0,0,0,0,0
$GC,11782,0.73,398.3,222.7,15.4,993,11790,0.00,2.12,0.00,0.000,6,0.000,0.038,3072,1749,1447,0,0,0,0,0,0
$GC,12116,0.73,398.3,175.7,15.3,1054,12124,0.00,2.20,0.00,0.000,4,0.000,0.052,3079,340,1447,0,0,0,0,0,0
$GC,12176,0.76,405.5,166.6,13.6,1064,12191,0.00,2.15,8.00,0.691,6,0.000,0.036,3079,1748,1418,0,0,0,0,0,0
$GC,12517,0.84,447.4,121.0,12.1,1126,12562,0.00,2.17,37.35,0.748,4,0.000,0.044,3078,3158,1247,0,0,0,0,0,0
$GC,12591,0.99,509.1,110.7,11.2,1137,12652,0.17,2.17,53.42,0.731,6,0.036,0.037,3186,1753,996,0,0,0,0,0,0
$GC,12973,0.89,509.1,29.1,22.5,1205,12983,0.22,2.20,0.00,0.000,4,0.168,0.047,3132,350,992,0,0,0,0,0,0
$GC,13050,0.95,517.9,13.8,13.5,1218,13066,0.00,2.12,8.50,0.561,6,0.000,0.034,3132,1751,959,0,0,0,0,0,0
$STATE,13129,end climb,SURFACE_DEPTH_REACHED
$STATE,13129,begin surface coast
$FINISH,1.1,1.022194
$STATE,13149,end surface coast,CONTROL_FINISHED_OK
$STATE,13149,begin surface
$SM_CCo,13226,0.00,0.000,0,0,957,518.81
$SM_GC,1.67,7.65,0.00,0.00,0.032,0.000,0.000,151,1755,957,-8.33,-1.27,518.81
$IRIDIUM_FIX,2145.77,12608.99,311010,070708
$TT8_MAMPS,0.026215
$HUMID,42.87
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.50
$XPDR_PINGS,92
$24V_AH,22.1,77.573
$10V_AH,10.2,49.601
$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,21.850,144.050,671.900,0.000,0.000,30.328,45.500,203.031,23.000,0.000,17.964,3059.437,6443.929,709.444,3030.087,429.735,0.000,1938.129,0.000,2752.903,0.000,0.845,0.000
$DEVICE_MAMPS,221.085,116.280,1446.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.332,1055.385,1367.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333792
$DATA_FILE_SIZE,73710,1235
$CAP_FILE_SIZE,157460,0
$CFSIZE,260165632,155045888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,301.6,1
$GPS,311010,144225,2151.450,12609.934,39,1.3,39,-3.0