version: 66.08
glider: 166
mission: 3
dive: 418
start: 10 31 110 14 53 18
data:
$ID,166
$MISSION,3
$DIVE,418
$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,-22081.393
$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,39
$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
$GPS1,311010,144225,2151.450,12609.934,39,1.3,39,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-62.2
$GPS2,311010,145255,2151.508,12609.860,11,1.7,16,-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,180.2,57368,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,113,0.00,0.00,-95.12,0.000,2,0.000,0.000,151,1757,3390,0,0,0,0,0,0
$GC,116,-1.16,-214.1,5.5,-10.0,13,142,8.98,2.30,-10.60,0.000,4,0.218,0.057,2448,3219,3948,0,0,0,0,0,0
$GC,307,-0.95,-214.1,80.7,-36.0,47,317,0.25,2.17,0.00,0.000,6,0.152,0.036,2526,1801,3951,0,0,0,0,0,0
$GC,637,-0.82,-214.1,170.1,-23.2,108,646,0.15,2.22,0.00,0.000,4,0.173,0.050,2568,392,3953,0,0,0,0,0,0
$GC,689,-0.82,-214.1,180.5,-16.9,116,696,0.00,2.17,0.00,0.000,6,0.000,0.045,2563,1793,3953,0,0,0,0,0,0
$GC,1023,-0.78,-214.1,240.4,-17.9,177,1030,0.00,2.15,0.00,0.000,4,0.000,0.050,2563,396,3954,0,0,0,0,0,0
$GC,1049,-0.74,-214.1,244.9,-17.2,181,1057,0.15,2.17,0.00,0.000,6,0.166,0.046,2600,1813,3954,0,0,0,0,0,0
$GC,1383,-0.78,-214.1,291.4,-14.1,242,1390,0.00,2.15,0.00,0.000,4,0.000,0.050,2591,3207,3955,0,0,0,0,0,0
$GC,1422,-0.85,-214.1,296.1,-12.1,248,1430,0.00,2.15,0.00,0.000,6,0.000,0.035,2591,1796,3955,0,0,0,0,0,0
$GC,1754,-0.89,-214.1,336.3,-11.3,281,1759,0.12,2.20,0.00,0.000,4,0.090,0.052,2524,392,3955,0,0,0,0,0,0
$GC,1796,-0.83,-214.1,342.9,-17.6,284,1801,0.17,2.15,0.00,0.000,6,0.159,0.047,2570,1805,3954,0,0,0,0,0,0
$GC,2122,-0.85,-214.1,388.7,-13.6,314,2126,0.00,2.15,0.00,0.000,4,0.000,0.050,2562,3218,3953,0,0,0,0,0,0
$GC,2218,-0.91,-214.1,400.4,-11.8,322,2222,0.00,2.15,0.00,0.000,6,0.000,0.037,2561,1789,3953,0,0,0,0,0,0
$GC,2553,-0.93,-214.1,444.0,-12.7,353,2557,0.00,2.12,0.00,0.000,4,0.000,0.051,2561,395,3951,0,0,0,0,0,0
$GC,2586,-0.93,-214.1,449.1,-13.5,355,2594,0.00,2.15,0.00,0.000,6,0.000,0.046,2560,1805,3950,0,0,0,0,0,0
$GC,2914,-0.95,-214.1,489.6,-12.4,386,2917,0.00,2.12,0.00,0.000,4,0.000,0.051,2551,3211,3948,0,0,0,0,0,0
$GC,2947,-1.00,-214.1,494.2,-12.1,388,2955,0.00,2.15,0.00,0.000,6,0.000,0.037,2551,1799,3948,0,0,0,0,0,0
$GC,3274,-1.00,-214.1,539.3,-14.0,419,3278,0.00,2.17,0.00,0.000,4,0.000,0.054,2551,389,3946,0,0,0,0,0,0
$GC,3326,-1.00,-214.1,547.0,-15.0,423,3330,0.00,2.15,0.00,0.000,6,0.000,0.047,2549,1798,3945,0,0,0,0,0,0
$GC,3652,-1.01,-214.1,594.1,-14.0,453,3656,0.10,2.20,0.00,0.000,4,0.106,0.054,2487,3212,3943,0,0,0,0,0,0
$GC,3693,-0.98,-214.1,600.4,-16.5,456,3700,0.12,2.15,0.00,0.000,6,0.171,0.038,2520,1790,3942,0,0,0,0,0,0
$GC,4010,-0.96,-214.1,649.8,-15.0,472,4014,0.00,2.17,0.00,0.000,4,0.000,0.054,2520,395,3940,0,0,0,0,0,0
$GC,4090,-0.94,-214.1,662.1,-14.7,475,4097,0.00,2.15,0.00,0.000,6,0.000,0.047,2513,1803,3939,0,0,0,0,0,0
$GC,4406,-0.91,-214.1,709.9,-15.2,491,4411,0.12,2.20,0.00,0.000,4,0.178,0.055,2540,3212,3935,0,0,0,0,0,0
$GC,4433,-0.93,-214.1,713.7,-13.5,492,4437,0.00,2.12,0.00,0.000,6,0.000,0.039,2540,1800,3935,0,0,0,0,0,0
$GC,4751,-0.93,-214.1,753.0,-12.5,507,4755,0.00,2.20,0.00,0.000,4,0.000,0.056,2540,393,3933,0,0,0,0,0,0
$GC,4846,-0.94,-214.1,766.4,-13.6,511,4850,0.00,2.17,0.00,0.000,6,0.000,0.048,2533,1809,3932,0,0,0,0,0,0
$GC,5163,-0.94,-214.1,809.8,-13.9,526,5167,0.00,2.15,0.00,0.000,4,0.000,0.056,2530,3209,3928,0,0,0,0,0,0
$GC,5204,-0.96,-214.1,815.4,-14.1,528,5208,0.00,2.15,0.00,0.000,6,0.000,0.041,2531,1795,3928,0,0,0,0,0,0
$GC,5535,-0.96,-214.1,862.3,-14.5,544,5539,0.00,2.17,0.00,0.000,4,0.000,0.057,2532,389,3925,0,0,0,0,0,0
$GC,5598,-0.96,-214.1,872.1,-14.3,547,5602,0.00,2.20,0.00,0.000,6,0.000,0.050,2522,1799,3924,0,0,0,0,0,0
$GC,5925,-0.94,-214.1,921.0,-15.0,563,5929,0.00,2.20,0.00,0.000,4,0.000,0.057,2522,388,3922,0,0,0,0,0,0
$GC,5953,-0.91,-214.1,925.6,-16.7,564,5958,0.12,2.22,0.00,0.000,6,0.174,0.054,2544,1802,3921,0,0,0,0,0,0
$GC,6277,-0.93,-214.1,968.1,-13.0,580,6281,0.00,2.22,0.00,0.000,4,0.000,0.057,2544,393,3918,0,0,0,0,0,0
$GC,6311,-0.94,-214.1,973.1,-13.9,581,6318,0.00,2.17,0.00,0.000,6,0.000,0.050,2536,1801,3918,0,0,0,0,0,0
$STATE,6522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6522,begin apogee
$GC,6528,-0.23,0.0,1002.5,13.9,592,6720,0.70,0.00,186.23,1.447,6,0.132,0.000,2759,1749,3072,0,0,0,0,0,0
$STATE,6720,end apogee,CONTROL_FINISHED_OK
$STATE,6721,begin climb
$GC,6725,1.16,214.1,1012.5,0.0,601,6937,1.30,2.45,201.93,1.383,4,0.054,0.057,3228,341,2199,0,0,0,0,0,0
$GC,6953,0.83,214.1,972.4,30.5,611,6962,0.47,2.40,0.00,0.000,6,0.207,0.050,3110,1752,2196,0,0,0,0,0,0
$GC,7271,0.64,214.1,900.5,22.3,627,7276,0.22,2.20,0.00,0.000,4,0.181,0.059,3039,3171,2192,0,0,0,0,0,0
$GC,7311,0.54,214.1,892.2,18.6,629,7316,0.12,2.17,0.00,0.000,6,0.188,0.043,3016,1738,2190,0,0,0,0,0,0
$GC,7645,0.48,214.1,842.3,14.9,645,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1737,2189,0,0,0,0,0,0
$GC,7955,0.42,214.1,797.7,14.0,660,7960,0.12,2.22,0.00,0.000,4,0.177,0.051,2972,3171,2188,0,0,0,0,0,0
$GC,7989,0.47,253.0,792.8,12.2,661,8030,0.00,2.17,35.67,1.287,6,0.000,0.041,2981,1737,2040,0,0,0,0,0,0
$GC,8348,0.52,297.6,750.7,12.0,679,8395,0.00,2.28,41.22,1.261,4,0.000,0.057,2991,353,1858,0,0,0,0,0,0
$GC,8420,0.58,319.3,741.6,12.9,682,8447,0.12,2.20,21.60,1.206,6,0.089,0.041,3045,1763,1769,0,0,0,0,0,0
$GC,8765,0.52,319.3,676.8,18.1,699,8770,0.15,2.15,0.00,0.000,4,0.170,0.054,3000,3163,1766,0,0,0,0,0,0
$GC,8827,0.56,330.5,667.3,13.4,702,8843,0.00,2.12,11.30,1.115,6,0.000,0.042,3008,1751,1724,0,0,0,0,0,0
$GC,9157,0.60,361.5,624.1,12.5,717,9192,0.00,2.28,29.52,1.183,4,0.000,0.057,3019,353,1597,0,0,0,0,0,0
$GC,9225,0.63,365.8,614.5,13.7,720,9236,0.00,2.17,5.68,0.885,6,0.000,0.041,3019,1759,1580,0,0,0,0,0,0
$GC,9552,0.63,365.8,568.0,15.3,745,9556,0.00,2.17,0.00,0.000,4,0.000,0.053,3019,3161,1578,0,0,0,0,0,0
$GC,9604,0.66,365.8,560.1,15.3,749,9608,0.00,2.12,0.00,0.000,6,0.000,0.041,3029,1751,1577,0,0,0,0,0,0
$GC,9929,0.66,365.8,508.9,15.5,779,9933,0.00,2.20,0.00,0.000,4,0.000,0.056,3040,349,1576,0,0,0,0,0,0
$GC,9968,0.66,365.8,502.4,16.4,782,9972,0.00,2.12,0.00,0.000,6,0.000,0.040,3040,1750,1575,0,0,0,0,0,0
$GC,10294,0.63,365.8,448.8,17.3,812,10298,0.00,2.17,0.00,0.000,4,0.000,0.050,3040,3164,1575,0,0,0,0,0,0
$GC,10343,0.63,365.8,440.2,16.3,816,10351,0.00,2.17,0.00,0.000,6,0.000,0.041,3050,1749,1575,0,0,0,0,0,0
$GC,10670,0.61,365.8,386.8,16.0,847,10674,0.00,2.17,0.00,0.000,4,0.000,0.055,3060,346,1575,0,0,0,0,0,0
$GC,10691,0.58,365.8,382.9,16.6,848,10700,0.08,2.17,0.00,0.000,6,0.151,0.038,3035,1758,1574,0,0,0,0,0,0
$GC,11018,0.59,370.7,338.5,13.7,879,11031,0.00,2.15,4.95,0.698,4,0.000,0.050,3025,3162,1560,0,0,0,0,0,0
$GC,11059,0.67,398.3,332.5,12.7,882,11092,0.00,2.17,26.48,0.954,6,0.000,0.040,3033,1747,1447,0,0,0,0,0,0
$GC,11411,0.72,418.3,286.0,13.0,925,11440,0.10,2.25,19.20,0.888,4,0.104,0.054,3099,344,1366,0,0,0,0,0,0
$GC,11489,0.68,418.3,272.3,20.2,937,11497,0.15,2.17,0.00,0.000,6,0.160,0.038,3057,1757,1364,0,0,0,0,0,0
$GC,11824,0.70,418.3,220.5,15.6,998,11832,0.00,2.15,0.00,0.000,4,0.000,0.047,3053,3161,1363,0,0,0,0,0,0
$GC,11857,0.74,418.3,215.4,14.5,1003,11865,0.00,2.10,0.00,0.000,6,0.000,0.037,3056,1747,1363,0,0,0,0,0,0
$GC,12192,0.86,494.4,172.1,10.6,1064,12267,0.17,2.22,66.32,0.804,4,0.070,0.043,3142,3174,1055,0,0,0,0,0,0
$GC,12320,0.82,494.4,144.0,20.2,1084,12328,0.12,2.20,0.00,0.000,6,0.148,0.038,3105,1756,1054,0,0,0,0,0,0
$GC,12648,0.85,494.4,86.9,15.3,1145,12657,0.00,2.20,0.00,0.000,4,0.000,0.050,3113,344,1052,0,0,0,0,0,0
$GC,12745,0.96,516.8,74.2,12.9,1162,12776,0.08,2.15,19.80,0.686,6,0.052,0.034,3172,1770,965,0,0,0,0,0,0
$STATE,13087,end climb,SURFACE_DEPTH_REACHED
$STATE,13087,begin surface coast
$FINISH,1.0,1.022471
$STATE,13099,end surface coast,CONTROL_FINISHED_OK
$STATE,13099,begin surface
$SM_CCo,13177,0.00,0.000,0,0,961,517.83
$SM_GC,1.74,7.80,0.00,0.00,0.036,0.000,0.000,154,1776,961,-8.33,-0.68,517.83
$IRIDIUM_FIX,2145.77,12608.99,311010,141412
$TT8_MAMPS,0.026215
$HUMID,43.66
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.30
$XPDR_PINGS,112
$24V_AH,22.2,77.832
$10V_AH,10.2,49.741
$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,22.025,139.900,669.900,0.000,0.000,52.452,51.939,257.600,28.000,0.000,17.329,3052.317,6432.885,704.722,3141.102,459.414,0.000,1941.202,0.000,2773.701,0.000,1.150,0.000
$DEVICE_MAMPS,218.025,117.045,1446.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.853,1056.042,1369.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333796
$DATA_FILE_SIZE,73543,1227
$CAP_FILE_SIZE,160614,0
$CFSIZE,260165632,154963968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,346.8,1
$GPS,311010,183407,2150.073,12609.813,34,1.2,34,-3.0