version: 66.08
glider: 166
mission: 3
dive: 419
start: 10 31 110 18 41 54
data:
$ID,166
$MISSION,3
$DIVE,419
$N_DIVES,431
$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,-22082.65
$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,46
$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
$GPS1,311010,183407,2150.073,12609.813,34,1.2,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.0
$GPS2,311010,184132,2150.125,12609.938,13,1.2,13,-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,192.1,54935,-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,-214.1,0.0,0.0,0,107,0.00,0.00,-87.28,0.000,2,0.000,0.000,151,1777,3165,0,0,0,0,0,0
$GC,110,-1.16,-214.1,5.0,-8.6,12,141,9.10,2.22,-15.90,0.000,4,0.223,0.059,2460,387,3949,0,0,0,0,0,0
$GC,282,-0.89,-214.1,75.5,-41.9,42,291,0.32,2.17,0.00,0.000,6,0.169,0.044,2547,1787,3951,0,0,0,0,0,0
$GC,612,-0.78,-214.1,164.3,-22.3,103,619,0.15,0.00,0.00,0.000,6,0.177,0.000,2587,1787,3954,0,0,0,0,0,0
$GC,951,-0.78,-214.1,221.4,-16.0,164,959,0.00,2.20,0.00,0.000,4,0.000,0.048,2578,3213,3955,0,0,0,0,0,0
$GC,992,-0.83,-214.1,226.5,-13.2,170,1001,0.00,2.17,0.00,0.000,6,0.000,0.036,2579,1791,3955,0,0,0,0,0,0
$GC,1334,-0.83,-214.1,275.8,-13.7,231,1341,0.00,2.15,0.00,0.000,4,0.000,0.050,2579,396,3956,0,0,0,0,0,0
$GC,1408,-0.85,-214.1,285.4,-13.0,243,1415,0.00,2.15,0.00,0.000,6,0.000,0.044,2570,1804,3956,0,0,0,0,0,0
$GC,1739,-0.85,-214.1,331.2,-14.0,283,1743,0.00,2.15,0.00,0.000,4,0.000,0.049,2560,3213,3956,0,0,0,0,0,0
$GC,1772,-0.87,-214.1,335.3,-13.5,285,1776,0.00,2.12,0.00,0.000,6,0.000,0.036,2560,1789,3955,0,0,0,0,0,0
$GC,2099,-0.87,-214.1,383.2,-14.6,315,2103,0.00,2.15,0.00,0.000,4,0.000,0.050,2560,395,3955,0,0,0,0,0,0
$GC,2178,-0.88,-214.1,394.6,-14.2,321,2185,0.00,2.12,0.00,0.000,6,0.000,0.044,2556,1801,3954,0,0,0,0,0,0
$GC,2504,-0.88,-214.1,440.2,-13.7,352,2508,0.00,2.17,0.00,0.000,4,0.000,0.051,2548,3204,3953,0,0,0,0,0,0
$GC,2535,-0.91,-214.1,444.1,-13.5,354,2539,0.00,2.10,0.00,0.000,6,0.000,0.036,2548,1792,3952,0,0,0,0,0,0
$GC,2860,-0.91,-214.1,489.1,-13.6,384,2864,0.00,2.12,0.00,0.000,4,0.000,0.051,2547,396,3951,0,0,0,0,0,0
$GC,2926,-0.91,-214.1,498.0,-14.0,389,2930,0.00,2.17,0.00,0.000,6,0.000,0.047,2547,1807,3950,0,0,0,0,0,0
$GC,3252,-0.91,-214.1,541.0,-12.8,419,3256,0.00,2.15,0.00,0.000,4,0.000,0.051,2538,3209,3948,0,0,0,0,0,0
$GC,3275,-0.91,-214.1,544.0,-12.7,420,3282,0.00,2.12,0.00,0.000,6,0.000,0.037,2538,1801,3947,0,0,0,0,0,0
$GC,3601,-0.91,-214.1,587.1,-13.3,451,3605,0.00,2.20,0.00,0.000,4,0.000,0.054,2538,389,3945,0,0,0,0,0,0
$GC,3629,-0.91,-214.1,591.2,-14.3,453,3636,0.00,2.17,0.00,0.000,6,0.000,0.047,2535,1811,3944,0,0,0,0,0,0
$GC,3947,-0.91,-214.1,634.8,-13.6,472,3951,0.00,2.15,0.00,0.000,4,0.000,0.053,2526,3208,3942,0,0,0,0,0,0
$GC,3981,-0.93,-214.1,639.4,-12.7,473,3987,0.00,2.12,0.00,0.000,6,0.000,0.038,2526,1791,3942,0,0,0,0,0,0
$GC,4298,-0.93,-214.1,683.2,-14.2,489,4302,0.00,2.17,0.00,0.000,4,0.000,0.054,2526,394,3939,0,0,0,0,0,0
$GC,4347,-0.93,-214.1,690.8,-14.6,491,4351,0.00,2.15,0.00,0.000,6,0.000,0.047,2516,1802,3939,0,0,0,0,0,0
$GC,4670,-0.91,-214.1,739.5,-15.4,507,4675,0.12,2.20,0.00,0.000,4,0.177,0.054,2549,398,3935,0,0,0,0,0,0
$GC,4716,-0.93,-214.1,746.2,-13.5,509,4720,0.00,2.15,0.00,0.000,6,0.000,0.047,2542,1802,3934,0,0,0,0,0,0
$GC,5038,-0.95,-214.1,789.5,-13.3,525,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1802,3932,0,0,0,0,0,0
$GC,5349,-0.97,-214.1,829.7,-12.8,540,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1802,3930,0,0,0,0,0,0
$GC,5657,-0.99,-214.1,866.5,-11.6,555,5661,0.00,2.20,0.00,0.000,4,0.000,0.059,2538,3211,3926,0,0,0,0,0,0
$GC,5678,-1.02,-214.1,869.3,-11.5,556,5683,0.00,2.15,0.00,0.000,6,0.000,0.041,2538,1804,3926,0,0,0,0,0,0
$GC,6002,-1.02,-214.1,907.5,-11.7,572,6006,0.00,2.22,0.00,0.000,4,0.000,0.057,2538,389,3924,0,0,0,0,0,0
$GC,6080,-1.04,-214.1,917.9,-12.3,575,6086,0.00,2.20,0.00,0.000,6,0.000,0.050,2531,1810,3923,0,0,0,0,0,0
$GC,6398,-1.04,-214.1,958.4,-13.0,591,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1810,3921,0,0,0,0,0,0
$STATE,6703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6703,begin apogee
$GC,6709,-0.23,0.0,1000.7,13.7,606,6903,0.70,0.00,186.98,1.444,6,0.131,0.000,2760,1742,3072,0,0,0,0,0,0
$STATE,6903,end apogee,CONTROL_FINISHED_OK
$STATE,6903,begin climb
$GC,6906,1.16,214.1,1011.1,0.0,615,7119,1.30,2.50,202.73,1.379,4,0.054,0.056,3206,3154,2198,0,0,0,0,0,0
$GC,7175,0.87,214.1,962.3,28.5,627,7181,0.38,2.25,0.00,0.000,6,0.207,0.044,3125,1756,2195,0,0,0,0,0,0
$GC,7493,0.67,214.1,890.3,22.2,642,7498,0.22,2.22,0.00,0.000,4,0.184,0.056,3071,335,2192,0,0,0,0,0,0
$GC,7503,0.48,214.1,887.3,22.0,642,7512,0.25,2.17,0.00,0.000,6,0.181,0.046,2999,1747,2191,0,0,0,0,0,0
$GC,7822,0.47,230.5,845.8,13.2,658,7845,0.00,2.20,15.38,1.246,4,0.000,0.054,2995,3161,2131,0,0,0,0,0,0
$GC,7895,0.47,230.5,835.2,13.9,661,7899,0.00,2.20,0.00,0.000,6,0.000,0.047,3003,1750,2129,0,0,0,0,0,0
$GC,8225,0.44,235.0,790.3,13.7,677,8235,0.00,2.20,5.28,0.955,4,0.000,0.051,3003,3167,2113,0,0,0,0,0,0
$GC,8251,0.42,235.0,785.9,14.8,678,8256,0.15,2.17,0.00,0.000,6,0.176,0.042,2974,1744,2113,0,0,0,0,0,0
$GC,8570,0.51,295.0,750.1,11.3,693,8633,0.00,2.33,56.22,1.281,4,0.000,0.057,2983,350,1869,0,0,0,0,0,0
$GC,8654,0.62,351.5,740.3,11.4,697,8719,0.17,2.20,54.33,1.244,6,0.073,0.041,3059,1759,1638,0,0,0,0,0,0
$GC,9030,0.55,351.5,666.3,20.0,715,9034,0.15,2.17,0.00,0.000,4,0.174,0.053,3017,3160,1632,0,0,0,0,0,0
$GC,9080,0.57,351.5,657.2,15.5,717,9083,0.00,2.15,0.00,0.000,6,0.000,0.043,3026,1750,1631,0,0,0,0,0,0
$GC,9401,0.57,351.5,607.2,15.6,733,9405,0.00,2.20,0.00,0.000,4,0.000,0.057,3036,341,1631,0,0,0,0,0,0
$GC,9451,0.57,351.5,599.1,16.0,735,9455,0.00,2.17,0.00,0.000,6,0.000,0.041,3036,1749,1628,0,0,0,0,0,0
$GC,9778,0.55,351.5,543.3,17.8,765,9782,0.00,2.15,0.00,0.000,4,0.000,0.053,3037,3162,1628,0,0,0,0,0,0
$GC,9845,0.55,351.5,531.6,16.1,770,9853,0.00,2.17,0.00,0.000,6,0.000,0.043,3046,1741,1627,0,0,0,0,0,0
$GC,10172,0.52,351.5,476.4,17.0,801,10177,0.15,2.20,0.00,0.000,4,0.171,0.056,3015,340,1626,0,0,0,0,0,0
$GC,10214,0.56,362.8,470.2,13.4,804,10230,0.00,2.20,9.60,0.986,6,0.000,0.041,3014,1765,1591,0,0,0,0,0,0
$GC,10558,0.65,409.6,426.3,11.9,836,10608,0.10,2.28,43.55,1.044,4,0.102,0.051,3066,3168,1402,0,0,0,0,0,0
$GC,10655,0.65,409.6,410.0,16.8,844,10659,0.00,2.20,0.00,0.000,6,0.000,0.041,3076,1752,1402,0,0,0,0,0,0
$GC,10981,0.60,409.6,347.6,19.2,874,10985,0.15,2.22,0.00,0.000,4,0.173,0.055,3045,339,1400,0,0,0,0,0,0
$GC,11022,0.62,409.6,340.8,15.9,877,11026,0.00,2.15,0.00,0.000,6,0.000,0.038,3045,1755,1397,0,0,0,0,0,0
$GC,11351,0.62,409.6,291.5,16.3,911,11357,0.00,2.12,0.00,0.000,4,0.000,0.049,3045,3164,1397,0,0,0,0,0,0
$GC,11421,0.71,431.6,281.8,12.9,923,11450,0.00,2.15,20.88,0.889,6,0.000,0.040,3051,1746,1311,0,0,0,0,0,0
$GC,11786,0.75,451.9,230.2,13.0,987,11814,0.00,2.17,19.12,0.832,4,0.000,0.052,3057,349,1228,0,0,0,0,0,0
$GC,11874,0.91,519.2,219.0,11.0,1001,11943,0.20,2.12,59.12,0.840,6,0.063,0.036,3155,1762,954,0,0,0,0,0,0
$GC,12275,0.80,519.2,117.8,26.3,1071,12284,0.20,2.15,0.00,0.000,4,0.164,0.044,3087,3150,951,0,0,0,0,0,0
$GC,12332,0.89,527.1,107.5,13.5,1080,12347,0.00,2.15,7.55,0.631,6,0.000,0.037,3093,1753,923,0,0,0,0,0,0
$GC,12671,1.11,617.9,68.1,9.9,1142,12756,0.25,2.28,77.22,0.695,4,0.052,0.052,3238,353,551,0,0,0,0,0,0
$GC,12867,0.98,617.9,13.1,30.0,1173,12875,0.22,2.12,0.00,0.000,6,0.147,0.033,3161,1759,547,0,0,0,0,0,0
$STATE,12903,end climb,SURFACE_DEPTH_REACHED
$STATE,12903,begin surface coast
$FINISH,1.0,1.022110
$STATE,12915,end surface coast,CONTROL_FINISHED_OK
$STATE,12915,begin surface
$SM_CCo,12992,0.00,0.000,0,0,544,620.12
$SM_GC,1.71,7.88,0.00,0.00,0.040,0.000,0.000,145,1764,544,-8.34,-1.05,620.12
$IRIDIUM_FIX,2143.45,12607.62,311010,141414
$TT8_MAMPS,0.026964
$HUMID,43.58
$INTERNAL_PRESSURE,8.65726
$TCM_TEMP,23.80
$XPDR_PINGS,93
$24V_AH,22.1,78.105
$10V_AH,10.2,49.873
$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,22.175,126.675,757.950,0.000,0.000,28.864,46.278,187.881,23.250,0.000,14.281,2899.193,6460.460,757.158,2889.016,413.483,0.000,1959.811,0.000,2629.270,0.000,0.844,0.000
$DEVICE_MAMPS,223.380,97.920,1444.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.542,1004.026,1280.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70233,1181
$CAP_FILE_SIZE,150464,0
$CFSIZE,260165632,154890240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 58.0,1
$GPS,311010,221936,2148.604,12610.375,34,0.9,34,-3.0