version: 66.08
glider: 166
mission: 3
dive: 389
start: 10 27 110 0 41 36
data:
$ID,166
$MISSION,3
$DIVE,389
$N_DIVES,393
$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,-22044.914
$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,37
$R_STBD_OVSHOOT,38
$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
$GPS1,271010,003330,2243.250,12624.447,37,1.1,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-43.5
$GPS2,271010,004114,2243.284,12624.260,14,1.7,14,-3.3
$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,194.2,156420,-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,-214.1,0.0,0.0,0,123,0.00,0.00,-103.97,0.000,2,0.000,0.000,137,1756,3305,0,0,0,0,0,0
$GC,126,-1.16,-214.1,5.2,-8.3,14,158,9.65,2.15,-12.23,0.000,4,0.243,0.063,2458,396,3949,0,0,0,0,0,0
$GC,397,-0.94,-214.1,104.9,-27.6,63,406,0.25,2.15,0.00,0.000,6,0.162,0.042,2528,1794,3951,0,0,0,0,0,0
$GC,732,-0.85,-214.1,180.0,-19.9,124,741,0.12,2.17,0.00,0.000,4,0.181,0.050,2554,3198,3954,0,0,0,0,0,0
$GC,762,-0.81,-214.1,185.2,-17.9,128,771,0.00,2.12,0.00,0.000,6,0.000,0.037,2555,1801,3955,0,0,0,0,0,0
$GC,1106,-0.78,-214.1,243.9,-16.7,189,1113,0.12,2.17,0.00,0.000,4,0.167,0.051,2589,386,3955,0,0,0,0,0,0
$GC,1133,-0.78,-214.1,248.6,-16.0,193,1140,0.00,2.15,0.00,0.000,6,0.000,0.045,2585,1808,3955,0,0,0,0,0,0
$GC,1475,-0.81,-214.1,295.9,-13.9,254,1483,0.00,2.22,0.00,0.000,4,0.000,0.050,2584,396,3955,0,0,0,0,0,0
$GC,1559,-0.88,-214.1,308.4,-14.2,263,1563,0.00,2.15,0.00,0.000,6,0.000,0.043,2575,1808,3955,0,0,0,0,0,0
$GC,1886,-0.90,-214.1,354.1,-13.9,293,1890,0.00,2.17,0.00,0.000,4,0.000,0.051,2565,3217,3953,0,0,0,0,0,0
$GC,1919,-0.94,-214.1,359.0,-13.4,295,1926,0.00,2.15,0.00,0.000,6,0.000,0.036,2566,1788,3953,0,0,0,0,0,0
$GC,2245,-0.97,-214.1,402.3,-13.0,326,2250,0.12,2.15,0.00,0.000,4,0.089,0.051,2501,389,3952,0,0,0,0,0,0
$GC,2384,-0.91,-214.1,427.2,-18.8,338,2389,0.17,2.15,0.00,0.000,6,0.161,0.045,2541,1810,3951,0,0,0,0,0,0
$GC,2709,-0.91,-214.1,476.4,-15.2,368,2713,0.00,2.12,0.00,0.000,4,0.000,0.050,2534,3213,3949,0,0,0,0,0,0
$GC,2756,-0.96,-214.1,483.0,-14.4,372,2760,0.00,2.12,0.00,0.000,6,0.000,0.037,2534,1791,3949,0,0,0,0,0,0
$GC,3086,-0.96,-214.1,532.9,-14.4,403,3090,0.00,2.15,0.00,0.000,4,0.000,0.053,2534,397,3947,0,0,0,0,0,0
$GC,3154,-0.96,-214.1,543.0,-14.6,408,3162,0.00,2.15,0.00,0.000,6,0.000,0.046,2534,1810,3946,0,0,0,0,0,0
$GC,3480,-0.96,-214.1,586.9,-13.1,439,3484,0.00,2.17,0.00,0.000,4,0.000,0.052,2533,396,3944,0,0,0,0,0,0
$GC,3520,-0.96,-214.1,592.6,-14.0,442,3524,0.00,2.15,0.00,0.000,6,0.000,0.045,2525,1812,3943,0,0,0,0,0,0
$GC,3849,-0.96,-214.1,639.0,-14.3,460,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1812,3941,0,0,0,0,0,0
$GC,4157,-0.96,-214.1,685.0,-15.2,475,4161,0.00,2.22,0.00,0.000,4,0.000,0.053,2525,398,3938,0,0,0,0,0,0
$GC,4220,-0.96,-214.1,694.8,-15.9,478,4224,0.00,2.17,0.00,0.000,6,0.000,0.048,2522,1797,3937,0,0,0,0,0,0
$GC,4548,-0.96,-214.1,745.5,-15.3,494,4552,0.00,2.17,0.00,0.000,4,0.000,0.054,2522,399,3934,0,0,0,0,0,0
$GC,4582,-0.96,-214.1,751.1,-16.2,495,4589,0.00,2.15,0.00,0.000,6,0.000,0.047,2514,1803,3934,0,0,0,0,0,0
$GC,4899,-0.96,-214.1,801.5,-15.7,511,4903,0.00,2.17,0.00,0.000,4,0.000,0.054,2514,398,3931,0,0,0,0,0,0
$GC,4948,-0.96,-214.1,810.3,-16.6,513,4952,0.00,2.17,0.00,0.000,6,0.000,0.048,2507,1807,3930,0,0,0,0,0,0
$GC,5271,-0.96,-214.1,861.2,-15.7,529,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1808,3927,0,0,0,0,0,0
$GC,5581,-0.96,-214.1,906.7,-14.2,544,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1808,3924,0,0,0,0,0,0
$GC,5891,-0.96,-214.1,950.3,-13.9,559,5895,0.00,2.22,0.00,0.000,4,0.000,0.057,2509,399,3922,0,0,0,0,0,0
$GC,5957,-0.96,-214.1,960.5,-14.9,562,5961,0.00,2.15,0.00,0.000,6,0.000,0.049,2506,1799,3921,0,0,0,0,0,0
$STATE,6241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6241,begin apogee
$GC,6249,-0.23,0.0,1001.3,14.2,576,6442,0.80,0.00,185.43,1.439,6,0.135,0.000,2759,1747,3072,0,0,0,0,0,0
$STATE,6442,end apogee,CONTROL_FINISHED_OK
$STATE,6442,begin climb
$GC,6445,1.16,214.1,1010.0,0.0,585,6657,1.30,2.47,202.00,1.373,4,0.055,0.057,3228,355,2199,0,0,0,0,0,0
$GC,6670,0.82,214.1,970.2,30.3,595,6678,0.47,2.38,0.00,0.000,6,0.202,0.047,3109,1745,2197,0,0,0,0,0,0
$GC,6986,0.63,214.1,895.4,22.8,611,6991,0.22,2.20,0.00,0.000,4,0.183,0.052,3037,3174,2192,0,0,0,0,0,0
$GC,7032,0.53,214.1,886.2,18.1,613,7037,0.12,2.17,0.00,0.000,6,0.190,0.041,3014,1746,2191,0,0,0,0,0,0
$GC,7355,0.48,214.1,837.6,15.0,629,7359,0.00,2.20,0.00,0.000,4,0.000,0.050,3003,3180,2189,0,0,0,0,0,0
$GC,7373,0.43,214.1,834.5,15.1,630,7378,0.12,2.15,0.00,0.000,6,0.184,0.040,2981,1750,2188,0,0,0,0,0,0
$GC,7704,0.46,244.1,792.5,12.6,646,7733,0.00,0.00,27.48,1.269,6,0.000,0.000,2982,1750,2077,0,0,0,0,0,0
$GC,8029,0.51,279.4,750.4,12.4,662,8072,0.00,2.33,32.92,1.256,4,0.000,0.056,2990,343,1933,0,0,0,0,0,0
$GC,8102,0.55,292.4,741.0,13.3,665,8121,0.00,2.22,12.90,1.147,6,0.000,0.041,2986,1756,1880,0,0,0,0,0,0
$GC,8430,0.61,319.7,698.9,12.7,681,8462,0.15,2.25,25.95,1.213,4,0.080,0.054,3057,3156,1768,0,0,0,0,0,0
$GC,8486,0.55,319.7,688.8,19.2,683,8491,0.17,2.17,0.00,0.000,6,0.172,0.041,3020,1752,1768,0,0,0,0,0,0
$GC,8802,0.55,319.7,640.8,15.0,698,8806,0.00,2.20,0.00,0.000,4,0.000,0.057,3029,347,1765,0,0,0,0,0,0
$GC,8844,0.55,319.7,634.7,15.2,700,8848,0.00,2.17,0.00,0.000,6,0.000,0.041,3029,1758,1764,0,0,0,0,0,0
$GC,9165,0.54,319.7,585.0,15.6,720,9169,0.00,2.15,0.00,0.000,4,0.000,0.052,3025,3163,1763,0,0,0,0,0,0
$GC,9205,0.54,319.7,578.4,15.4,723,9209,0.00,2.15,0.00,0.000,6,0.000,0.041,3033,1746,1763,0,0,0,0,0,0
$GC,9531,0.52,319.7,525.5,16.4,753,9534,0.00,2.17,0.00,0.000,4,0.000,0.054,3044,343,1761,0,0,0,0,0,0
$GC,9552,0.49,319.7,521.6,16.6,754,9560,0.15,2.15,0.00,0.000,6,0.161,0.041,3001,1757,1760,0,0,0,0,0,0
$GC,9879,0.57,358.2,480.1,12.2,785,9920,0.00,2.20,35.15,1.087,4,0.000,0.050,2999,3163,1611,0,0,0,0,0,0
$GC,9946,0.66,385.6,472.1,12.7,790,9982,0.12,2.20,26.20,1.047,6,0.080,0.043,3072,1746,1498,0,0,0,0,0,0
$GC,10300,0.61,385.6,403.6,19.7,823,10305,0.12,2.20,0.00,0.000,4,0.176,0.054,3050,343,1494,0,0,0,0,0,0
$GC,10323,0.59,385.6,399.2,18.8,824,10331,0.00,2.17,0.00,0.000,6,0.000,0.038,3050,1746,1494,0,0,0,0,0,0
$GC,10650,0.59,385.6,347.9,15.2,855,10654,0.00,2.15,0.00,0.000,4,0.000,0.050,3049,3171,1493,0,0,0,0,0,0
$GC,10695,0.61,385.6,340.6,16.4,858,10703,0.00,2.17,0.00,0.000,6,0.000,0.039,3059,1750,1493,0,0,0,0,0,0
$GC,11023,0.61,385.6,288.8,15.6,895,11030,0.00,2.20,0.00,0.000,4,0.000,0.054,3071,347,1493,0,0,0,0,0,0
$GC,11061,0.61,385.6,283.0,16.1,901,11070,0.12,2.12,0.00,0.000,6,0.158,0.038,3034,1757,1491,0,0,0,0,0,0
$GC,11395,0.70,419.6,239.2,12.4,962,11430,0.00,2.25,29.70,0.861,4,0.000,0.047,3033,3168,1361,0,0,0,0,0,0
$GC,11470,0.85,471.1,229.5,11.7,974,11525,0.17,2.20,46.03,0.847,6,0.037,0.038,3144,1756,1150,0,0,0,0,0,0
$GC,11853,0.78,471.1,145.2,18.6,1042,11861,0.17,2.22,0.00,0.000,4,0.164,0.051,3102,349,1148,0,0,0,0,0,0
$GC,11887,0.75,471.1,138.6,19.1,1047,11896,0.00,2.15,0.00,0.000,6,0.000,0.034,3097,1759,1147,0,0,0,0,0,0
$GC,12218,0.82,484.5,89.3,13.3,1108,12235,0.00,2.17,12.38,0.672,4,0.000,0.045,3096,3155,1097,0,0,0,0,0,0
$GC,12329,1.11,634.0,77.0,7.4,1127,12466,0.22,2.15,125.38,0.702,6,0.031,0.037,3236,1750,485,0,0,0,0,0,0
$STATE,12637,end climb,SURFACE_DEPTH_REACHED
$STATE,12637,begin surface coast
$FINISH,0.7,0.999194
$STATE,12644,end surface coast,CONTROL_FINISHED_OK
$STATE,12644,begin surface
$SM_CCo,12723,0.00,0.000,0,0,477,636.31
$SM_GC,1.40,8.10,0.00,0.00,0.044,0.000,0.000,158,1801,477,-8.33,0.03,636.31
$IRIDIUM_FIX,2237.01,12626.03,261010,202057
$TT8_MAMPS,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,8.66703
$TCM_TEMP,24.20
$XPDR_PINGS,82
$24V_AH,22.3,70.474
$10V_AH,10.2,45.718
$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,23.025,122.500,761.500,0.000,0.000,30.372,19.666,230.057,20.500,0.000,15.422,2864.060,6223.479,780.328,2882.113,420.557,0.000,1959.452,0.000,2608.598,0.000,0.844,0.000
$DEVICE_MAMPS,243.270,149.175,1438.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.210,1008.264,1308.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333812
$DATA_FILE_SIZE,70244,1178
$CAP_FILE_SIZE,144662,0
$CFSIZE,260165632,157356032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,304.4,1
$GPS,271010,041454,2241.371,12623.772,39,1.3,39,-3.2