version: 66.08
glider: 166
mission: 3
dive: 392
start: 10 27 110 12 5 58
data:
$ID,166
$MISSION,3
$DIVE,392
$N_DIVES,404
$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,-22048.688
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,271010,115737,2238.154,12622.184,28,1.6,28,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-50.6
$GPS2,271010,120537,2238.071,12622.165,31,1.4,31,-3.2
$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,172.2,146167,-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,-88.28,0.000,2,0.000,0.000,142,1811,3273,0,0,0,0,0,0
$GC,111,-1.16,-214.1,5.5,-9.7,12,142,9.27,2.22,-13.05,0.000,4,0.230,0.060,2457,398,3947,0,0,0,0,0,0
$GC,381,-0.95,-214.1,106.8,-37.0,61,390,0.25,2.17,0.00,0.000,6,0.158,0.046,2526,1793,3950,0,0,0,0,0,0
$GC,714,-0.85,-214.1,188.4,-21.6,122,723,0.12,2.22,0.00,0.000,4,0.184,0.050,2560,392,3952,0,0,0,0,0,0
$GC,944,-0.82,-214.1,232.3,-17.4,162,953,0.00,2.17,0.00,0.000,6,0.000,0.044,2551,1803,3953,0,0,0,0,0,0
$GC,1292,-0.79,-214.1,291.2,-15.8,223,1300,0.12,2.15,0.00,0.000,4,0.174,0.049,2576,3219,3954,0,0,0,0,0,0
$GC,1319,-0.79,-214.1,295.2,-14.5,227,1326,0.00,2.15,0.00,0.000,6,0.000,0.037,2576,1790,3954,0,0,0,0,0,0
$GC,1648,-0.81,-214.1,339.9,-13.3,261,1652,0.00,2.12,0.00,0.000,4,0.000,0.050,2576,389,3954,0,0,0,0,0,0
$GC,1794,-0.86,-214.1,359.2,-13.4,273,1797,0.00,2.15,0.00,0.000,6,0.000,0.045,2568,1806,3953,0,0,0,0,0,0
$GC,2125,-0.88,-214.1,403.0,-13.0,304,2129,0.00,2.15,0.00,0.000,4,0.000,0.050,2558,3218,3952,0,0,0,0,0,0
$GC,2171,-0.94,-214.1,408.8,-12.7,307,2178,0.00,2.15,0.00,0.000,6,0.000,0.037,2558,1793,3951,0,0,0,0,0,0
$GC,2496,-0.96,-214.1,455.9,-15.0,338,2500,0.00,2.17,0.00,0.000,4,0.000,0.052,2558,385,3950,0,0,0,0,0,0
$GC,2584,-0.99,-214.1,469.3,-15.2,345,2588,0.00,2.17,0.00,0.000,6,0.000,0.044,2549,1805,3948,0,0,0,0,0,0
$GC,2910,-0.99,-214.1,517.3,-13.7,375,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1805,3947,0,0,0,0,0,0
$GC,3234,-1.01,-214.1,558.7,-12.5,405,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1805,3944,0,0,0,0,0,0
$GC,3561,-1.04,-214.1,600.0,-13.2,436,3566,0.12,2.22,0.00,0.000,4,0.093,0.054,2487,396,3942,0,0,0,0,0,0
$GC,3640,-0.99,-214.1,613.8,-18.3,439,3647,0.15,2.15,0.00,0.000,6,0.170,0.047,2521,1799,3941,0,0,0,0,0,0
$GC,3956,-0.99,-214.1,662.5,-15.7,455,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1800,3939,0,0,0,0,0,0
$GC,4267,-0.99,-214.1,711.0,-15.5,470,4270,0.00,2.20,0.00,0.000,4,0.000,0.056,2516,3219,3935,0,0,0,0,0,0
$GC,4288,-0.99,-214.1,714.8,-15.3,471,4292,0.00,2.12,0.00,0.000,6,0.000,0.040,2517,1800,3934,0,0,0,0,0,0
$GC,4616,-0.99,-214.1,764.9,-15.0,487,4620,0.00,2.22,0.00,0.000,4,0.000,0.060,2516,395,3931,0,0,0,0,0,0
$GC,4703,-0.99,-214.1,777.9,-15.2,491,4707,0.00,2.17,0.00,0.000,6,0.000,0.048,2512,1812,3930,0,0,0,0,0,0
$GC,5030,-0.99,-214.1,826.0,-14.3,507,5034,0.00,2.22,0.00,0.000,4,0.000,0.055,2512,392,3927,0,0,0,0,0,0
$GC,5072,-0.97,-214.1,832.2,-15.6,509,5076,0.00,2.20,0.00,0.000,6,0.000,0.049,2506,1805,3927,0,0,0,0,0,0
$GC,5400,-0.95,-214.1,884.2,-16.0,525,5404,0.00,2.22,0.00,0.000,4,0.000,0.056,2510,390,3924,0,0,0,0,0,0
$GC,5454,-0.93,-214.1,893.6,-16.2,527,5462,0.12,2.17,0.00,0.000,6,0.176,0.050,2537,1801,3923,0,0,0,0,0,0
$GC,5773,-0.93,-214.1,937.4,-13.7,543,5777,0.00,2.20,0.00,0.000,4,0.000,0.057,2537,389,3921,0,0,0,0,0,0
$GC,5800,-0.93,-214.1,941.9,-15.0,544,5804,0.00,2.17,0.00,0.000,6,0.000,0.050,2529,1800,3920,0,0,0,0,0,0
$GC,6118,-0.93,-214.1,985.3,-13.6,559,6122,0.00,2.22,0.00,0.000,4,0.000,0.057,2529,390,3918,0,0,0,0,0,0
$GC,6145,-0.93,-214.1,989.6,-15.1,560,6149,0.00,2.17,0.00,0.000,6,0.000,0.050,2519,1801,3917,0,0,0,0,0,0
$STATE,6232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6232,begin apogee
$GC,6238,-0.23,0.0,1002.1,14.3,564,6428,0.75,0.00,185.30,1.437,6,0.136,0.000,2756,1749,3072,0,0,0,0,0,0
$STATE,6429,end apogee,CONTROL_FINISHED_OK
$STATE,6429,begin climb
$GC,6431,1.16,214.1,1010.2,0.0,573,6645,1.33,2.45,201.00,1.372,4,0.055,0.056,3211,3156,2199,0,0,0,0,0,0
$GC,6679,0.85,214.1,963.5,31.3,584,6684,0.43,2.28,0.00,0.000,6,0.200,0.042,3118,1754,2196,0,0,0,0,0,0
$GC,6997,0.66,214.1,890.7,22.5,599,7002,0.22,2.20,0.00,0.000,4,0.180,0.050,3045,3169,2193,0,0,0,0,0,0
$GC,7015,0.49,214.1,886.5,22.1,600,7020,0.20,2.15,0.00,0.000,6,0.172,0.042,2999,1744,2192,0,0,0,0,0,0
$GC,7346,0.51,259.6,846.3,11.9,616,7390,0.00,0.00,42.08,1.311,6,0.000,0.000,2999,1743,2013,0,0,0,0,0,0
$GC,7691,0.55,285.4,801.9,12.8,633,7717,0.00,0.00,23.98,1.260,6,0.000,0.000,2999,1744,1908,0,0,0,0,0,0
$GC,8022,0.58,309.4,760.2,12.8,649,8047,0.00,0.00,23.00,1.237,6,0.000,0.000,2999,1743,1810,0,0,0,0,0,0
$GC,8350,0.59,321.3,717.2,13.4,665,8369,0.00,0.00,12.18,1.149,6,0.000,0.000,2999,1743,1762,0,0,0,0,0,0
$GC,8679,0.62,327.3,673.3,13.6,681,8694,0.12,2.28,7.20,1.017,4,0.090,0.050,3064,3164,1737,0,0,0,0,0,0
$GC,8712,0.56,327.3,667.8,18.4,682,8717,0.17,2.15,0.00,0.000,6,0.174,0.041,3027,1750,1737,0,0,0,0,0,0
$GC,9028,0.56,327.3,616.2,16.3,697,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1750,1736,0,0,0,0,0,0
$GC,9345,0.56,327.3,566.7,15.3,722,9349,0.00,2.20,0.00,0.000,4,0.000,0.056,3035,347,1735,0,0,0,0,0,0
$GC,9372,0.56,327.3,561.7,15.8,724,9380,0.00,2.17,0.00,0.000,6,0.000,0.041,3035,1748,1733,0,0,0,0,0,0
$GC,9699,0.55,327.3,510.7,15.2,755,9703,0.00,2.15,0.00,0.000,4,0.000,0.053,3036,3165,1733,0,0,0,0,0,0
$GC,9777,0.55,332.6,498.9,13.7,761,9787,0.00,2.12,5.72,0.864,6,0.000,0.041,3045,1749,1716,0,0,0,0,0,0
$GC,10108,0.53,332.6,448.7,15.8,792,10113,0.12,2.17,0.00,0.000,4,0.175,0.055,3021,347,1716,0,0,0,0,0,0
$GC,10157,0.58,332.6,441.3,14.1,796,10165,0.00,2.17,0.00,0.000,6,0.000,0.039,3021,1754,1714,0,0,0,0,0,0
$GC,10485,0.61,350.3,398.1,13.1,827,10511,0.00,2.20,17.95,0.990,4,0.000,0.049,3021,3156,1642,0,0,0,0,0,0
$GC,10583,0.66,353.6,385.4,13.7,835,10595,0.00,2.12,4.62,0.694,6,0.000,0.039,3031,1747,1630,0,0,0,0,0,0
$GC,10914,0.73,390.9,343.2,12.3,866,10955,0.12,2.25,34.03,0.961,4,0.087,0.053,3116,354,1478,0,0,0,0,0,0
$GC,11002,0.66,390.9,325.8,22.1,873,11009,0.22,2.15,0.00,0.000,6,0.159,0.040,3052,1751,1476,0,0,0,0,0,0
$GC,11332,0.66,390.9,273.3,14.4,920,11340,0.00,2.17,0.00,0.000,4,0.000,0.047,3042,3164,1475,0,0,0,0,0,0
$GC,11382,0.76,420.3,266.6,12.6,928,11418,0.08,2.17,26.70,0.877,6,0.055,0.039,3110,1744,1357,0,0,0,0,0,0
$GC,11755,0.72,420.3,195.7,17.5,993,11762,0.15,2.15,0.00,0.000,4,0.164,0.051,3078,346,1355,0,0,0,0,0,0
$GC,11830,0.81,451.4,184.0,12.5,1006,11866,0.00,2.15,27.83,0.803,6,0.000,0.037,3077,1752,1231,0,0,0,0,0,0
$GC,12199,0.86,451.4,133.0,14.2,1071,12208,0.12,2.25,0.00,0.000,4,0.082,0.052,3150,344,1230,0,0,0,0,0,0
$GC,12253,0.80,451.4,123.0,20.0,1080,12261,0.12,2.15,0.00,0.000,6,0.135,0.038,3106,1752,1230,0,0,0,0,0,0
$GC,12585,0.91,518.0,75.4,11.0,1141,12652,0.00,2.28,56.47,0.709,4,0.000,0.050,3110,351,959,0,0,0,0,0,0
$GC,12668,1.17,641.9,67.3,8.5,1152,12782,0.25,2.15,103.60,0.682,6,0.034,0.034,3240,1751,453,0,0,0,0,0,0
$STATE,12898,end climb,SURFACE_DEPTH_REACHED
$STATE,12899,begin surface coast
$FINISH,0.8,1.002397
$STATE,12911,end surface coast,CONTROL_FINISHED_OK
$STATE,12911,begin surface
$SM_CCo,12990,0.00,0.000,0,0,448,643.67
$SM_GC,1.35,8.00,0.00,0.00,0.034,0.000,0.000,140,1752,448,-8.35,-1.36,643.67
$IRIDIUM_FIX,2230.01,12624.64,271010,080836
$TT8_MAMPS,0.026215
$HUMID,42.43
$INTERNAL_PRESSURE,8.65726
$TCM_TEMP,24.20
$XPDR_PINGS,91
$24V_AH,22.3,71.255
$10V_AH,10.2,46.137
$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,22.600,109.500,771.650,0.000,0.000,29.323,46.663,204.943,22.750,0.000,32.716,2896.391,6460.385,764.425,2919.897,410.702,0.000,1956.314,0.000,2630.362,0.000,0.845,0.000
$DEVICE_MAMPS,230.265,116.280,1436.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.373,1016.480,1303.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70354,1191
$CAP_FILE_SIZE,144768,0
$CFSIZE,260165632,157110272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,324.6,1
$GPS,271010,154334,2236.555,12622.642,10,99.0,29,-3.2