version: 66.08
glider: 166
mission: 3
dive: 397
start: 10 28 110 7 3 28
data:
$ID,166
$MISSION,3
$DIVE,397
$N_DIVES,410
$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,-22054.982
$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,58
$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
$GPS1,281010,065524,2228.250,12620.702,36,2.0,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-57.8
$GPS2,281010,070306,2228.175,12620.568,18,99.0,37,-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,185.2,127741,-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,-214.1,0.0,0.0,0,110,0.00,0.00,-90.90,0.000,2,0.000,0.000,141,1826,3260,0,0,0,0,0,0
$GC,114,-1.16,-214.1,5.5,-9.2,12,145,9.15,2.15,-12.98,0.000,4,0.224,0.061,2446,3188,3949,0,0,0,0,0,0
$GC,330,-0.97,-214.1,92.0,-33.0,51,339,0.22,2.12,0.00,0.000,6,0.156,0.037,2517,1803,3951,0,0,0,0,0,0
$GC,657,-0.87,-214.1,172.9,-22.5,112,668,0.12,2.22,0.00,0.000,4,0.182,0.050,2555,390,3954,0,0,0,0,0,0
$GC,837,-0.83,-214.1,207.7,-19.4,143,844,0.00,2.12,0.00,0.000,6,0.000,0.044,2547,1778,3955,0,0,0,0,0,0
$GC,1179,-0.79,-214.1,272.8,-18.0,204,1188,0.12,2.20,0.00,0.000,4,0.181,0.050,2580,390,3955,0,0,0,0,0,0
$GC,1236,-0.81,-214.1,281.8,-15.1,213,1242,0.00,2.15,0.00,0.000,6,0.000,0.044,2573,1812,3955,0,0,0,0,0,0
$GC,1575,-0.81,-214.1,328.8,-13.7,255,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1813,3955,0,0,0,0,0,0
$GC,1897,-0.83,-214.1,374.3,-13.5,285,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1813,3955,0,0,0,0,0,0
$GC,2224,-0.86,-214.1,417.3,-12.4,316,2228,0.00,2.20,0.00,0.000,4,0.000,0.050,2572,393,3952,0,0,0,0,0,0
$GC,2291,-0.91,-214.1,426.1,-12.7,321,2298,0.00,2.15,0.00,0.000,6,0.000,0.044,2564,1813,3952,0,0,0,0,0,0
$GC,2617,-0.94,-214.1,470.7,-14.1,352,2621,0.00,2.15,0.00,0.000,4,0.000,0.051,2559,3219,3950,0,0,0,0,0,0
$GC,2660,-1.01,-214.1,475.9,-12.7,355,2665,0.12,2.12,0.00,0.000,6,0.084,0.036,2489,1792,3949,0,0,0,0,0,0
$GC,2991,-0.94,-214.1,534.6,-17.2,386,2996,0.17,2.17,0.00,0.000,4,0.169,0.052,2540,395,3947,0,0,0,0,0,0
$GC,3070,-0.94,-214.1,545.7,-13.4,392,3077,0.00,2.17,0.00,0.000,6,0.000,0.045,2534,1810,3946,0,0,0,0,0,0
$GC,3396,-0.94,-214.1,588.5,-13.2,423,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1810,3944,0,0,0,0,0,0
$GC,3709,-0.94,-214.1,632.5,-14.5,442,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1810,3942,0,0,0,0,0,0
$GC,4017,-0.94,-214.1,676.0,-13.6,457,4021,0.00,2.22,0.00,0.000,4,0.000,0.054,2534,389,3938,0,0,0,0,0,0
$GC,4081,-0.97,-214.1,684.7,-13.6,460,4085,0.00,2.20,0.00,0.000,6,0.000,0.050,2535,1803,3938,0,0,0,0,0,0
$GC,4410,-0.99,-214.1,726.7,-12.5,476,4414,0.00,2.17,0.00,0.000,4,0.000,0.056,2530,3210,3935,0,0,0,0,0,0
$GC,4460,-1.04,-214.1,733.2,-11.6,478,4464,0.00,2.12,0.00,0.000,6,0.000,0.039,2530,1800,3934,0,0,0,0,0,0
$GC,4783,-1.04,-214.1,775.1,-13.5,494,4787,0.00,2.22,0.00,0.000,4,0.000,0.056,2530,388,3931,0,0,0,0,0,0
$GC,4857,-1.06,-214.1,785.7,-13.8,497,4861,0.00,2.17,0.00,0.000,6,0.000,0.049,2524,1801,3930,0,0,0,0,0,0
$GC,5174,-1.06,-214.1,831.0,-14.3,512,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1800,3927,0,0,0,0,0,0
$GC,5482,-1.06,-214.1,875.5,-14.5,527,5486,0.00,2.22,0.00,0.000,4,0.000,0.056,2524,398,3925,0,0,0,0,0,0
$GC,5526,-1.06,-214.1,882.6,-15.5,529,5530,0.00,2.20,0.00,0.000,6,0.000,0.049,2516,1810,3925,0,0,0,0,0,0
$GC,5856,-1.06,-214.1,931.3,-14.8,545,5859,0.00,2.17,0.00,0.000,4,0.000,0.058,2511,3208,3922,0,0,0,0,0,0
$GC,5879,-1.06,-214.1,934.8,-14.8,546,5883,0.00,2.12,0.00,0.000,6,0.000,0.041,2511,1797,3922,0,0,0,0,0,0
$GC,6206,-1.04,-214.1,985.3,-15.4,562,6210,0.00,2.17,0.00,0.000,4,0.000,0.057,2511,392,3919,0,0,0,0,0,0
$GC,6270,-1.04,-214.1,995.3,-15.7,565,6275,0.00,2.17,0.00,0.000,6,0.000,0.050,2502,1799,3918,0,0,0,0,0,0
$STATE,6307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6307,begin apogee
$GC,6313,-0.23,0.0,1001.5,15.8,567,6506,0.82,0.00,186.95,1.442,6,0.143,0.000,2758,1745,3072,0,0,0,0,0,0
$STATE,6506,end apogee,CONTROL_FINISHED_OK
$STATE,6506,begin climb
$GC,6509,1.16,214.1,1011.3,0.0,576,6720,1.30,0.00,202.43,1.375,6,0.055,0.000,3212,1744,2198,0,0,0,0,0,0
$GC,7029,0.85,214.1,881.5,30.0,601,7034,0.35,2.25,0.00,0.000,4,0.213,0.060,3109,3166,2192,0,0,0,0,0,0
$GC,7058,0.61,214.1,873.6,26.1,602,7063,0.30,2.15,0.00,0.000,6,0.181,0.044,3036,1753,2191,0,0,0,0,0,0
$GC,7374,0.53,214.1,820.7,16.1,617,7378,0.00,2.20,0.00,0.000,4,0.000,0.058,3045,340,2190,0,0,0,0,0,0
$GC,7398,0.44,214.1,816.9,15.7,618,7403,0.22,2.20,0.00,0.000,6,0.164,0.047,2983,1749,2190,0,0,0,0,0,0
$GC,7730,0.52,279.7,778.4,11.0,634,7795,0.00,2.35,60.10,1.280,4,0.000,0.054,2981,3176,1931,0,0,0,0,0,0
$GC,7830,0.60,310.9,766.4,12.5,638,7866,0.12,2.22,29.73,1.226,6,0.083,0.041,3050,1739,1804,0,0,0,0,0,0
$GC,8174,0.54,310.9,706.0,18.0,655,8179,0.12,2.20,0.00,0.000,4,0.181,0.056,3028,339,1798,0,0,0,0,0,0
$GC,8212,0.54,310.9,698.9,17.3,656,8219,0.00,2.17,0.00,0.000,6,0.000,0.044,3028,1757,1797,0,0,0,0,0,0
$GC,8530,0.52,310.9,648.5,15.9,672,8534,0.00,2.15,0.00,0.000,4,0.000,0.054,3028,3167,1796,0,0,0,0,0,0
$GC,8558,0.49,310.9,643.5,15.4,673,8562,0.15,2.15,0.00,0.000,6,0.171,0.041,2998,1743,1795,0,0,0,0,0,0
$GC,8876,0.57,354.2,604.6,12.0,688,8922,0.00,2.30,39.45,1.175,4,0.000,0.056,3007,343,1628,0,0,0,0,0,0
$GC,8957,0.67,390.6,594.2,12.3,693,8999,0.15,2.22,34.58,1.141,6,0.080,0.041,3074,1754,1479,0,0,0,0,0,0
$GC,9317,0.60,390.6,521.2,20.6,727,9321,0.15,2.17,0.00,0.000,4,0.174,0.053,3030,3165,1475,0,0,0,0,0,0
$GC,9379,0.63,390.6,510.6,14.5,732,9383,0.00,2.15,0.00,0.000,6,0.000,0.041,3038,1746,1473,0,0,0,0,0,0
$GC,9712,0.63,390.6,462.2,15.2,763,9716,0.00,2.15,0.00,0.000,4,0.000,0.055,3049,348,1473,0,0,0,0,0,0
$GC,9764,0.63,390.6,454.1,15.1,767,9768,0.00,2.17,0.00,0.000,6,0.000,0.046,3049,1764,1471,0,0,0,0,0,0
$GC,10096,0.61,390.6,397.5,17.6,798,10100,0.00,2.12,0.00,0.000,4,0.000,0.052,3049,3167,1471,0,0,0,0,0,0
$GC,10170,0.63,390.6,384.9,15.8,804,10174,0.00,2.15,0.00,0.000,6,0.000,0.041,3058,1751,1471,0,0,0,0,0,0
$GC,10495,0.61,390.6,329.6,16.4,834,10499,0.00,2.17,0.00,0.000,4,0.000,0.054,3068,347,1471,0,0,0,0,0,0
$GC,10517,0.59,390.6,325.4,17.5,835,10525,0.15,2.15,0.00,0.000,6,0.158,0.038,3028,1752,1469,0,0,0,0,0,0
$GC,10850,0.68,431.8,282.1,12.1,879,10890,0.00,0.00,36.33,0.912,6,0.000,0.000,3028,1755,1311,0,0,0,0,0,0
$GC,11224,0.84,496.8,238.4,11.1,945,11293,0.22,2.25,57.22,0.860,4,0.061,0.047,3127,3161,1045,0,0,0,0,0,0
$GC,11310,0.77,496.8,221.1,24.4,957,11318,0.17,2.17,0.00,0.000,6,0.166,0.037,3089,1748,1045,0,0,0,0,0,0
$GC,11654,0.77,496.8,157.6,18.1,1018,11662,0.00,2.20,0.00,0.000,4,0.000,0.052,3094,350,1043,0,0,0,0,0,0
$GC,11710,0.81,496.8,147.2,15.4,1027,11718,0.00,2.15,0.00,0.000,6,0.000,0.036,3086,1755,1042,0,0,0,0,0,0
$GC,12040,0.94,563.1,98.2,11.0,1088,12108,0.15,2.20,56.35,0.728,4,0.076,0.043,3154,3154,775,0,0,0,0,0,0
$GC,12126,0.90,563.1,83.1,21.4,1099,12134,0.00,2.17,0.00,0.000,6,0.000,0.037,3156,1757,773,0,0,0,0,0,0
$GC,12454,0.90,563.1,22.9,18.1,1160,12462,0.00,2.22,0.00,0.000,4,0.000,0.055,3166,344,772,0,0,0,0,0,0
$GC,12507,0.93,563.1,12.0,19.2,1169,12515,0.00,2.15,0.00,0.000,6,0.000,0.035,3166,1754,772,0,0,0,0,0,0
$STATE,12564,end climb,SURFACE_DEPTH_REACHED
$STATE,12564,begin surface coast
$FINISH,1.1,1.022138
$STATE,12582,end surface coast,CONTROL_FINISHED_OK
$STATE,12582,begin surface
$SM_CCo,12660,0.00,0.000,0,0,771,564.44
$SM_GC,1.72,7.82,0.00,0.00,0.040,0.000,0.000,146,1758,771,-8.35,-1.19,564.44
$IRIDIUM_FIX,2223.01,12620.00,281010,030354
$TT8_MAMPS,0.027713
$HUMID,42.87
$INTERNAL_PRESSURE,8.68656
$TCM_TEMP,24.30
$XPDR_PINGS,95
$24V_AH,22.2,72.501
$10V_AH,10.2,46.831
$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,22.150,113.575,703.125,0.000,0.000,24.484,21.828,206.655,23.750,0.000,39.401,2903.473,6150.950,703.353,2930.965,415.650,0.000,1884.847,0.000,2660.415,0.000,0.845,0.000
$DEVICE_MAMPS,224.145,115.515,1442.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.043,1020.506,1351.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70373,1182
$CAP_FILE_SIZE,145081,0
$CFSIZE,260165632,156704768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,264.5,1
$GPS,281010,103536,2226.077,12619.317,32,1.5,33,-3.2