version: 66.08
glider: 166
mission: 3
dive: 398
start: 10 28 110 10 43 5
data:
$ID,166
$MISSION,3
$DIVE,398
$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,-22056.24
$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,35
$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
$GPS1,281010,103536,2226.077,12619.317,32,1.5,33,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-60.8
$GPS2,281010,104243,2226.072,12619.227,12,1.2,17,-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,171.6,123383,-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,-214.1,0.0,0.0,0,117,0.00,0.00,-97.43,0.000,2,0.000,0.000,149,1760,3264,0,0,0,0,0,0
$GC,120,-1.16,-214.1,5.4,-9.5,13,151,9.00,2.12,-12.77,0.000,4,0.220,0.059,2455,386,3946,0,0,0,0,0,0
$GC,391,-0.94,-214.1,115.0,-32.9,62,399,0.28,2.20,0.00,0.000,6,0.164,0.046,2530,1803,3949,0,0,0,0,0,0
$GC,724,-0.84,-214.1,194.7,-21.9,123,731,0.12,2.17,0.00,0.000,4,0.188,0.050,2567,392,3952,0,0,0,0,0,0
$GC,842,-0.84,-214.1,216.1,-16.6,143,849,0.00,2.12,0.00,0.000,6,0.000,0.045,2560,1800,3953,0,0,0,0,0,0
$GC,1180,-0.81,-214.1,276.7,-15.3,204,1189,0.00,2.22,0.00,0.000,4,0.000,0.050,2560,393,3953,0,0,0,0,0,0
$GC,1215,-0.78,-214.1,282.3,-17.0,209,1223,0.12,2.15,0.00,0.000,6,0.172,0.045,2589,1802,3953,0,0,0,0,0,0
$GC,1549,-0.82,-214.1,327.4,-13.6,251,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1803,3953,0,0,0,0,0,0
$GC,1878,-0.86,-214.1,367.3,-11.0,282,1882,0.00,2.17,0.00,0.000,4,0.000,0.050,2588,395,3952,0,0,0,0,0,0
$GC,1920,-0.91,-214.1,372.2,-11.3,285,1925,0.10,2.15,0.00,0.000,6,0.103,0.044,2523,1813,3952,0,0,0,0,0,0
$GC,2248,-0.88,-214.1,423.8,-17.5,315,2253,0.12,2.25,0.00,0.000,4,0.170,0.050,2555,387,3951,0,0,0,0,0,0
$GC,2281,-0.88,-214.1,429.9,-16.4,317,2288,0.00,2.15,0.00,0.000,6,0.000,0.044,2549,1807,3951,0,0,0,0,0,0
$GC,2606,-0.88,-214.1,478.9,-14.5,348,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1808,3949,0,0,0,0,0,0
$GC,2928,-0.88,-214.1,525.0,-13.6,378,2932,0.00,2.22,0.00,0.000,4,0.000,0.052,2549,390,3946,0,0,0,0,0,0
$GC,2972,-0.90,-214.1,532.3,-15.0,381,2979,0.00,2.15,0.00,0.000,6,0.000,0.047,2547,1798,3946,0,0,0,0,0,0
$GC,3298,-0.90,-214.1,576.4,-13.1,412,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1799,3944,0,0,0,0,0,0
$GC,3625,-0.92,-214.1,619.3,-13.2,436,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1799,3941,0,0,0,0,0,0
$GC,3934,-0.94,-214.1,661.6,-13.7,451,3938,0.00,2.20,0.00,0.000,4,0.000,0.054,2546,389,3938,0,0,0,0,0,0
$GC,3961,-0.96,-214.1,666.1,-14.9,452,3965,0.00,2.17,0.00,0.000,6,0.000,0.049,2548,1805,3937,0,0,0,0,0,0
$GC,4279,-0.99,-214.1,708.1,-13.1,467,4283,0.00,2.20,0.00,0.000,4,0.000,0.054,2548,398,3935,0,0,0,0,0,0
$GC,4323,-1.03,-214.1,714.3,-13.3,469,4328,0.10,2.17,0.00,0.000,6,0.105,0.050,2494,1807,3934,0,0,0,0,0,0
$GC,4648,-0.99,-214.1,764.9,-16.0,485,4652,0.00,2.22,0.00,0.000,4,0.000,0.061,2495,392,3931,0,0,0,0,0,0
$GC,4687,-0.94,-214.1,772.4,-16.9,486,4695,0.17,2.17,0.00,0.000,6,0.161,0.048,2537,1810,3930,0,0,0,0,0,0
$GC,5006,-0.96,-214.1,813.6,-12.9,502,5010,0.00,2.22,0.00,0.000,4,0.000,0.055,2537,391,3928,0,0,0,0,0,0
$GC,5035,-0.96,-214.1,817.7,-13.5,503,5039,0.00,2.20,0.00,0.000,6,0.000,0.049,2530,1807,3927,0,0,0,0,0,0
$GC,5351,-0.96,-214.1,858.1,-12.6,518,5355,0.00,2.17,0.00,0.000,4,0.000,0.057,2526,3206,3925,0,0,0,0,0,0
$GC,5391,-0.99,-214.1,862.9,-11.7,520,5395,0.00,2.15,0.00,0.000,6,0.000,0.047,2528,1790,3924,0,0,0,0,0,0
$GC,5720,-0.99,-214.1,908.1,-14.0,536,5724,0.00,2.17,0.00,0.000,4,0.000,0.057,2528,398,3922,0,0,0,0,0,0
$GC,5786,-0.99,-214.1,918.5,-14.6,539,5790,0.00,2.17,0.00,0.000,6,0.000,0.049,2518,1798,3921,0,0,0,0,0,0
$GC,6115,-0.97,-214.1,967.6,-15.0,555,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1799,3918,0,0,0,0,0,0
$STATE,6338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6338,begin apogee
$GC,6344,-0.23,0.0,1001.5,15.2,566,6536,0.77,0.00,186.40,1.434,6,0.139,0.000,2763,1746,3072,0,0,0,0,0,0
$STATE,6537,end apogee,CONTROL_FINISHED_OK
$STATE,6537,begin climb
$GC,6540,1.16,214.1,1011.5,0.0,575,6751,1.33,2.42,203.50,1.379,4,0.054,0.057,3216,3154,2198,0,0,0,0,0,0
$GC,6779,0.84,214.1,969.9,29.8,586,6787,0.45,2.33,0.00,0.000,6,0.205,0.044,3118,1753,2195,0,0,0,0,0,0
$GC,7096,0.64,214.1,897.3,22.6,602,7098,0.25,0.00,0.00,0.000,6,0.182,0.000,3050,1753,2192,0,0,0,0,0,0
$GC,7406,0.53,214.1,843.2,17.2,617,7410,0.12,2.17,0.00,0.000,4,0.181,0.056,3005,3158,2190,0,0,0,0,0,0
$GC,7433,0.46,214.1,838.5,16.3,618,7437,0.00,2.12,0.00,0.000,6,0.000,0.041,3014,1742,2189,0,0,0,0,0,0
$GC,7751,0.41,214.1,793.9,14.3,633,7753,0.15,0.00,0.00,0.000,6,0.171,0.000,2974,1741,2188,0,0,0,0,0,0
$GC,8058,0.51,282.5,759.6,10.9,648,8126,0.00,2.28,62.15,1.279,4,0.000,0.057,2983,346,1920,0,0,0,0,0,0
$GC,8158,0.60,322.1,748.4,12.2,652,8201,0.15,2.22,37.65,1.230,6,0.080,0.042,3049,1749,1758,0,0,0,0,0,0
$GC,8518,0.55,322.1,681.1,19.0,670,8522,0.12,2.20,0.00,0.000,4,0.174,0.054,3014,3168,1751,0,0,0,0,0,0
$GC,8597,0.57,322.1,668.0,14.7,673,8604,0.00,2.15,0.00,0.000,6,0.000,0.042,3023,1752,1750,0,0,0,0,0,0
$GC,8913,0.57,322.1,619.0,15.1,689,8917,0.00,2.20,0.00,0.000,4,0.000,0.056,3034,340,1749,0,0,0,0,0,0
$GC,8965,0.57,322.1,611.0,15.2,691,8969,0.00,2.15,0.00,0.000,6,0.000,0.042,3033,1747,1747,0,0,0,0,0,0
$GC,9290,0.55,322.1,561.2,15.3,717,9294,0.00,2.17,0.00,0.000,4,0.000,0.053,3034,3162,1747,0,0,0,0,0,0
$GC,9369,0.55,322.1,548.4,15.4,723,9376,0.00,2.15,0.00,0.000,6,0.000,0.041,3042,1749,1747,0,0,0,0,0,0
$GC,9694,0.53,322.1,497.0,16.4,754,9698,0.00,2.17,0.00,0.000,4,0.000,0.055,3053,347,1746,0,0,0,0,0,0
$GC,9752,0.53,322.1,487.5,16.6,759,9757,0.15,2.15,0.00,0.000,6,0.160,0.041,3012,1754,1746,0,0,0,0,0,0
$GC,10080,0.60,357.3,443.6,12.4,789,10117,0.00,2.25,31.10,1.051,4,0.000,0.051,3012,3161,1615,0,0,0,0,0,0
$GC,10176,0.71,399.1,432.3,12.1,797,10224,0.12,2.17,38.88,1.032,6,0.083,0.040,3083,1743,1445,0,0,0,0,0,0
$GC,10542,0.65,399.1,365.0,18.5,831,10547,0.12,2.20,0.00,0.000,4,0.178,0.054,3061,344,1441,0,0,0,0,0,0
$GC,10599,0.65,399.1,355.2,14.8,836,10603,0.00,2.17,0.00,0.000,6,0.000,0.040,3059,1758,1439,0,0,0,0,0,0
$GC,10926,0.65,399.1,305.0,15.6,866,10930,0.00,2.12,0.00,0.000,4,0.000,0.050,3059,3165,1438,0,0,0,0,0,0
$GC,10954,0.65,399.1,300.4,15.2,868,10958,0.00,2.15,0.00,0.000,6,0.000,0.040,3067,1744,1438,0,0,0,0,0,0
$GC,11292,0.65,399.1,249.8,13.9,928,11301,0.00,2.17,0.00,0.000,4,0.000,0.054,3077,355,1438,0,0,0,0,0,0
$GC,11341,0.67,399.1,242.3,15.2,936,11350,0.00,2.15,0.00,0.000,6,0.000,0.038,3077,1750,1438,0,0,0,0,0,0
$GC,11686,0.67,399.1,191.6,15.0,997,11693,0.00,2.12,0.00,0.000,4,0.000,0.046,3077,3165,1438,0,0,0,0,0,0
$GC,11747,0.73,414.9,183.1,13.2,1007,11768,0.00,2.12,14.57,0.768,6,0.000,0.037,3085,1739,1379,0,0,0,0,0,0
$GC,12101,0.78,435.9,133.2,13.0,1070,12131,0.00,2.20,19.98,0.739,4,0.000,0.051,3090,356,1293,0,0,0,0,0,0
$GC,12221,0.89,479.2,117.7,12.0,1090,12269,0.08,2.15,38.05,0.737,6,0.053,0.034,3148,1769,1117,0,0,0,0,0,0
$GC,12589,0.90,490.3,56.5,13.4,1156,12606,0.00,2.28,10.95,0.624,4,0.000,0.050,3154,347,1072,0,0,0,0,0,0
$GC,12627,0.88,490.3,50.3,17.3,1161,12636,0.08,2.12,0.00,0.000,6,0.135,0.034,3127,1748,1072,0,0,0,0,0,0
$STATE,12940,end climb,SURFACE_DEPTH_REACHED
$STATE,12940,begin surface coast
$FINISH,0.9,1.022144
$STATE,12966,end surface coast,CONTROL_FINISHED_OK
$STATE,12966,begin surface
$SM_CCo,13043,0.00,0.000,0,0,1066,491.83
$SM_GC,1.70,7.68,0.00,0.00,0.037,0.000,0.000,153,1752,1066,-8.33,-1.39,491.83
$IRIDIUM_FIX,2218.34,12618.62,281010,060611
$TT8_MAMPS,0.026215
$HUMID,43.18
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.70
$XPDR_PINGS,85
$24V_AH,22.2,72.744
$10V_AH,10.2,46.968
$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,21.600,113.725,643.225,0.000,0.000,23.416,37.098,186.314,21.250,0.000,18.100,3012.059,6398.138,680.761,2954.621,410.367,0.000,1852.405,0.000,2713.161,0.000,0.845,0.000
$DEVICE_MAMPS,220.320,117.045,1433.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.502,1052.553,1392.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73578,1224
$CAP_FILE_SIZE,146129,0
$CFSIZE,260165632,156622848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,304.0,1
$GPS,281010,142136,2224.917,12618.741,32,1.5,32,-3.2