version: 66.08
glider: 166
mission: 3
dive: 407
start: 10 29 110 21 15 11
data:
$ID,166
$MISSION,3
$DIVE,407
$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,-22067.562
$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,52
$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
$GPS1,291010,210737,2211.287,12616.041,41,1.0,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-59.4
$GPS2,291010,211449,2211.267,12616.059,11,1.1,16,-3.1
$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,203.1,95486,-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,-214.1,0.0,0.0,0,130,0.00,0.00,-110.62,0.000,2,0.000,0.000,143,1771,3329,0,0,0,0,0,0
$GC,133,-1.16,-214.1,5.7,-9.8,15,165,9.10,2.22,-11.32,0.000,4,0.224,0.056,2449,3199,3948,0,0,0,0,0,0
$GC,319,-0.93,-214.1,84.9,-39.9,48,328,0.28,2.12,0.00,0.000,6,0.167,0.034,2532,1803,3951,0,0,0,0,0,0
$GC,649,-0.81,-214.1,170.5,-23.3,109,658,0.15,2.17,0.00,0.000,4,0.173,0.048,2574,389,3953,0,0,0,0,0,0
$GC,799,-0.81,-214.1,199.5,-18.5,135,806,0.00,2.15,0.00,0.000,6,0.000,0.045,2565,1793,3955,0,0,0,0,0,0
$GC,1132,-0.77,-214.1,259.3,-17.0,196,1140,0.00,2.20,0.00,0.000,4,0.000,0.049,2565,392,3955,0,0,0,0,0,0
$GC,1277,-0.77,-214.1,284.2,-16.5,222,1285,0.08,2.17,0.00,0.000,6,0.145,0.046,2584,1794,3955,0,0,0,0,0,0
$GC,1610,-0.79,-214.1,329.0,-13.7,263,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1795,3955,0,0,0,0,0,0
$GC,1931,-0.82,-214.1,373.7,-12.8,293,1935,0.00,2.17,0.00,0.000,4,0.000,0.050,2576,3219,3954,0,0,0,0,0,0
$GC,1983,-0.89,-214.1,380.5,-11.5,297,1987,0.00,2.12,0.00,0.000,6,0.000,0.035,2576,1790,3954,0,0,0,0,0,0
$GC,2310,-0.92,-214.1,423.1,-12.8,327,2314,0.00,2.12,0.00,0.000,4,0.000,0.051,2576,393,3952,0,0,0,0,0,0
$GC,2365,-0.96,-214.1,430.4,-12.2,331,2373,0.12,2.17,0.00,0.000,6,0.088,0.045,2506,1810,3952,0,0,0,0,0,0
$GC,2691,-0.90,-214.1,485.9,-17.3,362,2696,0.15,2.15,0.00,0.000,4,0.170,0.050,2539,3212,3950,0,0,0,0,0,0
$GC,2706,-0.86,-214.1,488.7,-16.1,363,2713,0.00,2.10,0.00,0.000,6,0.000,0.036,2538,1800,3950,0,0,0,0,0,0
$GC,3032,-0.86,-214.1,534.0,-13.9,394,3036,0.00,2.20,0.00,0.000,4,0.000,0.052,2538,386,3948,0,0,0,0,0,0
$GC,3109,-0.86,-214.1,545.4,-13.8,400,3116,0.00,2.17,0.00,0.000,6,0.000,0.046,2534,1800,3947,0,0,0,0,0,0
$GC,3435,-0.86,-214.1,591.1,-13.3,431,3439,0.00,2.17,0.00,0.000,4,0.000,0.053,2527,3216,3945,0,0,0,0,0,0
$GC,3465,-0.86,-214.1,594.9,-13.5,433,3470,0.12,2.10,0.00,0.000,6,0.157,0.037,2561,1800,3944,0,0,0,0,0,0
$GC,3787,-0.90,-214.1,631.2,-11.4,450,3791,0.00,2.20,0.00,0.000,4,0.000,0.053,2561,390,3942,0,0,0,0,0,0
$GC,3865,-0.95,-214.1,641.3,-11.7,453,3873,0.00,2.20,0.00,0.000,6,0.000,0.048,2562,1810,3941,0,0,0,0,0,0
$GC,4182,-1.00,-214.1,677.5,-11.4,469,4186,0.12,2.17,0.00,0.000,4,0.093,0.054,2496,3208,3938,0,0,0,0,0,0
$GC,4210,-1.00,-214.1,681.4,-14.3,470,4214,0.00,2.10,0.00,0.000,6,0.000,0.037,2496,1801,3937,0,0,0,0,0,0
$GC,4526,-0.94,-214.1,735.5,-17.6,485,4531,0.15,2.20,0.00,0.000,4,0.176,0.055,2537,397,3934,0,0,0,0,0,0
$GC,4583,-0.96,-214.1,744.6,-14.4,487,4590,0.00,2.17,0.00,0.000,6,0.000,0.047,2531,1799,3933,0,0,0,0,0,0
$GC,4899,-0.96,-214.1,791.8,-14.9,503,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1799,3931,0,0,0,0,0,0
$GC,5208,-0.96,-214.1,836.6,-13.9,518,5212,0.00,2.22,0.00,0.000,4,0.000,0.058,2527,3209,3927,0,0,0,0,0,0
$GC,5232,-0.96,-214.1,840.1,-14.7,519,5236,0.00,2.15,0.00,0.000,6,0.000,0.047,2527,1794,3927,0,0,0,0,0,0
$GC,5553,-0.96,-214.1,887.0,-14.7,535,5557,0.00,2.17,0.00,0.000,4,0.000,0.056,2527,386,3925,0,0,0,0,0,0
$GC,5608,-0.96,-214.1,895.7,-14.9,537,5616,0.00,2.22,0.00,0.000,6,0.000,0.050,2517,1801,3924,0,0,0,0,0,0
$GC,5926,-0.95,-214.1,944.1,-15.9,553,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1800,3921,0,0,0,0,0,0
$GC,6234,-0.93,-214.1,992.5,-15.4,568,6238,0.00,2.22,0.00,0.000,4,0.000,0.058,2517,392,3919,0,0,0,0,0,0
$STATE,6280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6280,begin apogee
$GC,6289,-0.23,0.0,1000.4,15.3,570,6480,0.80,0.00,185.90,1.440,6,0.140,0.000,2757,1757,3072,0,0,0,0,0,0
$STATE,6481,end apogee,CONTROL_FINISHED_OK
$STATE,6481,begin climb
$GC,6485,1.16,214.1,1010.4,0.0,579,6697,1.30,2.53,201.55,1.379,4,0.054,0.058,3226,355,2199,0,0,0,0,0,0
$GC,6764,0.82,214.1,954.4,32.8,592,6769,0.43,2.28,0.00,0.000,6,0.202,0.048,3111,1751,2195,0,0,0,0,0,0
$GC,7080,0.63,214.1,880.8,22.3,607,7085,0.22,2.17,0.00,0.000,4,0.184,0.052,3040,3170,2191,0,0,0,0,0,0
$GC,7147,0.54,214.1,868.4,18.0,610,7152,0.12,2.17,0.00,0.000,6,0.194,0.041,3018,1743,2189,0,0,0,0,0,0
$GC,7471,0.48,214.1,821.9,14.6,626,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1743,2188,0,0,0,0,0,0
$GC,7780,0.43,214.1,777.6,14.2,641,7785,0.15,2.22,0.00,0.000,4,0.173,0.050,2966,3171,2187,0,0,0,0,0,0
$GC,7820,0.52,271.1,772.3,11.4,643,7878,0.10,2.17,51.92,1.284,6,0.102,0.041,3030,1746,1966,0,0,0,0,0,0
$GC,8190,0.47,271.1,713.1,16.6,660,8194,0.15,2.20,0.00,0.000,4,0.170,0.055,2999,344,1960,0,0,0,0,0,0
$GC,8205,0.43,271.1,710.0,16.5,660,8212,0.00,2.20,0.00,0.000,6,0.000,0.041,2999,1771,1958,0,0,0,0,0,0
$GC,8521,0.44,276.1,666.7,13.7,676,8531,0.00,2.17,4.32,0.810,4,0.000,0.053,2999,3151,1946,0,0,0,0,0,0
$GC,8547,0.44,276.1,663.4,14.3,677,8551,0.00,2.15,0.00,0.000,6,0.000,0.041,3007,1741,1946,0,0,0,0,0,0
$GC,8874,0.45,285.3,619.6,13.5,693,8889,0.00,2.17,10.52,1.089,4,0.000,0.054,3018,352,1908,0,0,0,0,0,0
$GC,8941,0.45,285.3,610.1,14.1,695,8945,0.12,2.15,0.00,0.000,6,0.164,0.041,2986,1751,1905,0,0,0,0,0,0
$GC,9266,0.58,358.0,573.3,10.7,721,9336,0.12,0.00,67.03,1.165,6,0.090,0.000,3046,1754,1612,0,0,0,0,0,0
$GC,9653,0.54,358.0,511.0,16.7,758,9657,0.00,2.20,0.00,0.000,4,0.000,0.052,3046,3170,1607,0,0,0,0,0,0
$GC,9683,0.52,358.0,506.1,16.7,760,9687,0.17,2.17,0.00,0.000,6,0.161,0.041,3009,1743,1607,0,0,0,0,0,0
$GC,10015,0.60,398.3,464.5,12.1,791,10062,0.00,2.30,35.80,1.063,4,0.000,0.056,3018,347,1447,0,0,0,0,0,0
$GC,10126,0.72,423.6,450.2,12.8,800,10159,0.12,2.20,23.77,1.021,6,0.045,0.037,3092,1754,1345,0,0,0,0,0,0
$GC,10477,0.65,423.6,374.7,23.1,833,10482,0.15,2.15,0.00,0.000,4,0.172,0.050,3042,3157,1341,0,0,0,0,0,0
$GC,10530,0.69,423.6,365.7,15.1,837,10534,0.00,2.15,0.00,0.000,6,0.000,0.041,3051,1747,1341,0,0,0,0,0,0
$GC,10857,0.69,423.6,317.2,14.7,867,10860,0.00,2.15,0.00,0.000,4,0.000,0.054,3061,350,1341,0,0,0,0,0,0
$GC,10910,0.73,423.6,309.5,14.5,871,10914,0.00,2.10,0.00,0.000,6,0.000,0.037,3061,1755,1340,0,0,0,0,0,0
$GC,11238,0.73,423.6,254.2,16.5,926,11246,0.00,2.17,0.00,0.000,4,0.000,0.047,3061,3157,1340,0,0,0,0,0,0
$GC,11275,0.76,423.6,248.0,15.7,932,11283,0.00,2.15,0.00,0.000,6,0.000,0.038,3070,1753,1339,0,0,0,0,0,0
$GC,11610,0.76,423.6,197.1,15.3,993,11617,0.00,2.15,0.00,0.000,4,0.000,0.052,3078,344,1339,0,0,0,0,0,0
$GC,11725,0.85,456.4,181.0,12.5,1013,11761,0.10,2.10,29.48,0.801,6,0.099,0.036,3143,1754,1211,0,0,0,0,0,0
$GC,12083,0.78,456.4,105.0,20.0,1078,12092,0.17,2.15,0.00,0.000,4,0.159,0.046,3083,3144,1210,0,0,0,0,0,0
$GC,12159,0.91,493.5,93.9,12.3,1091,12199,0.10,2.15,32.47,0.724,6,0.042,0.038,3161,1743,1060,0,0,0,0,0,0
$GC,12520,0.88,493.5,25.6,18.2,1156,12528,0.15,2.20,0.00,0.000,4,0.163,0.052,3128,348,1058,0,0,0,0,0,0
$GC,12554,0.90,493.5,19.8,18.0,1161,12564,0.00,2.12,0.00,0.000,6,0.000,0.034,3128,1750,1057,0,0,0,0,0,0
$STATE,12662,end climb,SURFACE_DEPTH_REACHED
$STATE,12662,begin surface coast
$FINISH,1.0,1.003303
$STATE,12683,end surface coast,CONTROL_FINISHED_OK
$STATE,12683,begin surface
$SM_CCo,12761,0.00,0.000,0,0,1056,494.52
$SM_GC,1.80,7.62,0.00,0.00,0.032,0.000,0.000,151,1755,1056,-8.33,-1.27,494.52
$IRIDIUM_FIX,2204.37,12614.48,291010,171721
$TT8_MAMPS,0.026215
$HUMID,44.05
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.20
$XPDR_PINGS,98
$24V_AH,22.2,75.017
$10V_AH,10.2,48.218
$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,22.400,122.000,642.775,0.000,0.000,24.279,42.151,185.137,24.500,0.000,17.778,2925.281,6249.974,690.744,2901.477,411.995,0.000,1864.674,0.000,2648.726,0.000,0.844,0.000
$DEVICE_MAMPS,224.145,58.140,1440.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.463,1009.774,1308.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333796
$DATA_FILE_SIZE,70207,1184
$CAP_FILE_SIZE,148082,0
$CFSIZE,260165632,155877376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016, 76.3,1
$GPS,301010,004906,2209.523,12615.576,38,1.1,38,-3.1