version: 66.08
glider: 166
mission: 3
dive: 411
start: 10 30 110 12 14 12
data:
$ID,166
$MISSION,3
$DIVE,411
$N_DIVES,424
$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,-22072.592
$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,45
$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
$GPS1,301010,120654,2203.332,12613.014,38,1.2,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.6
$GPS2,301010,121350,2203.358,12612.957,16,1.8,16,-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,173.0,79950,-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,-214.1,0.0,0.0,0,115,0.00,0.00,-95.60,0.000,2,0.000,0.000,151,1766,3345,0,0,0,0,0,0
$GC,118,-1.16,-214.1,6.2,-12.2,13,149,8.95,2.17,-11.02,0.000,4,0.218,0.057,2460,388,3950,0,0,0,0,0,0
$GC,389,-0.92,-214.1,117.2,-31.3,62,397,0.28,2.17,0.00,0.000,6,0.173,0.042,2534,1795,3952,0,0,0,0,0,0
$GC,717,-0.83,-214.1,194.2,-20.0,123,725,0.12,2.20,0.00,0.000,4,0.183,0.047,2568,385,3955,0,0,0,0,0,0
$GC,843,-0.80,-214.1,215.8,-18.4,145,850,0.00,2.17,0.00,0.000,6,0.000,0.043,2560,1809,3955,0,0,0,0,0,0
$GC,1173,-0.77,-214.1,272.0,-15.7,206,1182,0.12,2.17,0.00,0.000,4,0.180,0.049,2583,3209,3956,0,0,0,0,0,0
$GC,1206,-0.79,-214.1,276.6,-12.9,211,1214,0.00,2.10,0.00,0.000,6,0.000,0.034,2583,1791,3956,0,0,0,0,0,0
$GC,1548,-0.82,-214.1,322.3,-13.8,258,1552,0.00,2.15,0.00,0.000,4,0.000,0.050,2583,392,3955,0,0,0,0,0,0
$GC,1611,-0.86,-214.1,330.7,-13.1,263,1615,0.00,2.12,0.00,0.000,6,0.000,0.043,2575,1799,3955,0,0,0,0,0,0
$GC,1942,-0.89,-214.1,373.6,-12.3,294,1946,0.00,2.15,0.00,0.000,4,0.000,0.050,2565,3219,3955,0,0,0,0,0,0
$GC,1961,-0.92,-214.1,375.8,-11.6,295,1965,0.00,2.12,0.00,0.000,6,0.000,0.034,2566,1791,3954,0,0,0,0,0,0
$GC,2289,-0.95,-214.1,415.0,-11.8,325,2293,0.00,2.15,0.00,0.000,4,0.000,0.050,2566,398,3953,0,0,0,0,0,0
$GC,2354,-0.99,-214.1,423.7,-12.5,330,2363,0.10,2.17,0.00,0.000,6,0.052,0.044,2500,1797,3952,0,0,0,0,0,0
$GC,2681,-0.93,-214.1,481.0,-17.9,361,2683,0.15,0.00,0.00,0.000,6,0.171,0.000,2539,1797,3950,0,0,0,0,0,0
$GC,3000,-0.93,-214.1,525.8,-13.5,391,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1797,3948,0,0,0,0,0,0
$GC,3318,-0.93,-214.1,569.0,-13.3,421,3322,0.00,2.17,0.00,0.000,4,0.000,0.054,2536,3215,3945,0,0,0,0,0,0
$GC,3352,-0.95,-214.1,573.7,-13.0,423,3360,0.00,2.15,0.00,0.000,6,0.000,0.037,2536,1798,3945,0,0,0,0,0,0
$GC,3686,-0.95,-214.1,617.4,-13.3,449,3690,0.00,2.15,0.00,0.000,4,0.000,0.053,2536,398,3943,0,0,0,0,0,0
$GC,3788,-0.95,-214.1,631.9,-14.1,453,3795,0.00,2.17,0.00,0.000,6,0.000,0.046,2528,1806,3941,0,0,0,0,0,0
$GC,4104,-0.95,-214.1,676.8,-14.4,469,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1806,3938,0,0,0,0,0,0
$GC,4414,-0.95,-214.1,721.0,-14.6,484,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1806,3935,0,0,0,0,0,0
$GC,4724,-0.95,-214.1,765.5,-14.4,499,4728,0.00,2.25,0.00,0.000,4,0.000,0.055,2528,391,3932,0,0,0,0,0,0
$GC,4756,-0.95,-214.1,770.8,-15.0,500,4763,0.00,2.20,0.00,0.000,6,0.000,0.048,2524,1800,3932,0,0,0,0,0,0
$GC,5073,-0.95,-214.1,816.5,-14.8,516,5077,0.00,2.25,0.00,0.000,4,0.000,0.062,2524,398,3929,0,0,0,0,0,0
$GC,5101,-0.95,-214.1,820.9,-15.6,517,5105,0.00,2.17,0.00,0.000,6,0.000,0.048,2515,1809,3929,0,0,0,0,0,0
$GC,5422,-0.95,-214.1,868.6,-14.3,533,5426,0.00,2.22,0.00,0.000,4,0.000,0.056,2515,395,3925,0,0,0,0,0,0
$GC,5472,-0.95,-214.1,876.3,-15.2,535,5476,0.00,2.17,0.00,0.000,6,0.000,0.049,2505,1805,3925,0,0,0,0,0,0
$GC,5801,-0.93,-214.1,924.3,-14.6,551,5806,0.12,2.25,0.00,0.000,4,0.181,0.056,2538,389,3922,0,0,0,0,0,0
$GC,5841,-0.95,-214.1,930.1,-13.2,553,5845,0.00,2.20,0.00,0.000,6,0.000,0.049,2532,1802,3922,0,0,0,0,0,0
$GC,6170,-0.95,-214.1,972.2,-13.3,569,6174,0.00,2.20,0.00,0.000,4,0.000,0.057,2532,392,3920,0,0,0,0,0,0
$GC,6203,-0.95,-214.1,977.3,-14.8,570,6210,0.00,2.20,0.00,0.000,6,0.000,0.049,2525,1803,3919,0,0,0,0,0,0
$STATE,6373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6373,begin apogee
$GC,6379,-0.23,0.0,1000.5,13.6,579,6572,0.73,0.00,186.35,1.442,6,0.135,0.000,2757,1752,3072,0,0,0,0,0,0
$STATE,6573,end apogee,CONTROL_FINISHED_OK
$STATE,6573,begin climb
$GC,6575,1.16,214.1,1009.3,0.0,588,6789,1.30,2.47,201.95,1.379,4,0.053,0.058,3226,350,2199,0,0,0,0,0,0
$GC,6837,0.81,214.1,957.3,32.9,600,6843,0.45,2.33,0.00,0.000,6,0.207,0.050,3109,1753,2195,0,0,0,0,0,0
$GC,7168,0.60,214.1,874.6,24.5,616,7173,0.25,2.20,0.00,0.000,4,0.184,0.053,3030,3163,2190,0,0,0,0,0,0
$GC,7223,0.51,214.1,862.4,18.5,618,7230,0.12,2.15,0.00,0.000,6,0.189,0.042,3008,1739,2189,0,0,0,0,0,0
$GC,7541,0.47,214.1,816.0,14.6,634,7545,0.00,2.15,0.00,0.000,4,0.000,0.056,3017,343,2188,0,0,0,0,0,0
$GC,7574,0.41,214.1,810.6,15.5,635,7581,0.15,2.17,0.00,0.000,6,0.168,0.044,2976,1750,2189,0,0,0,0,0,0
$GC,7892,0.48,272.6,773.4,11.3,651,7950,0.00,2.28,53.53,1.283,4,0.000,0.050,2970,3165,1960,0,0,0,0,0,0
$GC,7997,0.59,326.0,760.8,11.6,655,8055,0.15,2.17,50.35,1.249,6,0.077,0.042,3050,1752,1741,0,0,0,0,0,0
$GC,8372,0.53,326.0,689.9,19.1,673,8377,0.15,2.20,0.00,0.000,4,0.177,0.055,3020,338,1734,0,0,0,0,0,0
$GC,8390,0.46,326.0,686.3,19.5,674,8394,0.00,2.17,0.00,0.000,6,0.000,0.041,3019,1749,1733,0,0,0,0,0,0
$GC,8721,0.44,326.0,634.7,15.4,690,8726,0.12,2.17,0.00,0.000,4,0.174,0.051,2981,3164,1732,0,0,0,0,0,0
$GC,8776,0.57,377.9,626.7,11.6,692,8829,0.00,2.15,46.72,1.189,6,0.000,0.042,2989,1738,1530,0,0,0,0,0,0
$GC,9152,0.67,418.7,582.3,12.1,717,9198,0.20,2.22,37.30,1.148,4,0.067,0.055,3094,342,1364,0,0,0,0,0,0
$GC,9266,0.62,418.7,558.1,21.8,727,9271,0.20,2.20,0.00,0.000,6,0.164,0.042,3040,1761,1362,0,0,0,0,0,0
$GC,9592,0.60,418.7,499.6,17.6,757,9596,0.00,2.10,0.00,0.000,4,0.000,0.050,3039,3155,1360,0,0,0,0,0,0
$GC,9643,0.62,418.7,491.0,16.2,761,9650,0.00,2.15,0.00,0.000,6,0.000,0.042,3048,1744,1360,0,0,0,0,0,0
$GC,9969,0.60,418.7,437.2,16.3,792,9973,0.00,2.17,0.00,0.000,4,0.000,0.055,3059,344,1359,0,0,0,0,0,0
$GC,10021,0.60,418.7,428.3,17.1,796,10025,0.00,2.15,0.00,0.000,6,0.000,0.040,3058,1744,1357,0,0,0,0,0,0
$GC,10346,0.56,418.7,366.8,19.6,826,10351,0.15,2.20,0.00,0.000,4,0.163,0.050,3007,3173,1357,0,0,0,0,0,0
$GC,10416,0.71,458.0,356.7,12.2,831,10460,0.15,2.15,35.28,0.985,6,0.075,0.041,3096,1740,1204,0,0,0,0,0,0
$GC,10782,0.65,458.0,279.3,21.4,873,10789,0.17,2.17,0.00,0.000,4,0.167,0.054,3058,342,1203,0,0,0,0,0,0
$GC,10819,0.65,458.0,271.3,18.4,879,10826,0.00,2.15,0.00,0.000,6,0.000,0.037,3058,1766,1200,0,0,0,0,0,0
$GC,11159,0.70,470.9,219.2,13.3,940,11181,0.00,2.17,12.35,0.799,4,0.000,0.047,3058,3162,1152,0,0,0,0,0,0
$GC,11207,0.74,470.9,212.3,14.5,947,11214,0.00,2.15,0.00,0.000,6,0.000,0.039,3062,1750,1151,0,0,0,0,0,0
$GC,11547,0.82,502.2,168.0,12.5,1008,11584,0.12,2.20,28.48,0.791,4,0.083,0.052,3146,341,1023,0,0,0,0,0,0
$GC,11662,0.79,502.2,144.4,20.5,1026,11670,0.15,2.17,0.00,0.000,6,0.131,0.037,3098,1751,1021,0,0,0,0,0,0
$GC,11992,0.79,502.2,87.6,14.9,1087,12000,0.00,2.15,0.00,0.000,4,0.000,0.046,3096,3159,1021,0,0,0,0,0,0
$GC,12036,0.90,525.4,81.7,12.9,1094,12068,0.00,2.15,20.83,0.699,6,0.000,0.037,3103,1749,930,0,0,0,0,0,0
$GC,12392,1.06,580.5,43.0,11.5,1158,12446,0.20,2.28,47.47,0.670,4,0.061,0.052,3219,343,704,0,0,0,0,0,0
$GC,12523,0.99,580.5,14.1,21.1,1179,12532,0.15,2.15,0.00,0.000,6,0.154,0.032,3166,1769,703,0,0,0,0,0,0
$STATE,12569,end climb,SURFACE_DEPTH_REACHED
$STATE,12569,begin surface coast
$FINISH,1.0,1.022001
$STATE,12582,end surface coast,CONTROL_FINISHED_OK
$STATE,12582,begin surface
$SM_CCo,12661,0.00,0.000,0,0,700,581.61
$SM_GC,1.75,7.75,0.00,0.00,0.031,0.000,0.000,151,1774,700,-8.33,-0.74,581.61
$IRIDIUM_FIX,2157.39,12614.98,301010,080850
$TT8_MAMPS,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,8.68656
$TCM_TEMP,24.60
$XPDR_PINGS,88
$24V_AH,22.2,76.068
$10V_AH,10.1,48.767
$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,22.525,122.450,720.600,0.000,0.000,28.380,15.170,189.444,22.000,0.000,16.791,2924.974,6057.352,735.694,2925.969,415.852,0.000,1941.773,0.000,2692.283,0.000,0.845,0.000
$DEVICE_MAMPS,218.025,116.280,1442.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.082,1020.023,1344.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333792
$DATA_FILE_SIZE,70288,1189
$CAP_FILE_SIZE,149414,0
$CFSIZE,260165632,155549696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,297.0,1
$GPS,301010,154630,2202.259,12612.249,35,1.6,41,-3.1