version: 66.08
glider: 166
mission: 3
dive: 424
start: 11 1 110 13 54 24
data:
$ID,166
$MISSION,3
$DIVE,424
$N_DIVES,431
$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,-22088.938
$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,44
$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
$GPS1,011110,134654,2140.446,12608.174,39,2.0,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-59.6
$GPS2,011110,135402,2140.470,12608.168,15,2.0,15,-3.0
$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,202.9,36955,-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,-214.1,0.0,0.0,0,116,0.00,0.00,-96.80,0.000,2,0.000,0.000,135,1753,3244,0,0,0,0,0,0
$GC,119,-1.16,-214.1,5.2,-8.8,13,150,9.20,2.15,-13.25,0.000,4,0.223,0.060,2461,398,3947,0,0,0,0,0,0
$GC,390,-0.95,-214.1,112.7,-31.0,62,399,0.25,2.17,0.00,0.000,6,0.170,0.045,2526,1792,3949,0,0,0,0,0,0
$GC,719,-0.83,-214.1,202.4,-23.7,123,727,0.15,2.20,0.00,0.000,4,0.181,0.048,2568,392,3952,0,0,0,0,0,0
$GC,838,-0.80,-214.1,224.6,-16.3,143,846,0.00,2.17,0.00,0.000,6,0.000,0.045,2563,1811,3953,0,0,0,0,0,0
$GC,1170,-0.76,-214.1,282.4,-17.0,204,1179,0.12,2.17,0.00,0.000,4,0.181,0.050,2587,3206,3954,0,0,0,0,0,0
$GC,1193,-0.76,-214.1,286.3,-16.7,207,1200,0.00,2.10,0.00,0.000,6,0.000,0.035,2587,1799,3954,0,0,0,0,0,0
$GC,1522,-0.78,-214.1,332.1,-13.9,247,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1799,3954,0,0,0,0,0,0
$GC,1842,-0.82,-214.1,375.9,-13.8,277,1846,0.00,2.17,0.00,0.000,4,0.000,0.050,2586,396,3952,0,0,0,0,0,0
$GC,1920,-0.87,-214.1,386.7,-14.1,283,1924,0.00,2.15,0.00,0.000,6,0.000,0.044,2578,1809,3952,0,0,0,0,0,0
$GC,2253,-0.91,-214.1,428.9,-12.2,314,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1809,3950,0,0,0,0,0,0
$GC,2582,-0.95,-214.1,468.6,-12.0,345,2586,0.12,2.17,0.00,0.000,4,0.091,0.054,2509,3211,3949,0,0,0,0,0,0
$GC,2619,-0.93,-214.1,474.8,-16.4,348,2628,0.08,2.17,0.00,0.000,6,0.142,0.038,2534,1797,3947,0,0,0,0,0,0
$GC,2945,-0.91,-214.1,524.5,-15.3,379,2949,0.00,2.17,0.00,0.000,4,0.000,0.051,2534,393,3945,0,0,0,0,0,0
$GC,3000,-0.91,-214.1,533.1,-15.0,383,3008,0.00,2.17,0.00,0.000,6,0.000,0.047,2534,1804,3945,0,0,0,0,0,0
$GC,3325,-0.91,-214.1,581.1,-15.2,414,3329,0.00,2.17,0.00,0.000,4,0.000,0.053,2526,3218,3943,0,0,0,0,0,0
$GC,3369,-0.93,-214.1,587.5,-13.7,417,3376,0.00,2.12,0.00,0.000,6,0.000,0.037,2525,1798,3942,0,0,0,0,0,0
$GC,3689,-0.91,-214.1,635.5,-14.7,437,3693,0.00,2.15,0.00,0.000,4,0.000,0.054,2526,392,3940,0,0,0,0,0,0
$GC,3752,-0.89,-214.1,645.4,-15.2,440,3757,0.12,2.20,0.00,0.000,6,0.171,0.048,2549,1812,3939,0,0,0,0,0,0
$GC,4083,-0.92,-214.1,687.1,-12.2,456,4087,0.00,2.17,0.00,0.000,4,0.000,0.054,2542,3219,3935,0,0,0,0,0,0
$GC,4111,-0.95,-214.1,691.2,-12.2,457,4115,0.00,2.12,0.00,0.000,6,0.000,0.037,2541,1798,3934,0,0,0,0,0,0
$GC,4430,-0.97,-214.1,731.8,-13.0,472,4434,0.00,2.17,0.00,0.000,4,0.000,0.054,2542,397,3932,0,0,0,0,0,0
$GC,4502,-0.99,-214.1,742.4,-13.7,475,4506,0.00,2.17,0.00,0.000,6,0.000,0.048,2538,1797,3932,0,0,0,0,0,0
$GC,4820,-0.99,-214.1,783.5,-12.7,490,4824,0.00,2.17,0.00,0.000,4,0.000,0.054,2538,396,3928,0,0,0,0,0,0
$GC,4853,-0.99,-214.1,788.3,-13.8,491,4860,0.00,2.20,0.00,0.000,6,0.000,0.048,2529,1814,3928,0,0,0,0,0,0
$GC,5169,-0.99,-214.1,830.6,-13.5,507,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1814,3925,0,0,0,0,0,0
$GC,5480,-0.99,-214.1,871.6,-13.4,522,5484,0.00,2.25,0.00,0.000,4,0.000,0.057,2529,390,3922,0,0,0,0,0,0
$GC,5546,-0.99,-214.1,881.4,-13.6,525,5550,0.00,2.20,0.00,0.000,6,0.000,0.050,2520,1799,3921,0,0,0,0,0,0
$GC,5867,-0.99,-214.1,926.3,-14.0,541,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1800,3919,0,0,0,0,0,0
$GC,6179,-0.99,-214.1,966.6,-12.7,556,6183,0.00,2.22,0.00,0.000,4,0.000,0.057,2520,395,3916,0,0,0,0,0,0
$GC,6206,-0.99,-214.1,970.6,-13.7,557,6210,0.00,2.20,0.00,0.000,6,0.000,0.050,2512,1802,3916,0,0,0,0,0,0
$STATE,6437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6437,begin apogee
$GC,6445,-0.23,0.0,1000.4,12.7,568,6637,0.77,0.00,185.82,1.441,6,0.140,0.000,2767,1749,3072,0,0,0,0,0,0
$STATE,6637,end apogee,CONTROL_FINISHED_OK
$STATE,6637,begin climb
$GC,6641,1.16,214.1,1006.7,0.0,577,6854,1.30,2.53,201.93,1.375,4,0.050,0.057,3218,3157,2198,0,0,0,0,0,0
$GC,6874,0.83,214.1,961.4,31.6,588,6879,0.47,2.33,0.00,0.000,6,0.203,0.044,3114,1756,2196,0,0,0,0,0,0
$GC,7198,0.63,214.1,882.6,23.7,604,7203,0.25,2.20,0.00,0.000,4,0.181,0.055,3029,3163,2191,0,0,0,0,0,0
$GC,7238,0.53,214.1,873.8,18.5,606,7242,0.00,2.17,0.00,0.000,6,0.000,0.044,3037,1737,2190,0,0,0,0,0,0
$GC,7572,0.43,214.1,817.7,17.0,622,7577,0.20,2.20,0.00,0.000,4,0.166,0.056,2991,339,2190,0,0,0,0,0,0
$GC,7605,0.40,214.1,812.0,14.9,623,7613,0.00,2.20,0.00,0.000,6,0.000,0.047,2991,1751,2188,0,0,0,0,0,0
$GC,7923,0.41,238.6,772.5,12.8,639,7951,0.00,2.22,22.42,1.255,4,0.000,0.054,2991,3164,2099,0,0,0,0,0,0
$GC,7986,0.42,243.2,763.8,13.7,642,7997,0.00,2.20,6.03,0.979,6,0.000,0.041,3001,1741,2080,0,0,0,0,0,0
$GC,8318,0.39,246.9,718.9,13.7,658,8325,0.12,0.00,4.50,0.850,6,0.184,0.000,2970,1742,2065,0,0,0,0,0,0
$GC,8623,0.51,313.0,684.3,11.0,673,8688,0.10,0.00,62.10,1.236,6,0.109,0.000,3023,1741,1796,0,0,0,0,0,0
$GC,9017,0.48,313.0,620.9,17.0,692,9021,0.00,2.20,0.00,0.000,4,0.000,0.052,3024,3163,1789,0,0,0,0,0,0
$GC,9038,0.46,313.0,616.1,17.2,693,9043,0.15,2.17,0.00,0.000,6,0.168,0.041,2992,1740,1788,0,0,0,0,0,0
$GC,9365,0.55,365.4,576.2,11.6,718,9417,0.00,0.00,47.70,1.157,6,0.000,0.000,2992,1740,1582,0,0,0,0,0,0
$GC,9736,0.65,405.7,531.6,12.1,753,9782,0.17,2.28,36.95,1.108,4,0.072,0.051,3077,3164,1418,0,0,0,0,0,0
$GC,9825,0.59,405.7,514.8,21.5,760,9832,0.20,2.20,0.00,0.000,6,0.168,0.041,3032,1748,1417,0,0,0,0,0,0
$GC,10151,0.59,405.7,461.1,16.6,791,10155,0.00,2.20,0.00,0.000,4,0.000,0.055,3041,338,1415,0,0,0,0,0,0
$GC,10173,0.59,405.7,456.9,17.0,792,10181,0.00,2.20,0.00,0.000,6,0.000,0.040,3041,1751,1412,0,0,0,0,0,0
$GC,10501,0.59,405.7,402.6,16.4,823,10505,0.00,2.15,0.00,0.000,4,0.000,0.051,3041,3167,1412,0,0,0,0,0,0
$GC,10585,0.65,405.7,388.9,14.8,830,10589,0.00,2.17,0.00,0.000,6,0.000,0.042,3049,1741,1412,0,0,0,0,0,0
$GC,10912,0.65,405.7,335.1,17.0,860,10916,0.00,2.15,0.00,0.000,4,0.000,0.054,3060,341,1412,0,0,0,0,0,0
$GC,10954,0.65,405.7,328.2,16.7,863,10958,0.00,2.15,0.00,0.000,6,0.000,0.038,3060,1767,1410,0,0,0,0,0,0
$GC,11283,0.65,405.7,274.6,16.0,907,11291,0.00,2.15,0.00,0.000,4,0.000,0.049,3060,3164,1410,0,0,0,0,0,0
$GC,11341,0.67,405.7,265.3,15.9,917,11348,0.00,2.15,0.00,0.000,6,0.000,0.039,3068,1743,1410,0,0,0,0,0,0
$GC,11672,0.67,405.7,210.4,14.1,978,11680,0.00,2.20,0.00,0.000,4,0.000,0.045,3066,3164,1410,0,0,0,0,0,0
$GC,11710,0.69,405.7,204.4,15.7,984,11720,0.00,2.17,0.00,0.000,6,0.000,0.038,3069,1743,1410,0,0,0,0,0,0
$GC,12049,0.72,405.7,155.9,14.0,1045,12056,0.00,2.15,0.00,0.000,4,0.000,0.050,3078,337,1410,0,0,0,0,0,0
$GC,12145,0.85,461.0,144.5,11.5,1062,12199,0.00,2.15,48.58,0.775,6,0.000,0.034,3078,1757,1192,0,0,0,0,0,0
$GC,12519,1.04,551.8,99.3,9.9,1129,12608,0.25,2.20,77.28,0.721,4,0.056,0.043,3200,3151,821,0,0,0,0,0,0
$GC,12630,0.96,551.8,74.5,25.8,1144,12639,0.17,2.17,0.00,0.000,6,0.153,0.037,3155,1759,820,0,0,0,0,0,0
$GC,12962,0.96,551.8,12.9,20.4,1205,12970,0.00,2.20,0.00,0.000,4,0.000,0.050,3163,345,819,0,0,0,0,0,0
$STATE,13013,end climb,SURFACE_DEPTH_REACHED
$STATE,13013,begin surface coast
$FINISH,1.0,1.009726
$STATE,13030,end surface coast,CONTROL_FINISHED_OK
$STATE,13030,begin surface
$SM_CCo,13110,0.00,0.000,0,0,816,553.64
$SM_GC,1.64,7.72,0.00,0.00,0.031,0.000,0.000,140,1815,816,-8.35,0.42,553.64
$IRIDIUM_FIX,2134.17,12613.24,011110,090916
$TT8_MAMPS,0.026215
$HUMID,42.40
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.80
$XPDR_PINGS,96
$24V_AH,22.2,79.395
$10V_AH,10.2,50.570
$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,21.950,118.300,693.300,0.000,0.000,23.557,16.581,204.146,24.000,0.000,15.864,2981.461,6469.527,735.077,2913.397,420.913,0.000,1915.564,0.000,2676.838,0.000,0.845,0.000
$DEVICE_MAMPS,223.380,116.280,1441.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.244,1038.137,1346.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73584,1217
$CAP_FILE_SIZE,147168,0
$CFSIZE,260165632,154484736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,  2.9,1
$GPS,011110,173406,2138.766,12607.638,36,1.1,36,-3.0