version: 66.08
glider: 166
mission: 3
dive: 427
start: 11 2 110 1 17 32
data:
$ID,166
$MISSION,3
$DIVE,427
$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,-22092.811
$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,39
$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
$GPS1,021110,010306,2135.098,12608.012,31,1.1,31,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-61.3
$GPS2,021110,011708,2135.051,12608.148,11,1.4,11,-2.9
$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,224.6,27644,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,114,0.00,0.00,-96.45,0.000,2,0.000,0.000,150,1749,3339,0,0,0,0,0,0
$GC,117,-1.16,-214.1,6.1,-13.3,13,148,9.00,2.30,-10.98,0.000,4,0.218,0.055,2447,3216,3949,0,0,0,0,0,0
$GC,254,-0.97,-214.1,63.9,-32.3,36,262,0.25,2.17,0.00,0.000,6,0.171,0.034,2522,1790,3950,0,0,0,0,0,0
$GC,580,-0.82,-214.1,158.3,-24.3,97,588,0.17,2.17,0.00,0.000,4,0.177,0.049,2571,393,3952,0,0,0,0,0,0
$GC,739,-0.76,-214.1,193.5,-19.5,125,747,0.12,2.15,0.00,0.000,6,0.177,0.043,2594,1801,3952,0,0,0,0,0,0
$GC,1070,-0.76,-214.1,242.1,-13.4,186,1078,0.00,2.17,0.00,0.000,4,0.000,0.050,2589,3208,3953,0,0,0,0,0,0
$GC,1168,-0.83,-214.1,254.3,-11.6,203,1176,0.00,2.12,0.00,0.000,6,0.000,0.035,2589,1793,3953,0,0,0,0,0,0
$GC,1508,-0.84,-214.1,301.9,-13.3,264,1512,0.00,2.15,0.00,0.000,4,0.000,0.050,2589,389,3953,0,0,0,0,0,0
$GC,1591,-0.88,-214.1,313.5,-13.1,271,1598,0.00,2.17,0.00,0.000,6,0.000,0.045,2588,1808,3953,0,0,0,0,0,0
$GC,1916,-0.92,-214.1,356.6,-12.8,302,1921,0.12,2.20,0.00,0.000,4,0.092,0.049,2523,389,3951,0,0,0,0,0,0
$GC,1966,-0.84,-214.1,365.5,-19.8,306,1971,0.17,2.17,0.00,0.000,6,0.166,0.045,2568,1805,3951,0,0,0,0,0,0
$GC,2293,-0.86,-214.1,410.3,-13.1,336,2297,0.00,2.12,0.00,0.000,4,0.000,0.050,2560,3214,3950,0,0,0,0,0,0
$GC,2348,-0.92,-214.1,417.5,-12.2,340,2356,0.00,2.15,0.00,0.000,6,0.000,0.036,2560,1801,3949,0,0,0,0,0,0
$GC,2675,-0.94,-214.1,461.1,-13.2,371,2679,0.00,2.17,0.00,0.000,4,0.000,0.050,2560,387,3947,0,0,0,0,0,0
$GC,2754,-0.96,-214.1,472.0,-13.8,378,2758,0.00,2.17,0.00,0.000,6,0.000,0.045,2560,1800,3947,0,0,0,0,0,0
$GC,3085,-0.97,-214.1,516.6,-13.7,409,3089,0.00,2.17,0.00,0.000,4,0.000,0.052,2551,3218,3944,0,0,0,0,0,0
$GC,3128,-1.02,-214.1,521.9,-12.4,412,3132,0.12,2.15,0.00,0.000,6,0.083,0.037,2483,1790,3943,0,0,0,0,0,0
$GC,3453,-0.94,-214.1,581.7,-18.7,442,3458,0.20,2.15,0.00,0.000,4,0.171,0.050,2543,396,3941,0,0,0,0,0,0
$GC,3568,-0.94,-214.1,598.9,-13.6,451,3576,0.00,2.17,0.00,0.000,6,0.000,0.044,2536,1811,3940,0,0,0,0,0,0
$GC,3884,-0.94,-214.1,642.4,-13.5,467,3888,0.00,2.20,0.00,0.000,4,0.000,0.052,2536,396,3937,0,0,0,0,0,0
$GC,3911,-0.94,-214.1,646.5,-14.8,468,3916,0.00,2.20,0.00,0.000,6,0.000,0.047,2536,1798,3937,0,0,0,0,0,0
$GC,4235,-0.94,-214.1,687.4,-12.4,484,4239,0.00,2.17,0.00,0.000,4,0.000,0.054,2529,3213,3934,0,0,0,0,0,0
$GC,4280,-0.98,-214.1,693.3,-11.8,486,4284,0.00,2.12,0.00,0.000,6,0.000,0.038,2528,1802,3933,0,0,0,0,0,0
$GC,4601,-0.98,-214.1,737.9,-14.4,502,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1802,3929,0,0,0,0,0,0
$GC,4910,-0.98,-214.1,781.6,-14.1,517,4914,0.00,2.20,0.00,0.000,4,0.000,0.055,2528,388,3927,0,0,0,0,0,0
$GC,4998,-0.98,-214.1,794.8,-14.4,521,5002,0.00,2.20,0.00,0.000,6,0.000,0.047,2521,1809,3926,0,0,0,0,0,0
$GC,5327,-0.98,-214.1,842.9,-14.8,537,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1810,3922,0,0,0,0,0,0
$GC,5635,-0.98,-214.1,888.7,-14.8,552,5639,0.00,2.22,0.00,0.000,4,0.000,0.056,2521,398,3919,0,0,0,0,0,0
$GC,5663,-0.96,-214.1,893.1,-15.7,553,5667,0.00,2.20,0.00,0.000,6,0.000,0.049,2514,1810,3919,0,0,0,0,0,0
$GC,5986,-0.93,-214.1,940.9,-14.7,569,5990,0.00,2.25,0.00,0.000,4,0.000,0.057,2514,388,3917,0,0,0,0,0,0
$GC,6019,-0.90,-214.1,946.7,-16.6,570,6027,0.15,2.20,0.00,0.000,6,0.170,0.048,2549,1798,3916,0,0,0,0,0,0
$GC,6339,-0.93,-214.1,986.7,-12.6,586,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1798,3914,0,0,0,0,0,0
$STATE,6457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6457,begin apogee
$GC,6463,-0.23,0.0,1002.0,12.6,592,6655,0.65,0.00,184.93,1.438,6,0.132,0.000,2763,1744,3072,0,0,0,0,0,0
$STATE,6656,end apogee,CONTROL_FINISHED_OK
$STATE,6656,begin climb
$GC,6659,1.16,214.1,1010.7,0.0,601,6867,1.27,0.00,201.32,1.379,6,0.053,0.000,3214,1744,2198,0,0,0,0,0,0
$GC,7176,0.84,214.1,886.1,30.7,626,7181,0.35,2.25,0.00,0.000,4,0.210,0.055,3109,3158,2192,0,0,0,0,0,0
$GC,7197,0.58,214.1,879.6,27.8,627,7203,0.32,2.17,0.00,0.000,6,0.178,0.043,3029,1749,2191,0,0,0,0,0,0
$GC,7522,0.51,214.1,828.9,14.8,643,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1748,2190,0,0,0,0,0,0
$GC,7829,0.44,218.3,785.4,13.7,658,7831,0.15,0.00,0.00,0.000,6,0.167,0.000,2987,1748,2188,0,0,0,0,0,0
$GC,8139,0.53,290.6,751.4,10.8,673,8216,0.00,2.35,69.20,1.274,4,0.000,0.057,2996,346,1887,0,0,0,0,0,0
$GC,8239,0.58,314.2,739.0,12.9,677,8267,0.00,2.22,23.25,1.195,6,0.000,0.042,2995,1749,1790,0,0,0,0,0,0
$GC,8579,0.58,314.2,692.6,14.1,694,8583,0.00,2.22,0.00,0.000,4,0.000,0.054,2995,3168,1785,0,0,0,0,0,0
$GC,8651,0.62,314.2,681.4,14.3,697,8656,0.10,2.17,0.00,0.000,6,0.098,0.043,3061,1747,1784,0,0,0,0,0,0
$GC,8970,0.54,314.2,618.7,20.4,712,8974,0.17,2.22,0.00,0.000,4,0.173,0.055,3023,337,1783,0,0,0,0,0,0
$GC,9002,0.51,314.2,611.6,19.0,713,9009,0.00,2.20,0.00,0.000,6,0.000,0.043,3023,1757,1781,0,0,0,0,0,0
$GC,9329,0.51,314.2,559.6,15.7,740,9333,0.00,2.15,0.00,0.000,4,0.000,0.052,3023,3171,1780,0,0,0,0,0,0
$GC,9391,0.51,314.2,549.4,15.6,745,9395,0.00,2.17,0.00,0.000,6,0.000,0.042,3032,1744,1780,0,0,0,0,0,0
$GC,9718,0.49,314.2,500.0,15.3,775,9723,0.12,2.17,0.00,0.000,4,0.179,0.054,3009,347,1779,0,0,0,0,0,0
$GC,9760,0.52,314.2,493.3,14.1,778,9764,0.00,2.17,0.00,0.000,6,0.000,0.040,3009,1766,1777,0,0,0,0,0,0
$GC,10087,0.56,341.2,451.9,12.7,808,10117,0.00,2.22,24.27,1.050,4,0.000,0.050,3009,3157,1680,0,0,0,0,0,0
$GC,10168,0.65,380.8,441.4,12.2,814,10212,0.05,2.20,37.12,1.043,6,0.065,0.040,3064,1743,1519,0,0,0,0,0,0
$GC,10530,0.61,380.8,373.4,19.4,848,10534,0.00,2.20,0.00,0.000,4,0.000,0.049,3062,3159,1515,0,0,0,0,0,0
$GC,10579,0.61,380.8,363.8,18.2,852,10588,0.10,2.17,0.00,0.000,6,0.147,0.040,3039,1750,1515,0,0,0,0,0,0
$GC,10906,0.64,393.4,316.5,13.3,883,10923,0.00,2.20,12.07,0.887,4,0.000,0.053,3047,347,1467,0,0,0,0,0,0
$GC,10970,0.68,393.4,308.1,14.3,888,10974,0.00,2.15,0.00,0.000,6,0.000,0.037,3045,1751,1466,0,0,0,0,0,0
$GC,11298,0.71,393.4,264.7,14.5,942,11306,0.00,2.17,0.00,0.000,4,0.000,0.047,3045,3154,1466,0,0,0,0,0,0
$GC,11333,0.74,395.4,260.5,13.8,947,11341,0.00,2.12,0.00,0.000,6,0.000,0.038,3048,1747,1465,0,0,0,0,0,0
$GC,11666,0.83,445.2,214.8,11.7,1008,11721,0.17,2.20,46.33,0.844,4,0.070,0.044,3137,3159,1256,0,0,0,0,0,0
$GC,11794,0.77,445.2,186.5,19.6,1029,11802,0.17,2.15,0.00,0.000,6,0.169,0.037,3094,1750,1256,0,0,0,0,0,0
$GC,12125,0.77,445.2,134.2,14.6,1090,12133,0.00,2.22,0.00,0.000,4,0.000,0.052,3101,343,1255,0,0,0,0,0,0
$GC,12202,0.81,456.2,123.2,13.4,1103,12219,0.00,2.15,10.93,0.689,6,0.000,0.035,3093,1752,1211,0,0,0,0,0,0
$GC,12542,0.99,542.3,85.6,10.1,1165,12625,0.17,2.15,73.43,0.711,4,0.066,0.041,3176,3158,859,0,0,0,0,0,0
$GC,12698,0.99,542.3,56.4,17.8,1189,12706,0.00,2.17,0.00,0.000,6,0.000,0.044,3184,1755,857,0,0,0,0,0,0
$STATE,12953,end climb,SURFACE_DEPTH_REACHED
$STATE,12953,begin surface coast
$FINISH,1.0,1.012084
$STATE,12970,end surface coast,CONTROL_FINISHED_OK
$STATE,12970,begin surface
$SM_CCo,13049,0.00,0.000,0,0,855,543.83
$SM_GC,1.71,7.88,0.00,0.00,0.039,0.000,0.000,148,1752,855,-8.33,-1.36,543.83
$IRIDIUM_FIX,2124.90,12610.50,021110,010149
$TT8_MAMPS,0.026215
$HUMID,42.95
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.70
$XPDR_PINGS,93
$24V_AH,22.2,80.174
$10V_AH,10.1,50.990
$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,22.025,118.125,682.850,0.000,0.000,99.038,107.610,285.691,23.250,0.000,12.525,3048.243,6390.499,703.820,3306.339,430.312,0.000,1910.527,0.000,2773.502,0.000,1.150,0.000
$DEVICE_MAMPS,218.025,113.985,1438.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.194,1075.544,1425.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73585,1240
$CAP_FILE_SIZE,152927,0
$CFSIZE,260165632,154230784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,146.9,1
$GPS,021110,045606,2132.942,12607.351,29,1.0,29,-2.9