version: 66.08
glider: 166
mission: 3
dive: 378
start: 10 25 110 7 2 41
data:
$ID,166
$MISSION,3
$DIVE,378
$N_DIVES,379
$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,-22031.07
$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,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
$GPS1,251010,065506,2257.507,12628.954,32,1.1,32,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.3
$GPS2,251010,070219,2257.507,12628.919,11,1.4,16,-3.3
$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,177.1,183941,-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,-214.1,0.0,0.0,0,123,0.00,0.00,-103.38,0.000,2,0.000,0.000,149,1752,3273,0,0,0,0,0,0
$GC,126,-1.16,-214.1,5.9,-12.2,14,157,9.15,2.10,-12.40,0.000,4,0.227,0.055,2464,389,3950,0,0,0,0,0,0
$GC,395,-0.95,-214.1,118.9,-28.4,63,404,0.25,2.15,0.00,0.000,6,0.167,0.036,2530,1811,3953,0,0,0,0,0,0
$GC,727,-0.84,-214.1,201.5,-23.7,124,737,0.15,2.22,0.00,0.000,4,0.178,0.044,2573,388,3956,0,0,0,0,0,0
$GC,870,-0.84,-214.1,228.3,-16.8,148,879,0.00,2.15,0.00,0.000,6,0.000,0.039,2566,1798,3956,0,0,0,0,0,0
$GC,1217,-0.81,-214.1,287.6,-16.2,209,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1799,3957,0,0,0,0,0,0
$GC,1554,-0.81,-214.1,338.9,-15.1,247,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1799,3957,0,0,0,0,0,0
$GC,1881,-0.81,-214.1,388.6,-14.7,278,1885,0.00,2.17,0.00,0.000,4,0.000,0.047,2563,396,3956,0,0,0,0,0,0
$GC,1915,-0.81,-214.1,394.1,-15.2,280,1924,0.00,2.15,0.00,0.000,6,0.000,0.040,2560,1805,3955,0,0,0,0,0,0
$GC,2243,-0.81,-214.1,439.1,-13.9,311,2246,0.00,2.15,0.00,0.000,4,0.000,0.051,2556,3210,3953,0,0,0,0,0,0
$GC,2276,-0.86,-214.1,444.0,-13.6,313,2283,0.00,2.10,0.00,0.000,6,0.000,0.034,2556,1791,3953,0,0,0,0,0,0
$GC,2602,-0.88,-214.1,487.7,-14.1,344,2606,0.00,2.10,0.00,0.000,4,0.000,0.048,2556,402,3951,0,0,0,0,0,0
$GC,2623,-0.89,-214.1,491.1,-14.2,345,2630,0.00,2.10,0.00,0.000,6,0.000,0.039,2547,1811,3950,0,0,0,0,0,0
$GC,2948,-0.89,-214.1,538.2,-14.2,376,2952,0.00,2.15,0.00,0.000,4,0.000,0.053,2548,3212,3949,0,0,0,0,0,0
$GC,3001,-0.96,-214.1,545.0,-12.3,380,3005,0.00,2.10,0.00,0.000,6,0.000,0.035,2548,1794,3948,0,0,0,0,0,0
$GC,3326,-0.96,-214.1,589.9,-13.5,410,3330,0.00,2.12,0.00,0.000,4,0.000,0.050,2548,399,3945,0,0,0,0,0,0
$GC,3372,-0.96,-214.1,596.1,-13.8,414,3376,0.00,2.10,0.00,0.000,6,0.000,0.042,2548,1797,3945,0,0,0,0,0,0
$GC,3701,-0.97,-214.1,637.6,-12.3,431,3705,0.00,2.15,0.00,0.000,4,0.000,0.052,2541,3212,3942,0,0,0,0,0,0
$GC,3723,-1.00,-214.1,640.7,-12.3,432,3727,0.00,2.10,0.00,0.000,6,0.000,0.036,2540,1795,3942,0,0,0,0,0,0
$GC,4045,-1.00,-214.1,681.3,-13.0,448,4048,0.00,2.12,0.00,0.000,4,0.000,0.050,2540,401,3939,0,0,0,0,0,0
$GC,4141,-1.00,-214.1,694.3,-13.5,452,4145,0.00,2.12,0.00,0.000,6,0.000,0.041,2532,1811,3938,0,0,0,0,0,0
$GC,4457,-1.00,-214.1,737.2,-13.5,467,4461,0.00,2.15,0.00,0.000,4,0.000,0.054,2524,3201,3934,0,0,0,0,0,0
$GC,4492,-1.02,-214.1,741.7,-13.1,468,4496,0.00,2.10,0.00,0.000,6,0.000,0.037,2523,1791,3934,0,0,0,0,0,0
$GC,4807,-1.02,-214.1,785.6,-14.4,483,4811,0.00,2.15,0.00,0.000,4,0.000,0.059,2523,391,3931,0,0,0,0,0,0
$GC,4868,-1.02,-214.1,794.7,-14.4,485,4875,0.00,2.12,0.00,0.000,6,0.000,0.042,2514,1799,3930,0,0,0,0,0,0
$GC,5187,-1.00,-214.1,842.5,-15.0,501,5191,0.00,2.17,0.00,0.000,4,0.000,0.054,2511,3204,3928,0,0,0,0,0,0
$GC,5231,-1.00,-214.1,849.9,-14.8,503,5235,0.00,2.10,0.00,0.000,6,0.000,0.038,2511,1795,3927,0,0,0,0,0,0
$GC,5561,-0.97,-214.1,901.8,-15.6,519,5565,0.00,2.17,0.00,0.000,4,0.000,0.054,2512,391,3925,0,0,0,0,0,0
$GC,5645,-0.94,-214.1,916.2,-16.5,523,5650,0.12,2.15,0.00,0.000,6,0.173,0.044,2537,1806,3924,0,0,0,0,0,0
$GC,5974,-0.94,-214.1,960.5,-13.3,539,5978,0.00,2.17,0.00,0.000,4,0.000,0.057,2529,3201,3921,0,0,0,0,0,0
$GC,6016,-0.97,-214.1,965.9,-13.0,541,6020,0.00,2.10,0.00,0.000,6,0.000,0.038,2529,1797,3921,0,0,0,0,0,0
$STATE,6279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6279,begin apogee
$GC,6285,-0.23,0.0,1002.3,13.4,554,6479,0.73,0.00,185.70,1.439,6,0.128,0.000,2762,1752,3072,0,0,0,0,0,0
$STATE,6480,end apogee,CONTROL_FINISHED_OK
$STATE,6480,begin climb
$GC,6482,1.16,214.1,1009.2,0.0,563,6696,1.30,2.45,201.48,1.370,4,0.050,0.053,3218,3150,2198,0,0,0,0,0,0
$GC,6720,0.84,214.1,963.1,31.5,574,6726,0.45,2.30,0.00,0.000,6,0.198,0.041,3118,1743,2196,0,0,0,0,0,0
$GC,7052,0.64,214.1,879.5,24.8,590,7057,0.25,2.20,0.00,0.000,4,0.176,0.050,3032,3165,2193,0,0,0,0,0,0
$GC,7108,0.56,214.1,867.3,17.4,592,7115,0.00,2.15,0.00,0.000,6,0.000,0.041,3039,1737,2191,0,0,0,0,0,0
$GC,7425,0.47,214.1,819.0,14.7,608,7427,0.17,0.00,0.00,0.000,6,0.169,0.000,2992,1737,2190,0,0,0,0,0,0
$GC,7733,0.58,312.2,786.9,9.6,623,7831,0.10,2.30,88.53,1.291,4,0.111,0.048,3045,3152,1799,0,0,0,0,0,0
$GC,7862,0.52,312.2,768.0,16.6,629,7867,0.17,2.17,0.00,0.000,6,0.171,0.039,3008,1751,1798,0,0,0,0,0,0
$GC,8189,0.52,312.2,724.1,14.3,645,8193,0.00,2.17,0.00,0.000,4,0.000,0.053,3017,347,1793,0,0,0,0,0,0
$GC,8230,0.52,312.2,718.1,15.2,647,8234,0.00,2.12,0.00,0.000,6,0.000,0.040,3018,1747,1791,0,0,0,0,0,0
$GC,8557,0.52,312.2,664.6,16.6,663,8561,0.00,2.15,0.00,0.000,4,0.000,0.054,3018,3159,1789,0,0,0,0,0,0
$GC,8579,0.52,312.2,660.6,16.9,664,8583,0.00,2.15,0.00,0.000,6,0.000,0.040,3028,1738,1789,0,0,0,0,0,0
$GC,8908,0.50,312.2,604.8,17.0,680,8912,0.00,2.15,0.00,0.000,4,0.000,0.052,3038,347,1788,0,0,0,0,0,0
$GC,8936,0.48,312.2,599.4,18.3,681,8941,0.15,2.12,0.00,0.000,6,0.161,0.038,2997,1754,1786,0,0,0,0,0,0
$GC,9262,0.53,333.1,555.8,13.0,711,9286,0.00,2.25,18.40,1.108,4,0.000,0.053,2995,3164,1715,0,0,0,0,0,0
$GC,9326,0.61,357.6,547.3,12.8,716,9358,0.10,2.17,24.05,1.105,6,0.096,0.041,3059,1738,1613,0,0,0,0,0,0
$GC,9678,0.56,357.6,485.9,17.7,749,9685,0.15,0.00,0.00,0.000,6,0.170,0.000,3020,1738,1610,0,0,0,0,0,0
$GC,10004,0.58,357.6,439.8,14.1,780,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1738,1609,0,0,0,0,0,0
$GC,10324,0.60,362.1,397.0,13.7,810,10338,0.00,2.22,4.75,0.715,4,0.000,0.049,3014,3157,1595,0,0,0,0,0,0
$GC,10352,0.63,362.7,393.0,13.9,812,10357,0.00,2.10,0.00,0.000,6,0.000,0.037,3024,1747,1595,0,0,0,0,0,0
$GC,10678,0.66,374.2,349.7,13.4,842,10696,0.00,2.15,12.88,0.908,4,0.000,0.048,3034,347,1545,0,0,0,0,0,0
$GC,10737,0.71,374.2,341.5,14.6,846,10745,0.08,2.17,0.00,0.000,6,0.054,0.036,3094,1761,1545,0,0,0,0,0,0
$GC,11066,0.65,374.2,274.8,21.2,888,11076,0.17,2.15,0.00,0.000,4,0.164,0.048,3043,3148,1545,0,0,0,0,0,0
$GC,11149,0.69,374.2,261.1,14.5,902,11157,0.00,2.12,0.00,0.000,6,0.000,0.038,3048,1750,1545,0,0,0,0,0,0
$GC,11492,0.77,425.2,216.3,11.7,963,11547,0.12,2.22,45.50,0.845,4,0.089,0.048,3135,347,1337,0,0,0,0,0,0
$GC,11576,0.66,425.2,200.4,23.9,975,11584,0.28,2.15,0.00,0.000,6,0.153,0.034,3053,1757,1336,0,0,0,0,0,0
$GC,11918,0.75,453.0,153.0,12.7,1036,11954,0.00,2.17,24.70,0.767,4,0.000,0.045,3051,3152,1224,0,0,0,0,0,0
$GC,11994,0.90,504.6,143.3,11.6,1048,12047,0.17,2.15,45.08,0.765,6,0.035,0.036,3160,1745,1013,0,0,0,0,0,0
$GC,12369,0.85,504.6,61.7,16.7,1115,12377,0.17,2.17,0.00,0.000,4,0.156,0.047,3118,344,1010,0,0,0,0,0,0
$GC,12403,0.88,504.6,56.4,15.2,1120,12413,0.00,2.12,0.00,0.000,6,0.000,0.031,3118,1760,1009,0,0,0,0,0,0
$GC,12733,1.00,563.3,17.1,11.3,1181,12793,0.12,2.20,49.17,0.647,4,0.083,0.051,3179,3148,774,0,0,0,0,0,0
$STATE,12809,end climb,SURFACE_DEPTH_REACHED
$STATE,12811,begin surface coast
$FINISH,0.9,1.021706
$STATE,12823,end surface coast,CONTROL_FINISHED_OK
$STATE,12823,begin surface
$SM_CCo,12904,0.00,0.000,0,0,771,564.44
$SM_GC,1.49,7.97,0.00,0.00,0.039,0.000,0.000,142,1799,771,-8.33,-0.03,564.44
$IRIDIUM_FIX,2248.70,12630.20,251010,030323
$TT8_MAMPS,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.80
$XPDR_PINGS,91
$24V_AH,22.3,67.688
$10V_AH,10.2,44.203
$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,22.350,120.875,700.225,0.000,0.000,24.127,37.100,186.695,22.750,0.000,17.124,2914.796,6352.005,724.131,2916.842,412.887,0.000,1934.186,0.000,2669.147,0.000,0.845,0.000
$DEVICE_MAMPS,227.205,228.735,1438.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.606,1022.140,1326.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70145,1194
$CAP_FILE_SIZE,148379,0
$CFSIZE,260165632,158253056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,303.1,1
$GPS,251010,103900,2256.325,12628.440,39,1.4,39,-3.3