version: 66.08
glider: 166
mission: 3
dive: 405
start: 10 29 110 13 36 6
data:
$ID,166
$MISSION,3
$DIVE,405
$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,-22065.049
$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,41
$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
$GPS1,291010,132837,2213.550,12615.441,33,1.0,33,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-61.9
$GPS2,291010,133544,2213.584,12615.386,13,1.1,13,-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,162.2,99335,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,116,0.00,0.00,-97.65,0.000,2,0.000,0.000,150,1759,3331,0,0,0,0,0,0
$GC,120,-1.16,-214.1,6.0,-11.3,13,151,8.88,2.20,-11.45,0.000,4,0.216,0.059,2459,386,3948,0,0,0,0,0,0
$GC,389,-0.93,-214.1,111.8,-33.1,62,399,0.28,2.17,0.00,0.000,6,0.168,0.041,2534,1794,3950,0,0,0,0,0,0
$GC,727,-0.83,-214.1,192.1,-22.8,123,734,0.12,2.20,0.00,0.000,4,0.184,0.047,2568,389,3954,0,0,0,0,0,0
$GC,805,-0.78,-214.1,206.9,-18.9,136,812,0.00,2.17,0.00,0.000,6,0.000,0.044,2560,1793,3954,0,0,0,0,0,0
$GC,1148,-0.75,-214.1,265.2,-15.9,197,1155,0.12,2.17,0.00,0.000,4,0.177,0.050,2583,3210,3955,0,0,0,0,0,0
$GC,1231,-0.82,-214.1,275.7,-11.2,211,1238,0.00,2.12,0.00,0.000,6,0.000,0.035,2583,1800,3955,0,0,0,0,0,0
$GC,1565,-0.85,-214.1,321.7,-13.6,258,1569,0.00,2.17,0.00,0.000,4,0.000,0.051,2583,396,3955,0,0,0,0,0,0
$GC,1629,-0.89,-214.1,330.2,-14.3,263,1633,0.00,2.12,0.00,0.000,6,0.000,0.043,2574,1801,3955,0,0,0,0,0,0
$GC,1956,-0.91,-214.1,374.9,-12.2,293,1960,0.00,2.15,0.00,0.000,4,0.000,0.050,2565,3210,3954,0,0,0,0,0,0
$GC,2010,-0.98,-214.1,381.0,-10.4,297,2014,0.12,2.10,0.00,0.000,6,0.086,0.035,2494,1797,3954,0,0,0,0,0,0
$GC,2337,-0.90,-214.1,435.1,-17.4,327,2342,0.20,2.17,0.00,0.000,4,0.164,0.048,2553,396,3952,0,0,0,0,0,0
$GC,2405,-0.92,-214.1,444.4,-12.2,332,2413,0.00,2.17,0.00,0.000,6,0.000,0.044,2547,1798,3952,0,0,0,0,0,0
$GC,2732,-0.92,-214.1,489.7,-14.4,363,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1798,3950,0,0,0,0,0,0
$GC,3052,-0.92,-214.1,535.3,-13.6,393,3056,0.00,2.17,0.00,0.000,4,0.000,0.055,2548,3208,3947,0,0,0,0,0,0
$GC,3098,-0.97,-214.1,541.5,-12.2,397,3102,0.00,2.12,0.00,0.000,6,0.000,0.037,2548,1801,3946,0,0,0,0,0,0
$GC,3425,-0.99,-214.1,583.1,-12.3,427,3429,0.00,2.15,0.00,0.000,4,0.000,0.052,2548,396,3944,0,0,0,0,0,0
$GC,3544,-1.02,-214.1,599.5,-14.1,437,3549,0.10,2.15,0.00,0.000,6,0.106,0.048,2497,1797,3943,0,0,0,0,0,0
$GC,3862,-0.97,-214.1,652.5,-16.8,452,3864,0.12,0.00,0.00,0.000,6,0.178,0.000,2529,1797,3940,0,0,0,0,0,0
$GC,4170,-0.97,-214.1,695.9,-13.6,467,4174,0.00,2.20,0.00,0.000,4,0.000,0.061,2523,3209,3937,0,0,0,0,0,0
$GC,4203,-0.98,-214.1,700.5,-13.6,468,4207,0.00,2.12,0.00,0.000,6,0.000,0.038,2523,1798,3936,0,0,0,0,0,0
$GC,4521,-0.98,-214.1,745.4,-14.3,483,4525,0.00,2.17,0.00,0.000,4,0.000,0.055,2523,390,3933,0,0,0,0,0,0
$GC,4576,-0.98,-214.1,754.3,-14.7,485,4580,0.00,2.17,0.00,0.000,6,0.000,0.047,2515,1809,3933,0,0,0,0,0,0
$GC,4900,-0.96,-214.1,803.0,-15.1,501,4904,0.00,2.20,0.00,0.000,4,0.000,0.054,2515,395,3930,0,0,0,0,0,0
$GC,4949,-0.96,-214.1,811.1,-15.0,503,4954,0.00,2.20,0.00,0.000,6,0.000,0.048,2507,1799,3928,0,0,0,0,0,0
$GC,5272,-0.93,-214.1,860.0,-14.9,519,5274,0.12,0.00,0.00,0.000,6,0.181,0.000,2541,1800,3926,0,0,0,0,0,0
$GC,5583,-0.95,-214.1,897.1,-11.6,534,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1800,3924,0,0,0,0,0,0
$GC,5891,-0.97,-214.1,932.1,-11.1,549,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1800,3921,0,0,0,0,0,0
$GC,6202,-1.00,-214.1,967.2,-11.6,564,6206,0.00,2.25,0.00,0.000,4,0.000,0.057,2541,392,3918,0,0,0,0,0,0
$GC,6252,-1.03,-214.1,973.6,-12.3,566,6256,0.00,2.20,0.00,0.000,6,0.000,0.050,2537,1810,3918,0,0,0,0,0,0
$STATE,6483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6483,begin apogee
$GC,6491,-0.23,0.0,1002.2,12.5,577,6683,0.70,0.00,186.82,1.449,6,0.128,0.000,2762,1742,3071,0,0,0,0,0,0
$STATE,6683,end apogee,CONTROL_FINISHED_OK
$STATE,6683,begin climb
$GC,6686,1.16,214.1,1011.2,0.0,586,6897,1.30,2.47,202.68,1.385,4,0.052,0.058,3232,343,2198,0,0,0,0,0,0
$GC,6970,0.82,214.1,953.8,31.8,599,6975,0.47,2.30,0.00,0.000,6,0.201,0.050,3107,1744,2195,0,0,0,0,0,0
$GC,7286,0.63,214.1,882.1,22.8,614,7291,0.22,2.22,0.00,0.000,4,0.182,0.053,3035,3167,2191,0,0,0,0,0,0
$GC,7343,0.55,214.1,871.0,17.4,616,7350,0.00,2.17,0.00,0.000,6,0.000,0.043,3042,1751,2189,0,0,0,0,0,0
$GC,7659,0.45,214.1,815.9,17.4,632,7661,0.20,0.00,0.00,0.000,6,0.169,0.000,2988,1750,2188,0,0,0,0,0,0
$GC,7969,0.48,236.1,775.5,12.9,647,7994,0.00,2.28,20.00,1.248,4,0.000,0.058,2996,350,2110,0,0,0,0,0,0
$GC,8037,0.48,241.0,766.6,13.7,650,8048,0.00,2.20,6.47,1.011,6,0.000,0.044,2997,1763,2089,0,0,0,0,0,0
$GC,8368,0.51,263.7,722.7,12.9,666,8394,0.00,2.20,21.77,1.226,4,0.000,0.051,2997,3160,1996,0,0,0,0,0,0
$GC,8430,0.52,275.1,713.9,13.4,669,8451,0.00,2.17,11.98,1.134,6,0.000,0.041,3006,1749,1950,0,0,0,0,0,0
$GC,8760,0.52,275.1,667.2,13.9,685,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1749,1947,0,0,0,0,0,0
$GC,9071,0.54,289.2,626.3,13.3,700,9089,0.00,0.00,13.62,1.132,6,0.000,0.000,3006,1749,1893,0,0,0,0,0,0
$GC,9403,0.58,319.5,583.4,12.6,722,9439,0.00,2.28,28.80,1.161,4,0.000,0.057,3017,342,1769,0,0,0,0,0,0
$GC,9480,0.60,319.5,573.1,14.1,728,9487,0.00,2.20,0.00,0.000,6,0.000,0.040,3016,1753,1767,0,0,0,0,0,0
$GC,9805,0.60,319.5,527.5,14.4,759,9809,0.00,2.15,0.00,0.000,4,0.000,0.051,3017,3163,1764,0,0,0,0,0,0
$GC,9836,0.60,319.5,523.2,14.6,761,9840,0.00,2.17,0.00,0.000,6,0.000,0.041,3026,1737,1764,0,0,0,0,0,0
$GC,10163,0.60,319.5,476.9,14.8,791,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1737,1763,0,0,0,0,0,0
$GC,10484,0.62,339.4,431.6,13.0,821,10510,0.00,2.25,18.90,1.025,4,0.000,0.056,3037,347,1688,0,0,0,0,0,0
$GC,10535,0.63,343.6,424.2,13.7,825,10547,0.00,2.17,5.32,0.778,6,0.000,0.039,3037,1748,1671,0,0,0,0,0,0
$GC,10865,0.63,348.0,375.7,13.7,856,10879,0.00,2.17,5.72,0.783,4,0.000,0.048,3037,3172,1652,0,0,0,0,0,0
$GC,10927,0.65,348.0,367.2,14.2,861,10931,0.00,2.17,0.00,0.000,6,0.000,0.041,3047,1750,1652,0,0,0,0,0,0
$GC,11253,0.65,348.0,318.8,15.1,891,11257,0.00,2.22,0.00,0.000,4,0.000,0.054,3058,337,1652,0,0,0,0,0,0
$GC,11351,0.70,371.5,305.0,12.9,899,11379,0.00,2.17,22.12,0.921,6,0.000,0.037,3057,1765,1556,0,0,0,0,0,0
$GC,11713,0.70,371.5,253.0,14.3,960,11721,0.00,2.15,0.00,0.000,4,0.000,0.047,3057,3162,1555,0,0,0,0,0,0
$GC,11737,0.70,371.5,250.0,14.3,963,11744,0.00,2.12,0.00,0.000,6,0.000,0.038,3065,1741,1555,0,0,0,0,0,0
$GC,12077,0.72,389.3,202.2,13.1,1024,12100,0.00,2.25,17.02,0.802,4,0.000,0.053,3071,352,1485,0,0,0,0,0,0
$GC,12170,0.75,389.3,189.2,14.7,1039,12177,0.00,2.15,0.00,0.000,6,0.000,0.035,3071,1763,1483,0,0,0,0,0,0
$GC,12512,0.83,441.6,142.7,11.6,1100,12566,0.10,2.15,46.08,0.772,4,0.101,0.043,3132,3159,1271,0,0,0,0,0,0
$GC,12626,0.83,441.6,122.5,16.2,1117,12634,0.00,2.17,0.00,0.000,6,0.000,0.038,3137,1758,1271,0,0,0,0,0,0
$GC,12952,0.90,496.2,73.5,11.5,1178,13005,0.00,2.22,46.72,0.704,4,0.000,0.050,3146,345,1048,0,0,0,0,0,0
$GC,13093,0.92,508.2,57.2,13.4,1201,13110,0.00,2.15,11.68,0.621,6,0.000,0.035,3147,1740,999,0,0,0,0,0,0
$STATE,13411,end climb,SURFACE_DEPTH_REACHED
$STATE,13411,begin surface coast
$FINISH,1.0,1.022035
$STATE,13434,end surface coast,CONTROL_FINISHED_OK
$STATE,13434,begin surface
$SM_CCo,13514,0.00,0.000,0,0,997,509.00
$SM_GC,1.82,7.80,0.00,0.00,0.040,0.000,0.000,148,1827,997,-8.34,0.79,509.00
$IRIDIUM_FIX,2209.02,12615.86,291010,090918
$TT8_MAMPS,0.026215
$HUMID,42.83
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,25.10
$XPDR_PINGS,105
$24V_AH,22.2,74.502
$10V_AH,10.1,47.954
$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,20.875,109.625,665.725,0.000,0.000,27.570,17.599,202.127,26.250,0.000,14.194,3106.412,6688.234,668.382,3053.608,409.341,0.000,1891.694,0.000,2813.130,0.000,0.845,0.000
$DEVICE_MAMPS,215.730,110.925,1448.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.069,1085.252,1422.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73502,1264
$CAP_FILE_SIZE,148831,0
$CFSIZE,260165632,156041216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,328.6,1
$GPS,291010,172236,2212.605,12615.605,40,0.9,40,-3.1