version: 66.08
glider: 166
mission: 3
dive: 406
start: 10 29 110 17 30 18
data:
$ID,166
$MISSION,3
$DIVE,406
$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,-22066.307
$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,60
$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
$GPS1,291010,172236,2212.605,12615.605,40,0.9,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.8
$GPS2,291010,172956,2212.632,12615.629,16,1.8,16,-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,182.4,97733,-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,16,-1.16,-214.1,0.0,0.0,0,106,0.00,0.00,-87.53,0.000,2,0.000,0.000,147,1828,3223,0,0,0,0,0,0
$GC,109,-1.16,-214.1,5.1,-8.7,12,141,9.02,2.22,-14.00,0.000,4,0.220,0.057,2459,392,3946,0,0,0,0,0,0
$GC,380,-0.94,-214.1,112.1,-33.6,61,388,0.25,2.12,0.00,0.000,6,0.168,0.044,2527,1768,3949,0,0,0,0,0,0
$GC,714,-0.82,-214.1,196.4,-23.3,122,724,0.17,2.17,0.00,0.000,4,0.172,0.049,2575,386,3952,0,0,0,0,0,0
$GC,911,-0.82,-214.1,229.3,-15.7,156,919,0.00,2.20,0.00,0.000,6,0.000,0.047,2572,1798,3953,0,0,0,0,0,0
$GC,1255,-0.82,-214.1,287.0,-16.7,217,1262,0.00,2.17,0.00,0.000,4,0.000,0.050,2561,3219,3953,0,0,0,0,0,0
$GC,1328,-0.86,-214.1,297.8,-13.7,229,1335,0.00,2.12,0.00,0.000,6,0.000,0.036,2561,1796,3953,0,0,0,0,0,0
$GC,1657,-0.86,-214.1,347.7,-13.6,261,1661,0.00,2.17,0.00,0.000,4,0.000,0.051,2560,388,3953,0,0,0,0,0,0
$GC,1711,-0.86,-214.1,356.3,-14.9,265,1718,0.00,2.17,0.00,0.000,6,0.000,0.046,2560,1814,3952,0,0,0,0,0,0
$GC,2037,-0.86,-214.1,404.0,-14.5,296,2041,0.00,2.12,0.00,0.000,4,0.000,0.050,2550,3212,3951,0,0,0,0,0,0
$GC,2079,-0.90,-214.1,409.6,-13.2,299,2083,0.00,2.12,0.00,0.000,6,0.000,0.036,2550,1791,3951,0,0,0,0,0,0
$GC,2410,-0.90,-214.1,456.0,-14.4,330,2414,0.00,2.15,0.00,0.000,4,0.000,0.051,2550,394,3949,0,0,0,0,0,0
$GC,2453,-0.90,-214.1,462.3,-14.2,333,2460,0.00,2.17,0.00,0.000,6,0.000,0.047,2547,1810,3949,0,0,0,0,0,0
$GC,2779,-0.90,-214.1,508.4,-14.7,364,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1811,3947,0,0,0,0,0,0
$GC,3101,-0.90,-214.1,554.0,-13.2,394,3105,0.00,2.15,0.00,0.000,4,0.000,0.055,2547,3218,3945,0,0,0,0,0,0
$GC,3154,-0.96,-214.1,561.0,-12.6,398,3158,0.00,2.12,0.00,0.000,6,0.000,0.037,2547,1796,3944,0,0,0,0,0,0
$GC,3480,-0.98,-214.1,603.6,-12.8,427,3484,0.00,2.17,0.00,0.000,4,0.000,0.054,2547,392,3941,0,0,0,0,0,0
$GC,3594,-1.00,-214.1,619.5,-13.8,432,3598,0.00,2.17,0.00,0.000,6,0.000,0.047,2538,1799,3940,0,0,0,0,0,0
$GC,3915,-1.00,-214.1,664.1,-13.4,448,3919,0.00,2.20,0.00,0.000,4,0.000,0.057,2536,3216,3937,0,0,0,0,0,0
$GC,3962,-1.05,-214.1,670.2,-12.4,450,3966,0.00,2.12,0.00,0.000,6,0.000,0.039,2536,1800,3936,0,0,0,0,0,0
$GC,4285,-1.05,-214.1,715.6,-14.0,466,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1800,3934,0,0,0,0,0,0
$GC,4593,-1.05,-214.1,758.6,-13.6,481,4597,0.00,2.20,0.00,0.000,4,0.000,0.057,2536,392,3930,0,0,0,0,0,0
$GC,4635,-1.05,-214.1,764.2,-13.7,483,4639,0.00,2.17,0.00,0.000,6,0.000,0.049,2529,1810,3929,0,0,0,0,0,0
$GC,4962,-1.05,-214.1,808.7,-13.3,499,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1810,3926,0,0,0,0,0,0
$GC,5273,-1.05,-214.1,849.5,-13.3,514,5277,0.00,2.20,0.00,0.000,4,0.000,0.057,2529,397,3924,0,0,0,0,0,0
$GC,5313,-1.05,-214.1,855.4,-14.3,516,5317,0.00,2.20,0.00,0.000,6,0.000,0.050,2522,1809,3923,0,0,0,0,0,0
$GC,5642,-1.05,-214.1,900.6,-13.8,532,5646,0.00,2.17,0.00,0.000,4,0.000,0.058,2517,3215,3921,0,0,0,0,0,0
$GC,5670,-1.05,-214.1,904.9,-14.4,533,5674,0.00,2.17,0.00,0.000,6,0.000,0.044,2517,1797,3920,0,0,0,0,0,0
$GC,5992,-1.05,-214.1,952.3,-14.7,549,5996,0.00,2.20,0.00,0.000,4,0.000,0.058,2517,392,3917,0,0,0,0,0,0
$GC,6092,-1.05,-214.1,967.9,-14.9,553,6099,0.00,2.17,0.00,0.000,6,0.000,0.051,2507,1796,3916,0,0,0,0,0,0
$STATE,6323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6324,begin apogee
$GC,6331,-0.23,0.0,1003.0,15.1,565,6523,0.80,0.00,185.85,1.446,6,0.137,0.000,2758,1743,3071,0,0,0,0,0,0
$STATE,6524,end apogee,CONTROL_FINISHED_OK
$STATE,6524,begin climb
$GC,6528,1.16,214.1,1012.1,0.0,574,6739,1.30,2.42,203.02,1.385,4,0.052,0.059,3229,352,2199,0,0,0,0,0,0
$GC,6753,0.83,214.1,972.6,29.2,585,6758,0.45,2.38,0.00,0.000,6,0.203,0.048,3114,1751,2197,0,0,0,0,0,0
$GC,7076,0.63,214.1,896.0,23.3,601,7081,0.25,2.22,0.00,0.000,4,0.181,0.054,3030,3176,2192,0,0,0,0,0,0
$GC,7117,0.54,214.1,887.9,17.1,603,7121,0.00,2.20,0.00,0.000,6,0.000,0.048,3037,1741,2190,0,0,0,0,0,0
$GC,7452,0.45,214.1,833.3,16.2,619,7454,0.17,0.00,0.00,0.000,6,0.174,0.000,2991,1741,2189,0,0,0,0,0,0
$GC,7760,0.49,259.6,794.6,11.9,634,7807,0.00,2.30,41.72,1.292,4,0.000,0.054,2990,3167,2013,0,0,0,0,0,0
$GC,7827,0.52,286.8,786.3,12.7,637,7858,0.00,2.22,26.02,1.242,6,0.000,0.043,2999,1745,1902,0,0,0,0,0,0
$GC,8174,0.55,311.8,739.8,12.8,654,8205,0.00,2.30,23.55,1.222,4,0.000,0.057,3009,343,1799,0,0,0,0,0,0
$GC,8235,0.55,311.8,731.4,14.0,656,8242,0.00,2.20,0.00,0.000,6,0.000,0.042,3010,1759,1798,0,0,0,0,0,0
$GC,8551,0.55,311.8,686.5,14.1,672,8554,0.00,2.17,0.00,0.000,4,0.000,0.053,3010,3173,1797,0,0,0,0,0,0
$GC,8608,0.57,314.0,678.6,13.8,674,8612,0.00,2.17,0.00,0.000,6,0.000,0.042,3019,1747,1796,0,0,0,0,0,0
$GC,8924,0.57,318.1,634.8,13.7,689,8935,0.00,2.17,6.45,0.969,4,0.000,0.054,3030,349,1775,0,0,0,0,0,0
$GC,8968,0.57,318.1,628.1,15.1,691,8972,0.00,2.15,0.00,0.000,6,0.000,0.041,3030,1757,1774,0,0,0,0,0,0
$GC,9292,0.55,318.1,582.2,14.6,712,9296,0.00,2.22,0.00,0.000,4,0.000,0.055,3040,343,1774,0,0,0,0,0,0
$GC,9324,0.53,318.1,576.5,15.8,714,9332,0.00,2.15,0.00,0.000,6,0.000,0.042,3040,1748,1773,0,0,0,0,0,0
$GC,9650,0.49,318.1,525.3,16.4,745,9655,0.15,2.17,0.00,0.000,4,0.165,0.052,2990,3168,1772,0,0,0,0,0,0
$GC,9712,0.58,339.8,516.6,12.9,750,9739,0.00,2.15,21.60,1.100,6,0.000,0.041,2998,1752,1685,0,0,0,0,0,0
$GC,10067,0.70,400.5,473.5,11.3,783,10129,0.20,2.30,55.40,1.079,4,0.066,0.056,3107,355,1439,0,0,0,0,0,0
$GC,10208,0.63,400.5,443.6,22.0,795,10216,0.22,2.17,0.00,0.000,6,0.161,0.041,3044,1773,1436,0,0,0,0,0,0
$GC,10535,0.63,400.5,395.4,14.5,826,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1778,1434,0,0,0,0,0,0
$GC,10855,0.63,400.5,346.8,15.0,856,10858,0.00,2.10,0.00,0.000,4,0.000,0.049,3043,3154,1433,0,0,0,0,0,0
$GC,10906,0.71,421.7,339.2,13.0,860,10931,0.00,2.15,19.75,0.930,6,0.000,0.040,3052,1738,1351,0,0,0,0,0,0
$GC,11251,0.71,421.7,290.4,15.8,897,11258,0.00,2.17,0.00,0.000,4,0.000,0.054,3062,338,1350,0,0,0,0,0,0
$GC,11314,0.80,439.0,282.3,13.1,907,11343,0.10,2.15,16.62,0.863,6,0.099,0.036,3126,1763,1281,0,0,0,0,0,0
$GC,11676,0.70,439.0,201.7,25.6,971,11683,0.20,2.22,0.00,0.000,4,0.161,0.051,3073,347,1281,0,0,0,0,0,0
$GC,11703,0.65,439.0,196.0,20.1,975,11710,0.00,2.12,0.00,0.000,6,0.000,0.036,3073,1749,1280,0,0,0,0,0,0
$GC,12043,0.65,439.0,145.1,14.4,1036,12051,0.00,2.15,0.00,0.000,4,0.000,0.046,3073,3157,1280,0,0,0,0,0,0
$GC,12084,0.72,456.7,139.6,13.1,1042,12108,0.00,2.15,16.92,0.737,6,0.000,0.037,3079,1749,1210,0,0,0,0,0,0
$GC,12431,0.84,513.4,97.4,11.4,1105,12490,0.00,2.25,48.60,0.722,4,0.000,0.052,3090,350,977,0,0,0,0,0,0
$GC,12580,1.15,625.4,83.0,9.0,1129,12684,0.28,2.15,93.88,0.696,6,0.029,0.032,3237,1769,519,0,0,0,0,0,0
$STATE,12877,end climb,SURFACE_DEPTH_REACHED
$STATE,12877,begin surface coast
$FINISH,0.9,1.009852
$STATE,12883,end surface coast,CONTROL_FINISHED_OK
$STATE,12884,begin surface
$SM_CCo,12961,0.00,0.000,0,0,512,627.97
$SM_GC,1.76,8.00,0.00,0.00,0.036,0.000,0.000,146,1770,512,-8.33,-0.88,627.97
$IRIDIUM_FIX,2206.70,12647.54,291010,131319
$TT8_MAMPS,0.026215
$HUMID,42.99
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.30
$XPDR_PINGS,80
$24V_AH,22.2,74.771
$10V_AH,10.2,48.085
$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,21.575,118.200,759.400,0.000,0.000,28.253,38.482,189.083,20.000,0.000,17.569,2885.400,6462.324,771.758,2866.909,399.184,0.000,1936.274,0.000,2613.085,0.000,0.846,0.000
$DEVICE_MAMPS,220.320,115.515,1445.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,803.691,999.548,1288.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333812
$DATA_FILE_SIZE,70169,1180
$CAP_FILE_SIZE,143413,0
$CFSIZE,260165632,155963392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064, 40.1,1
$GPS,291010,210737,2211.287,12616.041,41,1.0,41,-3.1