version: 66.08
glider: 166
mission: 3
dive: 409
start: 10 30 110 4 44 48
data:
$ID,166
$MISSION,3
$DIVE,409
$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,-22070.078
$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,33
$R_STBD_OVSHOOT,62
$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
$GPS1,301010,043706,2207.571,12615.094,37,0.9,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-64.2
$GPS2,301010,044426,2207.558,12615.092,12,1.1,12,-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,199.0,88422,-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,-214.1,0.0,0.0,0,121,0.00,0.00,-101.22,0.000,2,0.000,0.000,150,1834,3258,0,0,0,0,0,0
$GC,124,-1.16,-214.1,5.0,-8.5,14,155,9.10,2.28,-13.15,0.000,4,0.225,0.058,2460,388,3947,0,0,0,0,0,0
$GC,393,-0.99,-214.1,112.9,-28.7,63,402,0.20,2.15,0.00,0.000,6,0.155,0.044,2516,1768,3950,0,0,0,0,0,0
$GC,726,-0.86,-214.1,199.9,-24.5,124,735,0.15,2.25,0.00,0.000,4,0.180,0.047,2547,3218,3952,0,0,0,0,0,0
$GC,767,-0.80,-214.1,208.0,-20.4,130,775,0.10,2.17,0.00,0.000,6,0.138,0.034,2580,1788,3953,0,0,0,0,0,0
$GC,1104,-0.80,-214.1,258.1,-14.4,191,1111,0.00,2.12,0.00,0.000,4,0.000,0.049,2580,393,3954,0,0,0,0,0,0
$GC,1239,-0.84,-214.1,277.4,-13.2,215,1247,0.00,2.17,0.00,0.000,6,0.000,0.044,2576,1814,3954,0,0,0,0,0,0
$GC,1573,-0.84,-214.1,324.4,-14.0,260,1577,0.00,2.12,0.00,0.000,4,0.000,0.049,2566,3209,3954,0,0,0,0,0,0
$GC,1593,-0.86,-214.1,326.8,-13.7,261,1597,0.00,2.10,0.00,0.000,6,0.000,0.035,2566,1795,3954,0,0,0,0,0,0
$GC,1919,-0.86,-214.1,372.8,-13.9,291,1923,0.00,2.12,0.00,0.000,4,0.000,0.050,2566,398,3953,0,0,0,0,0,0
$GC,2006,-0.88,-214.1,385.6,-14.5,298,2014,0.00,2.17,0.00,0.000,6,0.000,0.044,2562,1802,3952,0,0,0,0,0,0
$GC,2333,-0.90,-214.1,428.5,-13.1,329,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1802,3950,0,0,0,0,0,0
$GC,2654,-0.92,-214.1,469.5,-12.4,359,2658,0.00,2.17,0.00,0.000,4,0.000,0.054,2560,3213,3948,0,0,0,0,0,0
$GC,2712,-0.99,-214.1,476.4,-10.6,364,2716,0.12,2.12,0.00,0.000,6,0.086,0.037,2492,1798,3948,0,0,0,0,0,0
$GC,3037,-0.93,-214.1,529.3,-15.8,394,3042,0.17,2.20,0.00,0.000,4,0.170,0.052,2542,394,3945,0,0,0,0,0,0
$GC,3149,-0.93,-214.1,545.0,-12.8,403,3157,0.00,2.17,0.00,0.000,6,0.000,0.045,2536,1805,3944,0,0,0,0,0,0
$GC,3474,-0.93,-214.1,590.2,-14.0,434,3478,0.00,2.15,0.00,0.000,4,0.000,0.053,2527,3209,3941,0,0,0,0,0,0
$GC,3501,-0.93,-214.1,593.9,-13.0,436,3508,0.00,2.12,0.00,0.000,6,0.000,0.037,2526,1798,3941,0,0,0,0,0,0
$GC,3818,-0.93,-214.1,639.4,-14.5,454,3822,0.00,2.17,0.00,0.000,4,0.000,0.054,2526,394,3938,0,0,0,0,0,0
$GC,3853,-0.91,-214.1,644.8,-15.0,455,3861,0.00,2.17,0.00,0.000,6,0.000,0.047,2518,1800,3938,0,0,0,0,0,0
$GC,4170,-0.89,-214.1,692.7,-15.2,471,4171,0.12,0.00,0.00,0.000,6,0.180,0.000,2549,1800,3934,0,0,0,0,0,0
$GC,4481,-0.92,-214.1,730.6,-12.0,486,4485,0.00,2.20,0.00,0.000,4,0.000,0.054,2550,396,3932,0,0,0,0,0,0
$GC,4508,-0.95,-214.1,734.4,-12.4,487,4512,0.00,2.20,0.00,0.000,6,0.000,0.049,2549,1810,3931,0,0,0,0,0,0
$GC,4825,-0.98,-214.1,772.2,-12.2,502,4829,0.00,2.17,0.00,0.000,4,0.000,0.056,2541,3212,3928,0,0,0,0,0,0
$GC,4868,-1.04,-214.1,777.1,-12.0,504,4873,0.10,2.12,0.00,0.000,6,0.101,0.040,2489,1802,3927,0,0,0,0,0,0
$GC,5197,-0.98,-214.1,831.9,-17.1,520,5202,0.12,2.22,0.00,0.000,4,0.185,0.058,2521,389,3924,0,0,0,0,0,0
$GC,5303,-0.98,-214.1,848.9,-14.7,524,5310,0.00,2.20,0.00,0.000,6,0.000,0.049,2514,1801,3923,0,0,0,0,0,0
$GC,5620,-0.98,-214.1,896.9,-15.3,540,5624,0.00,2.22,0.00,0.000,4,0.000,0.057,2514,388,3921,0,0,0,0,0,0
$GC,5649,-0.97,-214.1,901.6,-16.3,541,5653,0.00,2.22,0.00,0.000,6,0.000,0.054,2506,1801,3921,0,0,0,0,0,0
$GC,5965,-0.94,-214.1,950.5,-15.5,556,5970,0.10,2.22,0.00,0.000,4,0.197,0.057,2533,398,3918,0,0,0,0,0,0
$GC,5992,-0.94,-214.1,955.1,-15.5,557,5996,0.00,2.17,0.00,0.000,6,0.000,0.049,2527,1803,3918,0,0,0,0,0,0
$GC,6316,-0.94,-214.1,998.5,-13.4,573,6320,0.00,2.25,0.00,0.000,4,0.000,0.059,2527,388,3915,0,0,0,0,0,0
$STATE,6323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6324,begin apogee
$GC,6331,-0.23,0.0,1000.3,13.3,573,6524,0.77,0.00,186.18,1.442,6,0.139,0.000,2762,1759,3071,0,0,0,0,0,0
$STATE,6524,end apogee,CONTROL_FINISHED_OK
$STATE,6524,begin climb
$GC,6527,1.16,214.1,1009.5,0.0,582,6738,1.30,2.42,202.43,1.382,4,0.053,0.054,3215,3163,2199,0,0,0,0,0,0
$GC,6777,0.85,214.1,961.7,30.2,594,6783,0.43,2.33,0.00,0.000,6,0.205,0.047,3121,1747,2195,0,0,0,0,0,0
$GC,7102,0.65,214.1,885.8,22.4,610,7107,0.25,2.20,0.00,0.000,4,0.181,0.051,3036,3165,2192,0,0,0,0,0,0
$GC,7143,0.56,214.1,877.7,16.7,612,7147,0.00,2.17,0.00,0.000,6,0.000,0.043,3044,1743,2190,0,0,0,0,0,0
$GC,7472,0.46,214.1,824.5,16.2,628,7477,0.20,2.20,0.00,0.000,4,0.165,0.054,2997,339,2190,0,0,0,0,0,0
$GC,7490,0.38,214.1,821.5,16.2,629,7495,0.12,2.15,0.00,0.000,6,0.171,0.043,2965,1751,2189,0,0,0,0,0,0
$GC,7819,0.49,291.2,787.2,10.5,645,7896,0.00,2.33,69.95,1.299,4,0.000,0.053,2965,3156,1884,0,0,0,0,0,0
$GC,7929,0.64,358.0,774.7,11.0,650,7998,0.20,2.20,62.67,1.263,6,0.063,0.042,3064,1751,1612,0,0,0,0,0,0
$GC,8318,0.56,358.0,695.9,20.9,669,8320,0.15,0.00,0.00,0.000,6,0.178,0.000,3025,1751,1606,0,0,0,0,0,0
$GC,8627,0.56,358.0,644.2,16.4,684,8631,0.00,2.22,0.00,0.000,4,0.000,0.057,3034,337,1603,0,0,0,0,0,0
$GC,8654,0.56,358.0,639.4,17.6,685,8659,0.00,2.17,0.00,0.000,6,0.000,0.041,3034,1754,1602,0,0,0,0,0,0
$GC,8981,0.53,358.0,584.4,16.7,705,8985,0.00,2.15,0.00,0.000,4,0.000,0.051,3034,3161,1602,0,0,0,0,0,0
$GC,9065,0.53,358.0,571.3,15.0,712,9070,0.12,2.15,0.00,0.000,6,0.174,0.042,3011,1749,1601,0,0,0,0,0,0
$GC,9391,0.59,383.2,529.5,12.8,742,9419,0.00,2.22,22.50,1.114,4,0.000,0.056,3020,347,1509,0,0,0,0,0,0
$GC,9456,0.63,388.8,520.9,13.6,747,9469,0.00,2.17,6.70,0.910,6,0.000,0.040,3020,1759,1486,0,0,0,0,0,0
$GC,9786,0.63,388.8,472.8,15.2,778,9790,0.00,2.15,0.00,0.000,4,0.000,0.051,3020,3161,1485,0,0,0,0,0,0
$GC,9851,0.70,400.4,464.1,13.4,783,9868,0.10,2.15,12.15,1.011,6,0.098,0.042,3085,1739,1439,0,0,0,0,0,0
$GC,10188,0.62,400.4,393.1,20.8,814,10193,0.15,2.17,0.00,0.000,4,0.177,0.056,3054,346,1436,0,0,0,0,0,0
$GC,10213,0.58,400.4,388.9,19.2,816,10217,0.00,2.15,0.00,0.000,6,0.000,0.039,3054,1754,1435,0,0,0,0,0,0
$GC,10545,0.56,400.4,333.6,16.4,847,10549,0.12,2.17,0.00,0.000,4,0.171,0.050,3020,3162,1434,0,0,0,0,0,0
$GC,10578,0.60,400.4,328.2,13.9,849,10585,0.00,2.15,0.00,0.000,6,0.000,0.041,3028,1748,1434,0,0,0,0,0,0
$GC,10908,0.69,432.5,287.1,12.5,889,10943,0.10,2.28,29.33,0.922,4,0.100,0.054,3101,347,1308,0,0,0,0,0,0
$GC,10975,0.62,432.5,275.0,20.6,899,10984,0.20,2.15,0.00,0.000,6,0.153,0.038,3043,1745,1307,0,0,0,0,0,0
$GC,11310,0.69,450.8,227.0,13.1,960,11330,0.00,0.00,17.30,0.831,6,0.000,0.000,3043,1750,1233,0,0,0,0,0,0
$GC,11658,0.82,507.0,184.2,11.4,1023,11712,0.17,0.00,49.05,0.816,6,0.071,0.000,3132,1749,1005,0,0,0,0,0,0
$GC,12036,0.77,507.0,107.2,19.5,1091,12046,0.15,2.20,0.00,0.000,4,0.164,0.045,3083,3156,1002,0,0,0,0,0,0
$GC,12067,0.77,507.0,102.2,17.3,1095,12078,0.00,2.17,0.00,0.000,6,0.000,0.038,3081,1744,1001,0,0,0,0,0,0
$GC,12400,1.04,617.2,71.5,9.1,1156,12505,0.25,2.28,92.90,0.696,4,0.054,0.050,3233,346,552,0,0,0,0,0,0
$GC,12557,0.96,617.2,30.7,26.0,1179,12567,0.25,2.20,0.00,0.000,6,0.138,0.037,3152,1767,550,0,0,0,0,0,0
$STATE,12697,end climb,SURFACE_DEPTH_REACHED
$STATE,12697,begin surface coast
$FINISH,1.1,1.021987
$STATE,12714,end surface coast,CONTROL_FINISHED_OK
$STATE,12714,begin surface
$SM_CCo,12791,0.00,0.000,0,0,546,619.63
$SM_GC,1.70,7.80,0.00,0.00,0.037,0.000,0.000,146,1773,546,-8.34,-0.76,619.63
$IRIDIUM_FIX,2159.71,12613.10,301010,000050
$TT8_MAMPS,0.026215
$HUMID,43.14
$INTERNAL_PRESSURE,8.66703
$TCM_TEMP,24.50
$XPDR_PINGS,89
$24V_AH,22.1,75.547
$10V_AH,10.2,48.492
$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,23.150,122.700,751.150,0.000,0.000,30.051,40.789,191.034,22.250,0.000,13.651,2956.833,6131.171,740.906,2966.070,419.119,0.000,1963.258,0.000,2707.087,0.000,0.845,0.000
$DEVICE_MAMPS,224.910,58.905,1442.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,822.760,1039.123,1354.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333828
$DATA_FILE_SIZE,70363,1207
$CAP_FILE_SIZE,150930,0
$CFSIZE,260165632,155713536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,247.0,1
$GPS,301010,081906,2205.317,12614.248,31,1.1,31,-3.1