version: 66.08
glider: 166
mission: 3
dive: 344
start: 10 19 110 22 4 15
data:
$ID,166
$MISSION,3
$DIVE,344
$N_DIVES,357
$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,-21988.283
$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,43
$R_STBD_OVSHOOT,49
$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
$GPS1,191010,215728,2344.775,12632.364,9,99.0,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.8
$GPS2,191010,220354,2344.794,12632.354,34,1.2,38,-3.5
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2300.000,12630.000
$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,182.8,83056,-19.7,-13.889
$D_GRID,5000
$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,13,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,121,0.00,0.00,-101.47,0.000,2,0.000,0.000,151,1766,3355,0,0,0,0,0,0
$GC,124,-1.16,-214.1,6.2,-12.6,14,149,8.90,2.15,-10.62,0.000,4,0.221,0.054,2465,395,3948,0,0,0,0,0,0
$GC,312,-0.96,-214.1,91.5,-31.3,47,320,0.20,2.15,0.00,0.000,6,0.152,0.040,2520,1791,3952,0,0,0,0,0,0
$GC,642,-0.82,-214.1,174.3,-23.6,108,651,0.17,0.00,0.00,0.000,6,0.176,0.000,2569,1793,3955,0,0,0,0,0,0
$GC,989,-0.78,-214.1,238.8,-19.5,169,996,0.00,2.15,0.00,0.000,4,0.000,0.046,2572,399,3956,0,0,0,0,0,0
$GC,1075,-0.76,-214.1,255.1,-17.6,184,1084,0.08,2.12,0.00,0.000,6,0.145,0.036,2587,1796,3956,0,0,0,0,0,0
$GC,1416,-0.76,-214.1,306.5,-13.7,241,1420,0.00,2.15,0.00,0.000,4,0.000,0.045,2588,396,3956,0,0,0,0,0,0
$GC,1484,-0.79,-214.1,315.9,-12.6,246,1492,0.00,2.12,0.00,0.000,6,0.000,0.037,2579,1797,3955,0,0,0,0,0,0
$GC,1811,-0.79,-214.1,364.1,-15.4,277,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1798,3954,0,0,0,0,0,0
$GC,2132,-0.81,-214.1,411.7,-14.1,307,2136,0.00,2.15,0.00,0.000,4,0.000,0.047,2578,395,3953,0,0,0,0,0,0
$GC,2192,-0.85,-214.1,420.6,-12.8,312,2201,0.00,2.15,0.00,0.000,6,0.000,0.038,2568,1806,3953,0,0,0,0,0,0
$GC,2519,-0.87,-214.1,463.7,-14.1,343,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1806,3951,0,0,0,0,0,0
$GC,2838,-0.89,-214.1,508.3,-13.6,373,2842,0.00,2.17,0.00,0.000,4,0.000,0.048,2568,401,3950,0,0,0,0,0,0
$GC,2879,-0.92,-214.1,514.0,-13.4,376,2887,0.00,2.12,0.00,0.000,6,0.000,0.039,2560,1800,3949,0,0,0,0,0,0
$GC,3205,-0.94,-214.1,552.7,-11.8,407,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1800,3947,0,0,0,0,0,0
$GC,3527,-0.96,-214.1,592.7,-12.5,437,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1800,3945,0,0,0,0,0,0
$GC,3857,-0.99,-214.1,633.8,-12.3,456,3862,0.12,2.22,0.00,0.000,4,0.093,0.050,2500,399,3942,0,0,0,0,0,0
$GC,3883,-0.96,-214.1,638.4,-16.5,457,3888,0.15,2.15,0.00,0.000,6,0.171,0.045,2531,1803,3941,0,0,0,0,0,0
$GC,4199,-0.96,-214.1,686.8,-15.5,472,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1803,3939,0,0,0,0,0,0
$GC,4510,-0.96,-214.1,734.3,-14.9,487,4514,0.00,2.20,0.00,0.000,4,0.000,0.050,2532,396,3936,0,0,0,0,0,0
$GC,4565,-0.98,-214.1,743.7,-16.2,489,4572,0.00,2.12,0.00,0.000,6,0.000,0.041,2524,1805,3935,0,0,0,0,0,0
$GC,4882,-0.98,-214.1,793.4,-15.5,505,4886,0.00,2.17,0.00,0.000,4,0.000,0.062,2515,3202,3933,0,0,0,0,0,0
$GC,4906,-0.98,-214.1,796.9,-15.0,506,4911,0.00,2.10,0.00,0.000,6,0.000,0.038,2514,1800,3933,0,0,0,0,0,0
$GC,5235,-0.96,-214.1,848.5,-15.5,522,5239,0.00,2.20,0.00,0.000,4,0.000,0.053,2514,393,3929,0,0,0,0,0,0
$GC,5324,-0.96,-214.1,862.1,-14.9,526,5328,0.00,2.15,0.00,0.000,6,0.000,0.044,2505,1808,3928,0,0,0,0,0,0
$GC,5651,-0.94,-214.1,911.9,-14.8,542,5656,0.12,2.20,0.00,0.000,4,0.181,0.057,2530,3208,3926,0,0,0,0,0,0
$GC,5684,-0.97,-214.1,916.3,-11.9,543,5691,0.00,2.10,0.00,0.000,6,0.000,0.039,2530,1801,3926,0,0,0,0,0,0
$GC,6001,-0.98,-214.1,954.4,-12.2,559,6005,0.00,2.17,0.00,0.000,4,0.000,0.054,2530,399,3923,0,0,0,0,0,0
$GC,6079,-1.00,-214.1,964.7,-13.6,562,6083,0.00,2.12,0.00,0.000,6,0.000,0.043,2521,1799,3922,0,0,0,0,0,0
$STATE,6351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6351,begin apogee
$GC,6359,-0.23,0.0,1000.9,13.4,575,6548,0.73,0.00,181.48,1.440,6,0.129,0.000,2756,1741,3072,0,0,0,0,0,0
$STATE,6549,end apogee,CONTROL_FINISHED_OK
$STATE,6549,begin climb
$GC,6553,1.16,214.1,1009.7,0.0,584,6758,1.25,2.42,195.43,1.382,4,0.043,0.053,3235,358,2199,0,0,0,0,0,0
$GC,6810,0.81,214.1,957.7,32.5,596,6815,0.47,2.25,0.00,0.000,6,0.202,0.043,3107,1750,2196,0,0,0,0,0,0
$GC,7139,0.61,214.1,879.9,23.2,612,7144,0.25,2.17,0.00,0.000,4,0.185,0.050,3023,3165,2191,0,0,0,0,0,0
$GC,7213,0.52,214.1,865.8,16.8,615,7217,0.00,2.12,0.00,0.000,6,0.000,0.041,3031,1753,2189,0,0,0,0,0,0
$GC,7529,0.43,214.1,813.8,16.2,630,7531,0.17,0.00,0.00,0.000,6,0.180,0.000,2985,1753,2188,0,0,0,0,0,0
$GC,7841,0.43,226.8,772.7,13.3,645,7858,0.00,0.00,11.18,1.175,6,0.000,0.000,2984,1753,2147,0,0,0,0,0,0
$GC,8168,0.45,242.9,727.9,13.2,661,8191,0.00,2.30,16.50,1.213,4,0.000,0.054,2975,3167,2080,0,0,0,0,0,0
$GC,8220,0.45,245.0,720.8,13.8,663,8224,0.00,2.17,0.00,0.000,6,0.000,0.040,2982,1741,2078,0,0,0,0,0,0
$GC,8541,0.51,293.0,680.9,11.8,679,8593,0.00,2.30,45.17,1.237,4,0.000,0.051,2993,346,1877,0,0,0,0,0,0
$GC,8632,0.55,308.2,670.3,13.2,683,8654,0.00,2.20,15.10,1.138,6,0.000,0.037,2991,1758,1815,0,0,0,0,0,0
$GC,8965,0.63,352.9,629.5,11.9,699,9013,0.15,2.30,41.15,1.187,4,0.077,0.052,3056,3160,1633,0,0,0,0,0,0
$GC,9049,0.57,352.9,613.7,20.7,702,9057,0.15,2.22,0.00,0.000,6,0.182,0.039,3028,1741,1631,0,0,0,0,0,0
$GC,9373,0.54,352.9,555.6,18.1,729,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1740,1629,0,0,0,0,0,0
$GC,9693,0.54,352.9,503.4,16.0,759,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1740,1627,0,0,0,0,0,0
$GC,10020,0.54,352.9,451.9,15.9,790,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1740,1627,0,0,0,0,0,0
$GC,10340,0.54,352.9,403.8,14.9,820,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1740,1625,0,0,0,0,0,0
$GC,10668,0.54,352.9,354.6,14.7,851,10672,0.00,2.17,0.00,0.000,4,0.000,0.047,3025,3162,1625,0,0,0,0,0,0
$GC,10690,0.54,352.9,350.8,15.3,852,10699,0.00,2.17,0.00,0.000,6,0.000,0.038,3031,1750,1625,0,0,0,0,0,0
$GC,11016,0.54,352.9,304.4,14.5,883,11020,0.00,2.17,0.00,0.000,4,0.000,0.048,3042,337,1625,0,0,0,0,0,0
$GC,11081,0.56,352.9,294.9,14.6,891,11087,0.00,2.12,0.00,0.000,6,0.000,0.034,3042,1760,1624,0,0,0,0,0,0
$GC,11417,0.56,352.9,242.8,14.6,952,11426,0.00,2.15,0.00,0.000,4,0.000,0.049,3039,3159,1624,0,0,0,0,0,0
$GC,11474,0.61,370.6,235.1,13.1,961,11495,0.00,2.12,15.75,0.826,6,0.000,0.037,3047,1745,1561,0,0,0,0,0,0
$GC,11831,0.61,370.6,184.8,15.1,1024,11840,0.00,2.17,0.00,0.000,4,0.000,0.047,3057,343,1560,0,0,0,0,0,0
$GC,11901,0.64,370.6,175.4,13.9,1035,11908,0.00,2.12,0.00,0.000,6,0.000,0.034,3058,1754,1560,0,0,0,0,0,0
$GC,12240,0.66,374.4,129.9,13.7,1096,12250,0.00,2.17,5.28,0.571,4,0.000,0.046,3053,3155,1545,0,0,0,0,0,0
$GC,12270,0.67,374.4,124.6,15.5,1100,12279,0.00,2.15,0.00,0.000,6,0.000,0.037,3062,1749,1545,0,0,0,0,0,0
$GC,12601,0.79,436.6,80.3,11.2,1161,12661,0.10,2.28,53.50,0.717,4,0.099,0.045,3130,3159,1292,0,0,0,0,0,0
$GC,12700,0.79,439.3,64.6,13.8,1175,12710,0.12,2.20,4.18,0.442,6,0.133,0.037,3099,1744,1280,0,0,0,0,0,0
$GC,13032,0.97,527.7,31.0,10.0,1236,13116,0.15,2.25,73.62,0.658,4,0.073,0.047,3198,352,919,0,0,0,0,0,0
$STATE,13175,end climb,SURFACE_DEPTH_REACHED
$STATE,13175,begin surface coast
$FINISH,0.8,1.021520
$STATE,13188,end surface coast,CONTROL_FINISHED_OK
$STATE,13188,begin surface
$SM_CCo,13269,0.00,0.000,0,0,916,528.87
$SM_GC,1.51,7.90,0.00,0.00,0.030,0.000,0.000,142,1810,916,-8.34,0.28,528.87
$IRIDIUM_FIX,2335.63,12630.54,191010,202004
$TT8_MAMPS,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.90
$XPDR_PINGS,88
$24V_AH,22.7,59.100
$10V_AH,10.2,39.469
$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,21.200,100.450,658.325,0.000,0.000,23.452,18.768,169.736,22.000,0.000,39.563,3076.529,6480.302,683.739,3020.331,387.735,0.000,1892.256,0.000,2793.932,0.000,0.847,0.000
$DEVICE_MAMPS,221.085,117.045,1440.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.459,1086.361,1455.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333904
$DATA_FILE_SIZE,73539,1260
$CAP_FILE_SIZE,144241,0
$CFSIZE,260165632,161050624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 72.0,1
$GPS,201010,014636,2342.936,12633.288,36,1.0,36,-3.5