version: 66.08
glider: 166
mission: 3
dive: 345
start: 10 20 110 1 54 36
data:
$ID,166
$MISSION,3
$DIVE,345
$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,-21989.541
$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,40
$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
$GPS1,201010,014636,2342.936,12633.288,36,1.0,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.7
$GPS2,201010,015414,2343.008,12633.322,16,1.1,16,-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,201.1,79852,-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,-214.1,0.0,0.0,0,114,0.00,0.00,-94.75,0.000,2,0.000,0.000,145,1811,3383,0,0,0,0,0,0
$GC,119,-1.16,-214.1,6.5,-13.8,13,143,9.02,2.22,-9.80,0.000,4,0.220,0.053,2462,390,3948,0,0,0,0,0,0
$GC,303,-0.95,-214.1,92.2,-33.9,46,312,0.22,2.17,0.00,0.000,6,0.154,0.039,2524,1800,3951,0,0,0,0,0,0
$GC,633,-0.81,-214.1,182.0,-25.5,107,641,0.17,2.17,0.00,0.000,4,0.174,0.044,2575,394,3954,0,0,0,0,0,0
$GC,673,-0.75,-214.1,191.2,-21.3,113,681,0.12,2.12,0.00,0.000,6,0.167,0.038,2598,1808,3954,0,0,0,0,0,0
$GC,1008,-0.75,-214.1,245.8,-15.8,174,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1809,3956,0,0,0,0,0,0
$GC,1346,-0.77,-214.1,291.4,-12.5,235,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1809,3956,0,0,0,0,0,0
$GC,1680,-0.81,-214.1,334.2,-12.5,272,1684,0.00,2.20,0.00,0.000,4,0.000,0.047,2597,392,3955,0,0,0,0,0,0
$GC,1758,-0.86,-214.1,344.3,-12.6,278,1766,0.00,2.15,0.00,0.000,6,0.000,0.038,2591,1799,3954,0,0,0,0,0,0
$GC,2086,-0.89,-214.1,386.9,-12.9,309,2090,0.10,2.17,0.00,0.000,4,0.106,0.052,2535,3213,3953,0,0,0,0,0,0
$GC,2142,-0.91,-214.1,395.1,-14.6,313,2148,0.00,2.12,0.00,0.000,6,0.000,0.037,2535,1795,3952,0,0,0,0,0,0
$GC,2468,-0.87,-214.1,450.4,-17.0,344,2472,0.00,2.15,0.00,0.000,4,0.000,0.047,2535,398,3951,0,0,0,0,0,0
$GC,2565,-0.84,-214.1,466.2,-17.2,352,2569,0.12,2.12,0.00,0.000,6,0.168,0.041,2568,1805,3950,0,0,0,0,0,0
$GC,2895,-0.87,-214.1,513.5,-13.9,383,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1806,3949,0,0,0,0,0,0
$GC,3219,-0.90,-214.1,556.0,-12.4,413,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1806,3946,0,0,0,0,0,0
$GC,3548,-0.93,-214.1,598.2,-12.6,444,3552,0.00,2.17,0.00,0.000,4,0.000,0.056,2560,3201,3944,0,0,0,0,0,0
$GC,3576,-0.99,-214.1,602.3,-12.7,445,3581,0.12,2.12,0.00,0.000,6,0.086,0.037,2495,1788,3944,0,0,0,0,0,0
$GC,3893,-0.93,-214.1,658.7,-17.9,460,3898,0.15,2.17,0.00,0.000,4,0.174,0.050,2535,389,3941,0,0,0,0,0,0
$GC,3994,-0.93,-214.1,674.9,-15.8,464,4000,0.00,2.17,0.00,0.000,6,0.000,0.043,2535,1805,3940,0,0,0,0,0,0
$GC,4310,-0.93,-214.1,721.4,-14.7,480,4314,0.00,2.20,0.00,0.000,4,0.000,0.057,2525,3212,3938,0,0,0,0,0,0
$GC,4334,-0.93,-214.1,724.8,-14.0,481,4338,0.00,2.12,0.00,0.000,6,0.000,0.037,2525,1790,3938,0,0,0,0,0,0
$GC,4655,-0.93,-214.1,770.5,-13.9,497,4659,0.00,2.17,0.00,0.000,4,0.000,0.050,2525,391,3934,0,0,0,0,0,0
$GC,4750,-0.93,-214.1,784.0,-13.6,501,4754,0.00,2.17,0.00,0.000,6,0.000,0.042,2517,1812,3933,0,0,0,0,0,0
$GC,5069,-0.91,-214.1,828.6,-14.3,516,5073,0.00,2.20,0.00,0.000,4,0.000,0.055,2517,399,3931,0,0,0,0,0,0
$GC,5107,-0.89,-214.1,835.2,-15.6,517,5115,0.15,2.15,0.00,0.000,6,0.162,0.041,2548,1805,3930,0,0,0,0,0,0
$GC,5426,-0.92,-214.1,874.4,-12.4,533,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1806,3927,0,0,0,0,0,0
$GC,5734,-0.96,-214.1,912.5,-12.0,548,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1806,3925,0,0,0,0,0,0
$GC,6045,-1.01,-214.1,947.6,-11.2,563,6049,0.00,2.17,0.00,0.000,4,0.000,0.054,2548,402,3923,0,0,0,0,0,0
$GC,6086,-1.05,-214.1,952.3,-11.7,565,6090,0.15,2.17,0.00,0.000,6,0.085,0.046,2482,1801,3922,0,0,0,0,0,0
$STATE,6390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6390,begin apogee
$GC,6396,-0.23,0.0,1000.2,15.4,580,6587,0.88,0.00,183.25,1.435,6,0.142,0.000,2756,1746,3072,0,0,0,0,0,0
$STATE,6588,end apogee,CONTROL_FINISHED_OK
$STATE,6588,begin climb
$GC,6591,1.16,214.1,1008.1,0.0,589,6801,1.27,0.00,198.68,1.367,6,0.046,0.000,3224,1746,2198,0,0,0,0,0,0
$GC,7106,0.83,214.1,876.1,30.8,614,7111,0.40,2.22,0.00,0.000,4,0.200,0.054,3106,3159,2191,0,0,0,0,0,0
$GC,7135,0.59,214.1,868.2,26.0,615,7140,0.30,2.17,0.00,0.000,6,0.177,0.043,3033,1751,2190,0,0,0,0,0,0
$GC,7452,0.51,214.1,817.5,15.8,630,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1750,2189,0,0,0,0,0,0
$GC,7762,0.42,214.1,768.9,15.4,645,7767,0.20,2.20,0.00,0.000,4,0.167,0.053,2967,3159,2187,0,0,0,0,0,0
$GC,7802,0.50,279.9,763.6,11.0,647,7868,0.00,2.12,58.62,1.273,6,0.000,0.041,2975,1746,1931,0,0,0,0,0,0
$GC,8178,0.61,332.3,721.2,11.6,665,8234,0.17,2.33,47.65,1.234,4,0.075,0.054,3071,346,1717,0,0,0,0,0,0
$GC,8278,0.54,332.3,701.5,21.6,669,8286,0.20,2.20,0.00,0.000,6,0.164,0.041,3017,1751,1714,0,0,0,0,0,0
$GC,8596,0.52,332.3,650.0,16.0,685,8600,0.00,2.15,0.00,0.000,4,0.000,0.053,3017,3159,1712,0,0,0,0,0,0
$GC,8662,0.55,332.3,639.3,14.3,688,8666,0.00,2.15,0.00,0.000,6,0.000,0.041,3025,1746,1711,0,0,0,0,0,0
$GC,8988,0.53,332.3,589.7,15.4,707,8992,0.00,2.17,0.00,0.000,4,0.000,0.052,3035,337,1710,0,0,0,0,0,0
$GC,9020,0.52,332.3,584.0,16.1,709,9027,0.00,2.17,0.00,0.000,6,0.000,0.038,3035,1756,1708,0,0,0,0,0,0
$GC,9349,0.49,332.3,532.1,16.1,740,9354,0.12,2.15,0.00,0.000,4,0.171,0.051,2991,3172,1708,0,0,0,0,0,0
$GC,9402,0.61,367.8,524.6,12.3,744,9439,0.12,2.15,31.67,1.106,6,0.083,0.041,3062,1750,1572,0,0,0,0,0,0
$GC,9762,0.55,367.8,452.7,20.6,777,9767,0.15,2.20,0.00,0.000,4,0.172,0.051,3030,345,1568,0,0,0,0,0,0
$GC,9823,0.58,367.8,441.2,16.0,782,9827,0.00,2.15,0.00,0.000,6,0.000,0.037,3030,1753,1566,0,0,0,0,0,0
$GC,10155,0.58,367.8,390.8,14.5,813,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1754,1566,0,0,0,0,0,0
$GC,10476,0.60,379.4,346.4,13.4,843,10492,0.00,2.20,10.80,0.880,4,0.000,0.049,3029,3162,1525,0,0,0,0,0,0
$GC,10535,0.67,407.1,338.4,12.7,848,10572,0.00,2.17,25.80,0.938,6,0.000,0.039,3035,1738,1412,0,0,0,0,0,0
$GC,10893,0.69,407.1,289.4,15.0,887,10901,0.00,2.17,0.00,0.000,4,0.000,0.048,3044,337,1410,0,0,0,0,0,0
$GC,10967,0.73,407.1,277.6,15.0,900,10975,0.00,2.17,0.00,0.000,6,0.000,0.034,3044,1749,1409,0,0,0,0,0,0
$GC,11300,0.73,407.1,227.4,15.1,961,11306,0.00,2.15,0.00,0.000,4,0.000,0.046,3044,3169,1408,0,0,0,0,0,0
$GC,11336,0.77,407.1,222.1,14.4,967,11345,0.10,2.15,0.00,0.000,6,0.095,0.038,3114,1750,1408,0,0,0,0,0,0
$GC,11673,0.70,407.1,152.5,19.6,1028,11681,0.17,2.20,0.00,0.000,4,0.163,0.047,3074,343,1408,0,0,0,0,0,0
$GC,11708,0.67,407.1,145.5,18.7,1033,11717,0.00,2.15,0.00,0.000,6,0.000,0.033,3073,1758,1408,0,0,0,0,0,0
$GC,12039,0.78,461.0,98.5,11.6,1094,12094,0.00,2.20,46.92,0.734,4,0.000,0.050,3073,3152,1192,0,0,0,0,0,0
$GC,12142,0.97,530.8,87.1,10.9,1109,12209,0.15,2.17,59.28,0.708,6,0.037,0.036,3174,1748,907,0,0,0,0,0,0
$GC,12533,0.93,530.8,11.4,19.7,1178,12541,0.12,2.20,0.00,0.000,4,0.172,0.047,3151,347,905,0,0,0,0,0,0
$STATE,12579,end climb,SURFACE_DEPTH_REACHED
$STATE,12579,begin surface coast
$FINISH,1.0,1.021702
$STATE,12596,end surface coast,CONTROL_FINISHED_OK
$STATE,12596,begin surface
$SM_CCo,12675,0.00,0.000,0,0,901,532.30
$SM_GC,1.57,7.72,0.00,0.00,0.034,0.000,0.000,156,1821,901,-8.33,0.59,532.30
$IRIDIUM_FIX,2337.99,12631.94,191010,212132
$TT8_MAMPS,0.026215
$HUMID,43.93
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.40
$XPDR_PINGS,85
$24V_AH,22.5,59.346
$10V_AH,10.3,39.602
$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,22.450,104.450,662.675,0.000,0.000,25.296,40.799,220.772,21.250,0.000,17.768,2923.381,6191.668,696.719,2904.701,400.518,0.000,1848.577,0.000,2641.146,0.000,0.846,0.000
$DEVICE_MAMPS,220.320,117.045,1435.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.986,1021.269,1334.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70372,1189
$CAP_FILE_SIZE,142878,0
$CFSIZE,260165632,160972800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110, 94.5,1
$GPS,201010,052706,2341.117,12633.648,39,1.1,39,-3.5