version: 66.08
glider: 166
mission: 3
dive: 347
start: 10 20 110 9 17 8
data:
$ID,166
$MISSION,3
$DIVE,347
$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,-21992.062
$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,35
$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
$GPS1,201010,090924,2339.334,12633.522,39,1.8,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.5
$GPS2,201010,091646,2339.473,12633.556,14,2.1,33,-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,197.2,73356,-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,-94.72,0.000,2,0.000,0.000,150,1759,3383,0,0,0,0,0,0
$GC,119,-1.16,-214.1,6.5,-13.3,13,144,9.07,2.12,-9.75,0.000,4,0.223,0.049,2456,382,3949,0,0,0,0,0,0
$GC,168,-0.75,-214.1,34.4,-53.9,20,176,0.50,2.17,0.00,0.000,6,0.177,0.035,2587,1803,3951,0,0,0,0,0,0
$GC,496,-0.67,-214.1,117.9,-23.0,81,504,0.12,0.00,0.00,0.000,6,0.182,0.000,2620,1805,3955,0,0,0,0,0,0
$GC,826,-0.69,-214.1,172.7,-15.1,142,834,0.00,2.17,0.00,0.000,4,0.000,0.043,2622,396,3956,0,0,0,0,0,0
$GC,864,-0.71,-214.1,178.7,-15.8,148,872,0.00,2.12,0.00,0.000,6,0.000,0.035,2619,1799,3956,0,0,0,0,0,0
$GC,1195,-0.75,-214.1,225.8,-13.9,209,1202,0.00,2.15,0.00,0.000,4,0.000,0.050,2617,3202,3957,0,0,0,0,0,0
$GC,1222,-0.81,-214.1,229.2,-12.5,213,1229,0.12,2.08,0.00,0.000,6,0.083,0.032,2545,1783,3957,0,0,0,0,0,0
$GC,1559,-0.75,-214.1,293.4,-19.4,274,1567,0.17,2.15,0.00,0.000,4,0.168,0.044,2592,399,3957,0,0,0,0,0,0
$GC,1691,-0.79,-214.1,313.1,-13.7,288,1699,0.00,2.12,0.00,0.000,6,0.000,0.038,2590,1793,3957,0,0,0,0,0,0
$GC,2019,-0.82,-214.1,358.0,-13.7,319,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1793,3956,0,0,0,0,0,0
$GC,2338,-0.86,-214.1,401.0,-12.5,349,2342,0.00,2.15,0.00,0.000,4,0.000,0.046,2590,398,3955,0,0,0,0,0,0
$GC,2389,-0.91,-214.1,407.9,-12.5,353,2396,0.12,2.12,0.00,0.000,6,0.087,0.039,2519,1802,3955,0,0,0,0,0,0
$GC,2715,-0.85,-214.1,464.6,-17.3,384,2720,0.17,2.15,0.00,0.000,4,0.169,0.047,2567,406,3953,0,0,0,0,0,0
$GC,2757,-0.88,-214.1,470.8,-14.2,387,2761,0.00,2.10,0.00,0.000,6,0.000,0.038,2560,1800,3952,0,0,0,0,0,0
$GC,3089,-0.88,-214.1,514.8,-13.3,418,3092,0.00,2.15,0.00,0.000,4,0.000,0.047,2560,405,3951,0,0,0,0,0,0
$GC,3120,-0.88,-214.1,518.8,-13.6,420,3124,0.00,2.12,0.00,0.000,6,0.000,0.041,2560,1800,3951,0,0,0,0,0,0
$GC,3446,-0.90,-214.1,562.6,-13.2,450,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1800,3948,0,0,0,0,0,0
$GC,3777,-0.92,-214.1,605.6,-13.0,479,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1800,3946,0,0,0,0,0,0
$GC,4083,-0.95,-214.1,643.3,-11.9,494,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1800,3944,0,0,0,0,0,0
$GC,4394,-0.99,-214.1,679.3,-11.2,509,4399,0.12,2.17,0.00,0.000,4,0.092,0.051,2498,405,3941,0,0,0,0,0,0
$GC,4421,-0.96,-214.1,683.7,-16.2,510,4426,0.15,2.12,0.00,0.000,6,0.171,0.041,2529,1811,3940,0,0,0,0,0,0
$GC,4737,-0.96,-214.1,728.0,-14.4,525,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1811,3938,0,0,0,0,0,0
$GC,5048,-0.96,-214.1,773.4,-14.8,540,5052,0.00,2.22,0.00,0.000,4,0.000,0.050,2529,401,3935,0,0,0,0,0,0
$GC,5069,-0.96,-214.1,777.3,-15.6,541,5073,0.00,2.15,0.00,0.000,6,0.000,0.042,2521,1804,3934,0,0,0,0,0,0
$GC,5398,-0.96,-214.1,828.3,-15.3,557,5402,0.00,2.17,0.00,0.000,4,0.000,0.051,2521,398,3932,0,0,0,0,0,0
$GC,5438,-0.96,-214.1,834.6,-15.9,559,5441,0.00,2.15,0.00,0.000,6,0.000,0.043,2512,1801,3931,0,0,0,0,0,0
$GC,5765,-0.96,-214.1,883.5,-14.8,575,5769,0.00,2.17,0.00,0.000,4,0.000,0.051,2512,405,3928,0,0,0,0,0,0
$GC,5829,-0.96,-214.1,892.9,-14.6,578,5833,0.00,2.15,0.00,0.000,6,0.000,0.044,2502,1802,3928,0,0,0,0,0,0
$GC,6158,-0.94,-214.1,940.0,-14.0,594,6162,0.12,2.20,0.00,0.000,4,0.182,0.053,2536,402,3925,0,0,0,0,0,0
$GC,6199,-0.98,-214.1,945.6,-12.6,596,6203,0.00,2.17,0.00,0.000,6,0.000,0.044,2529,1806,3925,0,0,0,0,0,0
$GC,6529,-0.99,-214.1,986.3,-12.5,612,6533,0.00,2.20,0.00,0.000,4,0.000,0.058,2521,3210,3922,0,0,0,0,0,0
$GC,6556,-1.02,-214.1,990.1,-12.1,613,6560,0.00,2.10,0.00,0.000,6,0.000,0.038,2521,1805,3921,0,0,0,0,0,0
$STATE,6643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6643,begin apogee
$GC,6651,-0.23,0.0,1001.7,13.4,617,6844,0.73,0.00,184.65,1.431,6,0.127,0.000,2757,1752,3071,0,0,0,0,0,0
$STATE,6845,end apogee,CONTROL_FINISHED_OK
$STATE,6845,begin climb
$GC,6848,1.16,214.1,1010.9,0.0,626,7062,1.27,2.47,199.20,1.372,4,0.043,0.054,3240,352,2198,0,0,0,0,0,0
$GC,7095,0.81,214.1,961.9,34.5,637,7100,0.52,2.30,0.00,0.000,6,0.203,0.044,3104,1749,2196,0,0,0,0,0,0
$GC,7412,0.62,214.1,886.0,22.7,652,7416,0.22,2.17,0.00,0.000,4,0.181,0.050,3032,3162,2191,0,0,0,0,0,0
$GC,7453,0.51,214.1,877.7,18.8,654,7458,0.12,2.17,0.00,0.000,6,0.192,0.046,3012,1740,2189,0,0,0,0,0,0
$GC,7783,0.47,214.1,828.3,14.9,670,7787,0.00,2.15,0.00,0.000,4,0.000,0.053,3019,348,2187,0,0,0,0,0,0
$GC,7834,0.41,214.1,819.7,16.1,672,7839,0.15,2.12,0.00,0.000,6,0.171,0.039,2978,1752,2187,0,0,0,0,0,0
$GC,8150,0.49,273.2,782.4,11.3,687,8208,0.00,2.25,52.88,1.287,4,0.000,0.052,2974,3160,1958,0,0,0,0,0,0
$GC,8251,0.57,311.7,770.5,12.2,690,8294,0.12,2.20,36.40,1.239,6,0.084,0.041,3046,1747,1800,0,0,0,0,0,0
$GC,8613,0.51,311.7,702.2,19.3,708,8617,0.15,2.17,0.00,0.000,4,0.171,0.053,3015,343,1794,0,0,0,0,0,0
$GC,8647,0.49,311.7,696.0,16.4,709,8654,0.00,2.15,0.00,0.000,6,0.000,0.040,3015,1749,1792,0,0,0,0,0,0
$GC,8963,0.49,311.7,648.1,14.5,725,8967,0.00,2.15,0.00,0.000,4,0.000,0.054,3015,3161,1791,0,0,0,0,0,0
$GC,9012,0.49,311.7,640.3,15.4,727,9017,0.00,2.15,0.00,0.000,6,0.000,0.040,3024,1753,1790,0,0,0,0,0,0
$GC,9338,0.47,311.7,589.2,15.3,746,9340,0.12,0.00,0.00,0.000,6,0.181,0.000,2992,1752,1789,0,0,0,0,0,0
$GC,9656,0.56,356.1,550.4,12.0,776,9700,0.00,2.30,39.38,1.138,4,0.000,0.054,2999,347,1620,0,0,0,0,0,0
$GC,9715,0.66,403.3,543.2,11.8,781,9765,0.15,2.17,43.95,1.105,6,0.076,0.037,3066,1752,1428,0,0,0,0,0,0
$GC,10087,0.59,403.3,466.3,21.9,815,10092,0.12,2.17,0.00,0.000,4,0.180,0.052,3031,3161,1422,0,0,0,0,0,0
$GC,10152,0.63,403.3,454.1,15.4,820,10160,0.00,2.17,0.00,0.000,6,0.000,0.041,3035,1752,1422,0,0,0,0,0,0
$GC,10479,0.63,403.3,399.8,16.1,851,10482,0.00,2.17,0.00,0.000,4,0.000,0.051,3044,340,1422,0,0,0,0,0,0
$GC,10518,0.63,403.3,392.7,17.0,854,10522,0.00,2.15,0.00,0.000,6,0.000,0.041,3044,1754,1419,0,0,0,0,0,0
$GC,10844,0.60,403.3,332.8,20.2,884,10848,0.00,2.15,0.00,0.000,4,0.000,0.050,3044,3171,1419,0,0,0,0,0,0
$GC,10888,0.60,403.3,324.1,18.4,887,10896,0.00,2.15,0.00,0.000,6,0.000,0.040,3051,1744,1419,0,0,0,0,0,0
$GC,11217,0.59,403.3,267.0,16.7,935,11225,0.00,2.15,0.00,0.000,4,0.000,0.048,3060,340,1419,0,0,0,0,0,0
$GC,11244,0.57,403.3,262.6,16.6,939,11253,0.12,2.15,0.00,0.000,6,0.159,0.034,3027,1762,1418,0,0,0,0,0,0
$GC,11579,0.62,416.4,217.5,13.3,1000,11600,0.00,2.17,11.57,0.787,4,0.000,0.049,3026,3162,1374,0,0,0,0,0,0
$GC,11632,0.70,433.4,210.3,13.1,1008,11654,0.05,2.15,16.75,0.805,6,0.062,0.038,3087,1757,1305,0,0,0,0,0,0
$GC,11981,0.67,433.4,141.8,18.3,1071,11990,0.00,2.17,0.00,0.000,4,0.000,0.047,3097,350,1305,0,0,0,0,0,0
$GC,12004,0.63,433.4,137.4,19.8,1074,12013,0.15,2.15,0.00,0.000,6,0.138,0.034,3044,1764,1303,0,0,0,0,0,0
$GC,12336,0.85,545.1,97.7,9.0,1135,12441,0.20,2.30,94.57,0.731,4,0.062,0.047,3155,350,847,0,0,0,0,0,0
$GC,12458,0.80,545.1,73.9,21.8,1151,12467,0.15,2.17,0.00,0.000,6,0.134,0.033,3100,1747,846,0,0,0,0,0,0
$GC,12788,1.02,642.3,31.8,9.7,1212,12878,0.20,2.22,78.65,0.656,4,0.062,0.046,3193,3149,453,0,0,0,0,0,0
$STATE,12918,end climb,SURFACE_DEPTH_REACHED
$STATE,12918,begin surface coast
$FINISH,0.8,1.007977
$STATE,12930,end surface coast,CONTROL_FINISHED_OK
$STATE,12930,begin surface
$SM_CCo,13010,0.00,0.000,0,0,450,642.93
$SM_GC,1.38,8.02,0.00,0.00,0.038,0.000,0.000,155,1795,450,-8.33,-0.17,642.93
$IRIDIUM_FIX,2330.93,12635.72,201010,050537
$TT8_MAMPS,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,8.66703
$TCM_TEMP,24.30
$XPDR_PINGS,84
$24V_AH,22.5,59.857
$10V_AH,10.2,39.881
$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,23.300,121.625,758.000,0.000,0.000,28.297,16.144,208.369,21.000,0.000,35.647,3013.888,6230.452,747.222,3024.093,419.933,0.000,1987.968,0.000,2768.678,0.000,0.844,0.000
$DEVICE_MAMPS,222.615,157.590,1430.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.035,1059.790,1430.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73602,1233
$CAP_FILE_SIZE,153775,0
$CFSIZE,260165632,160796672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 36.8,1
$GPS,201010,125506,2337.728,12633.621,32,1.5,32,-3.5