version: 66.08
glider: 166
mission: 3
dive: 348
start: 10 20 110 13 3 20
data:
$ID,166
$MISSION,3
$DIVE,348
$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,-21993.318
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,201010,125506,2337.728,12633.621,32,1.5,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.6
$GPS2,201010,130258,2337.826,12633.705,16,2.1,35,-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,194.6,70338,-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,-214.1,0.0,0.0,0,134,0.00,0.00,-114.35,0.000,2,0.000,0.000,156,1792,3347,0,0,0,0,0,0
$GC,138,-1.16,-214.1,6.0,-11.2,16,162,8.90,0.00,-10.70,0.000,6,0.220,0.000,2455,1789,3950,0,0,0,0,0,0
$GC,480,-0.93,-214.1,141.3,-31.3,79,489,0.28,2.15,0.00,0.000,4,0.188,0.039,2549,400,3955,0,0,0,0,0,0
$GC,530,-0.80,-214.1,155.5,-25.1,87,538,0.15,2.10,0.00,0.000,6,0.174,0.037,2576,1796,3956,0,0,0,0,0,0
$GC,870,-0.75,-214.1,224.2,-19.1,148,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1796,3958,0,0,0,0,0,0
$GC,1211,-0.72,-214.1,283.8,-16.0,209,1219,0.12,2.17,0.00,0.000,4,0.177,0.046,2601,401,3958,0,0,0,0,0,0
$GC,1283,-0.76,-214.1,293.3,-12.1,221,1290,0.00,2.10,0.00,0.000,6,0.000,0.037,2591,1802,3958,0,0,0,0,0,0
$GC,1612,-0.79,-214.1,335.5,-13.3,256,1616,0.00,2.15,0.00,0.000,4,0.000,0.050,2579,3208,3957,0,0,0,0,0,0
$GC,1640,-0.83,-214.1,339.0,-12.2,258,1644,0.00,2.10,0.00,0.000,6,0.000,0.034,2579,1790,3956,0,0,0,0,0,0
$GC,1966,-0.86,-214.1,384.0,-13.5,288,1970,0.00,2.12,0.00,0.000,4,0.000,0.047,2579,401,3955,0,0,0,0,0,0
$GC,2052,-0.89,-214.1,395.7,-14.2,295,2056,0.00,2.12,0.00,0.000,6,0.000,0.037,2575,1808,3955,0,0,0,0,0,0
$GC,2380,-0.92,-214.1,440.8,-13.1,325,2383,0.00,2.17,0.00,0.000,4,0.000,0.051,2565,3215,3952,0,0,0,0,0,0
$GC,2411,-0.96,-214.1,444.6,-12.3,327,2416,0.10,2.10,0.00,0.000,6,0.099,0.034,2508,1795,3953,0,0,0,0,0,0
$GC,2738,-0.90,-214.1,500.1,-17.5,357,2743,0.15,2.17,0.00,0.000,4,0.171,0.048,2547,393,3951,0,0,0,0,0,0
$GC,2839,-0.90,-214.1,516.3,-14.9,365,2846,0.00,2.15,0.00,0.000,6,0.000,0.040,2545,1810,3950,0,0,0,0,0,0
$GC,3164,-0.90,-214.1,562.8,-14.4,396,3168,0.00,2.15,0.00,0.000,4,0.000,0.047,2545,399,3948,0,0,0,0,0,0
$GC,3192,-0.90,-214.1,567.2,-15.3,398,3196,0.00,2.12,0.00,0.000,6,0.000,0.041,2545,1811,3948,0,0,0,0,0,0
$GC,3528,-0.90,-214.1,616.0,-14.8,424,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1812,3945,0,0,0,0,0,0
$GC,3835,-0.90,-214.1,660.3,-14.1,439,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1812,3943,0,0,0,0,0,0
$GC,4147,-0.92,-214.1,700.6,-12.5,454,4151,0.00,2.20,0.00,0.000,4,0.000,0.050,2545,399,3940,0,0,0,0,0,0
$GC,4181,-0.94,-214.1,705.6,-13.1,455,4188,0.00,2.12,0.00,0.000,6,0.000,0.041,2536,1807,3940,0,0,0,0,0,0
$GC,4499,-0.94,-214.1,746.1,-12.8,471,4503,0.00,2.17,0.00,0.000,4,0.000,0.050,2536,392,3936,0,0,0,0,0,0
$GC,4540,-0.95,-214.1,752.0,-14.2,473,4544,0.00,2.17,0.00,0.000,6,0.000,0.044,2533,1808,3935,0,0,0,0,0,0
$GC,4866,-0.95,-214.1,799.5,-14.9,489,4870,0.00,2.17,0.00,0.000,4,0.000,0.051,2534,401,3933,0,0,0,0,0,0
$GC,4895,-0.95,-214.1,804.2,-16.6,490,4899,0.00,2.12,0.00,0.000,6,0.000,0.041,2524,1805,3933,0,0,0,0,0,0
$GC,5216,-0.95,-214.1,854.9,-15.6,506,5220,0.00,2.15,0.00,0.000,4,0.000,0.050,2524,402,3930,0,0,0,0,0,0
$GC,5238,-0.95,-214.1,858.6,-15.9,507,5242,0.00,2.12,0.00,0.000,6,0.000,0.042,2514,1809,3930,0,0,0,0,0,0
$GC,5567,-0.95,-214.1,907.0,-14.6,523,5571,0.00,2.17,0.00,0.000,4,0.000,0.052,2514,398,3926,0,0,0,0,0,0
$GC,5607,-0.95,-214.1,913.2,-14.8,525,5611,0.00,2.15,0.00,0.000,6,0.000,0.044,2505,1800,3926,0,0,0,0,0,0
$GC,5936,-0.93,-214.1,959.5,-13.7,541,5938,0.12,0.00,0.00,0.000,6,0.183,0.000,2536,1800,3924,0,0,0,0,0,0
$GC,6246,-0.96,-214.1,996.3,-11.6,556,6250,0.00,2.22,0.00,0.000,4,0.000,0.054,2538,399,3921,0,0,0,0,0,0
$GC,6268,-0.99,-214.1,999.2,-11.6,557,6272,0.00,2.15,0.00,0.000,6,0.000,0.044,2530,1805,3921,0,0,0,0,0,0
$STATE,6277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6277,begin apogee
$GC,6285,-0.23,0.0,1000.6,12.3,558,6475,0.70,0.00,182.18,1.427,6,0.127,0.000,2760,1743,3071,0,0,0,0,0,0
$STATE,6476,end apogee,CONTROL_FINISHED_OK
$STATE,6476,begin climb
$GC,6480,1.16,214.1,1007.5,0.0,567,6692,1.27,2.42,199.52,1.366,4,0.043,0.054,3248,368,2199,0,0,0,0,0,0
$GC,6708,0.81,214.1,963.7,32.7,577,6716,0.55,2.33,0.00,0.000,6,0.200,0.048,3106,1746,2197,0,0,0,0,0,0
$GC,7024,0.62,214.1,887.9,23.2,593,7029,0.22,2.22,0.00,0.000,4,0.177,0.051,3034,3171,2191,0,0,0,0,0,0
$GC,7088,0.53,214.1,875.5,19.2,596,7092,0.00,2.15,0.00,0.000,6,0.000,0.041,3042,1758,2190,0,0,0,0,0,0
$GC,7415,0.44,214.1,818.5,16.4,612,7417,0.20,0.00,0.00,0.000,6,0.172,0.000,2987,1758,2189,0,0,0,0,0,0
$GC,7725,0.53,289.2,783.4,10.6,627,7797,0.00,2.28,67.18,1.284,4,0.000,0.051,2996,350,1891,0,0,0,0,0,0
$GC,7836,0.61,334.2,770.5,11.9,632,7884,0.12,2.22,42.35,1.235,6,0.087,0.038,3054,1759,1709,0,0,0,0,0,0
$GC,8194,0.54,334.2,704.0,19.7,649,8198,0.15,2.20,0.00,0.000,4,0.173,0.054,3004,3168,1703,0,0,0,0,0,0
$GC,8254,0.57,334.2,694.0,14.7,651,8261,0.00,2.17,0.00,0.000,6,0.000,0.041,3012,1743,1702,0,0,0,0,0,0
$GC,8573,0.59,348.6,649.8,13.3,667,8588,0.00,0.00,13.15,1.117,6,0.000,0.000,3012,1743,1650,0,0,0,0,0,0
$GC,8898,0.59,348.6,603.1,14.3,682,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1743,1648,0,0,0,0,0,0
$GC,9220,0.60,348.6,555.6,15.0,711,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1743,1647,0,0,0,0,0,0
$GC,9549,0.62,348.6,508.2,14.0,742,9553,0.00,2.17,0.00,0.000,4,0.000,0.052,3022,339,1646,0,0,0,0,0,0
$GC,9583,0.65,352.7,503.1,13.7,744,9593,0.00,2.15,4.55,0.756,6,0.000,0.037,3022,1753,1632,0,0,0,0,0,0
$GC,9920,0.65,353.4,454.3,13.9,776,9924,0.00,2.12,0.00,0.000,4,0.000,0.050,3022,3159,1632,0,0,0,0,0,0
$GC,9988,0.69,358.0,444.5,13.7,781,9999,0.00,2.15,6.32,0.846,6,0.000,0.041,3030,1742,1612,0,0,0,0,0,0
$GC,10319,0.69,358.0,394.6,15.0,812,10323,0.00,2.15,0.00,0.000,4,0.000,0.055,3038,350,1612,0,0,0,0,0,0
$GC,10333,0.69,358.0,392.8,15.7,813,10337,0.00,2.10,0.00,0.000,6,0.000,0.035,3039,1754,1611,0,0,0,0,0,0
$GC,10660,0.69,358.0,340.5,15.4,843,10664,0.00,2.15,0.00,0.000,4,0.000,0.049,3037,3162,1611,0,0,0,0,0,0
$GC,10714,0.71,358.0,332.3,15.8,847,10718,0.00,2.15,0.00,0.000,6,0.000,0.039,3040,1743,1611,0,0,0,0,0,0
$GC,11043,0.71,358.0,281.4,14.2,888,11051,0.00,2.17,0.00,0.000,4,0.000,0.048,3050,340,1611,0,0,0,0,0,0
$GC,11081,0.71,358.0,275.7,15.2,894,11090,0.00,2.15,0.00,0.000,6,0.000,0.034,3051,1746,1611,0,0,0,0,0,0
$GC,11424,0.71,358.0,221.7,15.7,955,11431,0.00,2.12,0.00,0.000,4,0.000,0.047,3050,3162,1611,0,0,0,0,0,0
$GC,11496,0.71,358.0,210.6,15.2,967,11502,0.00,2.12,0.00,0.000,6,0.000,0.037,3060,1747,1611,0,0,0,0,0,0
$GC,11835,0.71,358.0,159.8,14.7,1028,11843,0.00,2.15,0.00,0.000,4,0.000,0.047,3070,353,1611,0,0,0,0,0,0
$GC,11884,0.71,358.0,152.4,14.4,1036,11894,0.00,2.12,0.00,0.000,6,0.000,0.034,3070,1751,1611,0,0,0,0,0,0
$GC,12216,0.73,378.8,107.6,13.0,1097,12248,0.00,2.20,20.20,0.724,4,0.000,0.045,3070,3161,1526,0,0,0,0,0,0
$GC,12269,0.77,379.9,100.2,13.8,1104,12277,0.00,2.15,0.00,0.000,6,0.000,0.037,3078,1753,1526,0,0,0,0,0,0
$GC,12600,0.85,419.8,59.6,12.2,1165,12637,0.10,0.00,35.25,0.691,6,0.099,0.000,3147,1753,1360,0,0,0,0,0,0
$GC,12958,0.83,419.8,5.3,14.2,1230,12967,0.15,2.20,0.00,0.000,4,0.155,0.044,3094,3155,1359,0,0,0,0,0,0
$STATE,12974,end climb,SURFACE_DEPTH_REACHED
$STATE,12974,begin surface coast
$FINISH,0.8,1.021733
$STATE,12991,end surface coast,CONTROL_FINISHED_OK
$STATE,12991,begin surface
$SM_CCo,13070,0.00,0.000,0,0,1356,420.69
$SM_GC,1.78,7.65,0.00,0.00,0.034,0.000,0.000,137,1793,1356,-8.36,-0.20,420.69
$IRIDIUM_FIX,2328.57,12631.03,201010,090958
$TT8_MAMPS,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.70
$XPDR_PINGS,98
$24V_AH,22.5,60.081
$10V_AH,10.2,40.019
$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,20.950,112.575,570.700,0.000,0.000,28.527,37.933,214.280,24.500,0.000,36.980,3054.005,6401.568,621.778,3038.464,411.360,0.000,1807.025,0.000,2755.177,0.000,0.844,0.000
$DEVICE_MAMPS,220.320,110.925,1427.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.061,1063.374,1428.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333884
$DATA_FILE_SIZE,73361,1235
$CAP_FILE_SIZE,147516,0
$CFSIZE,260165632,160718848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076, 73.9,1
$GPS,201010,164230,2335.843,12634.078,37,1.1,42,-3.5