version: 66.08
glider: 166
mission: 3
dive: 349
start: 10 20 110 16 50 5
data:
$ID,166
$MISSION,3
$DIVE,349
$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,-21994.576
$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,38
$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
$GPS1,201010,164230,2335.843,12634.078,37,1.1,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.0
$GPS2,201010,164943,2335.867,12634.116,10,1.2,15,-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,201.3,66795,-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,-214.1,0.0,0.0,0,91,0.00,0.00,-72.38,0.000,2,0.000,0.000,132,1793,3240,0,0,0,0,0,0
$GC,96,-1.16,-214.1,6.0,-12.1,10,127,9.00,2.17,-12.73,0.000,4,0.216,0.053,2464,399,3949,0,0,0,0,0,0
$GC,147,-0.75,-214.1,32.1,-51.8,17,155,0.45,2.17,0.00,0.000,6,0.168,0.041,2586,1797,3951,0,0,0,0,0,0
$GC,472,-0.68,-214.1,117.4,-22.0,78,480,0.12,2.20,0.00,0.000,4,0.182,0.041,2624,390,3954,0,0,0,0,0,0
$GC,491,-0.62,-214.1,121.4,-20.4,80,500,0.00,2.15,0.00,0.000,6,0.000,0.034,2617,1805,3954,0,0,0,0,0,0
$GC,825,-0.64,-214.1,175.7,-16.2,141,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1806,3955,0,0,0,0,0,0
$GC,1164,-0.67,-214.1,225.8,-13.1,202,1172,0.00,2.17,0.00,0.000,4,0.000,0.042,2617,399,3956,0,0,0,0,0,0
$GC,1213,-0.74,-214.1,232.1,-13.0,210,1221,0.00,2.12,0.00,0.000,6,0.000,0.034,2615,1803,3956,0,0,0,0,0,0
$GC,1556,-0.79,-214.1,274.0,-12.0,271,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1803,3956,0,0,0,0,0,0
$GC,1894,-0.85,-214.1,315.0,-12.3,321,1898,0.15,2.17,0.00,0.000,4,0.082,0.043,2541,398,3955,0,0,0,0,0,0
$GC,1970,-0.82,-214.1,328.1,-18.4,327,1975,0.15,2.12,0.00,0.000,6,0.160,0.037,2576,1808,3955,0,0,0,0,0,0
$GC,2298,-0.84,-214.1,375.7,-13.1,357,2302,0.00,2.15,0.00,0.000,4,0.000,0.048,2566,3214,3954,0,0,0,0,0,0
$GC,2321,-0.86,-214.1,379.0,-12.9,358,2329,0.00,2.15,0.00,0.000,6,0.000,0.034,2566,1795,3954,0,0,0,0,0,0
$GC,2648,-0.86,-214.1,425.6,-14.0,389,2652,0.00,2.12,0.00,0.000,4,0.000,0.044,2566,398,3953,0,0,0,0,0,0
$GC,2710,-0.90,-214.1,434.7,-14.1,394,2718,0.00,2.12,0.00,0.000,6,0.000,0.037,2561,1792,3953,0,0,0,0,0,0
$GC,3037,-0.90,-214.1,479.4,-13.4,425,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1793,3951,0,0,0,0,0,0
$GC,3357,-0.92,-214.1,523.3,-13.9,455,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1793,3950,0,0,0,0,0,0
$GC,3684,-0.94,-214.1,566.5,-12.8,486,3688,0.00,2.17,0.00,0.000,4,0.000,0.045,2561,394,3948,0,0,0,0,0,0
$GC,3750,-0.98,-214.1,574.9,-12.4,491,3754,0.10,2.15,0.00,0.000,6,0.106,0.041,2506,1800,3947,0,0,0,0,0,0
$GC,4081,-0.94,-214.1,628.4,-16.5,514,4085,0.12,2.17,0.00,0.000,4,0.176,0.048,2539,399,3945,0,0,0,0,0,0
$GC,4100,-0.91,-214.1,631.2,-16.4,515,4104,0.00,2.15,0.00,0.000,6,0.000,0.040,2533,1810,3945,0,0,0,0,0,0
$GC,4427,-0.91,-214.1,679.3,-14.9,531,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1810,3943,0,0,0,0,0,0
$GC,4738,-0.91,-214.1,726.2,-14.8,546,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1811,3941,0,0,0,0,0,0
$GC,5046,-0.91,-214.1,768.9,-13.2,561,5050,0.00,2.20,0.00,0.000,4,0.000,0.051,2533,403,3938,0,0,0,0,0,0
$GC,5119,-0.93,-214.1,778.5,-12.2,564,5123,0.00,2.17,0.00,0.000,6,0.000,0.045,2533,1796,3937,0,0,0,0,0,0
$GC,5437,-0.93,-214.1,817.7,-13.1,579,5441,0.00,2.15,0.00,0.000,4,0.000,0.050,2533,401,3934,0,0,0,0,0,0
$GC,5478,-0.95,-214.1,823.3,-13.3,581,5482,0.00,2.17,0.00,0.000,6,0.000,0.044,2524,1814,3934,0,0,0,0,0,0
$GC,5806,-0.95,-214.1,869.6,-14.1,597,5810,0.00,2.17,0.00,0.000,4,0.000,0.057,2514,3208,3931,0,0,0,0,0,0
$GC,5840,-0.97,-214.1,874.5,-13.2,598,5847,0.00,2.10,0.00,0.000,6,0.000,0.040,2514,1802,3930,0,0,0,0,0,0
$GC,6156,-0.97,-214.1,917.3,-13.3,614,6160,0.00,2.17,0.00,0.000,4,0.000,0.052,2514,396,3928,0,0,0,0,0,0
$GC,6247,-0.97,-214.1,930.0,-14.3,618,6251,0.00,2.17,0.00,0.000,6,0.000,0.044,2504,1805,3927,0,0,0,0,0,0
$GC,6568,-0.95,-214.1,976.8,-14.9,634,6570,0.10,0.00,0.00,0.000,6,0.191,0.000,2528,1805,3925,0,0,0,0,0,0
$STATE,6751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6751,begin apogee
$GC,6759,-0.23,0.0,1001.3,13.1,643,6948,0.70,0.00,185.00,1.427,6,0.122,0.000,2762,1754,3072,0,0,0,0,0,0
$STATE,6949,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$GC,6953,1.16,214.1,1010.6,0.0,652,7163,1.25,0.00,200.20,1.375,6,0.040,0.000,3236,1754,2199,0,0,0,0,0,0
$GC,7475,0.82,214.1,877.9,31.4,677,7480,0.47,2.22,0.00,0.000,4,0.203,0.059,3099,3156,2191,0,0,0,0,0,0
$GC,7493,0.53,214.1,871.4,30.9,678,7498,0.35,2.17,0.00,0.000,6,0.175,0.042,3012,1744,2189,0,0,0,0,0,0
$GC,7825,0.47,214.1,820.5,15.1,694,7829,0.00,2.20,0.00,0.000,4,0.000,0.054,3002,3165,2188,0,0,0,0,0,0
$GC,7865,0.43,214.1,814.0,14.7,696,7869,0.00,2.17,0.00,0.000,6,0.000,0.042,3010,1740,2187,0,0,0,0,0,0
$GC,8192,0.39,214.1,767.0,14.5,712,8197,0.15,2.17,0.00,0.000,4,0.174,0.052,2979,339,2186,0,0,0,0,0,0
$GC,8249,0.48,278.4,760.0,11.1,714,8311,0.00,2.15,57.45,1.270,6,0.000,0.039,2980,1758,1937,0,0,0,0,0,0
$GC,8632,0.54,298.8,713.0,13.0,733,8658,0.10,2.22,18.73,1.190,4,0.102,0.052,3032,3153,1854,0,0,0,0,0,0
$GC,8678,0.49,298.8,705.6,17.0,735,8683,0.15,2.17,0.00,0.000,6,0.174,0.040,3003,1747,1853,0,0,0,0,0,0
$GC,9006,0.51,312.5,658.4,13.3,751,9027,0.00,0.00,13.88,1.131,6,0.000,0.000,3004,1746,1797,0,0,0,0,0,0
$GC,9338,0.54,334.7,616.0,12.9,767,9364,0.00,2.22,21.38,1.147,4,0.000,0.051,3011,347,1706,0,0,0,0,0,0
$GC,9381,0.55,347.1,609.7,13.3,769,9399,0.00,2.20,12.75,1.068,6,0.000,0.039,3012,1753,1656,0,0,0,0,0,0
$GC,9716,0.60,365.4,564.0,13.1,797,9739,0.00,2.28,17.65,1.092,4,0.000,0.053,3012,3167,1581,0,0,0,0,0,0
$GC,9775,0.64,369.5,556.2,13.7,802,9787,0.00,2.20,5.45,0.835,6,0.000,0.041,3020,1744,1565,0,0,0,0,0,0
$GC,10106,0.64,375.0,511.1,13.7,833,10118,0.00,2.17,6.38,0.881,4,0.000,0.050,3030,347,1542,0,0,0,0,0,0
$GC,10158,0.68,384.3,503.6,13.5,837,10176,0.00,2.15,10.15,0.982,6,0.000,0.044,3030,1751,1505,0,0,0,0,0,0
$GC,10496,0.68,384.3,452.6,14.9,869,10500,0.00,2.15,0.00,0.000,4,0.000,0.050,3030,3172,1502,0,0,0,0,0,0
$GC,10560,0.74,398.7,443.2,13.3,874,10585,0.12,2.17,14.27,0.993,6,0.084,0.046,3098,1739,1446,0,0,0,0,0,0
$GC,10902,0.64,398.7,361.2,24.1,906,10907,0.17,2.17,0.00,0.000,4,0.174,0.049,3061,334,1443,0,0,0,0,0,0
$GC,10930,0.57,398.7,354.2,25.3,908,10940,0.08,2.20,0.00,0.000,6,0.151,0.037,3029,1767,1442,0,0,0,0,0,0
$GC,11257,0.59,398.7,306.1,14.5,939,11261,0.00,2.08,0.00,0.000,4,0.000,0.048,3027,3152,1442,0,0,0,0,0,0
$GC,11291,0.63,398.7,300.7,15.4,941,11298,0.00,2.12,0.00,0.000,6,0.000,0.039,3031,1746,1442,0,0,0,0,0,0
$GC,11633,0.66,405.6,252.5,13.6,1002,11647,0.00,2.17,7.15,0.732,4,0.000,0.047,3041,343,1417,0,0,0,0,0,0
$GC,11678,0.68,405.6,245.8,14.9,1009,11685,0.00,2.12,0.00,0.000,6,0.000,0.034,3041,1748,1417,0,0,0,0,0,0
$GC,12020,0.71,408.9,199.2,13.7,1070,12029,0.00,2.20,4.78,0.585,4,0.000,0.048,3039,3156,1404,0,0,0,0,0,0
$GC,12068,0.79,425.6,193.0,13.2,1077,12096,0.12,2.12,16.27,0.783,6,0.082,0.037,3122,1747,1336,0,0,0,0,0,0
$GC,12422,0.72,425.6,119.9,20.9,1141,12431,0.17,2.20,0.00,0.000,4,0.159,0.046,3062,3156,1336,0,0,0,0,0,0
$GC,12445,0.70,425.6,115.8,18.5,1144,12454,0.00,2.15,0.00,0.000,6,0.000,0.037,3070,1745,1336,0,0,0,0,0,0
$GC,12775,0.84,499.8,76.6,10.7,1205,12849,0.12,2.22,62.80,0.713,4,0.085,0.046,3160,350,1033,0,0,0,0,0,0
$GC,12897,0.79,499.8,53.7,21.4,1223,12905,0.17,2.15,0.00,0.000,6,0.135,0.032,3098,1751,1032,0,0,0,0,0,0
$GC,13226,1.02,609.3,16.5,9.1,1284,13303,0.20,0.00,73.15,0.646,2,0.061,0.000,3197,1754,671,0,0,0,0,0,0
$STATE,13303,end climb,SURFACE_DEPTH_REACHED
$STATE,13304,begin surface coast
$FINISH,0.9,1.021755
$STATE,13317,end surface coast,CONTROL_FINISHED_OK
$STATE,13317,begin surface
$SM_CCo,13394,0.00,0.000,0,0,668,589.70
$SM_GC,1.44,7.97,0.00,0.00,0.033,0.000,0.000,155,1756,668,-8.33,-1.24,589.70
$IRIDIUM_FIX,2330.93,12634.32,201010,121240
$TT8_MAMPS,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.90
$XPDR_PINGS,98
$24V_AH,22.4,60.339
$10V_AH,10.2,40.165
$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,22.525,112.875,727.425,0.000,0.000,30.497,18.229,215.543,24.500,0.000,16.523,3171.069,6350.914,736.123,3121.924,432.509,0.000,1982.149,0.000,2878.367,0.000,0.845,0.000
$DEVICE_MAMPS,216.495,117.045,1427.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.249,1120.711,1514.504,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,77004,1296
$CAP_FILE_SIZE,156144,0
$CFSIZE,260165632,160624640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 48.4,1
$GPS,201010,203437,2334.085,12633.992,41,1.2,41,-3.5