version: 66.08
glider: 166
mission: 3
dive: 351
start: 10 21 110 0 29 20
data:
$ID,166
$MISSION,3
$DIVE,351
$N_DIVES,363
$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,-21997.096
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,211010,001636,2332.790,12634.107,37,1.1,42,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.6
$GPS2,211010,002856,2332.932,12634.116,14,1.3,14,-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,199.0,61393,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,105,0.00,0.00,-87.50,0.000,2,0.000,0.000,151,1744,3133,0,0,0,0,0,0
$GC,108,-1.16,-214.1,5.1,-9.5,12,139,8.85,2.25,-15.77,0.000,4,0.216,0.054,2448,3212,3946,0,0,0,0,0,0
$GC,179,-0.84,-214.1,37.2,-47.2,23,188,0.38,2.15,0.00,0.000,6,0.171,0.033,2559,1789,3949,0,0,0,0,0,0
$GC,505,-0.74,-214.1,130.6,-25.9,84,513,0.12,2.12,0.00,0.000,4,0.179,0.043,2599,407,3951,0,0,0,0,0,0
$GC,602,-0.74,-214.1,151.5,-20.1,101,609,0.00,2.08,0.00,0.000,6,0.000,0.036,2591,1796,3951,0,0,0,0,0,0
$GC,944,-0.73,-214.1,213.7,-15.2,162,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1796,3952,0,0,0,0,0,0
$GC,1285,-0.73,-214.1,264.2,-14.9,223,1292,0.00,2.12,0.00,0.000,4,0.000,0.045,2590,398,3952,0,0,0,0,0,0
$GC,1328,-0.73,-214.1,271.5,-15.6,230,1337,0.00,2.12,0.00,0.000,6,0.000,0.037,2584,1796,3953,0,0,0,0,0,0
$GC,1664,-0.73,-214.1,320.9,-14.8,278,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1796,3951,0,0,0,0,0,0
$GC,1985,-0.75,-214.1,363.1,-12.6,308,1988,0.00,2.15,0.00,0.000,4,0.000,0.046,2584,401,3950,0,0,0,0,0,0
$GC,2029,-0.79,-214.1,368.9,-13.9,311,2033,0.00,2.10,0.00,0.000,6,0.000,0.037,2575,1805,3950,0,0,0,0,0,0
$GC,2360,-0.81,-214.1,413.9,-12.9,342,2364,0.00,2.12,0.00,0.000,4,0.000,0.050,2565,3203,3949,0,0,0,0,0,0
$GC,2417,-0.88,-214.1,421.1,-12.2,346,2426,0.00,2.12,0.00,0.000,6,0.000,0.035,2565,1800,3948,0,0,0,0,0,0
$GC,2744,-0.90,-214.1,465.2,-13.6,377,2748,0.00,2.15,0.00,0.000,4,0.000,0.047,2565,390,3946,0,0,0,0,0,0
$GC,2801,-0.94,-214.1,473.4,-13.1,381,2807,0.00,2.12,0.00,0.000,6,0.000,0.039,2562,1804,3946,0,0,0,0,0,0
$GC,3126,-0.96,-214.1,519.1,-13.9,412,3130,0.00,2.15,0.00,0.000,4,0.000,0.054,2559,3204,3944,0,0,0,0,0,0
$GC,3149,-1.00,-214.1,522.4,-14.5,413,3156,0.12,2.10,0.00,0.000,6,0.084,0.035,2492,1798,3943,0,0,0,0,0,0
$GC,3475,-0.92,-214.1,583.9,-18.6,444,3479,0.17,2.17,0.00,0.000,4,0.168,0.049,2541,392,3942,0,0,0,0,0,0
$GC,3564,-0.92,-214.1,598.3,-15.2,451,3571,0.00,2.15,0.00,0.000,6,0.000,0.041,2534,1806,3940,0,0,0,0,0,0
$GC,3891,-0.92,-214.1,648.0,-15.4,468,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1806,3939,0,0,0,0,0,0
$GC,4203,-0.92,-214.1,691.7,-13.7,483,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1806,3936,0,0,0,0,0,0
$GC,4509,-0.92,-214.1,734.3,-14.2,498,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1807,3933,0,0,0,0,0,0
$GC,4819,-0.92,-214.1,778.5,-14.3,513,4823,0.00,2.17,0.00,0.000,4,0.000,0.051,2534,402,3930,0,0,0,0,0,0
$GC,4861,-0.94,-214.1,784.4,-15.1,515,4865,0.00,2.15,0.00,0.000,6,0.000,0.043,2535,1799,3929,0,0,0,0,0,0
$GC,5188,-0.94,-214.1,829.2,-13.1,531,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1799,3926,0,0,0,0,0,0
$GC,5499,-0.96,-214.1,869.4,-13.1,546,5503,0.00,2.20,0.00,0.000,4,0.000,0.052,2535,390,3924,0,0,0,0,0,0
$GC,5555,-0.99,-214.1,877.4,-12.9,548,5562,0.00,2.17,0.00,0.000,6,0.000,0.044,2527,1805,3923,0,0,0,0,0,0
$GC,5871,-0.99,-214.1,920.4,-13.8,564,5875,0.00,2.17,0.00,0.000,4,0.000,0.057,2520,3212,3920,0,0,0,0,0,0
$GC,5912,-1.02,-214.1,925.7,-12.9,565,5919,0.00,2.12,0.00,0.000,6,0.000,0.040,2520,1796,3920,0,0,0,0,0,0
$GC,6228,-1.02,-214.1,970.6,-14.2,581,6232,0.00,2.17,0.00,0.000,4,0.000,0.054,2520,392,3917,0,0,0,0,0,0
$GC,6315,-1.02,-214.1,983.0,-14.5,585,6319,0.00,2.17,0.00,0.000,6,0.000,0.044,2513,1807,3916,0,0,0,0,0,0
$STATE,6433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6434,begin apogee
$GC,6439,-0.23,0.0,1001.1,14.7,591,6631,0.77,0.00,183.32,1.426,6,0.135,0.000,2760,1734,3071,0,0,0,0,0,0
$STATE,6632,end apogee,CONTROL_FINISHED_OK
$STATE,6632,begin climb
$GC,6636,1.16,214.1,1009.9,0.0,600,6845,1.27,2.40,199.45,1.370,4,0.045,0.054,3236,355,2199,0,0,0,0,0,0
$GC,6858,0.82,214.1,970.9,31.1,610,6863,0.50,2.33,0.00,0.000,6,0.203,0.043,3108,1745,2197,0,0,0,0,0,0
$GC,7174,0.64,214.1,896.4,22.1,625,7179,0.22,2.20,0.00,0.000,4,0.177,0.051,3036,3167,2192,0,0,0,0,0,0
$GC,7231,0.54,214.1,885.6,17.6,627,7237,0.00,2.17,0.00,0.000,6,0.000,0.043,3044,1746,2190,0,0,0,0,0,0
$GC,7548,0.44,214.1,831.3,17.3,643,7550,0.22,0.00,0.00,0.000,6,0.169,0.000,2983,1746,2189,0,0,0,0,0,0
$GC,7859,0.49,258.6,793.3,12.0,658,7901,0.00,0.00,40.28,1.279,6,0.000,0.000,2983,1746,2017,0,0,0,0,0,0
$GC,8206,0.57,320.4,752.4,11.2,675,8269,0.12,0.00,56.42,1.258,6,0.096,0.000,3045,1746,1765,0,0,0,0,0,0
$GC,8578,0.50,320.4,686.7,17.8,693,8583,0.15,2.25,0.00,0.000,4,0.170,0.054,2996,3167,1760,0,0,0,0,0,0
$GC,8605,0.49,320.4,682.2,16.0,694,8609,0.00,2.17,0.00,0.000,6,0.000,0.040,3003,1745,1758,0,0,0,0,0,0
$GC,8928,0.51,339.6,641.0,13.1,710,8951,0.00,2.25,17.67,1.147,4,0.000,0.052,3014,349,1686,0,0,0,0,0,0
$GC,8971,0.54,359.8,634.8,13.0,711,8999,0.00,2.17,19.73,1.134,6,0.000,0.038,3014,1752,1604,0,0,0,0,0,0
$GC,9311,0.54,359.8,582.7,15.3,733,9315,0.00,2.15,0.00,0.000,4,0.000,0.052,3014,3159,1601,0,0,0,0,0,0
$GC,9419,0.56,359.8,566.9,14.1,742,9423,0.00,2.15,0.00,0.000,6,0.000,0.040,3023,1747,1601,0,0,0,0,0,0
$GC,9745,0.56,359.8,517.3,15.8,772,9748,0.00,2.15,0.00,0.000,4,0.000,0.050,3034,339,1600,0,0,0,0,0,0
$GC,9809,0.59,359.8,507.4,15.1,777,9813,0.00,2.15,0.00,0.000,6,0.000,0.039,3034,1755,1599,0,0,0,0,0,0
$GC,10136,0.59,359.8,456.0,15.1,807,10140,0.00,2.15,0.00,0.000,4,0.000,0.051,3034,3161,1599,0,0,0,0,0,0
$GC,10200,0.61,359.8,446.5,15.2,812,10204,0.00,2.15,0.00,0.000,6,0.000,0.046,3038,1738,1599,0,0,0,0,0,0
$GC,10533,0.59,359.8,393.0,15.6,843,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1737,1599,0,0,0,0,0,0
$GC,10853,0.59,359.8,343.2,15.6,873,10857,0.00,2.17,0.00,0.000,4,0.000,0.047,3037,3168,1599,0,0,0,0,0,0
$GC,10874,0.59,359.8,339.0,15.4,874,10883,0.00,2.17,0.00,0.000,6,0.000,0.038,3044,1747,1599,0,0,0,0,0,0
$GC,11207,0.57,359.8,287.2,17.2,911,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1747,1599,0,0,0,0,0,0
$GC,11547,0.57,359.8,232.5,15.7,972,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1747,1599,0,0,0,0,0,0
$GC,11888,0.62,406.1,186.2,11.9,1033,11936,0.00,2.22,40.60,0.809,4,0.000,0.046,3052,350,1415,0,0,0,0,0,0
$GC,11958,0.72,454.9,178.0,11.8,1043,12012,0.00,2.15,43.12,0.789,6,0.000,0.032,3052,1767,1216,0,0,0,0,0,0
$GC,12342,0.81,489.0,121.3,12.4,1111,12381,0.15,2.17,29.75,0.732,4,0.074,0.044,3130,3150,1077,0,0,0,0,0,0
$GC,12405,0.75,489.0,108.0,22.9,1120,12414,0.15,2.17,0.00,0.000,6,0.140,0.036,3089,1753,1077,0,0,0,0,0,0
$GC,12734,0.89,545.7,58.8,11.4,1181,12789,0.10,2.28,47.75,0.685,4,0.098,0.047,3166,344,847,0,0,0,0,0,0
$GC,12868,0.89,549.8,37.0,13.7,1202,12878,0.10,2.15,4.95,0.472,6,0.125,0.033,3129,1747,830,0,0,0,0,0,0
$STATE,13103,end climb,SURFACE_DEPTH_REACHED
$STATE,13103,begin surface coast
$FINISH,0.8,1.021674
$STATE,13126,end surface coast,CONTROL_FINISHED_OK
$STATE,13126,begin surface
$SM_CCo,13204,0.00,0.000,0,0,827,550.45
$SM_GC,1.62,7.65,0.00,0.00,0.034,0.000,0.000,152,1752,827,-8.33,-1.36,550.45
$IRIDIUM_FIX,2323.87,12719.93,211010,000007
$TT8_MAMPS,0.026215
$HUMID,42.51
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.70
$XPDR_PINGS,98
$24V_AH,22.5,60.847
$10V_AH,10.2,40.442
$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,21.075,100.000,683.050,0.000,0.000,52.261,64.503,263.789,24.500,0.000,15.773,3042.062,6519.050,711.802,3267.809,391.076,0.000,1893.591,0.000,2764.535,0.000,1.148,0.000
$DEVICE_MAMPS,216.495,97.155,1425.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.254,1082.802,1453.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333792
$DATA_FILE_SIZE,73516,1250
$CAP_FILE_SIZE,145694,0
$CFSIZE,260165632,160481280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131, 62.3,1
$GPS,211010,041036,2331.245,12634.753,36,0.8,36,-3.5