version: 66.08
glider: 166
mission: 3
dive: 355
start: 10 21 110 15 34 21
data:
$ID,166
$MISSION,3
$DIVE,355
$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,-22002.129
$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,63
$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
$GPS1,211010,152706,2326.685,12634.488,38,1.5,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.7
$GPS2,211010,153359,2326.727,12634.526,14,1.9,17,-3.4
$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,199.8,50096,-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,-214.1,0.0,0.0,0,124,0.00,0.00,-104.43,0.000,2,0.000,0.000,140,1828,3273,0,0,0,0,0,0
$GC,127,-1.16,-214.1,5.8,-11.4,14,158,9.10,2.22,-12.38,0.000,4,0.226,0.056,2459,398,3949,0,0,0,0,0,0
$GC,178,-0.75,-214.1,31.5,-52.1,21,186,0.47,2.10,0.00,0.000,6,0.181,0.037,2588,1772,3950,0,0,0,0,0,0
$GC,503,-0.70,-214.1,118.0,-19.2,82,511,0.00,2.12,0.00,0.000,4,0.000,0.044,2590,392,3953,0,0,0,0,0,0
$GC,557,-0.66,-214.1,128.8,-19.3,91,565,0.12,2.15,0.00,0.000,6,0.133,0.038,2626,1803,3953,0,0,0,0,0,0
$GC,892,-0.71,-214.1,174.2,-12.9,152,901,0.00,2.15,0.00,0.000,4,0.000,0.051,2626,3197,3955,0,0,0,0,0,0
$GC,929,-0.80,-214.1,178.1,-11.4,157,937,0.12,2.08,0.00,0.000,6,0.083,0.035,2558,1791,3955,0,0,0,0,0,0
$GC,1273,-0.76,-214.1,241.4,-18.5,218,1282,0.12,2.17,0.00,0.000,4,0.174,0.048,2591,393,3954,0,0,0,0,0,0
$GC,1319,-0.78,-214.1,249.5,-16.4,225,1326,0.00,2.12,0.00,0.000,6,0.000,0.038,2588,1807,3955,0,0,0,0,0,0
$GC,1661,-0.80,-214.1,301.8,-15.4,285,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1807,3955,0,0,0,0,0,0
$GC,1988,-0.83,-214.1,352.2,-14.7,316,1992,0.00,2.15,0.00,0.000,4,0.000,0.047,2587,396,3953,0,0,0,0,0,0
$GC,2032,-0.88,-214.1,358.1,-13.4,319,2036,0.00,2.10,0.00,0.000,6,0.000,0.038,2583,1803,3953,0,0,0,0,0,0
$GC,2364,-0.91,-214.1,399.6,-11.4,350,2369,0.12,2.17,0.00,0.000,4,0.090,0.047,2520,388,3952,0,0,0,0,0,0
$GC,2398,-0.87,-214.1,404.7,-16.2,352,2408,0.12,2.15,0.00,0.000,6,0.138,0.040,2552,1793,3951,0,0,0,0,0,0
$GC,2726,-0.87,-214.1,450.5,-13.6,383,2730,0.00,2.12,0.00,0.000,4,0.000,0.047,2551,400,3950,0,0,0,0,0,0
$GC,2766,-0.87,-214.1,456.7,-14.4,386,2770,0.00,2.12,0.00,0.000,6,0.000,0.037,2546,1812,3950,0,0,0,0,0,0
$GC,3091,-0.87,-214.1,505.5,-14.6,416,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1812,3948,0,0,0,0,0,0
$GC,3413,-0.87,-214.1,551.4,-14.2,446,3417,0.00,2.17,0.00,0.000,4,0.000,0.048,2545,399,3946,0,0,0,0,0,0
$GC,3447,-0.87,-214.1,556.7,-15.3,449,3452,0.00,2.12,0.00,0.000,6,0.000,0.041,2546,1806,3945,0,0,0,0,0,0
$GC,3778,-0.87,-214.1,603.5,-14.3,479,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1806,3943,0,0,0,0,0,0
$GC,4087,-0.89,-214.1,648.0,-14.5,494,4091,0.00,2.17,0.00,0.000,4,0.000,0.050,2546,401,3941,0,0,0,0,0,0
$GC,4120,-0.89,-214.1,653.3,-14.9,495,4127,0.00,2.15,0.00,0.000,6,0.000,0.042,2546,1809,3940,0,0,0,0,0,0
$GC,4439,-0.91,-214.1,695.8,-12.8,511,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1809,3937,0,0,0,0,0,0
$GC,4746,-0.94,-214.1,734.9,-12.6,526,4750,0.00,2.22,0.00,0.000,4,0.000,0.051,2546,394,3934,0,0,0,0,0,0
$GC,4775,-0.96,-214.1,738.9,-14.1,527,4780,0.00,2.15,0.00,0.000,6,0.000,0.042,2538,1802,3934,0,0,0,0,0,0
$GC,5092,-0.97,-214.1,781.4,-13.8,542,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1803,3931,0,0,0,0,0,0
$GC,5404,-1.00,-214.1,823.8,-13.6,557,5407,0.00,2.17,0.00,0.000,4,0.000,0.053,2538,402,3929,0,0,0,0,0,0
$GC,5448,-1.02,-214.1,830.5,-14.1,559,5452,0.00,2.15,0.00,0.000,6,0.000,0.044,2535,1794,3928,0,0,0,0,0,0
$GC,5770,-1.04,-214.1,871.9,-12.6,575,5774,0.00,2.20,0.00,0.000,4,0.000,0.057,2529,3206,3925,0,0,0,0,0,0
$GC,5806,-1.08,-214.1,876.3,-12.6,576,5815,0.10,2.10,0.00,0.000,6,0.102,0.040,2479,1802,3925,0,0,0,0,0,0
$GC,6122,-1.02,-214.1,929.7,-17.4,592,6127,0.12,2.20,0.00,0.000,4,0.187,0.054,2511,398,3922,0,0,0,0,0,0
$GC,6234,-1.02,-214.1,947.3,-15.0,597,6238,0.00,2.17,0.00,0.000,6,0.000,0.049,2503,1808,3922,0,0,0,0,0,0
$GC,6562,-1.00,-214.1,996.7,-15.2,613,6566,0.00,2.17,0.00,0.000,4,0.000,0.054,2503,401,3919,0,0,0,0,0,0
$STATE,6582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6582,begin apogee
$GC,6591,-0.23,0.0,1000.8,16.2,614,6782,0.82,0.00,184.15,1.431,6,0.133,0.000,2758,1754,3072,0,0,0,0,0,0
$STATE,6783,end apogee,CONTROL_FINISHED_OK
$STATE,6783,begin climb
$GC,6785,1.16,214.1,1010.3,0.0,623,6991,1.27,0.00,201.48,1.373,6,0.046,0.000,3220,1754,2199,0,0,0,0,0,0
$GC,7292,0.84,214.1,884.9,31.2,648,7297,0.38,2.20,0.00,0.000,4,0.200,0.061,3107,3162,2192,0,0,0,0,0,0
$GC,7320,0.59,214.1,876.7,28.0,649,7325,0.30,2.17,0.00,0.000,6,0.180,0.047,3035,1744,2190,0,0,0,0,0,0
$GC,7638,0.50,214.1,821.9,16.7,664,7640,0.12,0.00,0.00,0.000,6,0.175,0.000,3000,1744,2189,0,0,0,0,0,0
$GC,7946,0.50,244.3,780.7,12.6,679,7980,0.00,2.30,27.08,1.256,4,0.000,0.051,2998,3157,2076,0,0,0,0,0,0
$GC,7999,0.50,262.0,773.8,13.1,681,8023,0.00,2.20,17.75,1.200,6,0.000,0.040,3006,1741,2003,0,0,0,0,0,0
$GC,8343,0.47,262.0,725.3,14.2,698,8347,0.00,2.17,0.00,0.000,4,0.000,0.054,3018,343,1998,0,0,0,0,0,0
$GC,8379,0.44,262.0,719.6,15.3,699,8386,0.12,2.17,0.00,0.000,6,0.171,0.041,2983,1750,1997,0,0,0,0,0,0
$GC,8695,0.51,300.1,679.8,12.2,715,8739,0.00,2.28,34.03,1.213,4,0.000,0.054,2981,3158,1848,0,0,0,0,0,0
$GC,8789,0.58,318.1,668.0,13.1,719,8812,0.10,2.17,17.98,1.145,6,0.097,0.041,3046,1742,1775,0,0,0,0,0,0
$GC,9122,0.53,318.1,609.5,17.4,735,9126,0.12,2.17,0.00,0.000,4,0.177,0.052,3025,337,1770,0,0,0,0,0,0
$GC,9146,0.48,318.1,605.2,17.7,736,9150,0.00,2.15,0.00,0.000,6,0.000,0.039,3025,1750,1768,0,0,0,0,0,0
$GC,9473,0.48,318.1,557.9,14.3,765,9477,0.00,2.17,0.00,0.000,4,0.000,0.054,3024,3163,1767,0,0,0,0,0,0
$GC,9527,0.48,318.1,550.2,14.4,769,9532,0.15,2.15,0.00,0.000,6,0.167,0.041,2996,1743,1767,0,0,0,0,0,0
$GC,9853,0.58,361.2,510.3,12.0,799,9899,0.10,2.20,38.95,1.092,4,0.106,0.050,3065,353,1598,0,0,0,0,0,0
$GC,9938,0.53,361.2,496.4,19.5,806,9943,0.20,2.20,0.00,0.000,6,0.151,0.044,3010,1762,1596,0,0,0,0,0,0
$GC,10265,0.60,388.4,453.5,12.7,836,10295,0.00,2.17,24.67,1.028,4,0.000,0.048,3008,3164,1487,0,0,0,0,0,0
$GC,10332,0.69,409.6,444.9,13.0,841,10360,0.12,2.17,20.27,0.994,6,0.081,0.040,3082,1752,1402,0,0,0,0,0,0
$GC,10686,0.64,409.6,376.9,18.9,874,10691,0.12,2.22,0.00,0.000,4,0.177,0.051,3059,340,1398,0,0,0,0,0,0
$GC,10743,0.64,409.6,366.9,17.0,879,10747,0.00,2.12,0.00,0.000,6,0.000,0.035,3058,1751,1397,0,0,0,0,0,0
$GC,11070,0.64,409.6,311.8,17.1,909,11074,0.00,2.17,0.00,0.000,4,0.000,0.047,3059,3162,1396,0,0,0,0,0,0
$GC,11124,0.66,409.6,302.2,15.6,913,11131,0.00,2.15,0.00,0.000,6,0.000,0.038,3064,1742,1396,0,0,0,0,0,0
$GC,11462,0.66,409.6,250.3,14.7,973,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1742,1396,0,0,0,0,0,0
$GC,11800,0.66,409.6,198.1,14.0,1034,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1742,1396,0,0,0,0,0,0
$GC,12145,0.74,456.2,149.6,11.9,1095,12190,0.00,2.28,40.42,0.778,4,0.000,0.047,3067,341,1212,0,0,0,0,0,0
$GC,12211,0.80,479.5,141.0,12.9,1104,12242,0.00,2.20,21.35,0.738,6,0.000,0.032,3066,1764,1117,0,0,0,0,0,0
$GC,12563,0.94,543.4,94.5,11.1,1168,12624,0.20,2.22,54.38,0.719,4,0.061,0.044,3156,3163,855,0,0,0,0,0,0
$GC,12649,0.87,543.4,77.3,23.5,1180,12659,0.12,2.20,0.00,0.000,6,0.148,0.036,3123,1750,854,0,0,0,0,0,0
$GC,12977,0.97,573.7,29.7,12.6,1241,13009,0.00,2.22,26.02,0.648,4,0.000,0.047,3131,348,732,0,0,0,0,0,0
$GC,13103,1.20,671.1,14.9,9.7,1262,13165,0.22,2.12,55.78,0.638,2,0.034,0.029,3251,1765,458,0,0,0,0,0,0
$STATE,13166,end climb,SURFACE_DEPTH_REACHED
$STATE,13166,begin surface coast
$FINISH,0.8,1.021052
$STATE,13181,end surface coast,CONTROL_FINISHED_OK
$STATE,13181,begin surface
$SM_CCo,13258,0.00,0.000,0,0,453,642.20
$SM_GC,1.59,8.07,0.00,0.00,0.031,0.000,0.000,152,1765,453,-8.33,-0.99,642.20
$IRIDIUM_FIX,2319.18,12631.52,211010,111139
$TT8_MAMPS,0.026215
$HUMID,41.29
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.70
$XPDR_PINGS,90
$24V_AH,22.4,61.870
$10V_AH,10.2,40.998
$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,23.000,117.250,764.300,0.000,0.000,24.908,22.973,184.319,22.500,0.000,18.232,3103.758,6306.472,791.119,3032.387,420.915,0.000,2013.682,0.000,2806.407,0.000,0.844,0.000
$DEVICE_MAMPS,225.675,61.200,1431.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.508,1100.974,1494.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333788
$DATA_FILE_SIZE,73690,1272
$CAP_FILE_SIZE,152863,0
$CFSIZE,260165632,160145408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113, 50.3,1
$GPS,211010,191636,2325.143,12634.651,41,1.2,41,-3.4