version: 66.08
glider: 166
mission: 3
dive: 356
start: 10 21 110 19 26 30
data:
$ID,166
$MISSION,3
$DIVE,356
$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,-22003.387
$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,39
$R_STBD_OVSHOOT,53
$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
$GPS1,211010,191636,2325.143,12634.651,41,1.2,41,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-66.2
$GPS2,211010,192606,2325.245,12634.640,13,2.0,29,-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,205.4,47418,-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,-214.1,0.0,0.0,0,127,0.00,0.00,-109.85,0.000,2,0.000,0.000,149,1768,3174,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.1,-9.9,15,162,9.05,2.10,-14.60,0.000,4,0.227,0.051,2459,388,3948,0,0,0,0,0,0
$GC,262,-0.90,-214.1,64.1,-40.7,37,271,0.30,2.15,0.00,0.000,6,0.171,0.039,2541,1790,3950,0,0,0,0,0,0
$GC,588,-0.79,-214.1,154.9,-25.3,98,597,0.15,2.17,0.00,0.000,4,0.177,0.044,2588,398,3953,0,0,0,0,0,0
$GC,645,-0.79,-214.1,166.2,-17.8,107,652,0.00,2.12,0.00,0.000,6,0.000,0.037,2577,1810,3953,0,0,0,0,0,0
$GC,979,-0.76,-214.1,225.9,-16.2,168,987,0.00,2.17,0.00,0.000,4,0.000,0.044,2578,401,3954,0,0,0,0,0,0
$GC,1001,-0.73,-214.1,229.7,-16.7,171,1009,0.12,2.10,0.00,0.000,6,0.169,0.039,2605,1797,3954,0,0,0,0,0,0
$GC,1331,-0.77,-214.1,269.8,-11.8,232,1339,0.00,2.17,0.00,0.000,4,0.000,0.045,2605,404,3954,0,0,0,0,0,0
$GC,1353,-0.81,-214.1,272.8,-12.7,235,1360,0.00,2.12,0.00,0.000,6,0.000,0.038,2601,1814,3954,0,0,0,0,0,0
$GC,1691,-0.85,-214.1,317.0,-12.4,285,1696,0.10,2.15,0.00,0.000,4,0.106,0.050,2545,3213,3952,0,0,0,0,0,0
$GC,1734,-0.85,-214.1,323.6,-14.5,288,1743,0.00,2.12,0.00,0.000,6,0.000,0.034,2545,1801,3952,0,0,0,0,0,0
$GC,2062,-0.82,-214.1,378.1,-16.2,319,2066,0.00,2.15,0.00,0.000,4,0.000,0.047,2545,392,3950,0,0,0,0,0,0
$GC,2181,-0.82,-214.1,397.7,-17.5,329,2185,0.00,2.12,0.00,0.000,6,0.000,0.040,2545,1800,3950,0,0,0,0,0,0
$GC,2507,-0.82,-214.1,449.3,-15.3,359,2511,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,399,3948,0,0,0,0,0,0
$GC,2539,-0.80,-214.1,454.8,-16.5,361,2547,0.12,2.12,0.00,0.000,6,0.166,0.040,2580,1805,3948,0,0,0,0,0,0
$GC,2865,-0.85,-214.1,494.0,-10.8,392,2869,0.00,2.15,0.00,0.000,4,0.000,0.051,2571,3207,3946,0,0,0,0,0,0
$GC,2886,-0.90,-214.1,495.9,-11.0,393,2890,0.00,2.10,0.00,0.000,6,0.000,0.035,2571,1793,3946,0,0,0,0,0,0
$GC,3212,-0.94,-214.1,533.3,-11.3,423,3217,0.10,2.15,0.00,0.000,4,0.102,0.048,2516,396,3943,0,0,0,0,0,0
$GC,3282,-0.91,-214.1,543.5,-15.9,429,3286,0.15,2.12,0.00,0.000,6,0.163,0.039,2547,1801,3943,0,0,0,0,0,0
$GC,3608,-0.92,-214.1,587.5,-13.2,459,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1802,3941,0,0,0,0,0,0
$GC,3931,-0.94,-214.1,631.3,-14.0,479,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1802,3938,0,0,0,0,0,0
$GC,4240,-0.96,-214.1,674.5,-13.7,494,4244,0.00,2.17,0.00,0.000,4,0.000,0.051,2547,398,3934,0,0,0,0,0,0
$GC,4290,-1.00,-214.1,681.6,-13.5,496,4294,0.00,2.15,0.00,0.000,6,0.000,0.042,2547,1802,3934,0,0,0,0,0,0
$GC,4613,-1.02,-214.1,720.5,-11.3,512,4615,0.10,0.00,0.00,0.000,6,0.106,0.000,2498,1803,3931,0,0,0,0,0,0
$GC,4921,-0.98,-214.1,766.0,-14.7,527,4925,0.00,2.20,0.00,0.000,4,0.000,0.051,2498,393,3928,0,0,0,0,0,0
$GC,4962,-0.94,-214.1,772.1,-15.2,529,4967,0.17,2.17,0.00,0.000,6,0.164,0.044,2539,1810,3928,0,0,0,0,0,0
$GC,5291,-0.96,-214.1,812.1,-12.4,545,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1811,3925,0,0,0,0,0,0
$GC,5601,-0.98,-214.1,851.1,-12.4,560,5605,0.00,2.17,0.00,0.000,4,0.000,0.052,2539,404,3923,0,0,0,0,0,0
$GC,5656,-1.02,-214.1,858.6,-12.6,562,5662,0.00,2.15,0.00,0.000,6,0.000,0.044,2536,1801,3922,0,0,0,0,0,0
$GC,5973,-1.04,-214.1,899.1,-13.1,578,5977,0.00,2.20,0.00,0.000,4,0.000,0.058,2531,3212,3919,0,0,0,0,0,0
$GC,6002,-1.06,-214.1,902.9,-12.8,579,6006,0.00,2.12,0.00,0.000,6,0.000,0.039,2531,1794,3918,0,0,0,0,0,0
$GC,6323,-1.06,-214.1,945.8,-13.2,595,6327,0.00,2.15,0.00,0.000,4,0.000,0.054,2531,400,3917,0,0,0,0,0,0
$GC,6381,-1.08,-214.1,953.9,-13.9,597,6385,0.00,2.17,0.00,0.000,6,0.000,0.045,2523,1810,3916,0,0,0,0,0,0
$GC,6697,-1.08,-214.1,998.4,-14.0,612,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1811,3914,0,0,0,0,0,0
$STATE,6715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6715,begin apogee
$GC,6721,-0.23,0.0,1001.5,14.0,613,6908,0.73,0.00,182.50,1.427,6,0.129,0.000,2759,1737,3072,0,0,0,0,0,0
$STATE,6909,end apogee,CONTROL_FINISHED_OK
$STATE,6909,begin climb
$GC,6912,1.16,214.1,1010.9,0.0,621,7124,1.30,2.42,200.25,1.372,4,0.048,0.055,3236,350,2198,0,0,0,0,0,0
$GC,7137,0.83,214.1,972.2,30.5,631,7142,0.47,2.35,0.00,0.000,6,0.202,0.043,3112,1742,2197,0,0,0,0,0,0
$GC,7455,0.63,214.1,896.5,23.2,646,7460,0.25,2.20,0.00,0.000,4,0.181,0.053,3027,3164,2191,0,0,0,0,0,0
$GC,7499,0.54,214.1,887.1,17.6,648,7503,0.00,2.15,0.00,0.000,6,0.000,0.040,3036,1753,2190,0,0,0,0,0,0
$GC,7824,0.45,214.1,832.0,17.0,664,7826,0.17,0.00,0.00,0.000,6,0.174,0.000,2988,1752,2189,0,0,0,0,0,0
$GC,8131,0.43,214.1,788.7,14.0,679,8134,0.00,2.20,0.00,0.000,4,0.000,0.053,2998,337,2188,0,0,0,0,0,0
$GC,8152,0.41,214.1,785.2,14.8,680,8157,0.00,2.17,0.00,0.000,6,0.000,0.039,2990,1762,2186,0,0,0,0,0,0
$GC,8478,0.39,216.5,740.2,13.8,696,8482,0.00,2.15,0.00,0.000,4,0.000,0.053,2990,3164,2185,0,0,0,0,0,0
$GC,8541,0.42,234.7,731.4,13.1,699,8566,0.00,2.15,18.25,1.216,6,0.000,0.040,3002,1743,2115,0,0,0,0,0,0
$GC,8894,0.44,269.7,685.3,12.4,716,8937,0.00,2.30,32.47,1.222,4,0.000,0.053,3012,349,1972,0,0,0,0,0,0
$GC,8975,0.50,318.0,675.3,11.8,719,9027,0.00,2.17,45.03,1.204,6,0.000,0.038,3012,1754,1774,0,0,0,0,0,0
$GC,9354,0.50,318.0,623.7,14.4,738,9358,0.00,2.15,0.00,0.000,4,0.000,0.052,3012,3162,1767,0,0,0,0,0,0
$GC,9387,0.50,318.0,618.5,14.2,739,9394,0.00,2.15,0.00,0.000,6,0.000,0.040,3021,1752,1767,0,0,0,0,0,0
$GC,9712,0.50,318.0,568.3,14.9,764,9716,0.00,2.17,0.00,0.000,4,0.000,0.052,3032,348,1766,0,0,0,0,0,0
$GC,9729,0.50,318.0,565.0,15.7,765,9733,0.00,2.15,0.00,0.000,6,0.000,0.037,3032,1760,1764,0,0,0,0,0,0
$GC,10055,0.48,318.0,512.5,15.2,795,10060,0.12,2.12,0.00,0.000,4,0.169,0.050,2993,3162,1764,0,0,0,0,0,0
$GC,10099,0.59,357.0,506.4,12.2,798,10140,0.00,2.15,34.22,1.095,6,0.000,0.041,3001,1743,1616,0,0,0,0,0,0
$GC,10459,0.69,402.0,463.8,11.9,832,10509,0.17,2.28,40.20,1.053,4,0.070,0.050,3101,344,1433,0,0,0,0,0,0
$GC,10550,0.61,402.0,444.7,24.5,839,10557,0.22,2.17,0.00,0.000,6,0.158,0.038,3038,1759,1431,0,0,0,0,0,0
$GC,10875,0.63,402.0,390.7,15.4,870,10879,0.00,2.12,0.00,0.000,4,0.000,0.050,3037,3159,1429,0,0,0,0,0,0
$GC,10895,0.63,402.0,387.8,15.9,871,10899,0.00,2.12,0.00,0.000,6,0.000,0.038,3045,1743,1429,0,0,0,0,0,0
$GC,11221,0.63,402.0,336.7,15.5,901,11225,0.00,2.15,0.00,0.000,4,0.000,0.050,3054,343,1428,0,0,0,0,0,0
$GC,11251,0.63,402.0,332.1,16.1,903,11255,0.00,2.12,0.00,0.000,6,0.000,0.035,3054,1752,1427,0,0,0,0,0,0
$GC,11583,0.63,402.0,277.7,16.5,945,11590,0.00,2.15,0.00,0.000,4,0.000,0.048,3054,3156,1426,0,0,0,0,0,0
$GC,11635,0.65,402.0,269.3,14.8,954,11644,0.00,2.15,0.00,0.000,6,0.000,0.038,3057,1744,1427,0,0,0,0,0,0
$GC,11980,0.65,402.0,217.4,13.9,1015,11986,0.00,2.15,0.00,0.000,4,0.000,0.048,3065,336,1427,0,0,0,0,0,0
$GC,12018,0.65,402.0,212.0,15.9,1021,12024,0.00,2.12,0.00,0.000,6,0.000,0.034,3066,1748,1427,0,0,0,0,0,0
$GC,12357,0.65,402.0,159.3,14.5,1082,12366,0.00,2.17,0.00,0.000,4,0.000,0.047,3065,3155,1427,0,0,0,0,0,0
$GC,12406,0.70,403.6,152.0,13.8,1090,12415,0.00,2.12,0.00,0.000,6,0.000,0.036,3074,1752,1427,0,0,0,0,0,0
$GC,12739,0.75,426.5,105.4,12.9,1151,12769,0.00,2.15,22.35,0.726,4,0.000,0.046,3084,344,1332,0,0,0,0,0,0
$GC,12789,0.76,426.5,97.8,14.9,1158,12798,0.00,2.15,0.00,0.000,6,0.000,0.034,3084,1749,1331,0,0,0,0,0,0
$GC,13121,0.95,520.8,62.2,9.8,1219,13209,0.17,2.17,78.95,0.695,4,0.067,0.042,3173,3160,947,0,0,0,0,0,0
$GC,13235,0.92,520.8,41.3,20.4,1235,13244,0.12,2.20,0.00,0.000,6,0.138,0.036,3141,1745,947,0,0,0,0,0,0
$STATE,13488,end climb,SURFACE_DEPTH_REACHED
$STATE,13488,begin surface coast
$FINISH,0.8,0.998660
$STATE,13510,end surface coast,CONTROL_FINISHED_OK
$STATE,13511,begin surface
$SM_CCo,13588,0.00,0.000,0,0,942,522.49
$SM_GC,1.63,7.88,0.00,0.00,0.044,0.000,0.000,135,1826,942,-8.35,0.74,522.49
$IRIDIUM_FIX,2319.18,12636.69,211010,151551
$TT8_MAMPS,0.026215
$HUMID,42.04
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,25.00
$XPDR_PINGS,97
$24V_AH,22.4,62.114
$10V_AH,10.2,41.144
$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,22.000,130.000,654.225,0.000,0.000,51.081,69.636,193.836,24.250,0.000,30.272,3169.248,6644.958,703.802,3202.665,422.222,0.000,1965.995,0.000,2869.255,0.000,0.844,0.000
$DEVICE_MAMPS,227.205,109.395,1427.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.184,1105.836,1481.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,76955,1286
$CAP_FILE_SIZE,159509,0
$CFSIZE,260165632,160051200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132, 32.8,1
$GPS,211010,231407,2323.894,12634.507,32,1.1,32,-3.4