version: 66.08
glider: 166
mission: 3
dive: 363
start: 10 22 110 22 14 28
data:
$ID,166
$MISSION,3
$DIVE,363
$N_DIVES,370
$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,-22012.195
$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,43
$R_STBD_OVSHOOT,50
$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
$GPS1,221010,220700,2316.259,12634.330,37,1.4,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-64.1
$GPS2,221010,221406,2316.336,12634.263,15,0.9,31,-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,207.5,31116,-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,-214.1,0.0,0.0,0,114,0.00,0.00,-94.40,0.000,2,0.000,0.000,156,1755,3295,0,0,0,0,0,0
$GC,117,-1.16,-214.1,5.7,-10.2,13,148,8.93,2.12,-11.98,0.000,4,0.220,0.055,2454,396,3948,0,0,0,0,0,0
$GC,357,-0.92,-214.1,109.0,-35.3,56,366,0.30,2.12,0.00,0.000,6,0.161,0.039,2535,1781,3950,0,0,0,0,0,0
$GC,688,-0.81,-214.1,184.4,-20.8,117,696,0.15,2.12,0.00,0.000,4,0.177,0.045,2580,401,3954,0,0,0,0,0,0
$GC,729,-0.76,-214.1,191.5,-16.7,123,736,0.00,2.12,0.00,0.000,6,0.000,0.037,2568,1817,3954,0,0,0,0,0,0
$GC,1064,-0.73,-214.1,251.3,-17.5,184,1073,0.12,2.22,0.00,0.000,4,0.178,0.046,2601,403,3955,0,0,0,0,0,0
$GC,1108,-0.75,-214.1,258.6,-14.4,191,1116,0.00,2.10,0.00,0.000,6,0.000,0.037,2590,1803,3955,0,0,0,0,0,0
$GC,1439,-0.77,-214.1,308.4,-15.1,247,1443,0.00,2.15,0.00,0.000,4,0.000,0.046,2590,395,3955,0,0,0,0,0,0
$GC,1472,-0.80,-214.1,314.1,-15.3,249,1478,0.00,2.12,0.00,0.000,6,0.000,0.039,2588,1806,3955,0,0,0,0,0,0
$GC,1798,-0.83,-214.1,358.2,-13.2,280,1802,0.00,2.12,0.00,0.000,4,0.000,0.049,2577,3206,3954,0,0,0,0,0,0
$GC,1819,-0.87,-214.1,361.4,-13.8,281,1828,0.00,2.08,0.00,0.000,6,0.000,0.034,2578,1800,3953,0,0,0,0,0,0
$GC,2146,-0.90,-214.1,402.7,-12.1,312,2150,0.00,2.17,0.00,0.000,4,0.000,0.048,2578,397,3952,0,0,0,0,0,0
$GC,2245,-0.94,-214.1,415.1,-11.5,320,2253,0.08,2.15,0.00,0.000,6,0.059,0.039,2521,1802,3951,0,0,0,0,0,0
$GC,2571,-0.90,-214.1,466.8,-15.4,351,2576,0.10,2.17,0.00,0.000,4,0.181,0.047,2546,393,3950,0,0,0,0,0,0
$GC,2601,-0.87,-214.1,471.2,-15.3,353,2605,0.00,2.15,0.00,0.000,6,0.000,0.041,2546,1809,3949,0,0,0,0,0,0
$GC,2926,-0.87,-214.1,516.3,-13.9,383,2930,0.00,2.15,0.00,0.000,4,0.000,0.047,2545,401,3948,0,0,0,0,0,0
$GC,2975,-0.87,-214.1,524.0,-14.9,387,2983,0.00,2.12,0.00,0.000,6,0.000,0.041,2545,1803,3947,0,0,0,0,0,0
$GC,3301,-0.87,-214.1,570.4,-13.9,418,3305,0.00,2.15,0.00,0.000,4,0.000,0.049,2545,402,3945,0,0,0,0,0,0
$GC,3335,-0.87,-214.1,575.6,-15.0,421,3339,0.00,2.12,0.00,0.000,6,0.000,0.042,2544,1814,3944,0,0,0,0,0,0
$GC,3675,-0.87,-214.1,623.4,-13.9,445,3679,0.00,2.12,0.00,0.000,4,0.000,0.052,2534,3202,3941,0,0,0,0,0,0
$GC,3708,-0.90,-214.1,628.5,-14.2,446,3714,0.00,2.10,0.00,0.000,6,0.000,0.036,2534,1794,3941,0,0,0,0,0,0
$GC,4024,-0.90,-214.1,672.6,-14.2,462,4027,0.00,2.12,0.00,0.000,4,0.000,0.050,2534,393,3939,0,0,0,0,0,0
$GC,4075,-0.90,-214.1,680.2,-14.6,464,4079,0.00,2.15,0.00,0.000,6,0.000,0.044,2534,1799,3938,0,0,0,0,0,0
$GC,4391,-0.90,-214.1,722.3,-13.4,479,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1800,3935,0,0,0,0,0,0
$GC,4700,-0.90,-214.1,761.1,-12.4,494,4704,0.00,2.17,0.00,0.000,4,0.000,0.052,2534,401,3932,0,0,0,0,0,0
$GC,4757,-0.92,-214.1,768.4,-12.3,496,4764,0.00,2.15,0.00,0.000,6,0.000,0.043,2525,1805,3932,0,0,0,0,0,0
$GC,5074,-0.92,-214.1,810.1,-13.3,512,5078,0.00,2.17,0.00,0.000,4,0.000,0.055,2516,3212,3929,0,0,0,0,0,0
$GC,5116,-0.94,-214.1,815.6,-12.3,514,5120,0.00,2.12,0.00,0.000,6,0.000,0.038,2516,1800,3928,0,0,0,0,0,0
$GC,5443,-0.94,-214.1,860.8,-13.4,530,5447,0.00,2.20,0.00,0.000,4,0.000,0.053,2515,389,3925,0,0,0,0,0,0
$GC,5544,-0.94,-214.1,875.2,-14.3,534,5551,0.00,2.17,0.00,0.000,6,0.000,0.043,2507,1808,3924,0,0,0,0,0,0
$GC,5860,-0.92,-214.1,920.5,-14.6,550,5865,0.12,2.22,0.00,0.000,4,0.180,0.053,2540,396,3922,0,0,0,0,0,0
$GC,5889,-0.92,-214.1,924.5,-13.8,551,5893,0.00,2.17,0.00,0.000,6,0.000,0.044,2537,1805,3922,0,0,0,0,0,0
$GC,6207,-0.95,-214.1,963.5,-12.6,566,6211,0.00,2.17,0.00,0.000,4,0.000,0.057,2529,3204,3919,0,0,0,0,0,0
$GC,6256,-1.01,-214.1,969.8,-11.6,568,6260,0.00,2.12,0.00,0.000,6,0.000,0.039,2529,1799,3918,0,0,0,0,0,0
$STATE,6508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6508,begin apogee
$GC,6516,-0.23,0.0,1001.4,12.4,580,6707,0.70,0.00,184.85,1.431,6,0.125,0.000,2759,1750,3072,0,0,0,0,0,0
$STATE,6708,end apogee,CONTROL_FINISHED_OK
$STATE,6708,begin climb
$GC,6712,1.16,214.1,1009.5,0.0,589,6920,1.27,0.00,201.43,1.369,6,0.044,0.000,3229,1750,2199,0,0,0,0,0,0
$GC,7231,0.82,214.1,873.1,33.3,614,7236,0.43,2.20,0.00,0.000,4,0.207,0.051,3103,3162,2192,0,0,0,0,0,0
$GC,7297,0.64,214.1,854.8,22.7,617,7302,0.25,2.17,0.00,0.000,6,0.177,0.043,3048,1743,2191,0,0,0,0,0,0
$GC,7622,0.53,214.1,797.0,17.8,633,7626,0.12,2.17,0.00,0.000,4,0.176,0.054,3022,339,2191,0,0,0,0,0,0
$GC,7643,0.44,214.1,792.4,17.0,634,7648,0.15,2.17,0.00,0.000,6,0.171,0.041,2983,1754,2190,0,0,0,0,0,0
$GC,7964,0.50,260.2,752.8,11.9,650,8011,0.00,2.22,41.67,1.257,4,0.000,0.053,2976,3159,2010,0,0,0,0,0,0
$GC,8065,0.56,281.5,740.5,13.0,654,8091,0.10,2.17,20.80,1.195,6,0.098,0.041,3038,1747,1924,0,0,0,0,0,0
$GC,8404,0.50,281.5,682.6,17.1,670,8408,0.15,2.17,0.00,0.000,4,0.168,0.054,3007,349,1918,0,0,0,0,0,0
$GC,8453,0.50,283.6,674.8,13.8,672,8457,0.00,2.15,0.00,0.000,6,0.000,0.041,3007,1758,1915,0,0,0,0,0,0
$GC,8775,0.53,306.7,631.8,12.9,688,8804,0.00,2.25,22.58,1.163,4,0.000,0.052,3008,3161,1821,0,0,0,0,0,0
$GC,8851,0.55,325.3,621.6,13.1,691,8876,0.00,2.17,18.60,1.128,6,0.000,0.045,3018,1744,1745,0,0,0,0,0,0
$GC,9198,0.55,325.3,572.6,14.7,716,9202,0.00,2.17,0.00,0.000,4,0.000,0.053,3028,341,1742,0,0,0,0,0,0
$GC,9228,0.55,325.3,568.1,15.6,718,9232,0.00,2.17,0.00,0.000,6,0.000,0.039,3028,1759,1740,0,0,0,0,0,0
$GC,9558,0.53,325.3,516.1,15.4,749,9562,0.00,2.15,0.00,0.000,4,0.000,0.051,3028,3164,1739,0,0,0,0,0,0
$GC,9638,0.53,325.3,503.5,15.6,755,9645,0.00,2.15,0.00,0.000,6,0.000,0.040,3038,1744,1738,0,0,0,0,0,0
$GC,9963,0.51,325.3,450.4,16.0,786,9968,0.12,2.15,0.00,0.000,4,0.178,0.051,3015,346,1738,0,0,0,0,0,0
$GC,10006,0.54,325.3,444.2,14.5,789,10010,0.00,2.12,0.00,0.000,6,0.000,0.037,3015,1760,1737,0,0,0,0,0,0
$GC,10333,0.62,373.1,401.6,11.8,819,10378,0.00,0.00,42.33,1.015,6,0.000,0.000,3015,1762,1551,0,0,0,0,0,0
$GC,10696,0.79,472.6,362.9,9.6,853,10787,0.22,0.00,87.70,0.968,6,0.063,0.000,3120,1763,1145,0,0,0,0,0,0
$GC,11109,0.68,472.6,260.6,27.4,905,11117,0.22,2.12,0.00,0.000,4,0.165,0.045,3047,3158,1141,0,0,0,0,0,0
$GC,11162,0.72,472.6,248.2,18.4,914,11170,0.00,2.17,0.00,0.000,6,0.000,0.038,3049,1750,1139,0,0,0,0,0,0
$GC,11499,0.76,472.6,194.1,15.6,975,11508,0.10,2.17,0.00,0.000,4,0.104,0.050,3119,339,1139,0,0,0,0,0,0
$GC,11564,0.74,472.6,181.0,19.1,986,11573,0.10,2.15,0.00,0.000,6,0.141,0.034,3085,1757,1138,0,0,0,0,0,0
$GC,11897,0.74,472.6,126.2,15.8,1047,11906,0.00,2.15,0.00,0.000,4,0.000,0.045,3080,3153,1138,0,0,0,0,0,0
$GC,11961,0.89,535.4,118.1,11.2,1058,12021,0.08,2.12,52.95,0.751,6,0.050,0.036,3149,1757,889,0,0,0,0,0,0
$GC,12345,0.91,535.4,49.9,13.9,1126,12353,0.00,2.20,0.00,0.000,4,0.000,0.047,3158,340,886,0,0,0,0,0,0
$GC,12418,0.91,535.4,37.6,16.1,1139,12427,0.00,2.12,0.00,0.000,6,0.000,0.031,3159,1754,885,0,0,0,0,0,0
$STATE,12614,end climb,SURFACE_DEPTH_REACHED
$STATE,12614,begin surface coast
$FINISH,0.8,1.021639
$STATE,12632,end surface coast,CONTROL_FINISHED_OK
$STATE,12632,begin surface
$SM_CCo,12709,0.00,0.000,0,0,885,536.47
$SM_GC,1.73,7.62,0.00,0.00,0.028,0.000,0.000,152,1759,885,-8.33,-1.16,536.47
$IRIDIUM_FIX,2312.13,12717.08,221010,181855
$TT8_MAMPS,0.026964
$HUMID,42.87
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.60
$XPDR_PINGS,79
$24V_AH,22.4,63.898
$10V_AH,10.3,42.118
$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,21.450,120.775,672.900,0.000,0.000,27.303,16.614,185.757,19.750,0.000,32.488,2907.813,6210.904,717.980,2880.577,400.855,0.000,1877.244,0.000,2640.097,0.000,0.844,0.000
$DEVICE_MAMPS,220.320,158.355,1431.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.772,1006.762,1321.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333808
$DATA_FILE_SIZE,70160,1178
$CAP_FILE_SIZE,145892,0
$CFSIZE,260165632,159490048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 13.5,1
$GPS,231010,014728,2315.130,12633.840,15,99.0,34,-3.4