version: 66.08
glider: 166
mission: 3
dive: 369
start: 10 23 110 20 58 36
data:
$ID,166
$MISSION,3
$DIVE,369
$N_DIVES,379
$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,-22019.752
$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,38
$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
$GPS1,231010,205106,2309.112,12633.559,29,1.3,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.3
$GPS2,231010,205814,2309.133,12633.539,12,1.6,12,-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,213.6,17958,-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,16,-1.16,-214.1,0.0,0.0,0,110,0.00,0.00,-91.32,0.000,2,0.000,0.000,133,1793,3329,0,0,0,0,0,0
$GC,114,-1.16,-214.1,6.3,-12.2,13,145,9.00,2.20,-11.12,0.000,4,0.220,0.054,2467,384,3950,0,0,0,0,0,0
$GC,191,-0.91,-214.1,44.4,-43.7,25,199,0.28,2.15,0.00,0.000,6,0.161,0.041,2541,1778,3952,0,0,0,0,0,0
$GC,519,-0.77,-214.1,144.2,-24.5,86,528,0.17,2.17,0.00,0.000,4,0.178,0.046,2599,395,3954,0,0,0,0,0,0
$GC,589,-0.77,-214.1,158.4,-17.8,98,596,0.00,2.15,0.00,0.000,6,0.000,0.037,2585,1808,3955,0,0,0,0,0,0
$GC,922,-0.74,-214.1,220.6,-17.4,159,930,0.00,2.12,0.00,0.000,4,0.000,0.049,2571,3209,3956,0,0,0,0,0,0
$GC,940,-0.71,-214.1,223.4,-17.0,161,947,0.12,2.12,0.00,0.000,6,0.163,0.034,2604,1788,3956,0,0,0,0,0,0
$GC,1273,-0.74,-214.1,269.6,-13.4,222,1281,0.00,2.15,0.00,0.000,4,0.000,0.047,2604,399,3956,0,0,0,0,0,0
$GC,1337,-0.79,-214.1,278.7,-14.0,233,1344,0.00,2.10,0.00,0.000,6,0.000,0.037,2591,1803,3956,0,0,0,0,0,0
$GC,1672,-0.82,-214.1,325.2,-13.2,278,1676,0.00,2.15,0.00,0.000,4,0.000,0.047,2590,401,3956,0,0,0,0,0,0
$GC,1700,-0.85,-214.1,329.7,-15.0,280,1708,0.00,2.12,0.00,0.000,6,0.000,0.039,2589,1793,3955,0,0,0,0,0,0
$GC,2027,-0.89,-214.1,372.9,-13.1,311,2032,0.10,2.17,0.00,0.000,4,0.107,0.051,2534,3205,3955,0,0,0,0,0,0
$GC,2070,-0.89,-214.1,379.6,-15.0,314,2078,0.00,2.12,0.00,0.000,6,0.000,0.034,2534,1798,3955,0,0,0,0,0,0
$GC,2397,-0.86,-214.1,432.1,-15.3,345,2401,0.00,2.12,0.00,0.000,4,0.000,0.048,2534,394,3953,0,0,0,0,0,0
$GC,2473,-0.83,-214.1,444.5,-15.0,351,2481,0.15,2.12,0.00,0.000,6,0.161,0.041,2575,1800,3953,0,0,0,0,0,0
$GC,2799,-0.87,-214.1,483.1,-11.9,382,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1800,3951,0,0,0,0,0,0
$GC,3119,-0.92,-214.1,520.9,-11.7,412,3123,0.00,2.17,0.00,0.000,4,0.000,0.050,2574,401,3949,0,0,0,0,0,0
$GC,3166,-0.98,-214.1,527.0,-12.3,415,3174,0.12,2.12,0.00,0.000,6,0.088,0.041,2507,1802,3948,0,0,0,0,0,0
$GC,3493,-0.93,-214.1,583.7,-17.5,446,3495,0.12,0.00,0.00,0.000,6,0.175,0.000,2539,1802,3946,0,0,0,0,0,0
$GC,3817,-0.93,-214.1,630.1,-14.0,467,3821,0.00,2.20,0.00,0.000,4,0.000,0.051,2539,396,3944,0,0,0,0,0,0
$GC,3884,-0.95,-214.1,640.1,-13.7,470,3888,0.00,2.15,0.00,0.000,6,0.000,0.041,2533,1803,3943,0,0,0,0,0,0
$GC,4208,-0.95,-214.1,685.0,-14.2,486,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1804,3941,0,0,0,0,0,0
$GC,4517,-0.95,-214.1,727.3,-13.5,501,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1805,3938,0,0,0,0,0,0
$GC,4825,-0.95,-214.1,768.3,-12.9,516,4828,0.00,2.17,0.00,0.000,4,0.000,0.053,2533,400,3935,0,0,0,0,0,0
$GC,4848,-0.95,-214.1,771.5,-13.7,517,4852,0.00,2.17,0.00,0.000,6,0.000,0.044,2524,1810,3934,0,0,0,0,0,0
$GC,5175,-0.95,-214.1,814.2,-13.0,533,5179,0.00,2.17,0.00,0.000,4,0.000,0.056,2515,3215,3932,0,0,0,0,0,0
$GC,5211,-0.97,-214.1,818.8,-13.1,534,5217,0.00,2.15,0.00,0.000,6,0.000,0.040,2515,1794,3932,0,0,0,0,0,0
$GC,5527,-0.97,-214.1,861.1,-13.3,550,5531,0.00,2.15,0.00,0.000,4,0.000,0.054,2515,390,3929,0,0,0,0,0,0
$GC,5589,-0.97,-214.1,870.0,-13.9,553,5593,0.00,2.17,0.00,0.000,6,0.000,0.044,2507,1808,3928,0,0,0,0,0,0
$GC,5924,-0.95,-214.1,917.3,-14.6,569,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1808,3926,0,0,0,0,0,0
$GC,6232,-0.93,-214.1,961.2,-14.2,584,6234,0.12,0.00,0.00,0.000,6,0.182,0.000,2539,1808,3923,0,0,0,0,0,0
$GC,6543,-0.97,-214.1,997.4,-11.1,599,6547,0.00,2.22,0.00,0.000,4,0.000,0.057,2539,399,3920,0,0,0,0,0,0
$STATE,6562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6562,begin apogee
$GC,6570,-0.23,0.0,1000.3,11.8,600,6761,0.70,0.00,185.80,1.431,6,0.125,0.000,2764,1749,3072,0,0,0,0,0,0
$STATE,6761,end apogee,CONTROL_FINISHED_OK
$STATE,6761,begin climb
$GC,6764,1.16,214.1,1006.9,0.0,609,6976,1.25,2.53,201.02,1.362,4,0.041,0.055,3242,344,2198,0,0,0,0,0,0
$GC,7011,0.81,214.1,957.5,34.4,621,7016,0.52,2.33,0.00,0.000,6,0.203,0.045,3106,1755,2195,0,0,0,0,0,0
$GC,7341,0.62,214.1,876.9,23.7,637,7346,0.22,2.15,0.00,0.000,4,0.178,0.052,3034,3158,2190,0,0,0,0,0,0
$GC,7391,0.54,214.1,866.5,16.8,639,7395,0.00,2.15,0.00,0.000,6,0.000,0.040,3041,1742,2189,0,0,0,0,0,0
$GC,7707,0.44,214.1,811.8,18.0,654,7709,0.20,0.00,0.00,0.000,6,0.169,0.000,2987,1742,2189,0,0,0,0,0,0
$GC,8018,0.46,234.7,771.4,13.0,669,8039,0.00,0.00,18.70,1.230,6,0.000,0.000,2987,1742,2115,0,0,0,0,0,0
$GC,8346,0.51,275.5,730.2,12.1,685,8388,0.00,0.00,38.20,1.245,6,0.000,0.000,2987,1742,1948,0,0,0,0,0,0
$GC,8698,0.58,326.7,688.1,11.7,702,8751,0.12,2.33,46.88,1.221,4,0.096,0.050,3051,3167,1740,0,0,0,0,0,0
$GC,8783,0.52,326.7,674.1,19.0,706,8788,0.17,2.22,0.00,0.000,6,0.171,0.041,3013,1746,1739,0,0,0,0,0,0
$GC,9114,0.52,326.7,625.3,14.9,722,9118,0.00,2.15,0.00,0.000,4,0.000,0.053,3022,346,1736,0,0,0,0,0,0
$GC,9162,0.52,326.7,617.0,15.4,724,9166,0.00,2.15,0.00,0.000,6,0.000,0.038,3022,1760,1733,0,0,0,0,0,0
$GC,9493,0.52,326.7,565.7,15.4,750,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1760,1733,0,0,0,0,0,0
$GC,9820,0.52,326.7,515.0,15.5,781,9824,0.00,2.20,0.00,0.000,4,0.000,0.054,3032,340,1732,0,0,0,0,0,0
$GC,9866,0.52,326.7,507.5,15.6,784,9872,0.00,2.12,0.00,0.000,6,0.000,0.038,3033,1751,1731,0,0,0,0,0,0
$GC,10192,0.50,326.7,457.9,15.0,815,10197,0.12,2.20,0.00,0.000,4,0.166,0.052,3008,346,1731,0,0,0,0,0,0
$GC,10234,0.54,332.3,452.3,13.6,818,10247,0.00,2.15,4.95,0.766,6,0.000,0.041,3007,1752,1716,0,0,0,0,0,0
$GC,10566,0.63,377.9,413.0,11.9,849,10615,0.10,2.28,42.45,1.019,4,0.101,0.050,3059,3162,1531,0,0,0,0,0,0
$GC,10678,0.63,377.9,393.3,17.1,858,10687,0.00,2.20,0.00,0.000,6,0.000,0.039,3069,1743,1530,0,0,0,0,0,0
$GC,11007,0.57,377.9,334.2,18.5,889,11012,0.15,2.17,0.00,0.000,4,0.175,0.050,3038,346,1528,0,0,0,0,0,0
$GC,11044,0.57,377.9,327.4,14.7,892,11053,0.00,2.17,0.00,0.000,6,0.000,0.039,3038,1758,1526,0,0,0,0,0,0
$GC,11375,0.59,377.9,280.4,14.3,935,11383,0.00,2.10,0.00,0.000,4,0.000,0.048,3038,3162,1526,0,0,0,0,0,0
$GC,11407,0.61,377.9,275.6,14.6,940,11415,0.00,2.15,0.00,0.000,6,0.000,0.038,3046,1745,1525,0,0,0,0,0,0
$GC,11746,0.63,384.5,229.0,13.6,1001,11761,0.00,2.15,7.00,0.711,4,0.000,0.048,3054,343,1503,0,0,0,0,0,0
$GC,11829,0.70,403.3,217.7,13.1,1015,11858,0.00,2.15,18.23,0.815,6,0.000,0.038,3053,1766,1426,0,0,0,0,0,0
$GC,12183,0.72,403.3,170.3,14.8,1079,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1769,1426,0,0,0,0,0,0
$GC,12513,0.83,447.3,127.3,12.0,1140,12557,0.15,0.00,38.53,0.755,6,0.074,0.000,3134,1769,1248,0,0,0,0,0,0
$GC,12878,0.86,475.1,62.3,12.7,1206,12909,0.00,2.25,24.45,0.685,4,0.000,0.047,3140,340,1134,0,0,0,0,0,0
$GC,12960,0.95,519.7,51.3,12.0,1219,13006,0.00,2.15,38.25,0.682,6,0.000,0.032,3140,1750,952,0,0,0,0,0,0
$STATE,13299,end climb,SURFACE_DEPTH_REACHED
$STATE,13299,begin surface coast
$FINISH,0.8,1.021698
$STATE,13317,end surface coast,CONTROL_FINISHED_OK
$STATE,13317,begin surface
$SM_CCo,13395,0.00,0.000,0,0,949,520.77
$SM_GC,1.62,7.68,0.00,0.00,0.031,0.000,0.000,133,1755,949,-8.36,-1.30,520.77
$IRIDIUM_FIX,2302.75,12635.78,231010,171754
$TT8_MAMPS,0.026215
$HUMID,42.00
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.90
$XPDR_PINGS,97
$24V_AH,22.4,65.395
$10V_AH,10.2,42.961
$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,21.600,104.450,664.450,0.000,0.000,23.484,36.408,192.156,24.250,0.000,13.838,3130.419,6509.926,689.956,3064.969,411.933,0.000,1905.354,0.000,2818.875,0.000,0.844,0.000
$DEVICE_MAMPS,220.320,56.610,1430.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.215,1111.097,1468.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76883,1283
$CAP_FILE_SIZE,148410,0
$CFSIZE,260165632,158986240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 60.6,1
$GPS,241010,004306,2307.417,12633.033,39,1.1,39,-3.4