version: 66.08
glider: 166
mission: 3
dive: 370
start: 10 24 110 0 50 47
data:
$ID,166
$MISSION,3
$DIVE,370
$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,-22021.01
$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,42
$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
$GPS1,241010,004306,2307.417,12633.033,39,1.1,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.9
$GPS2,241010,005025,2307.500,12632.966,15,1.2,32,-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,211.3,14781,-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,-214.1,0.0,0.0,0,108,0.00,0.00,-88.47,0.000,2,0.000,0.000,146,1755,3205,0,0,0,0,0,0
$GC,111,-1.16,-214.1,5.3,-9.7,12,142,9.07,2.10,-14.10,0.000,4,0.224,0.054,2454,386,3948,0,0,0,0,0,0
$GC,374,-0.90,-214.1,116.3,-35.0,60,383,0.32,2.15,0.00,0.000,6,0.167,0.039,2545,1792,3951,0,0,0,0,0,0
$GC,712,-0.80,-214.1,194.0,-20.9,121,719,0.12,2.17,0.00,0.000,4,0.184,0.045,2580,391,3954,0,0,0,0,0,0
$GC,801,-0.80,-214.1,211.3,-17.5,136,809,0.00,2.15,0.00,0.000,6,0.000,0.038,2566,1803,3955,0,0,0,0,0,0
$GC,1145,-0.77,-214.1,276.3,-18.2,197,1152,0.00,2.15,0.00,0.000,4,0.000,0.046,2566,387,3955,0,0,0,0,0,0
$GC,1165,-0.74,-214.1,280.7,-18.7,200,1173,0.10,2.15,0.00,0.000,6,0.141,0.041,2596,1795,3955,0,0,0,0,0,0
$GC,1498,-0.77,-214.1,327.0,-13.2,242,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1795,3955,0,0,0,0,0,0
$GC,1819,-0.82,-214.1,364.1,-10.6,272,1823,0.00,2.15,0.00,0.000,4,0.000,0.052,2589,3212,3954,0,0,0,0,0,0
$GC,1850,-0.89,-214.1,367.4,-10.5,274,1855,0.10,2.10,0.00,0.000,6,0.099,0.035,2531,1793,3954,0,0,0,0,0,0
$GC,2176,-0.86,-214.1,421.1,-17.7,304,2180,0.12,2.15,0.00,0.000,4,0.171,0.050,2567,392,3952,0,0,0,0,0,0
$GC,2228,-0.89,-214.1,429.5,-15.4,308,2232,0.00,2.15,0.00,0.000,6,0.000,0.041,2562,1811,3952,0,0,0,0,0,0
$GC,2554,-0.91,-214.1,474.3,-13.3,338,2558,0.00,2.15,0.00,0.000,4,0.000,0.047,2562,401,3951,0,0,0,0,0,0
$GC,2611,-0.94,-214.1,481.9,-13.4,342,2620,0.00,2.15,0.00,0.000,6,0.000,0.041,2560,1802,3949,0,0,0,0,0,0
$GC,2938,-0.96,-214.1,521.4,-11.8,373,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1802,3947,0,0,0,0,0,0
$GC,3258,-0.99,-214.1,561.6,-13.2,403,3265,0.10,0.00,0.00,0.000,6,0.106,0.000,2507,1802,3945,0,0,0,0,0,0
$GC,3596,-0.95,-214.1,619.8,-17.3,430,3600,0.00,2.17,0.00,0.000,4,0.000,0.050,2507,392,3942,0,0,0,0,0,0
$GC,3673,-0.90,-214.1,634.8,-18.0,433,3681,0.17,2.15,0.00,0.000,6,0.160,0.041,2547,1805,3940,0,0,0,0,0,0
$GC,3993,-0.92,-214.1,675.8,-12.1,449,3997,0.00,2.17,0.00,0.000,4,0.000,0.055,2548,3209,3939,0,0,0,0,0,0
$GC,4043,-0.99,-214.1,681.7,-9.9,451,4047,0.00,2.10,0.00,0.000,6,0.000,0.037,2548,1798,3938,0,0,0,0,0,0
$GC,4360,-1.01,-214.1,717.8,-11.8,466,4364,0.00,2.20,0.00,0.000,4,0.000,0.057,2548,3200,3935,0,0,0,0,0,0
$GC,4406,-1.09,-214.1,723.0,-10.6,468,4411,0.17,2.12,0.00,0.000,6,0.073,0.038,2468,1792,3934,0,0,0,0,0,0
$GC,4729,-1.01,-214.1,781.4,-19.2,484,4734,0.17,2.17,0.00,0.000,4,0.174,0.053,2516,397,3933,0,0,0,0,0,0
$GC,4815,-1.01,-214.1,795.5,-15.0,488,4819,0.00,2.15,0.00,0.000,6,0.000,0.043,2508,1805,3932,0,0,0,0,0,0
$GC,5142,-0.98,-214.1,845.8,-15.1,504,5146,0.00,2.17,0.00,0.000,4,0.000,0.052,2508,392,3928,0,0,0,0,0,0
$GC,5170,-0.95,-214.1,850.4,-17.1,505,5175,0.12,2.17,0.00,0.000,6,0.171,0.044,2533,1809,3928,0,0,0,0,0,0
$GC,5487,-0.97,-214.1,894.4,-14.1,520,5491,0.00,2.17,0.00,0.000,4,0.000,0.057,2525,3212,3925,0,0,0,0,0,0
$GC,5514,-0.99,-214.1,898.4,-14.0,521,5518,0.00,2.12,0.00,0.000,6,0.000,0.040,2526,1801,3925,0,0,0,0,0,0
$GC,5832,-0.99,-214.1,943.9,-14.7,536,5836,0.00,2.15,0.00,0.000,4,0.000,0.054,2525,399,3923,0,0,0,0,0,0
$GC,5876,-0.99,-214.1,950.9,-14.7,538,5880,0.00,2.15,0.00,0.000,6,0.000,0.044,2517,1799,3922,0,0,0,0,0,0
$GC,6205,-0.99,-214.1,998.3,-14.6,554,6209,0.00,2.20,0.00,0.000,4,0.000,0.054,2517,391,3919,0,0,0,0,0,0
$STATE,6213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6213,begin apogee
$GC,6222,-0.23,0.0,1000.3,14.6,554,6414,0.77,0.00,185.68,1.432,6,0.133,0.000,2759,1750,3071,0,0,0,0,0,0
$STATE,6415,end apogee,CONTROL_FINISHED_OK
$STATE,6415,begin climb
$GC,6419,1.16,214.1,1010.3,0.0,563,6632,1.27,2.45,201.10,1.370,4,0.047,0.056,3215,3147,2198,0,0,0,0,0,0
$GC,6640,0.84,214.1,973.0,30.8,574,6645,0.45,2.35,0.00,0.000,6,0.198,0.044,3117,1747,2197,0,0,0,0,0,0
$GC,6963,0.64,214.1,898.5,22.5,590,6965,0.25,0.00,0.00,0.000,6,0.173,0.000,3046,1746,2193,0,0,0,0,0,0
$GC,7272,0.55,214.1,846.0,16.6,605,7276,0.00,2.20,0.00,0.000,4,0.000,0.059,3041,3156,2191,0,0,0,0,0,0
$GC,7300,0.45,214.1,840.7,17.5,606,7305,0.22,2.15,0.00,0.000,6,0.163,0.042,2987,1743,2189,0,0,0,0,0,0
$GC,7621,0.52,268.2,802.6,11.5,622,7677,0.00,2.33,48.85,1.291,4,0.000,0.055,2995,342,1978,0,0,0,0,0,0
$GC,7715,0.56,286.4,791.6,13.1,626,7738,0.00,2.22,17.77,1.199,6,0.000,0.041,2995,1752,1904,0,0,0,0,0,0
$GC,8064,0.60,323.9,748.3,12.3,643,8108,0.12,2.25,34.90,1.239,4,0.087,0.054,3056,3168,1750,0,0,0,0,0,0
$GC,8133,0.53,323.9,736.1,18.1,646,8138,0.20,2.22,0.00,0.000,6,0.168,0.042,3012,1741,1750,0,0,0,0,0,0
$GC,8463,0.53,323.9,687.2,14.2,662,8467,0.00,2.20,0.00,0.000,4,0.000,0.053,3010,3169,1747,0,0,0,0,0,0
$GC,8492,0.53,323.9,682.3,15.1,663,8496,0.00,2.17,0.00,0.000,6,0.000,0.042,3019,1746,1747,0,0,0,0,0,0
$GC,8808,0.53,323.9,634.9,14.9,678,8812,0.00,2.17,0.00,0.000,4,0.000,0.054,3029,343,1746,0,0,0,0,0,0
$GC,8835,0.53,323.9,630.5,15.2,679,8839,0.00,2.17,0.00,0.000,6,0.000,0.041,3029,1761,1744,0,0,0,0,0,0
$GC,9163,0.51,323.9,579.9,15.5,701,9167,0.00,2.12,0.00,0.000,4,0.000,0.052,3029,3164,1744,0,0,0,0,0,0
$GC,9186,0.48,323.9,575.8,15.3,702,9194,0.15,2.15,0.00,0.000,6,0.168,0.041,2998,1745,1743,0,0,0,0,0,0
$GC,9512,0.58,381.3,537.6,11.4,733,9570,0.00,2.30,51.80,1.128,4,0.000,0.052,3008,346,1516,0,0,0,0,0,0
$GC,9633,0.67,406.1,522.6,12.8,744,9668,0.15,2.17,23.58,1.066,6,0.076,0.037,3079,1762,1416,0,0,0,0,0,0
$GC,9985,0.60,406.1,442.1,22.6,777,9987,0.15,0.00,0.00,0.000,6,0.172,0.000,3040,1766,1413,0,0,0,0,0,0
$GC,10304,0.60,406.1,383.3,17.0,807,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1766,1412,0,0,0,0,0,0
$GC,10625,0.60,406.1,334.3,14.8,837,10629,0.00,2.22,0.00,0.000,4,0.000,0.052,3048,339,1411,0,0,0,0,0,0
$GC,10659,0.62,406.1,328.7,15.0,840,10663,0.00,2.15,0.00,0.000,6,0.000,0.037,3048,1752,1410,0,0,0,0,0,0
$GC,10991,0.62,406.1,276.5,16.0,883,10998,0.00,2.12,0.00,0.000,4,0.000,0.049,3049,3162,1410,0,0,0,0,0,0
$GC,11032,0.65,406.1,269.5,15.0,890,11041,0.00,2.15,0.00,0.000,6,0.000,0.039,3054,1756,1410,0,0,0,0,0,0
$GC,11375,0.65,406.1,216.2,15.2,951,11382,0.00,2.15,0.00,0.000,4,0.000,0.050,3061,346,1410,0,0,0,0,0,0
$GC,11416,0.65,406.1,209.7,15.9,958,11425,0.00,2.15,0.00,0.000,6,0.000,0.035,3060,1754,1410,0,0,0,0,0,0
$GC,11760,0.65,406.1,157.9,14.6,1019,11767,0.00,2.10,0.00,0.000,4,0.000,0.047,3060,3157,1410,0,0,0,0,0,0
$GC,11792,0.68,406.1,153.0,15.1,1024,11800,0.00,2.15,0.00,0.000,6,0.000,0.037,3067,1745,1410,0,0,0,0,0,0
$GC,12123,0.80,473.5,110.2,11.0,1085,12189,0.00,2.17,57.88,0.744,4,0.000,0.047,3077,352,1141,0,0,0,0,0,0
$GC,12250,1.03,564.9,96.8,9.9,1104,12333,0.22,2.15,77.20,0.718,6,0.034,0.033,3198,1764,768,0,0,0,0,0,0
$STATE,12632,end climb,SURFACE_DEPTH_REACHED
$STATE,12632,begin surface coast
$FINISH,0.9,0.999849
$STATE,12644,end surface coast,CONTROL_FINISHED_OK
$STATE,12644,begin surface
$SM_CCo,12722,0.00,0.000,0,0,762,566.40
$SM_GC,1.76,7.85,0.00,0.00,0.034,0.000,0.000,155,1765,762,-8.33,-0.99,566.40
$IRIDIUM_FIX,2302.75,12634.38,231010,202043
$TT8_MAMPS,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,24.40
$XPDR_PINGS,95
$24V_AH,22.4,65.650
$10V_AH,10.2,43.092
$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,22.425,117.425,698.750,0.000,0.000,31.351,15.961,191.812,23.750,0.000,33.306,2892.078,6291.869,714.499,2844.452,403.013,0.000,1869.287,0.000,2586.122,0.000,0.845,0.000
$DEVICE_MAMPS,224.145,58.905,1432.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.322,995.841,1278.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70317,1173
$CAP_FILE_SIZE,144579,0
$CFSIZE,260165632,158912512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095, 32.8,1
$GPS,241010,042406,2305.971,12632.336,36,0.9,41,-3.4