version: 66.08
glider: 166
mission: 3
dive: 6
start: 9 23 110 23 5 0
data:
$ID,166
$MISSION,3
$DIVE,6
$N_DIVES,8
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,600
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,1
$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,-21483.102
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2789
$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,100
$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,2
$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
$GPS1,230910,230055,2313.716,12606.987,12,1.6,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.5
$GPS2,230910,230438,2313.741,12606.962,12,1.6,12,-3.4
$SPEED_LIMITS,0.241,0.365
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,58.8,94121,-18.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.14,-243.3,0.0,0.0,0,106,0.00,0.00,-88.38,0.000,2,0.000,0.000,154,1764,3333,0,0,0,0,0,0
$GC,109,-1.14,-243.3,5.8,-11.6,12,134,8.80,1.98,-7.55,0.000,4,0.235,0.051,2467,411,3783,0,0,0,0,0,0
$GC,211,-0.48,-243.3,62.5,-51.2,29,220,0.73,2.10,0.00,0.000,6,0.179,0.043,2675,1793,3784,0,0,0,0,0,0
$GC,538,-0.59,-243.3,115.7,-12.9,90,546,0.00,2.05,0.00,0.000,4,0.000,0.043,2675,424,3786,0,0,0,0,0,0
$GC,592,-0.73,-243.3,122.2,-11.5,99,601,0.15,2.08,0.00,0.000,6,0.049,0.040,2586,1809,3786,0,0,0,0,0,0
$GC,932,-0.61,-243.3,188.8,-19.6,160,939,0.20,2.08,0.00,0.000,4,0.165,0.050,2639,3212,3786,0,0,0,0,0,0
$GC,992,-0.79,-243.3,197.3,-11.7,170,1000,0.15,2.00,0.00,0.000,6,0.076,0.037,2566,1820,3787,0,0,0,0,0,0
$GC,1343,-0.68,-243.3,264.1,-18.2,231,1351,0.17,2.08,0.00,0.000,4,0.175,0.044,2616,401,3786,0,0,0,0,0,0
$GC,1471,-0.74,-243.3,284.0,-14.2,253,1478,0.00,2.08,0.00,0.000,6,0.000,0.041,2613,1801,3785,0,0,0,0,0,0
$GC,1815,-0.79,-243.3,329.1,-12.9,314,1822,0.00,2.05,0.00,0.000,4,0.000,0.046,2613,401,3785,0,0,0,0,0,0
$GC,1898,-0.85,-243.3,339.8,-12.5,328,1905,0.12,2.10,0.00,0.000,6,0.095,0.041,2550,1815,3784,0,0,0,0,0,0
$GC,2248,-0.75,-243.3,397.6,-17.2,389,2255,0.17,2.08,0.00,0.000,4,0.177,0.055,2597,3204,3782,0,0,0,0,0,0
$GC,2286,-0.84,-243.3,403.5,-12.3,395,2293,0.00,2.05,0.00,0.000,6,0.000,0.037,2597,1797,3782,0,0,0,0,0,0
$GC,2632,-0.91,-243.3,443.8,-11.7,456,2640,0.15,2.08,0.00,0.000,4,0.089,0.047,2529,399,3780,0,0,0,0,0,0
$GC,2726,-0.77,-243.3,459.7,-18.3,472,2733,0.22,2.10,0.00,0.000,6,0.175,0.044,2591,1804,3780,0,0,0,0,0,0
$STATE,3045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3045,begin apogee
$GC,3051,-0.23,0.0,500.2,12.3,529,3243,0.47,0.00,186.62,0.949,6,0.137,0.000,2757,1806,2789,0,0,0,0,0,0
$STATE,3244,end apogee,CONTROL_FINISHED_OK
$STATE,3244,begin climb
$GC,3246,1.14,243.3,507.0,0.0,546,3455,1.33,2.33,198.05,0.913,4,0.090,0.054,3199,3210,1796,0,0,0,0,0,0
$GC,3479,0.55,243.3,452.1,36.9,579,3487,0.70,2.20,0.00,0.000,6,0.201,0.041,3022,1799,1795,0,0,0,0,0,0
$GC,3827,0.44,243.3,390.1,15.9,640,3833,0.15,0.00,0.00,0.000,6,0.174,0.000,2979,1798,1790,0,0,0,0,0,0
$GC,4169,0.46,264.8,345.5,13.1,701,4195,0.00,2.17,18.48,0.826,4,0.000,0.053,2979,3211,1708,0,0,0,0,0,0
$GC,4214,0.52,274.8,339.6,13.5,708,4234,0.00,2.15,9.98,0.756,6,0.000,0.042,2987,1798,1667,0,0,0,0,0,0
$GC,4576,0.56,274.8,287.1,14.1,771,4583,0.10,2.15,0.00,0.000,4,0.109,0.050,3044,384,1665,0,0,0,0,0,0
$GC,4687,0.53,274.8,268.0,16.9,790,4695,0.12,2.15,0.00,0.000,6,0.179,0.041,3009,1811,1663,0,0,0,0,0,0
$GC,5034,0.53,274.8,217.4,14.1,851,5041,0.00,2.08,0.00,0.000,4,0.000,0.054,3008,3206,1663,0,0,0,0,0,0
$GC,5066,0.57,274.8,213.1,14.1,856,5073,0.00,2.10,0.00,0.000,6,0.000,0.041,3017,1788,1662,0,0,0,0,0,0
$GC,5410,0.59,295.6,165.4,13.1,917,5435,0.00,2.10,18.02,0.725,4,0.000,0.048,3028,390,1582,0,0,0,0,0,0
$GC,5494,0.74,327.5,154.2,12.7,931,5526,0.15,2.10,26.62,0.716,6,0.089,0.040,3098,1802,1453,0,0,0,0,0,0
$GC,5847,0.63,327.5,81.2,20.4,996,5855,0.20,0.00,0.00,0.000,6,0.162,0.000,3042,1804,1450,0,0,0,0,0,0
$GC,6173,1.10,540.7,51.1,5.7,1057,6351,0.38,2.28,167.75,0.622,4,0.054,0.045,3226,390,583,0,0,0,0,0,0
$STATE,6357,end climb,SURFACE_DEPTH_REACHED
$STATE,6357,begin surface coast
$FINISH,0.7,1.021704
$STATE,6367,end surface coast,CONTROL_FINISHED_OK
$STATE,6367,begin surface
$SM_CCo,6447,0.00,0.000,0,0,578,542.11
$SM_GC,1.30,8.25,0.00,0.00,0.048,0.000,0.000,154,1803,578,-8.35,0.11,542.11
$IRIDIUM_FIX,2305.10,12605.78,230910,222248
$TT8_MAMPS,0.026215
$HUMID,40.82
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,24.30
$XPDR_PINGS,92
$24V_AH,24.5,4.661
$10V_AH,10.6,2.690
$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,22.725,54.875,625.525,0.000,0.000,0.000,0.000,0.000,23.000,0.000,13.561,2437.797,1352.122,629.428,1923.604,172.637,0.000,1545.509,0.000,1922.326,0.000,0.545,0.000
$DEVICE_MAMPS,234.855,55.080,949.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.900,1106.732,693.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330524
$DATA_FILE_SIZE,60237,1083
$CAP_FILE_SIZE,106002,0
$CFSIZE,260165632,178835456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189,303.4,1
$GPS,240910,005337,2314.639,12607.456,34,0.9,34,-3.4