version: 66.08
glider: 166
mission: 3
dive: 14
start: 9 24 110 14 32 25
data:
$ID,166
$MISSION,3
$DIVE,14
$N_DIVES,16
$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,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,-21493.139
$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,35
$R_STBD_OVSHOOT,34
$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,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
$GPS1,240910,141436,2321.972,12610.468,13,1.4,30,-3.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.5
$GPS2,240910,143202,2322.071,12610.445,15,1.4,15,-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,50.4,77647,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.14,-243.3,0.0,0.0,0,105,0.00,0.00,-87.28,0.000,2,0.000,0.000,138,1806,3422,0,0,0,0,0,0
$GC,108,-1.14,-243.3,6.8,-14.6,12,133,8.93,2.12,-5.90,0.000,4,0.233,0.051,2467,376,3782,0,0,0,0,0,0
$GC,289,-0.63,-243.3,97.9,-38.9,44,298,0.55,2.17,0.00,0.000,6,0.170,0.041,2626,1800,3784,0,0,0,0,0,0
$GC,617,-0.58,-243.3,156.7,-15.9,105,624,0.00,2.10,0.00,0.000,4,0.000,0.045,2626,386,3786,0,0,0,0,0,0
$GC,659,-0.55,-243.3,163.6,-15.0,112,668,0.10,2.15,0.00,0.000,6,0.145,0.040,2657,1806,3786,0,0,0,0,0,0
$GC,1001,-0.65,-243.3,206.5,-12.1,173,1009,0.00,2.10,0.00,0.000,4,0.000,0.046,2657,385,3786,0,0,0,0,0,0
$GC,1053,-0.80,-243.3,212.1,-10.9,181,1060,0.20,2.12,0.00,0.000,6,0.069,0.041,2562,1812,3786,0,0,0,0,0,0
$GC,1394,-0.64,-243.3,273.6,-17.5,242,1403,0.25,2.12,0.00,0.000,4,0.164,0.051,2637,3207,3786,0,0,0,0,0,0
$GC,1420,-0.64,-243.3,278.1,-14.9,246,1430,0.00,2.10,0.00,0.000,6,0.000,0.036,2637,1790,3786,0,0,0,0,0,0
$GC,1765,-0.75,-243.3,314.6,-10.4,295,1772,0.12,0.00,0.00,0.000,6,0.090,0.000,2576,1790,3785,0,0,0,0,0,0
$GC,2093,-0.69,-243.3,367.4,-16.2,326,2097,0.15,2.08,0.00,0.000,4,0.171,0.048,2618,392,3783,0,0,0,0,0,0
$GC,2204,-0.78,-243.3,382.6,-13.1,335,2211,0.00,2.10,0.00,0.000,6,0.000,0.041,2613,1801,3783,0,0,0,0,0,0
$GC,2530,-0.86,-243.3,423.0,-12.3,366,2532,0.15,0.00,0.00,0.000,6,0.086,0.000,2545,1801,3781,0,0,0,0,0,0
$GC,2848,-0.76,-243.3,475.7,-16.2,396,2853,0.17,2.12,0.00,0.000,4,0.169,0.049,2593,398,3780,0,0,0,0,0,0
$GC,2900,-0.83,-243.3,482.8,-12.7,400,2904,0.00,2.10,0.00,0.000,6,0.000,0.043,2593,1801,3780,0,0,0,0,0,0
$STATE,3053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3053,begin apogee
$GC,3059,-0.23,0.0,500.7,11.1,414,3252,0.50,0.00,188.95,0.957,6,0.135,0.000,2763,1802,2789,0,0,0,0,0,0
$STATE,3253,end apogee,CONTROL_FINISHED_OK
$STATE,3253,begin climb
$GC,3255,1.14,243.3,505.5,0.0,430,3465,1.27,2.28,200.90,0.917,4,0.083,0.049,3216,402,1796,0,0,0,0,0,0
$GC,3594,0.56,243.3,405.2,37.5,458,3604,0.62,2.20,0.00,0.000,6,0.182,0.044,3024,1796,1789,0,0,0,0,0,0
$GC,3921,0.44,243.3,341.9,17.6,489,3925,0.15,2.17,0.00,0.000,4,0.161,0.053,2980,3224,1785,0,0,0,0,0,0
$GC,3974,0.50,243.3,333.8,14.3,493,3978,0.00,2.12,0.00,0.000,6,0.000,0.041,2987,1804,1784,0,0,0,0,0,0
$GC,4301,0.50,243.3,288.5,13.9,530,4310,0.00,2.15,0.00,0.000,4,0.000,0.049,2999,396,1783,0,0,0,0,0,0
$GC,4347,0.52,255.6,282.6,13.4,537,4363,0.00,2.10,9.82,0.743,6,0.000,0.039,2999,1807,1745,0,0,0,0,0,0
$GC,4700,0.53,266.8,234.5,13.5,599,4720,0.00,2.15,11.20,0.734,4,0.000,0.053,2999,3198,1700,0,0,0,0,0,0
$GC,4785,0.61,284.8,222.7,13.2,613,4807,0.00,2.10,16.60,0.752,6,0.000,0.040,3009,1799,1626,0,0,0,0,0,0
$GC,5137,0.61,284.8,170.4,15.0,676,5145,0.00,2.15,0.00,0.000,4,0.000,0.049,3019,390,1622,0,0,0,0,0,0
$GC,5181,0.61,284.8,164.3,14.4,683,5188,0.00,2.10,0.00,0.000,6,0.000,0.037,3019,1807,1622,0,0,0,0,0,0
$GC,5511,0.61,284.8,115.4,15.2,744,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1807,1622,0,0,0,0,0,0
$GC,5836,0.74,338.3,71.2,11.8,805,5882,0.15,0.00,43.05,0.670,6,0.080,0.000,3096,1810,1409,0,0,0,0,0,0
$GC,6204,0.74,338.3,15.5,14.3,871,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1810,1404,0,0,0,0,0,0
$STATE,6285,end climb,SURFACE_DEPTH_REACHED
$STATE,6285,begin surface coast
$FINISH,0.6,1.007685
$STATE,6307,end surface coast,CONTROL_FINISHED_OK
$STATE,6307,begin surface
$SM_CCo,6325,57.67,0.500,1,0,1158,400.08
$SM_GC,1.42,0.00,0.00,57.67,0.000,0.000,0.500,147,1813,1158,-8.42,0.37,400.08
$IRIDIUM_FIX,2316.83,12613.21,240910,141431
$TT8_MAMPS,0.026964
$HUMID,40.15
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.20
$XPDR_PINGS,105
$24V_AH,24.3,5.955
$10V_AH,10.5,3.499
$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,20.925,46.925,470.525,57.675,0.000,111.909,84.317,482.725,26.250,0.000,16.136,2092.240,1704.956,534.552,2685.843,416.668,0.000,1357.112,0.000,2130.473,0.000,1.152,0.000
$DEVICE_MAMPS,233.325,52.785,957.015,500.310,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.901,909.950,1496.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330616
$DATA_FILE_SIZE,50395,890
$CAP_FILE_SIZE,92487,0
$CFSIZE,260165632,178417664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,286.8,1
$GPS,240910,162004,2322.979,12610.968,12,2.4,31,-3.4