version: 66.08
glider: 166
mission: 3
dive: 25
start: 9 25 110 10 55 4
data:
$ID,166
$MISSION,3
$DIVE,25
$N_DIVES,30
$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,-21510.482
$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,40
$R_STBD_OVSHOOT,39
$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,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
$GPS1,250910,104901,2334.470,12616.169,9,1.8,14,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.8
$GPS2,250910,105438,2334.494,12616.139,14,1.9,14,-3.5
$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,36.4,52738,-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,-243.3,0.0,0.0,0,107,0.00,0.00,-89.32,0.000,2,0.000,0.000,142,1820,3178,0,0,0,0,0,0
$GC,110,-1.14,-243.3,5.2,-9.8,12,141,8.90,2.17,-11.62,0.000,4,0.236,0.053,2468,383,3784,0,0,0,0,0,0
$GC,170,-0.26,-243.3,38.0,-58.4,21,179,0.98,2.17,0.00,0.000,6,0.196,0.040,2747,1802,3785,0,0,0,0,0,0
$GC,498,-0.59,-243.3,75.0,-6.7,82,507,0.25,2.15,0.00,0.000,4,0.055,0.049,2615,3208,3788,0,0,0,0,0,0
$GC,548,-0.55,-243.3,81.4,-15.0,90,557,0.12,2.10,0.00,0.000,6,0.141,0.033,2656,1792,3788,0,0,0,0,0,0
$GC,875,-0.58,-243.3,132.5,-12.9,151,883,0.00,2.08,0.00,0.000,4,0.000,0.044,2656,401,3789,0,0,0,0,0,0
$GC,923,-0.66,-243.3,138.8,-12.3,159,931,0.00,2.12,0.00,0.000,6,0.000,0.040,2655,1809,3789,0,0,0,0,0,0
$GC,1258,-0.74,-243.3,178.2,-11.0,220,1266,0.15,2.15,0.00,0.000,4,0.084,0.052,2582,3209,3789,0,0,0,0,0,0
$GC,1314,-0.68,-243.3,186.5,-16.1,229,1322,0.15,2.05,0.00,0.000,6,0.165,0.034,2623,1799,3789,0,0,0,0,0,0
$GC,1653,-0.68,-243.3,234.4,-13.4,290,1662,0.00,2.10,0.00,0.000,4,0.000,0.045,2624,396,3789,0,0,0,0,0,0
$GC,1720,-0.71,-243.3,243.3,-13.5,301,1727,0.00,2.08,0.00,0.000,6,0.000,0.040,2624,1804,3789,0,0,0,0,0,0
$GC,2058,-0.75,-243.3,287.2,-12.8,362,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1804,3789,0,0,0,0,0,0
$GC,2394,-0.82,-243.3,328.0,-11.9,402,2396,0.12,0.00,0.00,0.000,6,0.095,0.000,2566,1804,3789,0,0,0,0,0,0
$GC,2713,-0.71,-243.3,379.5,-15.6,432,2718,0.15,2.12,0.00,0.000,4,0.174,0.048,2607,398,3789,0,0,0,0,0,0
$GC,2781,-0.75,-243.3,389.0,-12.3,437,2788,0.00,2.08,0.00,0.000,6,0.000,0.037,2599,1801,3788,0,0,0,0,0,0
$GC,3106,-0.79,-243.3,427.9,-11.0,468,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1801,3788,0,0,0,0,0,0
$GC,3428,-0.84,-243.3,466.1,-12.6,498,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1801,3786,0,0,0,0,0,0
$STATE,3698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3698,begin apogee
$GC,3704,-0.23,0.0,500.5,11.9,524,3903,0.47,0.00,191.25,0.954,6,0.133,0.000,2761,1801,2788,0,0,0,0,0,0
$STATE,3904,end apogee,CONTROL_FINISHED_OK
$STATE,3904,begin climb
$GC,3906,1.14,243.3,507.1,0.0,541,4120,1.27,2.33,201.65,0.919,4,0.083,0.048,3214,402,1795,0,0,0,0,0,0
$GC,4170,0.54,243.3,437.7,37.8,563,4176,0.70,2.20,0.00,0.000,6,0.193,0.042,3019,1796,1791,0,0,0,0,0,0
$GC,4498,0.40,243.3,371.7,18.1,593,4502,0.17,2.17,0.00,0.000,4,0.161,0.052,2958,3217,1787,0,0,0,0,0,0
$GC,4607,0.65,340.4,358.7,10.2,602,4695,0.22,2.12,81.05,0.856,6,0.061,0.038,3069,1804,1400,0,0,0,0,0,0
$GC,5027,0.39,340.4,251.0,27.0,655,5034,0.32,0.00,0.00,0.000,6,0.168,0.000,2970,1804,1393,0,0,0,0,0,0
$GC,5366,0.63,406.1,206.1,11.4,716,5429,0.20,2.17,53.67,0.766,4,0.067,0.044,3078,396,1132,0,0,0,0,0,0
$GC,5478,0.51,406.1,181.0,24.4,733,5486,0.25,2.15,0.00,0.000,6,0.153,0.037,3004,1811,1129,0,0,0,0,0,0
$GC,5812,0.64,436.2,128.6,12.7,794,5844,0.12,2.20,25.20,0.695,4,0.086,0.047,3064,3212,1009,0,0,0,0,0,0
$GC,5874,0.58,436.2,117.2,20.3,803,5882,0.12,2.17,0.00,0.000,6,0.145,0.038,3032,1798,1009,0,0,0,0,0,0
$GC,6202,0.64,436.2,65.8,14.9,864,6211,0.00,2.15,0.00,0.000,4,0.000,0.047,3041,387,1007,0,0,0,0,0,0
$GC,6262,0.85,476.1,57.9,12.4,874,6307,0.17,2.12,33.10,0.646,6,0.040,0.036,3140,1793,846,0,0,0,0,0,0
$STATE,6515,end climb,SURFACE_DEPTH_REACHED
$STATE,6515,begin surface coast
$FINISH,0.8,1.021772
$STATE,6528,end surface coast,CONTROL_FINISHED_OK
$STATE,6528,begin surface
$SM_CCo,6605,0.00,0.000,0,0,841,477.84
$SM_GC,1.43,7.62,0.00,0.00,0.032,0.000,0.000,148,1796,841,-8.35,-0.11,477.84
$IRIDIUM_FIX,2326.22,12550.58,250910,090931
$TT8_MAMPS,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,23.20
$XPDR_PINGS,106
$24V_AH,24.3,7.702
$10V_AH,10.5,4.716
$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,22.500,47.175,585.925,0.000,0.000,29.762,37.586,131.416,26.500,0.000,15.605,2132.259,1583.796,567.946,2411.755,250.413,0.000,1440.567,0.000,2212.549,0.000,0.847,0.000
$DEVICE_MAMPS,235.620,52.785,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.219,941.135,1593.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330468
$DATA_FILE_SIZE,53607,921
$CAP_FILE_SIZE,90546,0
$CFSIZE,260165632,177848320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,307.9,1
$GPS,250910,124625,2335.678,12616.662,39,1.8,39,-3.5