version: 66.08
glider: 166
mission: 3
dive: 109
start: 10 1 110 17 50 30
data:
$ID,166
$MISSION,3
$DIVE,109
$N_DIVES,125
$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,-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,642
$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,-21624.77
$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
$GPS1,011010,174037,2315.709,12628.209,30,0.9,30,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.7
$GPS2,011010,175008,2315.802,12627.957,13,1.1,13,-3.4
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2312.000,12630.000
$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,135.8,7854,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,129,0.00,0.00,-111.60,0.000,2,0.000,0.000,144,1752,3316,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.5,-10.2,15,164,8.98,2.10,-11.43,0.000,4,0.235,0.053,2459,379,3949,0,0,0,0,0,0
$GC,305,-0.90,-214.1,87.9,-36.4,45,314,0.30,2.15,0.00,0.000,6,0.174,0.037,2541,1791,3951,0,0,0,0,0,0
$GC,634,-0.75,-214.1,187.9,-28.5,106,642,0.20,2.15,0.00,0.000,4,0.173,0.044,2589,3205,3954,0,0,0,0,0,0
$GC,668,-0.67,-214.1,197.0,-25.0,111,678,0.12,2.08,0.00,0.000,6,0.168,0.031,2622,1791,3955,0,0,0,0,0,0
$GC,1002,-0.67,-214.1,256.7,-17.0,172,1010,0.00,2.08,0.00,0.000,4,0.000,0.041,2622,404,3955,0,0,0,0,0,0
$GC,1023,-0.67,-214.1,260.3,-16.8,175,1029,0.00,2.08,0.00,0.000,6,0.000,0.034,2615,1807,3954,0,0,0,0,0,0
$GC,1358,-0.67,-214.1,315.4,-15.4,228,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1807,3954,0,0,0,0,0,0
$GC,1679,-0.69,-214.1,362.2,-14.5,258,1683,0.00,2.08,0.00,0.000,4,0.000,0.050,2616,3201,3952,0,0,0,0,0,0
$GC,1733,-0.78,-214.1,368.8,-11.6,262,1736,0.00,2.05,0.00,0.000,6,0.000,0.033,2616,1802,3952,0,0,0,0,0,0
$GC,2067,-0.83,-214.1,413.7,-13.7,293,2072,0.12,2.12,0.00,0.000,4,0.092,0.051,2551,3201,3950,0,0,0,0,0,0
$GC,2096,-0.83,-214.1,418.8,-17.6,295,2100,0.00,2.05,0.00,0.000,6,0.000,0.034,2550,1798,3950,0,0,0,0,0,0
$GC,2430,-0.78,-214.1,486.0,-20.3,326,2437,0.12,0.00,0.00,0.000,6,0.177,0.000,2583,1797,3948,0,0,0,0,0,0
$STATE,2520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2520,begin apogee
$GC,2527,-0.23,0.0,501.6,15.8,335,2702,0.50,0.00,166.88,0.961,6,0.130,0.000,2755,1797,3071,0,0,0,0,0,0
$STATE,2703,end apogee,CONTROL_FINISHED_OK
$STATE,2703,begin climb
$GC,2707,1.16,214.1,511.1,0.0,350,2889,1.27,2.38,172.10,0.932,4,0.073,0.050,3221,358,2198,0,0,0,0,0,0
$GC,2980,0.86,214.1,459.6,30.5,373,2985,0.38,2.17,0.00,0.000,6,0.191,0.040,3121,1751,2195,0,0,0,0,0,0
$GC,3307,0.68,214.1,381.1,22.1,403,3311,0.25,2.15,0.00,0.000,4,0.176,0.047,3039,3171,2191,0,0,0,0,0,0
$GC,3383,0.62,214.1,367.9,15.9,409,3388,0.00,2.15,0.00,0.000,6,0.000,0.038,3043,1745,2189,0,0,0,0,0,0
$GC,3712,0.58,237.3,319.5,12.9,439,3736,0.00,0.00,19.15,0.823,6,0.000,0.000,3049,1744,2104,0,0,0,0,0,0
$GC,4060,0.52,237.3,268.5,15.6,489,4069,0.15,2.15,0.00,0.000,4,0.168,0.046,3012,342,2099,0,0,0,0,0,0
$GC,4101,0.52,237.3,262.4,14.5,495,4107,0.00,2.12,0.00,0.000,6,0.000,0.034,3011,1759,2099,0,0,0,0,0,0
$GC,4441,0.54,253.2,218.3,13.2,556,4464,0.00,2.15,13.90,0.744,4,0.000,0.045,3011,3155,2037,0,0,0,0,0,0
$GC,4511,0.57,260.5,208.8,13.6,567,4526,0.00,2.12,7.28,0.646,6,0.000,0.037,3015,1739,2009,0,0,0,0,0,0
$GC,4860,0.65,323.2,167.5,11.2,629,4915,0.10,0.00,51.15,0.744,6,0.101,0.000,3074,1739,1753,0,0,0,0,0,0
$GC,5236,0.59,323.2,96.9,20.0,697,5244,0.15,0.00,0.00,0.000,6,0.168,0.000,3034,1738,1749,0,0,0,0,0,0
$GC,5565,0.85,466.9,56.1,7.6,758,5685,0.22,2.25,113.82,0.652,4,0.059,0.042,3163,341,1167,0,0,0,0,0,0
$GC,5696,0.76,466.9,31.2,22.0,775,5705,0.20,2.20,0.00,0.000,6,0.143,0.031,3091,1766,1166,0,0,0,0,0,0
$STATE,5884,end climb,SURFACE_DEPTH_REACHED
$STATE,5884,begin surface coast
$FINISH,0.7,1.021764
$STATE,5907,end surface coast,CONTROL_FINISHED_OK
$STATE,5908,begin surface
$SM_CCo,5925,147.40,0.559,1,0,455,641.95
$SM_CCo,6081,-0.03,0.000,0,0,453,642.20
$SM_GC,1.39,0.00,0.00,-0.03,0.000,0.000,0.000,143,1772,453,-8.43,-0.79,642.20
$IRIDIUM_FIX,2307.44,12627.33,011010,171741
$TT8_MAMPS,0.026215
$HUMID,38.14
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.30
$XPDR_PINGS,75
$24V_AH,24.4,21.809
$10V_AH,10.5,13.650
$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,20.600,42.775,544.275,147.400,0.000,56.349,59.365,223.706,18.750,0.000,14.132,1883.504,1546.153,680.641,2286.126,256.257,0.000,1477.433,0.000,1935.127,0.000,1.153,0.000
$DEVICE_MAMPS,234.855,52.785,960.840,559.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.954,832.165,1351.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,47047,814
$CAP_FILE_SIZE,85507,0
$CFSIZE,260165632,173547520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.240,319.7,1
$GPS,011010,193243,2315.594,12628.233,8,1.7,13,-3.4