version: 66.08
glider: 166
mission: 3
dive: 119
start: 10 2 110 12 13 58
data:
$ID,166
$MISSION,3
$DIVE,119
$N_DIVES,130
$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,-21637.898
$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,38
$R_STBD_OVSHOOT,46
$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
$GPS1,021010,120737,2311.627,12629.122,38,1.3,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.7
$GPS2,021010,121336,2311.683,12629.107,13,1.5,30,-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,155.7,21690,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,126,0.00,0.00,-108.62,0.000,2,0.000,0.000,140,1759,3232,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.5,-11.1,15,161,8.73,2.08,-13.07,0.000,4,0.223,0.050,2460,376,3949,0,0,0,0,0,0
$GC,390,-0.91,-214.1,122.1,-36.2,62,399,0.28,2.12,0.00,0.000,6,0.173,0.034,2535,1792,3952,0,0,0,0,0,0
$GC,722,-0.78,-214.1,219.7,-28.1,123,730,0.17,2.10,0.00,0.000,4,0.172,0.039,2584,383,3955,0,0,0,0,0,0
$GC,777,-0.74,-214.1,232.7,-21.0,132,785,0.00,2.12,0.00,0.000,6,0.000,0.032,2575,1804,3955,0,0,0,0,0,0
$GC,1112,-0.69,-214.1,297.6,-19.9,193,1121,0.15,2.10,0.00,0.000,4,0.169,0.046,2609,3215,3955,0,0,0,0,0,0
$GC,1138,-0.69,-214.1,302.9,-18.4,196,1142,0.00,2.08,0.00,0.000,6,0.000,0.033,2609,1787,3955,0,0,0,0,0,0
$GC,1464,-0.72,-214.1,350.9,-14.3,226,1468,0.00,2.05,0.00,0.000,4,0.000,0.042,2608,398,3955,0,0,0,0,0,0
$GC,1537,-0.77,-214.1,361.3,-13.6,232,1545,0.00,2.10,0.00,0.000,6,0.000,0.036,2603,1794,3954,0,0,0,0,0,0
$GC,1864,-0.80,-214.1,407.9,-14.5,263,1868,0.00,2.12,0.00,0.000,4,0.000,0.051,2603,3203,3953,0,0,0,0,0,0
$GC,1927,-0.90,-214.1,415.5,-10.9,268,1931,0.15,2.08,0.00,0.000,6,0.077,0.034,2524,1793,3952,0,0,0,0,0,0
$GC,2254,-0.83,-214.1,481.9,-20.3,298,2259,0.17,2.10,0.00,0.000,4,0.168,0.046,2572,399,3950,0,0,0,0,0,0
$GC,2319,-0.85,-214.1,493.3,-14.7,303,2326,0.00,2.08,0.00,0.000,6,0.000,0.041,2572,1798,3950,0,0,0,0,0,0
$STATE,2366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2366,begin apogee
$GC,2371,-0.23,0.0,500.4,15.0,308,2549,0.55,0.00,167.12,0.966,6,0.131,0.000,2759,1798,3071,0,0,0,0,0,0
$STATE,2550,end apogee,CONTROL_FINISHED_OK
$STATE,2550,begin climb
$GC,2552,1.16,214.1,507.6,0.0,323,2733,1.25,0.00,172.98,0.937,6,0.067,0.000,3212,1798,2198,0,0,0,0,0,0
$GC,3052,0.86,214.1,383.9,29.9,370,3056,0.35,2.22,0.00,0.000,4,0.199,0.046,3127,355,2191,0,0,0,0,0,0
$GC,3115,0.68,214.1,367.5,23.0,375,3120,0.25,2.15,0.00,0.000,6,0.177,0.040,3058,1755,2191,0,0,0,0,0,0
$GC,3442,0.59,214.1,311.6,16.0,405,3446,0.00,2.12,0.00,0.000,4,0.000,0.047,3062,355,2187,0,0,0,0,0,0
$GC,3483,0.49,214.1,304.9,17.0,408,3488,0.22,2.12,0.00,0.000,6,0.165,0.036,2996,1766,2186,0,0,0,0,0,0
$GC,3811,0.53,250.7,265.3,12.3,465,3846,0.00,2.20,29.23,0.820,4,0.000,0.047,2993,3163,2048,0,0,0,0,0,0
$GC,3891,0.62,300.7,256.1,11.7,478,3940,0.08,2.15,41.58,0.804,6,0.056,0.036,3058,1756,1846,0,0,0,0,0,0
$GC,4268,0.56,300.7,188.2,16.5,545,4276,0.15,2.15,0.00,0.000,4,0.171,0.044,3025,333,1839,0,0,0,0,0,0
$GC,4290,0.51,300.7,184.5,16.2,548,4298,0.00,2.15,0.00,0.000,6,0.000,0.034,3026,1746,1838,0,0,0,0,0,0
$GC,4622,0.51,300.7,137.2,13.9,609,4630,0.00,2.15,0.00,0.000,4,0.000,0.044,3026,3168,1837,0,0,0,0,0,0
$GC,4659,0.53,300.7,131.7,14.2,615,4667,0.00,2.15,0.00,0.000,6,0.000,0.036,3033,1737,1836,0,0,0,0,0,0
$GC,4984,0.54,309.2,86.3,13.5,676,5001,0.00,2.12,6.97,0.577,4,0.000,0.045,3044,350,1810,0,0,0,0,0,0
$GC,5025,0.56,322.9,80.8,13.3,682,5048,0.00,2.12,13.32,0.640,6,0.000,0.032,3044,1765,1753,0,0,0,0,0,0
$GC,5370,0.67,383.0,40.7,11.3,745,5423,0.00,2.28,48.45,0.648,4,0.000,0.044,3053,340,1509,0,0,0,0,0,0
$GC,5471,0.87,465.0,29.5,10.3,760,5547,0.15,2.15,66.32,0.624,6,0.036,0.032,3150,1748,1175,0,0,0,0,0,0
$STATE,5606,end climb,SURFACE_DEPTH_REACHED
$STATE,5606,begin surface coast
$FINISH,0.7,1.021683
$STATE,5618,end surface coast,CONTROL_FINISHED_OK
$STATE,5618,begin surface
$SM_CCo,5636,149.18,0.562,1,0,455,641.95
$SM_CCo,5794,0.00,0.000,0,0,453,642.20
$SM_GC,1.39,0.00,0.00,0.00,0.000,0.000,0.000,152,1752,453,-8.40,-1.36,642.20
$IRIDIUM_FIX,2305.10,12627.33,021010,101006
$TT8_MAMPS,0.026215
$HUMID,38.93
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,23.80
$XPDR_PINGS,90
$24V_AH,24.4,23.492
$10V_AH,10.5,14.749
$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,20.425,55.375,545.975,149.175,0.000,25.090,40.727,138.064,22.500,0.000,33.019,1812.078,1308.484,700.882,2082.933,247.482,0.000,1476.331,0.000,1874.834,0.000,0.848,0.000
$DEVICE_MAMPS,222.615,51.255,966.195,562.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.515,801.133,1333.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,47027,783
$CAP_FILE_SIZE,84580,0
$CFSIZE,260165632,173019136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.218,310.7,1
$GPS,021010,135136,2311.316,12629.053,9,1.5,25,-3.4