version: 66.08
glider: 166
mission: 3
dive: 121
start: 10 2 110 15 55 41
data:
$ID,166
$MISSION,3
$DIVE,121
$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,-21640.5
$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,44
$R_STBD_OVSHOOT,64
$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
$GPS1,021010,154016,2310.935,12628.925,14,2.9,33,-3.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.6
$GPS2,021010,155519,2311.074,12628.646,9,1.8,15,-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,152.5,20639,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,133,0.00,0.00,-114.88,0.000,2,0.000,0.000,133,1840,3465,0,0,0,0,0,0
$GC,136,-1.16,-214.1,6.8,-13.8,16,161,8.80,2.25,-8.18,0.000,4,0.224,0.050,2459,374,3949,0,0,0,0,0,0
$GC,341,-0.92,-214.1,102.7,-36.0,53,349,0.28,2.10,0.00,0.000,6,0.171,0.034,2534,1767,3952,0,0,0,0,0,0
$GC,676,-0.78,-214.1,201.0,-28.7,114,685,0.17,2.10,0.00,0.000,4,0.170,0.041,2584,398,3954,0,0,0,0,0,0
$GC,756,-0.78,-214.1,218.4,-17.6,127,762,0.00,2.08,0.00,0.000,6,0.000,0.035,2576,1811,3954,0,0,0,0,0,0
$GC,1093,-0.72,-214.1,285.6,-19.5,188,1100,0.12,0.00,0.00,0.000,6,0.180,0.000,2609,1812,3954,0,0,0,0,0,0
$GC,1431,-0.74,-214.1,337.6,-14.3,227,1435,0.00,2.08,0.00,0.000,4,0.000,0.047,2602,3209,3952,0,0,0,0,0,0
$GC,1465,-0.79,-214.1,342.6,-13.6,229,1472,0.00,2.10,0.00,0.000,6,0.000,0.034,2602,1787,3952,0,0,0,0,0,0
$GC,1790,-0.81,-214.1,390.4,-14.7,260,1794,0.00,2.05,0.00,0.000,4,0.000,0.044,2602,402,3950,0,0,0,0,0,0
$GC,1848,-0.85,-214.1,398.9,-14.1,265,1853,0.10,2.08,0.00,0.000,6,0.105,0.039,2547,1800,3950,0,0,0,0,0,0
$GC,2179,-0.80,-214.1,460.5,-17.8,296,2184,0.12,2.12,0.00,0.000,4,0.177,0.052,2573,3204,3947,0,0,0,0,0,0
$GC,2200,-0.78,-214.1,464.3,-17.0,297,2207,0.00,2.08,0.00,0.000,6,0.000,0.037,2573,1804,3947,0,0,0,0,0,0
$STATE,2429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2429,begin apogee
$GC,2436,-0.23,0.0,501.0,16.2,319,2612,0.55,0.00,166.50,0.962,6,0.132,0.000,2758,1750,3072,0,0,0,0,0,0
$STATE,2613,end apogee,CONTROL_FINISHED_OK
$STATE,2613,begin climb
$GC,2615,1.16,214.1,510.4,0.0,334,2797,1.27,2.33,171.80,0.934,4,0.071,0.050,3226,350,2198,0,0,0,0,0,0
$GC,2840,0.85,214.1,470.4,31.9,353,2846,0.40,2.17,0.00,0.000,6,0.192,0.040,3117,1742,2196,0,0,0,0,0,0
$GC,3168,0.67,214.1,389.9,20.9,383,3173,0.20,2.17,0.00,0.000,4,0.179,0.046,3052,3171,2191,0,0,0,0,0,0
$GC,3222,0.59,214.1,379.0,16.3,387,3229,0.00,2.15,0.00,0.000,6,0.000,0.038,3060,1746,2189,0,0,0,0,0,0
$GC,3549,0.49,214.1,327.1,15.4,418,3554,0.22,2.12,0.00,0.000,4,0.168,0.045,3003,348,2187,0,0,0,0,0,0
$GC,3635,0.58,283.4,316.8,10.9,425,3696,0.00,2.12,55.45,0.853,6,0.000,0.037,3005,1763,1916,0,0,0,0,0,0
$GC,4026,0.61,306.2,267.9,12.9,483,4054,0.00,2.12,19.02,0.784,4,0.000,0.045,3005,3157,1823,0,0,0,0,0,0
$GC,4117,0.64,306.2,255.3,14.4,498,4126,0.08,2.15,0.00,0.000,6,0.054,0.036,3070,1748,1822,0,0,0,0,0,0
$GC,4461,0.56,306.2,189.3,18.1,559,4468,0.17,2.12,0.00,0.000,4,0.171,0.044,3030,334,1819,0,0,0,0,0,0
$GC,4488,0.51,306.2,183.6,19.0,563,4495,0.00,2.12,0.00,0.000,6,0.000,0.034,3030,1750,1818,0,0,0,0,0,0
$GC,4822,0.53,322.3,133.5,13.2,624,4845,0.00,2.15,14.25,0.684,4,0.000,0.045,3030,3152,1757,0,0,0,0,0,0
$GC,4891,0.61,353.0,124.8,12.6,635,4922,0.00,2.12,26.12,0.700,6,0.000,0.036,3037,1747,1632,0,0,0,0,0,0
$GC,5243,0.71,399.6,82.6,11.9,699,5288,0.00,2.15,38.12,0.675,4,0.000,0.043,3046,353,1441,0,0,0,0,0,0
$GC,5335,0.86,456.8,71.5,11.4,713,5389,0.15,2.15,47.00,0.658,6,0.038,0.032,3146,1764,1208,0,0,0,0,0,0
$STATE,5673,end climb,SURFACE_DEPTH_REACHED
$STATE,5673,begin surface coast
$FINISH,0.8,1.021778
$STATE,5691,end surface coast,CONTROL_FINISHED_OK
$STATE,5691,begin surface
$SM_CCo,5707,156.30,0.565,1,0,454,641.95
$SM_CCo,5872,-0.47,0.000,0,0,455,642.20
$SM_GC,1.46,0.00,0.00,-0.47,0.000,0.000,0.000,152,1769,455,-8.40,-0.88,642.20
$IRIDIUM_FIX,2302.75,12631.10,021010,151526
$TT8_MAMPS,0.026215
$HUMID,39.72
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.10
$XPDR_PINGS,93
$24V_AH,24.4,23.845
$10V_AH,10.5,14.965
$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,20.375,51.250,538.275,156.300,0.000,139.713,101.150,234.450,23.250,0.000,15.943,1807.177,1651.544,685.051,2383.186,248.513,0.000,1461.444,0.000,1876.498,0.000,1.153,0.000
$DEVICE_MAMPS,224.145,155.295,961.605,565.335,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.980,794.010,1313.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46972,777
$CAP_FILE_SIZE,87457,0
$CFSIZE,260165632,172916736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.199,318.8,1
$GPS,021010,173454,2310.807,12628.886,24,1.0,41,-3.4