version: 66.08
glider: 166
mission: 3
dive: 125
start: 10 2 110 23 6 55
data:
$ID,166
$MISSION,3
$DIVE,125
$N_DIVES,135
$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,-21645.711
$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,45
$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
$GPS1,021010,230107,2310.427,12629.843,33,0.8,33,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.7
$GPS2,021010,230632,2310.473,12629.840,11,1.2,11,-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,191.7,19397,-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,15,-1.16,-214.1,0.0,0.0,0,132,0.00,0.00,-113.78,0.000,2,0.000,0.000,142,1756,3416,0,0,0,0,0,0
$GC,135,-1.16,-214.1,6.6,-13.8,16,160,8.82,2.10,-9.20,0.000,4,0.226,0.050,2459,378,3949,0,0,0,0,0,0
$GC,398,-0.93,-214.1,127.9,-35.8,64,406,0.28,2.12,0.00,0.000,6,0.166,0.033,2535,1790,3953,0,0,0,0,0,0
$GC,736,-0.80,-214.1,220.8,-25.6,125,743,0.15,2.12,0.00,0.000,4,0.179,0.039,2578,384,3956,0,0,0,0,0,0
$GC,846,-0.78,-214.1,243.6,-17.4,144,855,0.00,2.12,0.00,0.000,6,0.000,0.035,2574,1797,3956,0,0,0,0,0,0
$GC,1191,-0.73,-214.1,313.4,-20.5,200,1196,0.12,2.15,0.00,0.000,4,0.178,0.048,2601,3217,3956,0,0,0,0,0,0
$GC,1268,-0.79,-214.1,325.3,-12.9,206,1277,0.00,2.12,0.00,0.000,6,0.000,0.033,2601,1794,3956,0,0,0,0,0,0
$GC,1594,-0.79,-214.1,372.3,-14.7,237,1597,0.00,2.10,0.00,0.000,4,0.000,0.044,2601,387,3954,0,0,0,0,0,0
$GC,1648,-0.82,-214.1,380.7,-14.3,241,1655,0.00,2.10,0.00,0.000,6,0.000,0.038,2602,1810,3954,0,0,0,0,0,0
$GC,1974,-0.85,-214.1,426.8,-13.6,272,1978,0.00,2.12,0.00,0.000,4,0.000,0.052,2602,3203,3952,0,0,0,0,0,0
$GC,2044,-0.94,-214.1,434.9,-11.1,278,2049,0.17,2.05,0.00,0.000,6,0.070,0.034,2512,1801,3952,0,0,0,0,0,0
$STATE,2359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2359,begin apogee
$GC,2364,-0.23,0.0,500.2,20.7,307,2538,0.77,0.00,167.25,0.964,6,0.150,0.000,2759,1800,3072,0,0,0,0,0,0
$STATE,2539,end apogee,CONTROL_FINISHED_OK
$STATE,2539,begin climb
$GC,2543,1.16,214.1,509.1,0.0,322,2725,1.27,2.42,172.05,0.933,4,0.071,0.050,3226,353,2199,0,0,0,0,0,0
$GC,2802,0.84,214.1,462.3,31.1,344,2807,0.43,2.17,0.00,0.000,6,0.190,0.040,3114,1751,2195,0,0,0,0,0,0
$GC,3128,0.66,214.1,388.9,21.5,374,3132,0.22,2.15,0.00,0.000,4,0.175,0.045,3047,3168,2191,0,0,0,0,0,0
$GC,3229,0.60,214.1,369.7,18.5,382,3238,0.00,2.17,0.00,0.000,6,0.000,0.037,3052,1745,2188,0,0,0,0,0,0
$GC,3556,0.51,214.1,315.0,15.2,413,3561,0.17,2.12,0.00,0.000,4,0.171,0.046,3011,338,2187,0,0,0,0,0,0
$GC,3623,0.58,271.6,306.4,11.4,418,3679,0.00,2.15,46.40,0.845,6,0.000,0.034,3014,1758,1964,0,0,0,0,0,0
$GC,4007,0.58,271.6,257.5,14.3,482,4016,0.00,2.15,0.00,0.000,4,0.000,0.047,3013,3147,1956,0,0,0,0,0,0
$GC,4074,0.63,296.4,248.5,12.8,493,4102,0.00,2.10,20.23,0.782,6,0.000,0.037,3020,1744,1863,0,0,0,0,0,0
$GC,4440,0.63,298.0,200.5,13.8,557,4446,0.00,2.10,0.00,0.000,4,0.000,0.044,3027,350,1859,0,0,0,0,0,0
$GC,4469,0.63,298.0,195.8,14.8,562,4478,0.00,2.12,0.00,0.000,6,0.000,0.034,3029,1753,1858,0,0,0,0,0,0
$GC,4812,0.64,307.9,146.6,13.5,623,4828,0.00,2.17,10.32,0.666,4,0.000,0.045,3028,3159,1815,0,0,0,0,0,0
$GC,4869,0.71,340.0,139.1,12.5,632,4906,0.05,2.12,27.77,0.715,6,0.066,0.035,3088,1750,1683,0,0,0,0,0,0
$GC,5226,0.67,340.0,75.4,16.4,697,5234,0.12,2.15,0.00,0.000,4,0.172,0.044,3062,350,1678,0,0,0,0,0,0
$GC,5266,0.74,372.1,70.0,12.5,703,5299,0.00,2.12,26.12,0.660,6,0.000,0.032,3062,1761,1554,0,0,0,0,0,0
$GC,5622,1.00,506.2,34.8,8.1,767,5742,0.25,2.28,106.68,0.628,4,0.054,0.041,3198,351,1007,0,0,0,0,0,0
$GC,5752,0.89,506.2,7.5,25.8,784,5760,0.22,2.17,0.00,0.000,6,0.148,0.031,3128,1758,1006,0,0,0,0,0,0
$STATE,5766,end climb,SURFACE_DEPTH_REACHED
$STATE,5766,begin surface coast
$FINISH,0.7,1.021669
$STATE,5778,end surface coast,CONTROL_FINISHED_OK
$STATE,5779,begin surface
$SM_CCo,5797,117.22,0.545,1,0,455,641.95
$SM_CCo,5922,0.00,0.000,0,0,452,642.20
$SM_GC,1.41,0.00,0.00,0.00,0.000,0.000,0.000,142,1763,452,-8.44,-1.05,642.20
$IRIDIUM_FIX,2302.75,12632.50,021010,212154
$TT8_MAMPS,0.026215
$HUMID,38.73
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.50
$XPDR_PINGS,91
$24V_AH,24.4,24.519
$10V_AH,10.5,15.392
$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,20.850,55.825,576.825,117.225,0.000,30.553,18.390,139.130,22.750,0.000,12.440,1822.132,1409.941,677.940,2090.663,246.730,0.000,1492.491,0.000,1912.450,0.000,0.849,0.000
$DEVICE_MAMPS,226.440,52.020,963.900,545.445,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.432,805.489,1316.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,46988,788
$CAP_FILE_SIZE,85293,0
$CFSIZE,260165632,172707840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.195, 44.9,1
$GPS,031010,004631,2310.067,12630.254,10,1.8,15,-3.4