version: 66.08
glider: 166
mission: 3
dive: 130
start: 10 3 110 8 11 24
data:
$ID,166
$MISSION,3
$DIVE,130
$N_DIVES,140
$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,-21652.178
$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,43
$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
$GPS1,031010,080532,2307.132,12629.335,12,1.8,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.6
$GPS2,031010,081101,2307.178,12629.335,14,1.9,31,-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,135.1,13341,-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,-214.1,0.0,0.0,0,128,0.00,0.00,-109.43,0.000,2,0.000,0.000,145,1759,3241,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.4,-10.4,15,162,8.75,2.08,-13.07,0.000,4,0.226,0.052,2458,393,3948,0,0,0,0,0,0
$GC,332,-0.89,-214.1,99.9,-38.2,51,341,0.32,2.12,0.00,0.000,6,0.174,0.037,2547,1792,3951,0,0,0,0,0,0
$GC,666,-0.75,-214.1,200.7,-26.9,112,674,0.17,2.15,0.00,0.000,4,0.176,0.044,2588,3203,3955,0,0,0,0,0,0
$GC,752,-0.75,-214.1,218.6,-17.4,127,759,0.00,2.08,0.00,0.000,6,0.000,0.031,2587,1790,3956,0,0,0,0,0,0
$GC,1086,-0.71,-214.1,282.5,-18.4,188,1094,0.00,2.15,0.00,0.000,4,0.000,0.045,2577,3200,3955,0,0,0,0,0,0
$GC,1120,-0.69,-214.1,288.3,-18.9,193,1129,0.15,2.05,0.00,0.000,6,0.152,0.031,2620,1795,3955,0,0,0,0,0,0
$GC,1449,-0.72,-214.1,338.2,-14.7,230,1453,0.00,2.05,0.00,0.000,4,0.000,0.041,2620,395,3955,0,0,0,0,0,0
$GC,1503,-0.79,-214.1,345.4,-13.3,234,1507,0.00,2.08,0.00,0.000,6,0.000,0.036,2615,1811,3954,0,0,0,0,0,0
$GC,1830,-0.83,-214.1,388.7,-13.2,264,1834,0.12,2.08,0.00,0.000,4,0.091,0.049,2550,3199,3953,0,0,0,0,0,0
$GC,1891,-0.83,-214.1,398.4,-15.7,269,1896,0.00,2.03,0.00,0.000,6,0.000,0.034,2550,1804,3953,0,0,0,0,0,0
$GC,2224,-0.79,-214.1,459.7,-18.2,300,2229,0.12,2.10,0.00,0.000,4,0.174,0.045,2583,390,3952,0,0,0,0,0,0
$GC,2300,-0.83,-214.1,471.9,-14.2,306,2308,0.00,2.12,0.00,0.000,6,0.000,0.041,2584,1792,3952,0,0,0,0,0,0
$STATE,2497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2497,begin apogee
$GC,2503,-0.23,0.0,500.3,14.5,325,2675,0.52,0.00,167.23,0.965,6,0.127,0.000,2763,1793,3072,0,0,0,0,0,0
$STATE,2676,end apogee,CONTROL_FINISHED_OK
$STATE,2676,begin climb
$GC,2679,1.16,214.1,509.4,0.0,339,2861,1.20,2.35,172.05,0.937,4,0.050,0.047,3228,349,2198,0,0,0,0,0,0
$GC,2907,0.82,214.1,469.4,34.4,358,2913,0.45,2.20,0.00,0.000,6,0.194,0.040,3112,1757,2196,0,0,0,0,0,0
$GC,3233,0.65,214.1,392.5,22.4,388,3235,0.22,0.00,0.00,0.000,6,0.174,0.000,3054,1763,2190,0,0,0,0,0,0
$GC,3552,0.56,214.1,338.3,15.8,418,3556,0.12,2.12,0.00,0.000,4,0.186,0.046,3010,3172,2188,0,0,0,0,0,0
$GC,3614,0.61,252.0,330.1,12.2,423,3650,0.00,2.12,30.88,0.856,6,0.000,0.037,3018,1747,2044,0,0,0,0,0,0
$GC,3966,0.63,269.9,285.9,13.1,466,3988,0.00,2.15,15.40,0.791,4,0.000,0.044,3026,347,1970,0,0,0,0,0,0
$GC,4033,0.63,269.9,276.5,14.1,477,4041,0.00,2.15,0.00,0.000,6,0.000,0.035,3027,1763,1968,0,0,0,0,0,0
$GC,4367,0.63,269.9,228.9,14.5,538,4375,0.00,2.12,0.00,0.000,4,0.000,0.046,3027,3162,1965,0,0,0,0,0,0
$GC,4464,0.63,269.9,214.9,14.2,555,4471,0.00,2.10,0.00,0.000,6,0.000,0.036,3033,1746,1965,0,0,0,0,0,0
$GC,4792,0.64,274.4,169.7,13.7,616,4800,0.00,0.00,4.25,0.500,6,0.000,0.000,3034,1746,1953,0,0,0,0,0,0
$GC,5122,0.72,341.5,127.7,11.0,677,5189,0.10,2.25,55.17,0.719,4,0.103,0.044,3084,3160,1678,0,0,0,0,0,0
$GC,5237,0.68,341.5,109.3,16.8,694,5245,0.00,2.15,0.00,0.000,6,0.000,0.034,3088,1754,1677,0,0,0,0,0,0
$GC,5564,0.71,369.4,57.5,12.7,755,5594,0.00,2.17,23.33,0.648,4,0.000,0.043,3097,335,1564,0,0,0,0,0,0
$GC,5707,0.85,449.3,40.3,10.4,779,5781,0.00,2.15,64.05,0.638,6,0.000,0.031,3097,1760,1240,0,0,0,0,0,0
$STATE,5988,end climb,SURFACE_DEPTH_REACHED
$STATE,5988,begin surface coast
$FINISH,0.6,1.009268
$STATE,6008,end surface coast,CONTROL_FINISHED_OK
$STATE,6008,begin surface
$SM_CCo,6025,161.25,0.559,1,0,455,641.95
$SM_CCo,6194,-0.38,0.000,0,0,454,642.20
$SM_GC,1.34,0.00,0.00,-0.38,0.000,0.000,0.000,139,1763,454,-8.44,-1.02,642.20
$IRIDIUM_FIX,2258.07,12624.55,031010,060633
$TT8_MAMPS,0.026964
$HUMID,38.58
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.90
$XPDR_PINGS,84
$24V_AH,24.4,25.375
$10V_AH,10.5,15.925
$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,19.850,51.125,532.350,161.250,0.000,24.405,15.056,135.996,21.000,0.000,32.082,1930.514,1482.740,689.410,2176.596,245.135,0.000,1499.913,0.000,1991.998,0.000,0.848,0.000
$DEVICE_MAMPS,225.675,52.020,965.430,559.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.614,849.451,1395.291,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50353,831
$CAP_FILE_SIZE,85382,0
$CFSIZE,260165632,172441600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.205,283.9,1
$GPS,031010,095532,2306.748,12629.401,13,1.4,14,-3.4