version: 66.08
glider: 166
mission: 3
dive: 140
start: 10 4 110 2 9 43
data:
$ID,166
$MISSION,3
$DIVE,140
$N_DIVES,145
$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,-21665.117
$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,43
$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
$GPS1,041010,020350,2304.262,12630.841,11,1.6,11,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.1
$GPS2,041010,020920,2304.237,12630.811,13,1.7,13,-3.3
$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,217.0,7968,-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,-214.1,0.0,0.0,0,126,0.00,0.00,-108.05,0.000,2,0.000,0.000,136,1816,3196,0,0,0,0,0,0
$GC,129,-1.16,-214.1,5.1,-10.0,15,161,8.75,2.10,-14.27,0.000,4,0.223,0.052,2448,3211,3948,0,0,0,0,0,0
$GC,382,-0.94,-214.1,112.5,-35.7,61,392,0.28,2.12,0.00,0.000,6,0.168,0.034,2533,1798,3951,0,0,0,0,0,0
$GC,716,-0.80,-214.1,207.9,-26.0,122,724,0.17,2.12,0.00,0.000,4,0.169,0.041,2582,402,3953,0,0,0,0,0,0
$GC,811,-0.78,-214.1,227.8,-18.8,138,819,0.00,2.10,0.00,0.000,6,0.000,0.033,2575,1804,3953,0,0,0,0,0,0
$GC,1143,-0.73,-214.1,292.9,-19.0,199,1150,0.00,2.12,0.00,0.000,4,0.000,0.041,2574,389,3954,0,0,0,0,0,0
$GC,1163,-0.69,-214.1,297.1,-19.2,202,1171,0.12,2.10,0.00,0.000,6,0.135,0.034,2612,1792,3954,0,0,0,0,0,0
$GC,1494,-0.72,-214.1,345.9,-14.1,234,1498,0.00,2.10,0.00,0.000,4,0.000,0.042,2613,401,3952,0,0,0,0,0,0
$GC,1529,-0.77,-214.1,351.0,-14.9,237,1533,0.00,2.10,0.00,0.000,6,0.000,0.036,2613,1811,3952,0,0,0,0,0,0
$GC,1857,-0.82,-214.1,393.4,-12.4,267,1864,0.12,0.00,0.00,0.000,6,0.090,0.000,2551,1812,3951,0,0,0,0,0,0
$GC,2184,-0.78,-214.1,452.0,-17.9,298,2188,0.12,2.15,0.00,0.000,4,0.170,0.045,2585,397,3949,0,0,0,0,0,0
$GC,2248,-0.82,-214.1,461.8,-14.7,303,2252,0.00,2.10,0.00,0.000,6,0.000,0.039,2585,1803,3949,0,0,0,0,0,0
$STATE,2526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2526,begin apogee
$GC,2531,-0.23,0.0,500.6,13.4,329,2707,0.50,0.00,166.50,0.972,6,0.124,0.000,2759,1803,3072,0,0,0,0,0,0
$STATE,2707,end apogee,CONTROL_FINISHED_OK
$STATE,2707,begin climb
$GC,2710,1.16,214.1,506.9,0.0,344,2890,1.25,2.42,171.95,0.938,4,0.070,0.050,3223,361,2199,0,0,0,0,0,0
$GC,2939,0.87,214.1,465.3,30.7,363,2944,0.38,2.20,0.00,0.000,6,0.187,0.041,3126,1749,2196,0,0,0,0,0,0
$GC,3267,0.69,214.1,388.2,21.8,393,3271,0.20,2.15,0.00,0.000,4,0.166,0.046,3059,3166,2191,0,0,0,0,0,0
$GC,3315,0.62,214.1,378.3,16.8,397,3323,0.00,2.12,0.00,0.000,6,0.000,0.037,3064,1756,2189,0,0,0,0,0,0
$GC,3640,0.53,214.1,326.9,15.4,428,3645,0.20,2.15,0.00,0.000,4,0.161,0.044,3013,338,2188,0,0,0,0,0,0
$GC,3672,0.55,255.9,322.3,12.1,430,3717,0.00,2.15,34.08,0.852,6,0.000,0.035,3020,1754,2027,0,0,0,0,0,0
$GC,4036,0.57,267.4,278.9,13.4,479,4051,0.00,2.20,10.10,0.741,4,0.000,0.047,3017,3156,1981,0,0,0,0,0,0
$GC,4100,0.58,276.6,270.1,13.5,489,4116,0.00,2.12,9.43,0.720,6,0.000,0.034,3023,1739,1942,0,0,0,0,0,0
$GC,4446,0.58,276.6,222.6,14.8,551,4452,0.00,2.10,0.00,0.000,4,0.000,0.045,3033,347,1939,0,0,0,0,0,0
$GC,4498,0.58,282.6,214.9,13.6,560,4513,0.00,2.12,5.97,0.615,6,0.000,0.034,3034,1750,1918,0,0,0,0,0,0
$GC,4837,0.67,349.3,171.0,11.0,622,4899,0.00,2.25,54.90,0.755,4,0.000,0.045,3033,3162,1647,0,0,0,0,0,0
$GC,4950,0.80,410.2,158.3,11.2,640,5013,0.12,2.17,50.33,0.726,6,0.040,0.035,3127,1749,1398,0,0,0,0,0,0
$GC,5335,0.75,410.2,77.1,18.4,709,5344,0.15,0.00,0.00,0.000,6,0.162,0.000,3086,1749,1393,0,0,0,0,0,0
$GC,5665,0.88,469.1,37.0,11.3,770,5718,0.12,2.22,46.83,0.635,4,0.084,0.044,3172,345,1158,0,0,0,0,0,0
$GC,5781,0.85,469.1,15.9,19.1,788,5790,0.17,2.15,0.00,0.000,6,0.127,0.031,3114,1758,1157,0,0,0,0,0,0
$STATE,5868,end climb,SURFACE_DEPTH_REACHED
$STATE,5868,begin surface coast
$FINISH,0.6,1.008761
$STATE,5893,end surface coast,CONTROL_FINISHED_OK
$STATE,5893,begin surface
$SM_CCo,5910,145.80,0.558,1,0,453,641.95
$SM_CCo,6065,-0.45,0.000,0,0,454,642.20
$SM_GC,1.37,0.00,0.00,-0.45,0.000,0.000,0.000,147,1762,454,-8.42,-1.07,642.20
$IRIDIUM_FIX,2253.38,12603.02,041010,000052
$TT8_MAMPS,0.026215
$HUMID,39.09
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.50
$XPDR_PINGS,85
$24V_AH,24.4,27.059
$10V_AH,10.5,16.993
$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,20.225,51.675,550.075,145.800,0.000,27.859,26.313,139.165,21.250,0.000,13.969,1867.390,1483.621,694.663,2104.702,246.371,0.000,1490.684,0.000,1918.042,0.000,0.847,0.000
$DEVICE_MAMPS,223.380,52.020,971.550,558.450,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.198,825.973,1334.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46939,808
$CAP_FILE_SIZE,85356,0
$CFSIZE,260165632,171925504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.154, 83.2,1
$GPS,041010,035158,2303.538,12630.730,11,99.0,30,-3.3