version: 66.08
glider: 166
mission: 3
dive: 141
start: 10 4 110 4 3 59
data:
$ID,166
$MISSION,3
$DIVE,141
$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,-21666.373
$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,41
$R_STBD_OVSHOOT,47
$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
$GPS1,041010,035158,2303.538,12630.730,11,99.0,30,-3.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.0
$GPS2,041010,040337,2303.489,12630.653,43,1.3,43,-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,218.4,6557,-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,-214.1,0.0,0.0,0,127,0.00,0.00,-109.15,0.000,2,0.000,0.000,143,1763,3255,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.4,-11.1,15,162,8.65,2.20,-12.93,0.000,4,0.220,0.052,2450,3207,3949,0,0,0,0,0,0
$GC,399,-0.94,-214.1,120.5,-34.5,64,408,0.25,2.12,0.00,0.000,6,0.168,0.034,2527,1789,3952,0,0,0,0,0,0
$GC,732,-0.81,-214.1,214.9,-27.9,125,740,0.17,2.10,0.00,0.000,4,0.172,0.040,2579,387,3953,0,0,0,0,0,0
$GC,765,-0.72,-214.1,223.8,-24.4,130,774,0.08,2.10,0.00,0.000,6,0.149,0.034,2600,1788,3954,0,0,0,0,0,0
$GC,1099,-0.72,-214.1,279.4,-16.1,191,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1789,3954,0,0,0,0,0,0
$GC,1431,-0.72,-214.1,331.8,-15.3,234,1435,0.00,2.10,0.00,0.000,4,0.000,0.041,2600,392,3952,0,0,0,0,0,0
$GC,1450,-0.72,-214.1,334.7,-15.2,235,1454,0.00,2.10,0.00,0.000,6,0.000,0.036,2601,1806,3952,0,0,0,0,0,0
$GC,1778,-0.75,-214.1,382.2,-14.4,265,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1806,3950,0,0,0,0,0,0
$GC,2106,-0.79,-214.1,427.6,-13.5,296,2109,0.00,2.15,0.00,0.000,4,0.000,0.044,2601,392,3949,0,0,0,0,0,0
$GC,2147,-0.83,-214.1,433.5,-13.9,299,2151,0.00,2.12,0.00,0.000,6,0.000,0.040,2602,1806,3948,0,0,0,0,0,0
$GC,2474,-0.88,-214.1,475.0,-12.0,329,2479,0.12,2.15,0.00,0.000,4,0.090,0.051,2536,3214,3946,0,0,0,0,0,0
$GC,2518,-0.88,-214.1,481.7,-15.3,332,2526,0.00,2.12,0.00,0.000,6,0.000,0.036,2536,1802,3945,0,0,0,0,0,0
$STATE,2630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2630,begin apogee
$GC,2636,-0.23,0.0,500.6,18.1,343,2810,0.68,0.00,166.20,0.965,6,0.136,0.000,2758,1748,3071,0,0,0,0,0,0
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin climb
$GC,2815,1.16,214.1,507.6,0.0,358,2994,1.25,2.33,171.45,0.936,4,0.070,0.051,3221,355,2199,0,0,0,0,0,0
$GC,3034,0.86,214.1,469.9,30.0,376,3043,0.35,2.22,0.00,0.000,6,0.183,0.039,3122,1744,2195,0,0,0,0,0,0
$GC,3361,0.68,214.1,393.9,23.7,407,3366,0.22,2.15,0.00,0.000,4,0.174,0.045,3049,3168,2191,0,0,0,0,0,0
$GC,3403,0.59,214.1,386.0,17.4,410,3407,0.00,2.12,0.00,0.000,6,0.000,0.037,3055,1750,2190,0,0,0,0,0,0
$GC,3728,0.51,214.1,334.4,15.0,440,3733,0.20,2.15,0.00,0.000,4,0.166,0.044,3006,342,2186,0,0,0,0,0,0
$GC,3759,0.48,221.0,330.4,13.6,442,3773,0.00,2.12,5.10,0.622,6,0.000,0.034,3008,1768,2171,0,0,0,0,0,0
$GC,4091,0.58,303.3,295.9,10.3,476,4168,0.00,2.17,68.10,0.844,4,0.000,0.045,3006,3160,1834,0,0,0,0,0,0
$GC,4227,0.68,355.8,280.6,11.6,497,4282,0.15,2.15,44.53,0.810,6,0.072,0.036,3091,1739,1619,0,0,0,0,0,0
$GC,4608,0.61,355.8,202.7,21.2,565,4616,0.20,0.00,0.00,0.000,6,0.161,0.000,3035,1739,1614,0,0,0,0,0,0
$GC,4941,0.64,355.8,152.5,14.2,626,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1739,1612,0,0,0,0,0,0
$GC,5265,0.72,391.3,109.4,12.3,687,5303,0.12,2.22,28.20,0.692,4,0.089,0.043,3098,3158,1475,0,0,0,0,0,0
$GC,5329,0.68,391.3,97.8,21.4,696,5337,0.12,2.15,0.00,0.000,6,0.141,0.034,3063,1748,1475,0,0,0,0,0,0
$GC,5658,0.84,470.8,54.1,10.4,757,5729,0.12,2.25,63.72,0.650,4,0.083,0.043,3153,352,1151,0,0,0,0,0,0
$GC,5827,0.81,470.8,24.9,17.8,784,5835,0.10,2.15,0.00,0.000,6,0.136,0.031,3110,1764,1149,0,0,0,0,0,0
$STATE,5974,end climb,SURFACE_DEPTH_REACHED
$STATE,5974,begin surface coast
$FINISH,0.8,1.021584
$STATE,5997,end surface coast,CONTROL_FINISHED_OK
$STATE,5997,begin surface
$SM_CCo,6014,144.20,0.558,1,0,454,641.95
$SM_CCo,6166,-0.43,0.000,0,0,454,642.20
$SM_GC,1.34,0.00,0.00,-0.43,0.000,0.000,0.000,149,1770,454,-8.41,-0.85,642.20
$IRIDIUM_FIX,2258.07,12631.10,041010,020200
$TT8_MAMPS,0.026215
$HUMID,39.72
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.50
$XPDR_PINGS,68
$24V_AH,24.4,27.233
$10V_AH,10.4,17.104
$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,20.350,47.525,547.300,144.200,0.000,112.471,80.068,140.408,17.000,0.000,45.688,1879.743,1732.628,688.593,2312.852,251.799,0.000,1489.818,0.000,1948.654,0.000,0.848,0.000
$DEVICE_MAMPS,220.320,156.825,965.430,558.450,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.159,833.116,1377.394,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46947,815
$CAP_FILE_SIZE,87260,0
$CFSIZE,260165632,171868160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,112.3,1
$GPS,041010,054758,2302.561,12630.220,12,3.8,31,-3.3