version: 66.08
glider: 166
mission: 3
dive: 146
start: 10 4 110 13 11 41
data:
$ID,166
$MISSION,3
$DIVE,146
$N_DIVES,155
$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,-21672.842
$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,62
$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
$GPS1,041010,130536,2303.164,12629.438,10,1.4,26,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.3
$GPS2,041010,131120,2303.137,12629.416,13,1.2,13,-3.3
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,26.3,105315,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-110.18,0.000,2,0.000,0.000,145,1822,3238,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.2,-9.2,15,162,8.75,2.15,-13.25,0.000,4,0.224,0.048,2457,386,3947,0,0,0,0,0,0
$GC,291,-0.92,-214.1,83.0,-35.9,43,299,0.28,2.12,0.00,0.000,6,0.161,0.040,2534,1767,3950,0,0,0,0,0,0
$GC,620,-0.79,-214.1,179.1,-27.9,104,628,0.17,0.00,0.00,0.000,6,0.177,0.000,2582,1769,3953,0,0,0,0,0,0
$GC,964,-0.75,-214.1,249.8,-19.7,165,971,0.00,2.17,0.00,0.000,4,0.000,0.049,2574,3220,3954,0,0,0,0,0,0
$GC,992,-0.72,-214.1,255.2,-19.6,169,1000,0.12,2.10,0.00,0.000,6,0.161,0.034,2607,1790,3953,0,0,0,0,0,0
$GC,1337,-0.74,-214.1,310.4,-15.5,225,1341,0.00,2.10,0.00,0.000,4,0.000,0.046,2608,395,3953,0,0,0,0,0,0
$GC,1391,-0.78,-214.1,318.1,-13.3,229,1395,0.00,2.10,0.00,0.000,6,0.000,0.037,2602,1815,3953,0,0,0,0,0,0
$GC,1718,-0.80,-214.1,366.3,-14.7,259,1722,0.00,2.10,0.00,0.000,4,0.000,0.052,2601,3204,3951,0,0,0,0,0,0
$GC,1751,-0.86,-214.1,371.4,-13.4,261,1759,0.10,2.08,0.00,0.000,6,0.099,0.036,2544,1799,3951,0,0,0,0,0,0
$GC,2077,-0.81,-214.1,431.7,-18.2,292,2081,0.12,2.12,0.00,0.000,4,0.178,0.047,2576,390,3950,0,0,0,0,0,0
$GC,2140,-0.81,-214.1,442.3,-15.8,297,2144,0.00,2.10,0.00,0.000,6,0.000,0.040,2575,1801,3949,0,0,0,0,0,0
$GC,2466,-0.81,-214.1,492.1,-14.4,327,2470,0.00,2.12,0.00,0.000,4,0.000,0.053,2567,3219,3947,0,0,0,0,0,0
$GC,2507,-0.86,-214.1,497.4,-13.0,330,2511,0.00,2.08,0.00,0.000,6,0.000,0.037,2567,1802,3946,0,0,0,0,0,0
$STATE,2533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2533,begin apogee
$GC,2540,-0.23,0.0,500.9,12.1,332,2713,0.57,0.00,166.38,0.968,6,0.129,0.000,2760,1749,3072,0,0,0,0,0,0
$STATE,2714,end apogee,CONTROL_FINISHED_OK
$STATE,2714,begin climb
$GC,2718,1.16,214.1,506.2,0.0,347,2898,1.25,0.00,172.18,0.935,6,0.066,0.000,3222,1748,2199,0,0,0,0,0,0
$GC,3215,0.85,214.1,384.6,29.0,393,3219,0.38,2.17,0.00,0.000,4,0.197,0.046,3127,337,2192,0,0,0,0,0,0
$GC,3267,0.67,214.1,371.8,21.8,397,3272,0.22,2.15,0.00,0.000,6,0.178,0.038,3059,1750,2192,0,0,0,0,0,0
$GC,3595,0.58,214.1,321.7,14.7,427,3600,0.12,2.12,0.00,0.000,4,0.181,0.048,3014,3169,2188,0,0,0,0,0,0
$GC,3683,0.63,271.2,310.4,11.4,434,3738,0.00,2.12,46.20,0.851,6,0.000,0.037,3022,1756,1965,0,0,0,0,0,0
$GC,4070,0.63,271.2,257.0,14.5,495,4076,0.00,2.15,0.00,0.000,4,0.000,0.046,3030,340,1958,0,0,0,0,0,0
$GC,4133,0.63,271.2,247.2,15.5,506,4142,0.00,2.17,0.00,0.000,6,0.000,0.036,3033,1761,1957,0,0,0,0,0,0
$GC,4476,0.66,293.0,199.1,12.9,567,4504,0.00,2.15,17.52,0.747,4,0.000,0.047,3033,3153,1876,0,0,0,0,0,0
$GC,4577,0.67,304.2,184.8,13.4,584,4599,0.00,2.12,10.90,0.690,6,0.000,0.035,3037,1749,1830,0,0,0,0,0,0
$GC,4933,0.69,316.6,134.6,13.3,647,4948,0.00,0.00,11.27,0.666,6,0.000,0.000,3037,1750,1780,0,0,0,0,0,0
$GC,5267,0.76,351.3,89.1,12.4,709,5306,0.12,2.17,29.08,0.681,4,0.086,0.043,3108,3161,1639,0,0,0,0,0,0
$GC,5348,0.71,351.3,74.9,19.9,721,5356,0.12,2.15,0.00,0.000,6,0.145,0.034,3073,1751,1639,0,0,0,0,0,0
$GC,5676,0.89,458.7,35.4,9.2,782,5772,0.15,2.25,85.40,0.633,4,0.073,0.044,3168,341,1201,0,0,0,0,0,0
$STATE,5852,end climb,SURFACE_DEPTH_REACHED
$STATE,5852,begin surface coast
$FINISH,0.8,1.021775
$STATE,5864,end surface coast,CONTROL_FINISHED_OK
$STATE,5864,begin surface
$SM_CCo,5885,154.02,0.559,1,0,454,641.95
$SM_CCo,6048,-0.40,0.000,0,0,454,642.20
$SM_GC,1.28,0.00,0.00,-0.40,0.000,0.000,0.000,149,1811,454,-8.41,0.31,642.20
$IRIDIUM_FIX,2251.04,12631.59,041010,111134
$TT8_MAMPS,0.026964
$HUMID,39.44
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.10
$XPDR_PINGS,84
$24V_AH,24.4,28.073
$10V_AH,10.5,17.648
$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,20.350,51.450,538.925,154.025,0.000,23.455,36.742,143.209,21.000,0.000,16.205,1874.873,1427.771,695.450,2144.911,245.804,0.000,1493.895,0.000,1950.640,0.000,0.848,0.000
$DEVICE_MAMPS,224.145,158.355,967.725,559.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.786,829.831,1374.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47009,812
$CAP_FILE_SIZE,84685,0
$CFSIZE,260165632,171614208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152,289.9,1
$GPS,041010,145336,2304.348,12629.402,11,1.3,27,-3.3