version: 66.08
glider: 166
mission: 3
dive: 147
start: 10 4 110 14 59 25
data:
$ID,166
$MISSION,3
$DIVE,147
$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,-21674.191
$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,33
$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
$GPS1,041010,145336,2304.348,12629.402,11,1.3,27,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.2
$GPS2,041010,145902,2304.304,12629.318,11,1.3,11,-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,28.5,103154,-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,-214.1,0.0,0.0,0,136,0.00,0.00,-117.97,0.000,2,0.000,0.000,144,1813,3542,0,0,0,0,0,0
$GC,138,-1.16,-214.1,7.0,-14.8,16,162,8.70,2.12,-6.85,0.000,4,0.223,0.051,2447,3228,3948,0,0,0,0,0,0
$GC,171,-0.46,-214.1,28.0,-57.5,20,180,0.77,2.15,0.00,0.000,6,0.181,0.033,2687,1795,3950,0,0,0,0,0,0
$GC,497,-0.52,-214.1,93.8,-13.5,81,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1794,3953,0,0,0,0,0,0
$GC,825,-0.61,-214.1,135.3,-11.9,142,834,0.12,0.00,0.00,0.000,6,0.089,0.000,2624,1793,3955,0,0,0,0,0,0
$GC,1165,-0.61,-214.1,194.6,-15.9,203,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1793,3955,0,0,0,0,0,0
$GC,1505,-0.64,-214.1,247.0,-14.1,264,1513,0.00,2.17,0.00,0.000,4,0.000,0.051,2615,3204,3955,0,0,0,0,0,0
$GC,1529,-0.67,-214.1,250.0,-14.0,267,1536,0.00,2.05,0.00,0.000,6,0.000,0.035,2614,1805,3955,0,0,0,0,0,0
$GC,1868,-0.70,-214.1,298.1,-14.4,328,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1805,3954,0,0,0,0,0,0
$GC,2205,-0.74,-214.1,342.4,-12.5,360,2209,0.00,2.10,0.00,0.000,4,0.000,0.047,2614,400,3953,0,0,0,0,0,0
$GC,2235,-0.77,-214.1,346.4,-13.4,362,2239,0.00,2.10,0.00,0.000,6,0.000,0.041,2615,1812,3953,0,0,0,0,0,0
$GC,2561,-0.82,-214.1,386.0,-12.5,392,2565,0.12,2.10,0.00,0.000,4,0.091,0.053,2549,3206,3951,0,0,0,0,0,0
$GC,2628,-0.82,-214.1,396.2,-15.2,397,2635,0.00,2.08,0.00,0.000,6,0.000,0.037,2549,1793,3951,0,0,0,0,0,0
$GC,2954,-0.79,-214.1,455.5,-18.3,428,2958,0.12,2.10,0.00,0.000,4,0.173,0.047,2582,395,3949,0,0,0,0,0,0
$GC,3006,-0.82,-214.1,463.9,-14.9,432,3010,0.00,2.12,0.00,0.000,6,0.000,0.039,2578,1812,3949,0,0,0,0,0,0
$STATE,3244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3244,begin apogee
$GC,3250,-0.23,0.0,501.1,15.7,454,3421,0.55,0.00,167.23,0.975,6,0.128,0.000,2763,1734,3072,0,0,0,0,0,0
$STATE,3422,end apogee,CONTROL_FINISHED_OK
$STATE,3422,begin climb
$GC,3424,1.16,214.1,510.8,0.0,468,3608,1.20,2.28,172.12,0.944,4,0.049,0.049,3233,362,2198,0,0,0,0,0,0
$GC,3701,0.84,214.1,457.0,31.7,492,3707,0.43,2.15,0.00,0.000,6,0.192,0.038,3117,1753,2194,0,0,0,0,0,0
$GC,4027,0.67,214.1,382.6,21.3,522,4032,0.20,2.12,0.00,0.000,4,0.175,0.044,3052,3164,2190,0,0,0,0,0,0
$GC,4047,0.53,214.1,379.0,21.1,523,4051,0.17,2.10,0.00,0.000,6,0.175,0.037,3013,1756,2189,0,0,0,0,0,0
$GC,4373,0.59,261.3,338.2,11.8,553,4414,0.00,0.00,38.50,0.867,6,0.000,0.000,3013,1755,2006,0,0,0,0,0,0
$GC,4733,0.64,304.6,292.8,12.0,592,4774,0.00,2.28,35.28,0.832,4,0.000,0.046,3003,3169,1830,0,0,0,0,0,0
$GC,4806,0.72,337.0,284.0,12.5,603,4840,0.17,2.17,28.48,0.806,6,0.067,0.036,3096,1744,1698,0,0,0,0,0,0
$GC,5174,0.64,337.0,205.4,22.5,668,5181,0.17,0.00,0.00,0.000,6,0.171,0.000,3049,1744,1692,0,0,0,0,0,0
$GC,5515,0.64,337.0,151.6,14.2,729,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1744,1690,0,0,0,0,0,0
$GC,5840,0.71,376.5,109.3,12.2,790,5877,0.00,0.00,31.58,0.700,6,0.000,0.000,3049,1744,1536,0,0,0,0,0,0
$GC,6200,0.90,481.2,68.6,9.3,855,6288,0.22,0.00,83.93,0.657,6,0.060,0.000,3165,1744,1110,0,0,0,0,0,0
$STATE,6522,end climb,SURFACE_DEPTH_REACHED
$STATE,6522,begin surface coast
$FINISH,0.7,1.021776
$STATE,6537,end surface coast,CONTROL_FINISHED_OK
$STATE,6537,begin surface
$SM_CCo,6554,135.65,0.555,1,0,455,641.95
$SM_CCo,6698,-0.43,0.000,0,0,454,642.20
$SM_GC,1.40,0.00,0.00,-0.43,0.000,0.000,0.000,142,1830,454,-8.44,0.85,642.20
$IRIDIUM_FIX,2253.38,12631.59,041010,131335
$TT8_MAMPS,0.026215
$HUMID,40.35
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.00
$XPDR_PINGS,87
$24V_AH,24.4,28.244
$10V_AH,10.5,17.769
$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,20.675,34.400,557.100,135.650,0.000,30.183,15.054,140.353,21.750,0.000,12.738,2104.107,1620.634,673.353,2371.359,257.414,0.000,1527.435,0.000,2191.325,0.000,0.846,0.000
$DEVICE_MAMPS,223.380,93.330,974.610,555.390,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.937,933.134,1590.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53622,913
$CAP_FILE_SIZE,87105,0
$CFSIZE,260165632,171548672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.175,297.9,1
$GPS,041010,165216,2305.764,12629.228,11,99.0,31,-3.4