version: 66.08
glider: 166
mission: 3
dive: 148
start: 10 4 110 16 58 43
data:
$ID,166
$MISSION,3
$DIVE,148
$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,-21675.453
$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,50
$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
$GPS1,041010,165216,2305.764,12629.228,11,99.0,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.7
$GPS2,041010,165822,2305.766,12629.108,16,99.0,35,-3.4
$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,31.3,100452,-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,-214.1,0.0,0.0,0,131,0.00,0.00,-112.45,0.000,2,0.000,0.000,136,1832,3345,0,0,0,0,0,0
$GC,134,-1.16,-214.1,6.0,-12.1,15,158,8.80,0.00,-10.68,0.000,6,0.225,0.000,2456,1832,3948,0,0,0,0,0,0
$GC,473,-0.92,-214.1,153.0,-34.0,78,482,0.25,2.20,0.00,0.000,4,0.185,0.039,2534,395,3953,0,0,0,0,0,0
$GC,533,-0.79,-214.1,171.1,-28.5,88,542,0.15,2.12,0.00,0.000,6,0.147,0.040,2580,1785,3953,0,0,0,0,0,0
$GC,871,-0.75,-214.1,241.1,-20.4,149,878,0.00,2.15,0.00,0.000,4,0.000,0.050,2574,3210,3955,0,0,0,0,0,0
$GC,908,-0.75,-214.1,248.3,-19.1,155,914,0.00,2.08,0.00,0.000,6,0.000,0.036,2573,1799,3955,0,0,0,0,0,0
$GC,1246,-0.72,-214.1,315.7,-19.7,210,1248,0.12,0.00,0.00,0.000,6,0.171,0.000,2607,1799,3955,0,0,0,0,0,0
$GC,1564,-0.75,-214.1,363.9,-14.7,240,1568,0.00,2.17,0.00,0.000,4,0.000,0.051,2600,3214,3954,0,0,0,0,0,0
$GC,1598,-0.81,-214.1,368.5,-12.4,242,1606,0.00,2.12,0.00,0.000,6,0.000,0.036,2600,1802,3953,0,0,0,0,0,0
$GC,1925,-0.84,-214.1,412.8,-13.1,273,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1802,3952,0,0,0,0,0,0
$GC,2246,-0.88,-214.1,455.6,-14.2,303,2250,0.12,2.12,0.00,0.000,4,0.092,0.047,2538,390,3950,0,0,0,0,0,0
$GC,2286,-0.85,-214.1,463.4,-19.3,306,2291,0.12,2.12,0.00,0.000,6,0.175,0.041,2569,1804,3949,0,0,0,0,0,0
$STATE,2493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2496,begin apogee
$GC,2502,-0.23,0.0,500.4,17.4,325,2674,0.57,0.00,166.93,0.968,6,0.129,0.000,2765,1742,3072,0,0,0,0,0,0
$STATE,2674,end apogee,CONTROL_FINISHED_OK
$STATE,2675,begin climb
$GC,2677,1.16,214.1,512.3,0.0,339,2858,1.17,2.30,172.05,0.940,4,0.041,0.049,3237,357,2199,0,0,0,0,0,0
$GC,2928,0.84,214.1,466.7,32.9,360,2933,0.45,2.15,0.00,0.000,6,0.191,0.038,3112,1749,2196,0,0,0,0,0,0
$GC,3256,0.67,214.1,391.3,22.5,390,3260,0.20,2.12,0.00,0.000,4,0.174,0.044,3047,3162,2191,0,0,0,0,0,0
$GC,3297,0.59,214.1,383.6,17.5,393,3301,0.00,2.12,0.00,0.000,6,0.000,0.035,3054,1741,2189,0,0,0,0,0,0
$GC,3625,0.50,214.1,332.1,16.0,423,3631,0.17,0.00,0.00,0.000,6,0.170,0.000,3007,1741,2188,0,0,0,0,0,0
$GC,3953,0.57,274.3,292.5,11.3,459,4008,0.00,2.28,48.42,0.842,4,0.000,0.043,2997,3162,1953,0,0,0,0,0,0
$GC,4079,0.70,340.1,278.2,11.0,479,4141,0.17,2.12,54.75,0.815,6,0.067,0.035,3092,1742,1684,0,0,0,0,0,0
$GC,4465,0.62,340.1,198.7,20.5,548,4473,0.17,0.00,0.00,0.000,6,0.168,0.000,3044,1742,1678,0,0,0,0,0,0
$GC,4798,0.64,349.3,149.1,13.5,609,4808,0.00,0.00,7.68,0.620,6,0.000,0.000,3042,1742,1648,0,0,0,0,0,0
$GC,5124,0.69,358.1,106.9,13.5,670,5140,0.00,2.12,8.88,0.618,4,0.000,0.043,3042,343,1611,0,0,0,0,0,0
$GC,5175,0.76,362.0,100.0,13.7,678,5191,0.08,2.15,5.07,0.497,6,0.052,0.033,3110,1763,1595,0,0,0,0,0,0
$GC,5514,0.76,382.6,44.4,13.0,740,5538,0.00,2.17,17.55,0.622,4,0.000,0.040,3119,349,1511,0,0,0,0,0,0
$GC,5553,0.74,382.6,38.6,14.7,745,5562,0.10,2.12,0.00,0.000,6,0.132,0.031,3084,1761,1509,0,0,0,0,0,0
$STATE,5857,end climb,SURFACE_DEPTH_REACHED
$STATE,5857,begin surface coast
$FINISH,0.9,1.009820
$STATE,5883,end surface coast,CONTROL_FINISHED_OK
$STATE,5883,begin surface
$SM_CCo,5899,213.50,0.571,1,0,454,641.95
$SM_CCo,6121,-0.03,0.000,0,0,453,642.20
$SM_GC,1.17,0.00,0.00,-0.03,0.000,0.000,0.000,145,1767,453,-8.42,-0.93,642.20
$IRIDIUM_FIX,2255.72,12627.83,041010,141441
$TT8_MAMPS,0.026215
$HUMID,38.65
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.70
$XPDR_PINGS,72
$24V_AH,24.4,28.412
$10V_AH,10.5,17.877
$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,20.150,38.850,481.325,213.500,0.000,30.621,17.622,147.168,18.000,0.000,37.272,1878.627,1526.577,698.175,2127.328,255.747,0.000,1455.814,0.000,1922.440,0.000,0.848,0.000
$DEVICE_MAMPS,224.910,110.160,967.725,571.455,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.535,824.080,1372.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333920
$DATA_FILE_SIZE,46921,806
$CAP_FILE_SIZE,82070,0
$CFSIZE,260165632,171503616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.188,303.7,1
$GPS,041010,184201,2307.122,12629.090,37,1.5,37,-3.4