version: 66.08
glider: 166
mission: 3
dive: 153
start: 10 5 110 2 15 30
data:
$ID,166
$MISSION,3
$DIVE,153
$N_DIVES,165
$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,400
$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,-21682.205
$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,46
$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
$GPS1,051010,020936,2313.995,12629.584,12,1.6,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.0
$GPS2,051010,021507,2313.983,12629.533,10,1.5,15,-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,353.0,85227,-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,-214.1,0.0,0.0,0,105,0.00,0.00,-87.07,0.000,2,0.000,0.000,144,1761,3363,0,0,0,0,0,0
$GC,108,-1.16,-214.1,6.1,-12.0,12,133,8.82,2.28,-10.40,0.000,4,0.227,0.060,2449,3206,3949,0,0,0,0,0,0
$GC,216,-0.91,-214.1,61.2,-40.3,30,225,0.30,2.12,0.00,0.000,6,0.179,0.033,2537,1796,3952,0,0,0,0,0,0
$GC,545,-0.76,-214.1,168.6,-26.5,91,553,0.20,2.12,0.00,0.000,4,0.171,0.042,2594,388,3955,0,0,0,0,0,0
$GC,600,-0.72,-214.1,182.0,-19.7,100,608,0.00,2.12,0.00,0.000,6,0.000,0.038,2589,1786,3956,0,0,0,0,0,0
$GC,940,-0.68,-214.1,252.8,-18.7,161,947,0.12,2.15,0.00,0.000,4,0.177,0.050,2615,3209,3957,0,0,0,0,0,0
$GC,989,-0.73,-214.1,260.6,-14.7,169,995,0.00,2.08,0.00,0.000,6,0.000,0.035,2614,1794,3957,0,0,0,0,0,0
$GC,1332,-0.73,-214.1,310.8,-13.9,224,1336,0.00,2.15,0.00,0.000,4,0.000,0.051,2614,3217,3957,0,0,0,0,0,0
$GC,1362,-0.77,-214.1,315.2,-13.6,226,1366,0.00,2.08,0.00,0.000,6,0.000,0.035,2614,1801,3957,0,0,0,0,0,0
$GC,1687,-0.80,-214.1,363.1,-15.0,256,1691,0.00,2.10,0.00,0.000,4,0.000,0.046,2614,398,3956,0,0,0,0,0,0
$GC,1708,-0.84,-214.1,365.7,-14.2,257,1713,0.12,2.10,0.00,0.000,6,0.085,0.038,2542,1812,3956,0,0,0,0,0,0
$GC,2035,-0.78,-214.1,431.9,-20.7,287,2037,0.15,0.00,0.00,0.000,6,0.168,0.000,2583,1814,3955,0,0,0,0,0,0
$GC,2356,-0.80,-214.1,480.4,-14.3,317,2360,0.00,2.12,0.00,0.000,4,0.000,0.052,2577,3214,3954,0,0,0,0,0,0
$GC,2382,-0.82,-214.1,484.5,-14.6,319,2386,0.00,2.10,0.00,0.000,6,0.000,0.037,2577,1801,3953,0,0,0,0,0,0
$STATE,2488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2488,begin apogee
$GC,2495,-0.23,0.0,500.7,15.3,329,2671,0.55,0.00,167.98,0.969,6,0.129,0.000,2762,1748,3071,0,0,0,0,0,0
$STATE,2672,end apogee,CONTROL_FINISHED_OK
$STATE,2672,begin climb
$GC,2675,1.16,214.1,509.1,0.0,344,2858,1.25,2.30,171.70,0.941,4,0.067,0.050,3217,3160,2197,0,0,0,0,0,0
$GC,2897,0.87,214.1,470.1,31.5,363,2905,0.40,2.20,0.00,0.000,6,0.192,0.039,3123,1751,2196,0,0,0,0,0,0
$GC,3222,0.70,214.1,395.5,21.8,394,3224,0.20,0.00,0.00,0.000,6,0.178,0.000,3068,1751,2193,0,0,0,0,0,0
$GC,3541,0.60,214.1,342.3,16.7,424,3546,0.12,2.12,0.00,0.000,4,0.180,0.045,3023,3169,2189,0,0,0,0,0,0
$GC,3569,0.55,214.1,338.2,14.4,426,3573,0.00,2.10,0.00,0.000,6,0.000,0.037,3032,1744,2187,0,0,0,0,0,0
$GC,3899,0.55,247.0,295.2,12.5,459,3933,0.00,2.12,26.55,0.840,4,0.000,0.044,3042,350,2065,0,0,0,0,0,0
$GC,4001,0.52,247.0,281.0,14.8,476,4009,0.08,2.15,0.00,0.000,6,0.142,0.034,3016,1753,2062,0,0,0,0,0,0
$GC,4337,0.55,269.3,237.4,12.9,537,4367,0.00,2.17,18.98,0.783,4,0.000,0.047,3011,3153,1973,0,0,0,0,0,0
$GC,4448,0.63,309.0,223.3,12.2,555,4490,0.00,2.10,33.58,0.783,6,0.000,0.035,3017,1750,1812,0,0,0,0,0,0
$GC,4816,0.69,344.1,176.8,12.4,621,4850,0.12,0.00,29.70,0.744,6,0.084,0.000,3091,1750,1669,0,0,0,0,0,0
$GC,5171,0.64,344.1,105.7,20.5,686,5179,0.17,2.17,0.00,0.000,4,0.160,0.043,3030,3156,1667,0,0,0,0,0,0
$GC,5220,0.75,382.5,98.3,12.2,694,5258,0.10,2.12,32.08,0.685,6,0.047,0.034,3109,1752,1512,0,0,0,0,0,0
$GC,5578,0.73,382.5,35.5,15.4,759,5587,0.12,0.00,0.00,0.000,6,0.161,0.000,3074,1752,1509,0,0,0,0,0,0
$GC,5908,0.92,479.6,4.1,9.7,820,5924,0.17,0.00,13.50,0.572,2,0.066,0.000,3172,1752,1450,0,0,0,0,0,0
$STATE,5925,end climb,SURFACE_DEPTH_REACHED
$STATE,5925,begin surface coast
$FINISH,0.8,1.021909
$STATE,5965,end surface coast,CONTROL_FINISHED_OK
$STATE,5965,begin surface
$SM_CCo,5984,0.00,0.000,0,0,1440,400.08
$SM_GC,1.86,0.00,0.00,0.00,0.000,0.000,0.000,137,1816,1440,-8.45,0.45,400.08
$IRIDIUM_FIX,2305.10,12607.16,051010,000035
$TT8_MAMPS,0.026215
$HUMID,42.28
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.70
$XPDR_PINGS,77
$24V_AH,24.3,29.133
$10V_AH,10.5,18.427
$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,20.700,47.225,494.050,0.000,0.000,30.949,15.953,143.412,19.250,0.000,16.369,1937.590,1502.085,481.929,2140.670,252.727,0.000,1255.065,0.000,1956.678,0.000,0.848,0.000
$DEVICE_MAMPS,227.205,155.295,969.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.872,847.311,1387.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50259,829
$CAP_FILE_SIZE,84943,0
$CFSIZE,260165632,171241472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130, 58.1,1
$GPS,051010,035614,2315.329,12629.692,9,1.6,21,-3.4