version: 66.08
glider: 166
mission: 3
dive: 155
start: 10 5 110 5 58 25
data:
$ID,166
$MISSION,3
$DIVE,155
$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,-21684.809
$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,43
$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
$GPS1,051010,055230,2316.232,12629.464,40,0.9,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.7
$GPS2,051010,055802,2316.244,12629.379,14,1.0,14,-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,351.7,81043,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,105,0.00,0.00,-87.50,0.000,2,0.000,0.000,145,1821,3294,0,0,0,0,0,0
$GC,108,-1.16,-214.1,6.1,-13.8,12,140,8.85,2.15,-11.75,0.000,4,0.228,0.061,2452,3200,3949,0,0,0,0,0,0
$GC,264,-0.87,-214.1,78.7,-42.6,39,273,0.35,2.10,0.00,0.000,6,0.179,0.033,2555,1799,3951,0,0,0,0,0,0
$GC,595,-0.74,-214.1,177.0,-28.5,100,604,0.15,2.15,0.00,0.000,4,0.178,0.046,2596,401,3955,0,0,0,0,0,0
$GC,687,-0.74,-214.1,197.9,-20.6,115,694,0.00,2.10,0.00,0.000,6,0.000,0.040,2596,1797,3955,0,0,0,0,0,0
$GC,1026,-0.70,-214.1,267.8,-19.8,176,1034,0.00,2.15,0.00,0.000,4,0.000,0.051,2588,3204,3956,0,0,0,0,0,0
$GC,1094,-0.73,-214.1,279.6,-17.0,187,1101,0.00,2.05,0.00,0.000,6,0.000,0.034,2588,1802,3956,0,0,0,0,0,0
$GC,1430,-0.70,-214.1,338.6,-16.7,228,1434,0.00,2.10,0.00,0.000,4,0.000,0.044,2588,396,3955,0,0,0,0,0,0
$GC,1467,-0.70,-214.1,344.4,-16.7,231,1471,0.00,2.10,0.00,0.000,6,0.000,0.039,2588,1813,3955,0,0,0,0,0,0
$GC,1793,-0.70,-214.1,397.4,-16.1,261,1797,0.00,2.08,0.00,0.000,4,0.000,0.050,2578,3208,3955,0,0,0,0,0,0
$GC,1858,-0.75,-214.1,406.5,-13.6,266,1862,0.00,2.08,0.00,0.000,6,0.000,0.035,2578,1793,3954,0,0,0,0,0,0
$GC,2190,-0.75,-214.1,458.4,-15.7,297,2194,0.00,2.10,0.00,0.000,4,0.000,0.046,2578,389,3953,0,0,0,0,0,0
$GC,2253,-0.77,-214.1,468.4,-15.8,302,2257,0.00,2.10,0.00,0.000,6,0.000,0.039,2576,1807,3953,0,0,0,0,0,0
$STATE,2460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2460,begin apogee
$GC,2466,-0.23,0.0,500.1,14.7,321,2639,0.55,0.00,167.68,0.971,6,0.125,0.000,2762,1742,3071,0,0,0,0,0,0
$STATE,2639,end apogee,CONTROL_FINISHED_OK
$STATE,2640,begin climb
$GC,2642,1.16,214.1,507.2,0.0,335,2822,1.20,0.00,172.25,0.940,6,0.050,0.000,3222,1741,2199,0,0,0,0,0,0
$GC,3139,0.86,214.1,386.1,31.1,382,3144,0.38,2.12,0.00,0.000,4,0.196,0.047,3127,354,2193,0,0,0,0,0,0
$GC,3202,0.67,214.1,369.8,23.3,387,3207,0.25,2.10,0.00,0.000,6,0.177,0.038,3060,1746,2192,0,0,0,0,0,0
$GC,3529,0.59,214.1,317.5,15.3,417,3534,0.12,2.12,0.00,0.000,4,0.175,0.046,3016,3160,2189,0,0,0,0,0,0
$GC,3605,0.63,250.0,307.5,12.3,423,3641,0.00,2.08,29.27,0.843,6,0.000,0.036,3021,1756,2051,0,0,0,0,0,0
$GC,3973,0.67,294.0,258.6,12.0,483,4016,0.10,0.00,36.03,0.815,6,0.103,0.000,3072,1756,1873,0,0,0,0,0,0
$GC,4353,0.60,294.0,190.3,19.1,549,4360,0.15,0.00,0.00,0.000,6,0.169,0.000,3031,1756,1867,0,0,0,0,0,0
$GC,4690,0.64,330.6,143.9,12.3,610,4728,0.00,2.17,30.38,0.728,4,0.000,0.042,3019,3172,1723,0,0,0,0,0,0
$GC,4747,0.74,381.9,136.8,11.7,618,4800,0.12,2.17,43.20,0.712,6,0.042,0.035,3106,1756,1515,0,0,0,0,0,0
$GC,5120,0.70,381.9,63.7,17.2,685,5129,0.15,2.17,0.00,0.000,4,0.160,0.043,3072,343,1509,0,0,0,0,0,0
$GC,5160,0.79,419.7,58.5,12.2,691,5197,0.00,2.15,30.92,0.650,6,0.000,0.032,3067,1762,1359,0,0,0,0,0,0
$GC,5518,1.02,526.6,19.4,9.2,756,5603,0.25,0.00,81.62,0.610,2,0.052,0.000,3195,1767,943,0,0,0,0,0,0
$STATE,5604,end climb,SURFACE_DEPTH_REACHED
$STATE,5604,begin surface coast
$FINISH,0.7,1.021793
$STATE,5619,end surface coast,CONTROL_FINISHED_OK
$STATE,5619,begin surface
$SM_CCo,5696,0.00,0.000,0,0,941,522.98
$SM_GC,1.32,7.88,0.00,0.00,0.027,0.000,0.000,151,1767,941,-8.33,-0.93,522.98
$IRIDIUM_FIX,2307.44,12327.72,051010,040404
$TT8_MAMPS,0.026215
$HUMID,40.47
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.50
$XPDR_PINGS,72
$24V_AH,24.3,29.444
$10V_AH,10.5,18.642
$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,20.500,42.425,591.350,0.000,0.000,31.539,23.244,138.281,18.000,0.000,15.148,1769.197,1460.967,541.149,2020.765,233.958,0.000,1299.488,0.000,1833.601,0.000,0.847,0.000
$DEVICE_MAMPS,227.970,110.160,970.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.710,786.020,1295.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46940,769
$CAP_FILE_SIZE,78123,0
$CFSIZE,260165632,171147264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,243.3,1
$GPS,051010,073408,2317.056,12628.779,11,1.5,11,-3.4