version: 66.08
glider: 166
mission: 3
dive: 156
start: 10 5 110 7 40 17
data:
$ID,166
$MISSION,3
$DIVE,156
$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,-21686.062
$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,42
$R_STBD_OVSHOOT,36
$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
$GPS1,051010,073408,2317.056,12628.779,11,1.5,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-68.8
$GPS2,051010,073955,2317.073,12628.679,10,1.6,15,-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,21.3,79532,-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,-214.1,0.0,0.0,0,112,0.00,0.00,-94.75,0.000,2,0.000,0.000,146,1771,3432,0,0,0,0,0,0
$GC,115,-1.16,-214.1,6.8,-13.6,13,140,8.82,2.28,-8.82,0.000,4,0.228,0.063,2447,3216,3949,0,0,0,0,0,0
$GC,190,-0.81,-214.1,50.4,-51.1,25,198,0.40,2.15,0.00,0.000,6,0.164,0.034,2569,1793,3952,0,0,0,0,0,0
$GC,517,-0.70,-214.1,149.1,-24.8,86,526,0.15,2.12,0.00,0.000,4,0.174,0.044,2611,402,3955,0,0,0,0,0,0
$GC,562,-0.70,-214.1,160.0,-21.6,93,568,0.00,2.10,0.00,0.000,6,0.000,0.041,2611,1807,3956,0,0,0,0,0,0
$GC,895,-0.69,-214.1,225.4,-18.8,154,903,0.00,2.15,0.00,0.000,4,0.000,0.050,2603,3213,3957,0,0,0,0,0,0
$GC,983,-0.74,-214.1,238.8,-13.5,169,989,0.00,2.08,0.00,0.000,6,0.000,0.035,2603,1797,3957,0,0,0,0,0,0
$GC,1316,-0.74,-214.1,294.8,-15.6,230,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1796,3957,0,0,0,0,0,0
$GC,1651,-0.74,-214.1,347.0,-15.0,264,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1796,3957,0,0,0,0,0,0
$GC,1980,-0.77,-214.1,396.1,-14.5,295,1984,0.00,2.15,0.00,0.000,4,0.000,0.051,2601,3212,3955,0,0,0,0,0,0
$GC,2021,-0.83,-214.1,401.8,-12.5,298,2025,0.00,2.10,0.00,0.000,6,0.000,0.035,2601,1790,3955,0,0,0,0,0,0
$GC,2348,-0.87,-214.1,445.1,-12.6,328,2352,0.12,2.10,0.00,0.000,4,0.090,0.047,2536,399,3954,0,0,0,0,0,0
$GC,2377,-0.84,-214.1,449.5,-16.4,330,2382,0.12,2.10,0.00,0.000,6,0.177,0.040,2567,1803,3953,0,0,0,0,0,0
$STATE,2707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2707,begin apogee
$GC,2714,-0.23,0.0,500.4,14.6,361,2890,0.57,0.00,167.95,0.971,6,0.126,0.000,2763,1741,3071,0,0,0,0,0,0
$STATE,2891,end apogee,CONTROL_FINISHED_OK
$STATE,2891,begin climb
$GC,2893,1.16,214.1,506.1,0.0,376,3073,1.20,0.00,171.60,0.942,6,0.047,0.000,3227,1740,2199,0,0,0,0,0,0
$GC,3390,0.86,214.1,388.1,29.2,422,3395,0.38,2.15,0.00,0.000,4,0.190,0.047,3130,348,2192,0,0,0,0,0,0
$GC,3445,0.67,214.1,374.3,22.1,426,3454,0.22,2.17,0.00,0.000,6,0.161,0.039,3063,1746,2192,0,0,0,0,0,0
$GC,3774,0.58,214.1,322.3,15.3,457,3778,0.12,2.15,0.00,0.000,4,0.178,0.047,3023,3172,2189,0,0,0,0,0,0
$GC,3848,0.61,249.8,312.0,12.3,463,3884,0.00,2.12,29.10,0.846,6,0.000,0.036,3029,1749,2053,0,0,0,0,0,0
$GC,4206,0.60,265.6,262.2,13.2,521,4227,0.00,2.12,13.88,0.771,4,0.000,0.044,3036,352,1988,0,0,0,0,0,0
$GC,4247,0.61,301.4,256.9,12.3,527,4288,0.00,2.12,30.23,0.801,6,0.000,0.034,3038,1765,1843,0,0,0,0,0,0
$GC,4617,0.59,301.4,201.8,14.5,593,4624,0.00,2.08,0.00,0.000,4,0.000,0.045,3033,3156,1838,0,0,0,0,0,0
$GC,4659,0.59,301.4,195.2,13.9,600,4667,0.00,2.12,0.00,0.000,6,0.000,0.035,3035,1752,1838,0,0,0,0,0,0
$GC,4997,0.63,333.0,147.5,12.5,661,5028,0.00,2.22,26.40,0.724,4,0.000,0.044,3033,3161,1714,0,0,0,0,0,0
$GC,5047,0.66,354.3,140.4,13.0,668,5077,0.00,2.15,18.65,0.689,6,0.000,0.034,3039,1750,1629,0,0,0,0,0,0
$GC,5401,0.73,379.8,93.9,12.8,732,5432,0.10,2.17,21.90,0.669,4,0.099,0.043,3115,334,1523,0,0,0,0,0,0
$GC,5479,0.69,379.8,79.8,20.6,744,5487,0.15,2.17,0.00,0.000,6,0.129,0.034,3064,1758,1522,0,0,0,0,0,0
$GC,5809,0.84,461.4,39.7,10.3,805,5885,0.12,2.20,66.18,0.636,4,0.083,0.041,3134,3159,1190,0,0,0,0,0,0
$GC,5985,0.84,461.4,10.2,16.7,833,5993,0.00,2.15,0.00,0.000,6,0.000,0.034,3140,1752,1190,0,0,0,0,0,0
$STATE,6025,end climb,SURFACE_DEPTH_REACHED
$STATE,6025,begin surface coast
$FINISH,0.7,1.021691
$STATE,6042,end surface coast,CONTROL_FINISHED_OK
$STATE,6042,begin surface
$SM_CCo,6119,0.00,0.000,0,0,1186,462.39
$SM_GC,1.72,7.60,0.00,0.00,0.026,0.000,0.000,146,1751,1186,-8.34,-1.39,462.39
$IRIDIUM_FIX,2307.44,12625.45,051010,050546
$TT8_MAMPS,0.026215
$HUMID,41.06
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.70
$XPDR_PINGS,84
$24V_AH,24.4,29.591
$10V_AH,10.4,18.751
$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,20.100,51.525,545.875,0.000,0.000,23.529,47.318,136.700,21.000,0.000,18.033,1945.221,1536.245,535.307,2192.366,255.210,0.000,1346.861,0.000,1996.996,0.000,0.847,0.000
$DEVICE_MAMPS,227.970,110.925,970.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.236,862.268,1415.291,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,50243,843
$CAP_FILE_SIZE,84715,0
$CFSIZE,260165632,171085824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,267.1,1
$GPS,051010,092331,2318.070,12628.510,39,1.2,39,-3.4