version: 66.08
glider: 166
mission: 3
dive: 158
start: 10 5 110 11 13 49
data:
$ID,166
$MISSION,3
$DIVE,158
$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,-21688.764
$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,45
$R_STBD_OVSHOOT,73
$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
$GPS1,051010,110755,2319.165,12628.453,7,1.2,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.6
$GPS2,051010,111326,2319.196,12628.379,13,1.3,13,-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,29.0,75620,-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,-214.1,0.0,0.0,0,97,0.00,0.00,-79.05,0.000,2,0.000,0.000,144,1833,3278,0,0,0,0,0,0
$GC,100,-1.16,-214.1,5.6,-10.5,11,124,8.82,0.00,-12.15,0.000,6,0.227,0.000,2457,1833,3948,0,0,0,0,0,0
$GC,438,-0.88,-214.1,156.2,-37.6,74,446,0.30,2.20,0.00,0.000,4,0.183,0.040,2548,390,3953,0,0,0,0,0,0
$GC,505,-0.76,-214.1,176.9,-26.6,85,513,0.17,2.08,0.00,0.000,6,0.167,0.041,2594,1763,3954,0,0,0,0,0,0
$GC,839,-0.71,-214.1,245.1,-20.0,146,847,0.00,2.20,0.00,0.000,4,0.000,0.051,2584,3201,3956,0,0,0,0,0,0
$GC,882,-0.71,-214.1,252.9,-16.2,153,890,0.00,2.08,0.00,0.000,6,0.000,0.034,2584,1799,3957,0,0,0,0,0,0
$GC,1222,-0.67,-214.1,318.8,-19.4,206,1224,0.12,0.00,0.00,0.000,6,0.170,0.000,2618,1798,3956,0,0,0,0,0,0
$GC,1540,-0.71,-214.1,365.1,-12.9,236,1544,0.00,2.15,0.00,0.000,4,0.000,0.052,2614,3213,3956,0,0,0,0,0,0
$GC,1577,-0.80,-214.1,369.0,-11.4,239,1580,0.00,2.08,0.00,0.000,6,0.000,0.036,2614,1793,3956,0,0,0,0,0,0
$GC,1903,-0.84,-214.1,414.0,-14.2,269,1905,0.12,0.00,0.00,0.000,6,0.090,0.000,2551,1793,3954,0,0,0,0,0,0
$GC,2222,-0.79,-214.1,474.4,-19.3,299,2226,0.12,2.12,0.00,0.000,4,0.177,0.047,2583,391,3953,0,0,0,0,0,0
$GC,2259,-0.81,-214.1,481.1,-14.9,302,2267,0.00,2.15,0.00,0.000,6,0.000,0.041,2584,1801,3953,0,0,0,0,0,0
$STATE,2413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2413,begin apogee
$GC,2421,-0.23,0.0,501.0,12.4,317,2596,0.52,0.00,167.55,0.972,6,0.125,0.000,2763,1749,3071,0,0,0,0,0,0
$STATE,2597,end apogee,CONTROL_FINISHED_OK
$STATE,2597,begin climb
$GC,2601,1.16,214.1,505.6,0.0,332,2781,1.20,2.33,171.07,0.939,4,0.048,0.049,3237,350,2198,0,0,0,0,0,0
$GC,2829,0.84,214.1,462.0,32.7,351,2834,0.43,2.20,0.00,0.000,6,0.189,0.037,3119,1750,2196,0,0,0,0,0,0
$GC,3156,0.68,214.1,387.9,20.5,381,3160,0.20,2.15,0.00,0.000,4,0.171,0.042,3070,344,2192,0,0,0,0,0,0
$GC,3189,0.55,214.1,382.0,19.2,383,3193,0.17,2.12,0.00,0.000,6,0.162,0.034,3015,1762,2192,0,0,0,0,0,0
$GC,3516,0.58,259.5,340.9,11.9,413,3563,0.00,2.20,37.05,0.868,4,0.000,0.045,3010,3154,2014,0,0,0,0,0,0
$GC,3600,0.58,261.8,329.7,13.8,420,3613,0.00,2.15,3.62,0.480,6,0.000,0.036,3017,1744,2003,0,0,0,0,0,0
$GC,3935,0.58,263.0,282.6,13.8,462,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1744,2001,0,0,0,0,0,0
$GC,4264,0.61,288.8,239.2,12.8,523,4293,0.00,2.20,22.27,0.790,4,0.000,0.045,3024,350,1894,0,0,0,0,0,0
$GC,4308,0.65,319.6,233.8,12.6,529,4343,0.00,2.10,26.88,0.777,6,0.000,0.032,3026,1755,1768,0,0,0,0,0,0
$GC,4669,0.65,319.6,182.4,14.2,594,4677,0.00,2.15,0.00,0.000,4,0.000,0.045,3024,3160,1765,0,0,0,0,0,0
$GC,4723,0.71,342.2,175.2,12.9,603,4752,0.12,2.12,20.12,0.731,6,0.080,0.034,3101,1736,1675,0,0,0,0,0,0
$GC,5072,0.63,342.2,102.0,19.3,667,5080,0.20,0.00,0.00,0.000,6,0.161,0.000,3046,1736,1672,0,0,0,0,0,0
$GC,5397,0.78,412.0,65.1,10.9,728,5464,0.12,2.22,56.33,0.664,4,0.086,0.042,3114,3152,1391,0,0,0,0,0,0
$GC,5542,0.78,412.0,40.7,18.2,751,5550,0.00,2.12,0.00,0.000,6,0.000,0.034,3120,1760,1391,0,0,0,0,0,0
$STATE,5788,end climb,SURFACE_DEPTH_REACHED
$STATE,5788,begin surface coast
$FINISH,0.8,1.013428
$STATE,5811,end surface coast,CONTROL_FINISHED_OK
$STATE,5811,begin surface
$SM_CCo,5889,0.00,0.000,0,0,1383,414.07
$SM_GC,1.53,7.53,0.00,0.00,0.029,0.000,0.000,148,1756,1383,-8.35,-1.24,414.07
$IRIDIUM_FIX,2307.44,12627.33,051010,090936
$TT8_MAMPS,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.70
$XPDR_PINGS,81
$24V_AH,24.4,29.873
$10V_AH,10.5,18.958
$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,20.175,43.150,504.900,0.000,0.000,27.912,19.284,143.659,20.250,0.000,14.651,1865.012,1542.102,487.395,2083.963,239.717,0.000,1249.150,0.000,1900.729,0.000,0.846,0.000
$DEVICE_MAMPS,227.205,220.320,972.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.123,819.189,1331.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46919,801
$CAP_FILE_SIZE,80307,0
$CFSIZE,260165632,170995712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,309.8,1
$GPS,051010,125307,2320.454,12628.504,34,0.9,34,-3.4