version: 66.08
glider: 166
mission: 3
dive: 161
start: 10 5 110 16 50 4
data:
$ID,166
$MISSION,3
$DIVE,161
$N_DIVES,175
$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,-21692.529
$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,61
$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
$GPS1,051010,164401,2323.265,12628.741,41,1.3,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.8
$GPS2,051010,164943,2323.308,12628.693,8,1.0,13,-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,16.7,67989,-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,-214.1,0.0,0.0,0,91,0.00,0.00,-72.70,0.000,2,0.000,0.000,144,1824,3248,0,0,0,0,0,0
$GC,94,-1.16,-214.1,5.6,-11.5,10,125,8.85,2.10,-13.00,0.000,4,0.228,0.058,2450,3182,3949,0,0,0,0,0,0
$GC,134,-0.54,-214.1,25.9,-51.3,15,142,0.70,2.10,0.00,0.000,6,0.173,0.034,2658,1792,3950,0,0,0,0,0,0
$GC,458,-0.54,-214.1,108.1,-19.1,76,467,0.00,2.15,0.00,0.000,4,0.000,0.051,2656,3177,3953,0,0,0,0,0,0
$GC,535,-0.63,-214.1,118.9,-12.3,89,543,0.00,2.05,0.00,0.000,6,0.000,0.034,2656,1807,3954,0,0,0,0,0,0
$GC,866,-0.66,-214.1,168.7,-14.8,150,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1807,3956,0,0,0,0,0,0
$GC,1207,-0.71,-214.1,215.9,-13.3,211,1214,0.12,2.12,0.00,0.000,4,0.089,0.052,2587,3180,3956,0,0,0,0,0,0
$GC,1279,-0.74,-214.1,226.7,-15.4,223,1286,0.00,2.03,0.00,0.000,6,0.000,0.035,2587,1799,3956,0,0,0,0,0,0
$GC,1619,-0.70,-214.1,290.1,-18.9,284,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1799,3956,0,0,0,0,0,0
$GC,1953,-0.70,-214.1,351.0,-17.0,320,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1799,3955,0,0,0,0,0,0
$GC,2273,-0.70,-214.1,402.7,-15.0,350,2277,0.00,2.12,0.00,0.000,4,0.000,0.052,2583,3185,3954,0,0,0,0,0,0
$GC,2307,-0.73,-214.1,407.8,-14.1,352,2317,0.00,2.08,0.00,0.000,6,0.000,0.036,2584,1803,3954,0,0,0,0,0,0
$GC,2634,-0.73,-214.1,456.1,-14.5,383,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1803,3953,0,0,0,0,0,0
$STATE,2953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2954,begin apogee
$GC,2959,-0.23,0.0,501.5,13.8,413,3135,0.52,0.00,168.18,0.970,6,0.126,0.000,2761,1751,3071,0,0,0,0,0,0
$STATE,3136,end apogee,CONTROL_FINISHED_OK
$STATE,3136,begin climb
$GC,3140,1.16,214.1,509.8,0.0,428,3321,1.23,2.33,171.77,0.940,4,0.057,0.050,3227,356,2199,0,0,0,0,0,0
$GC,3345,0.85,214.1,475.1,31.5,445,3352,0.40,2.15,0.00,0.000,6,0.189,0.037,3116,1731,2197,0,0,0,0,0,0
$GC,3670,0.67,214.1,399.0,21.1,476,3675,0.22,2.17,0.00,0.000,4,0.176,0.045,3046,3171,2193,0,0,0,0,0,0
$GC,3782,0.59,214.1,381.3,15.3,485,3786,0.00,2.15,0.00,0.000,6,0.000,0.037,3050,1737,2191,0,0,0,0,0,0
$GC,4109,0.51,214.1,328.1,15.6,515,4114,0.17,2.10,0.00,0.000,4,0.169,0.045,3010,346,2189,0,0,0,0,0,0
$GC,4154,0.51,231.3,321.3,13.1,518,4174,0.00,2.12,14.35,0.812,6,0.000,0.034,3004,1749,2127,0,0,0,0,0,0
$GC,4499,0.61,310.5,282.0,10.5,564,4574,0.10,2.22,65.57,0.835,4,0.099,0.045,3054,3153,1807,0,0,0,0,0,0
$GC,4594,0.55,310.5,268.1,15.9,578,4602,0.12,2.17,0.00,0.000,6,0.149,0.035,3022,1753,1805,0,0,0,0,0,0
$GC,4937,0.55,310.5,216.1,14.3,639,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1753,1802,0,0,0,0,0,0
$GC,5275,0.57,323.9,170.0,13.3,700,5290,0.00,0.00,11.90,0.691,6,0.000,0.000,3022,1753,1751,0,0,0,0,0,0
$GC,5616,0.66,377.5,127.5,11.6,762,5667,0.00,0.00,44.72,0.715,6,0.000,0.000,3022,1753,1531,0,0,0,0,0,0
$GC,5989,0.83,445.5,85.4,10.9,829,6052,0.22,2.28,55.70,0.670,4,0.058,0.042,3147,339,1255,0,0,0,0,0,0
$GC,6079,0.74,445.5,68.3,21.1,841,6087,0.20,2.20,0.00,0.000,6,0.131,0.031,3082,1758,1252,0,0,0,0,0,0
$GC,6409,0.82,461.0,18.6,13.2,902,6433,0.00,2.15,13.68,0.577,4,0.000,0.042,3081,3156,1192,0,0,0,0,0,0
$GC,6483,1.03,546.4,10.6,10.2,914,6537,0.17,2.15,47.67,0.603,2,0.035,0.034,3193,1739,947,0,0,0,0,0,0
$STATE,6538,end climb,SURFACE_DEPTH_REACHED
$STATE,6538,begin surface coast
$FINISH,0.7,1.010596
$STATE,6549,end surface coast,CONTROL_FINISHED_OK
$STATE,6549,begin surface
$SM_CCo,6628,0.00,0.000,0,0,945,521.75
$SM_GC,1.42,7.90,0.00,0.00,0.031,0.000,0.000,146,1843,945,-8.34,1.22,521.75
$IRIDIUM_FIX,2312.13,12626.84,051010,141450
$TT8_MAMPS,0.026215
$HUMID,40.43
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.70
$XPDR_PINGS,78
$24V_AH,24.4,30.307
$10V_AH,10.5,19.311
$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,20.950,43.100,593.550,0.000,0.000,27.441,37.847,138.138,19.500,0.000,15.844,2119.071,1653.434,544.650,2385.447,262.916,0.000,1410.479,0.000,2195.724,0.000,0.847,0.000
$DEVICE_MAMPS,227.970,153.765,970.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.704,944.446,1582.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53580,923
$CAP_FILE_SIZE,88064,0
$CFSIZE,260165632,170815488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,275.0,1
$GPS,051010,184120,2324.518,12628.415,12,1.3,12,-3.4