version: 66.08
glider: 166
mission: 3
dive: 168
start: 10 6 110 5 47 49
data:
$ID,166
$MISSION,3
$DIVE,168
$N_DIVES,185
$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,-21701.703
$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,40
$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
$GPS1,061010,054158,2332.837,12629.392,14,99.0,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.7
$GPS2,061010,054726,2332.760,12629.384,16,1.9,16,-3.5
$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,355.4,50459,-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,-214.1,0.0,0.0,0,111,0.00,0.00,-92.32,0.000,2,0.000,0.000,144,1759,3480,0,0,0,0,0,0
$GC,114,-1.16,-214.1,6.6,-13.1,13,138,8.77,2.25,-8.10,0.000,4,0.225,0.055,2446,3211,3949,0,0,0,0,0,0
$GC,193,-0.82,-214.1,50.4,-52.6,26,201,0.40,2.12,0.00,0.000,6,0.177,0.033,2564,1797,3951,0,0,0,0,0,0
$GC,518,-0.69,-214.1,150.4,-28.1,87,526,0.17,2.10,0.00,0.000,4,0.171,0.044,2614,402,3954,0,0,0,0,0,0
$GC,580,-0.69,-214.1,164.8,-19.1,97,587,0.00,2.08,0.00,0.000,6,0.000,0.039,2613,1797,3955,0,0,0,0,0,0
$GC,912,-0.66,-214.1,228.3,-18.6,158,920,0.00,2.17,0.00,0.000,4,0.000,0.052,2613,3210,3956,0,0,0,0,0,0
$GC,956,-0.70,-214.1,235.5,-15.9,165,963,0.00,2.08,0.00,0.000,6,0.000,0.035,2613,1798,3956,0,0,0,0,0,0
$GC,1286,-0.70,-214.1,293.0,-16.8,226,1294,0.00,2.17,0.00,0.000,4,0.000,0.052,2613,3204,3956,0,0,0,0,0,0
$GC,1341,-0.77,-214.1,301.1,-13.3,234,1349,0.00,2.10,0.00,0.000,6,0.000,0.035,2613,1802,3956,0,0,0,0,0,0
$GC,1668,-0.79,-214.1,348.1,-13.4,265,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1802,3955,0,0,0,0,0,0
$GC,1989,-0.82,-214.1,390.5,-13.6,295,1993,0.12,2.20,0.00,0.000,4,0.090,0.054,2547,3216,3954,0,0,0,0,0,0
$GC,2047,-0.82,-214.1,400.9,-16.9,300,2055,0.00,2.12,0.00,0.000,6,0.000,0.036,2547,1798,3953,0,0,0,0,0,0
$GC,2374,-0.76,-214.1,464.7,-20.0,331,2379,0.15,2.12,0.00,0.000,4,0.166,0.047,2588,395,3953,0,0,0,0,0,0
$GC,2464,-0.80,-214.1,479.5,-15.2,339,2468,0.00,2.10,0.00,0.000,6,0.000,0.039,2588,1812,3952,0,0,0,0,0,0
$STATE,2607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2607,begin apogee
$GC,2614,-0.23,0.0,501.1,15.2,352,2788,0.50,0.00,167.70,0.965,6,0.122,0.000,2759,1728,3071,0,0,0,0,0,0
$STATE,2789,end apogee,CONTROL_FINISHED_OK
$STATE,2789,begin climb
$GC,2792,1.16,214.1,510.2,0.0,367,2972,1.25,2.28,171.38,0.938,4,0.068,0.051,3222,367,2198,0,0,0,0,0,0
$GC,3127,0.85,214.1,434.1,32.9,396,3132,0.38,2.12,0.00,0.000,6,0.191,0.038,3115,1754,2194,0,0,0,0,0,0
$GC,3454,0.68,214.1,359.1,21.6,426,3456,0.20,0.00,0.00,0.000,6,0.177,0.000,3060,1759,2190,0,0,0,0,0,0
$GC,3771,0.59,214.1,305.9,15.5,456,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1759,2188,0,0,0,0,0,0
$GC,4095,0.50,214.1,256.0,15.1,512,4104,0.17,2.12,0.00,0.000,4,0.166,0.044,2997,3158,2186,0,0,0,0,0,0
$GC,4181,0.62,307.2,246.4,9.8,527,4263,0.10,2.08,74.55,0.806,6,0.098,0.035,3064,1759,1819,0,0,0,0,0,0
$GC,4593,0.56,307.2,177.7,16.6,599,4603,0.15,2.17,0.00,0.000,4,0.165,0.045,3032,340,1813,0,0,0,0,0,0
$GC,4648,0.59,308.2,169.1,13.8,608,4656,0.00,2.15,0.00,0.000,6,0.000,0.033,3027,1756,1812,0,0,0,0,0,0
$GC,4978,0.66,351.4,127.9,12.0,669,5022,0.00,0.00,36.45,0.708,6,0.000,0.000,3026,1759,1638,0,0,0,0,0,0
$GC,5342,0.75,383.7,85.3,12.5,735,5374,0.15,0.00,27.10,0.661,6,0.071,0.000,3113,1760,1506,0,0,0,0,0,0
$GC,5697,0.73,383.7,26.9,15.9,799,5706,0.12,2.20,0.00,0.000,4,0.161,0.044,3086,355,1504,0,0,0,0,0,0
$GC,5736,0.77,383.7,21.0,14.0,805,5744,0.00,2.10,0.00,0.000,6,0.000,0.031,3078,1746,1502,0,0,0,0,0,0
$STATE,5909,end climb,SURFACE_DEPTH_REACHED
$STATE,5909,begin surface coast
$FINISH,0.7,1.009355
$STATE,5937,end surface coast,CONTROL_FINISHED_OK
$STATE,5937,begin surface
$SM_CCo,5955,23.62,0.334,1,0,1440,400.08
$SM_GC,2.01,0.00,0.00,23.62,0.000,0.000,0.334,144,1817,1440,-8.43,0.48,400.08
$IRIDIUM_FIX,2323.87,12600.95,061010,030344
$TT8_MAMPS,0.026964
$HUMID,41.73
$INTERNAL_PRESSURE,8.82328
$TCM_TEMP,24.90
$XPDR_PINGS,66
$24V_AH,24.3,31.336
$10V_AH,10.5,20.079
$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,20.125,43.000,477.175,23.625,0.000,30.314,16.518,136.525,16.500,0.000,17.816,1972.313,1392.772,497.203,2206.703,244.918,0.000,1284.902,0.000,2023.083,0.000,0.847,0.000
$DEVICE_MAMPS,224.910,151.470,964.665,334.305,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.738,860.415,1443.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50316,842
$CAP_FILE_SIZE,83026,0
$CFSIZE,260165632,170455040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,208.8,1
$GPS,061010,072855,2333.616,12629.069,44,1.1,44,-3.5