version: 66.08
glider: 166
mission: 3
dive: 174
start: 10 6 110 16 48 17
data:
$ID,166
$MISSION,3
$DIVE,174
$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,-21709.609
$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,40
$R_STBD_OVSHOOT,39
$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
$GPS1,061010,164207,2339.443,12629.319,30,1.4,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.4
$GPS2,061010,164756,2339.443,12629.303,14,1.9,14,-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,5.8,38089,-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,-214.1,0.0,0.0,0,94,0.00,0.00,-75.95,0.000,2,0.000,0.000,144,1765,3229,0,0,0,0,0,0
$GC,97,-1.16,-214.1,5.1,-9.9,10,128,8.85,2.22,-13.60,0.000,4,0.226,0.055,2449,3205,3947,0,0,0,0,0,0
$GC,157,-0.83,-214.1,35.0,-50.7,19,166,0.38,2.12,0.00,0.000,6,0.172,0.032,2561,1792,3949,0,0,0,0,0,0
$GC,481,-0.69,-214.1,143.2,-26.7,80,491,0.20,2.12,0.00,0.000,4,0.167,0.041,2619,402,3952,0,0,0,0,0,0
$GC,516,-0.61,-214.1,151.9,-24.2,85,523,0.00,2.10,0.00,0.000,6,0.000,0.040,2615,1804,3952,0,0,0,0,0,0
$GC,855,-0.59,-214.1,217.8,-19.2,146,863,0.12,2.17,0.00,0.000,4,0.172,0.051,2641,3207,3954,0,0,0,0,0,0
$GC,915,-0.68,-214.1,226.9,-12.5,156,924,0.00,2.10,0.00,0.000,6,0.000,0.034,2641,1807,3954,0,0,0,0,0,0
$GC,1262,-0.74,-214.1,271.2,-11.5,217,1270,0.12,2.15,0.00,0.000,4,0.087,0.045,2575,390,3954,0,0,0,0,0,0
$GC,1284,-0.76,-214.1,274.3,-12.9,220,1292,0.00,2.15,0.00,0.000,6,0.000,0.041,2575,1800,3954,0,0,0,0,0,0
$GC,1622,-0.71,-214.1,338.9,-18.2,263,1624,0.12,0.00,0.00,0.000,6,0.177,0.000,2608,1800,3953,0,0,0,0,0,0
$GC,1941,-0.74,-214.1,384.7,-14.0,293,1945,0.00,2.17,0.00,0.000,4,0.000,0.053,2602,3210,3952,0,0,0,0,0,0
$GC,2003,-0.81,-214.1,393.0,-11.7,298,2007,0.00,2.08,0.00,0.000,6,0.000,0.035,2602,1796,3952,0,0,0,0,0,0
$GC,2329,-0.84,-214.1,439.4,-14.5,328,2333,0.00,2.15,0.00,0.000,4,0.000,0.053,2602,3211,3951,0,0,0,0,0,0
$GC,2362,-0.90,-214.1,443.8,-13.0,330,2370,0.12,2.12,0.00,0.000,6,0.044,0.036,2522,1796,3950,0,0,0,0,0,0
$STATE,2644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2649,-0.23,0.0,500.5,20.4,357,2822,0.75,0.00,167.12,0.969,6,0.146,0.000,2762,1796,3072,0,0,0,0,0,0
$STATE,2822,end apogee,CONTROL_FINISHED_OK
$STATE,2823,begin climb
$GC,2825,1.16,214.1,508.9,0.0,372,3002,1.25,0.00,171.52,0.939,6,0.067,0.000,3218,1795,2198,0,0,0,0,0,0
$GC,3319,0.86,214.1,393.5,28.7,417,3324,0.35,2.12,0.00,0.000,4,0.197,0.046,3115,3165,2192,0,0,0,0,0,0
$GC,3403,0.70,214.1,373.8,20.5,424,3408,0.20,2.15,0.00,0.000,6,0.182,0.038,3071,1740,2191,0,0,0,0,0,0
$GC,3729,0.60,214.1,321.0,15.3,454,3733,0.12,2.17,0.00,0.000,4,0.184,0.044,3027,3171,2189,0,0,0,0,0,0
$GC,3778,0.61,240.2,314.0,12.8,458,3810,0.00,2.15,21.60,0.832,6,0.000,0.036,3035,1749,2092,0,0,0,0,0,0
$GC,4134,0.57,240.2,265.4,14.9,513,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1749,2088,0,0,0,0,0,0
$GC,4471,0.55,240.2,219.1,14.1,574,4479,0.00,2.15,0.00,0.000,4,0.000,0.045,3041,347,2087,0,0,0,0,0,0
$GC,4521,0.54,259.9,213.0,13.0,582,4544,0.00,2.12,16.85,0.754,6,0.000,0.034,3041,1755,2011,0,0,0,0,0,0
$GC,4882,0.55,282.9,167.0,12.9,645,4909,0.00,2.12,19.77,0.725,4,0.000,0.044,3040,3159,1917,0,0,0,0,0,0
$GC,4949,0.57,296.2,157.4,13.3,656,4972,0.00,2.15,12.27,0.677,6,0.000,0.034,3048,1747,1864,0,0,0,0,0,0
$GC,5294,0.58,305.7,110.6,13.5,719,5310,0.00,2.12,9.50,0.629,4,0.000,0.043,3057,343,1824,0,0,0,0,0,0
$GC,5346,0.59,313.4,103.9,13.6,727,5362,0.00,2.15,7.93,0.593,6,0.000,0.032,3057,1760,1793,0,0,0,0,0,0
$GC,5686,0.75,407.4,63.4,9.8,789,5774,0.00,2.20,76.60,0.659,4,0.000,0.043,3057,3152,1411,0,0,0,0,0,0
$GC,5846,0.97,488.9,46.5,10.4,814,5920,0.20,2.15,66.55,0.626,6,0.031,0.034,3184,1750,1077,0,0,0,0,0,0
$STATE,6034,end climb,SURFACE_DEPTH_REACHED
$STATE,6034,begin surface coast
$FINISH,0.7,1.018562
$STATE,6046,end surface coast,CONTROL_FINISHED_OK
$STATE,6046,begin surface
$SM_CCo,6123,0.00,0.000,0,0,1072,490.60
$SM_GC,1.53,7.78,0.00,0.00,0.028,0.000,0.000,149,1750,1072,-8.33,-1.41,490.60
$IRIDIUM_FIX,2330.93,12627.25,061010,141421
$TT8_MAMPS,0.026215
$HUMID,40.66
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.70
$XPDR_PINGS,67
$24V_AH,24.3,32.199
$10V_AH,10.5,20.735
$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,20.575,51.450,569.725,0.000,0.000,27.410,36.679,137.792,16.750,0.000,17.114,1956.644,1522.720,537.633,2200.187,250.571,0.000,1354.633,0.000,2002.772,0.000,0.847,0.000
$DEVICE_MAMPS,226.440,55.080,969.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.739,865.597,1415.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50321,847
$CAP_FILE_SIZE,86035,0
$CFSIZE,260165632,170135552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,272.7,1
$GPS,061010,183128,2340.568,12629.119,11,99.0,30,-3.5