version: 66.08
glider: 166
mission: 3
dive: 182
start: 10 7 110 7 38 12
data:
$ID,166
$MISSION,3
$DIVE,182
$N_DIVES,200
$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,-21719.943
$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,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
$GPS1,071010,073228,2349.946,12629.234,9,5.2,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.0
$GPS2,071010,073750,2349.976,12629.193,12,1.9,12,-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,10.2,18615,-19.7,-13.889
$D_GRID,5000
$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,-214.1,0.0,0.0,0,101,0.00,0.00,-83.00,0.000,2,0.000,0.000,145,1749,3415,0,0,0,0,0,0
$GC,104,-1.16,-214.1,5.9,-11.2,11,129,8.88,2.28,-9.55,0.000,4,0.228,0.057,2448,3208,3948,0,0,0,0,0,0
$GC,202,-0.87,-214.1,56.0,-50.2,27,210,0.35,2.12,0.00,0.000,6,0.178,0.033,2552,1796,3951,0,0,0,0,0,0
$GC,527,-0.73,-214.1,155.5,-26.2,88,534,0.17,0.00,0.00,0.000,6,0.174,0.000,2600,1794,3955,0,0,0,0,0,0
$GC,862,-0.69,-214.1,222.5,-19.6,149,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1794,3956,0,0,0,0,0,0
$GC,1193,-0.68,-214.1,285.7,-18.8,210,1201,0.00,2.17,0.00,0.000,4,0.000,0.052,2600,3198,3956,0,0,0,0,0,0
$GC,1240,-0.71,-214.1,293.9,-15.7,218,1248,0.00,2.10,0.00,0.000,6,0.000,0.035,2600,1802,3956,0,0,0,0,0,0
$GC,1569,-0.71,-214.1,349.0,-16.9,252,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1801,3956,0,0,0,0,0,0
$GC,1891,-0.73,-214.1,395.8,-14.1,282,1895,0.00,2.12,0.00,0.000,4,0.000,0.046,2600,398,3956,0,0,0,0,0,0
$GC,1943,-0.78,-214.1,403.3,-13.5,286,1947,0.00,2.08,0.00,0.000,6,0.000,0.039,2597,1798,3955,0,0,0,0,0,0
$GC,2269,-0.81,-214.1,447.9,-13.4,316,2273,0.00,2.12,0.00,0.000,4,0.000,0.053,2587,3205,3953,0,0,0,0,0,0
$GC,2288,-0.85,-214.1,450.3,-13.4,317,2292,0.00,2.08,0.00,0.000,6,0.000,0.035,2586,1796,3953,0,0,0,0,0,0
$GC,2616,-0.88,-214.1,495.9,-13.9,347,2619,0.00,2.17,0.00,0.000,4,0.000,0.054,2585,3209,3952,0,0,0,0,0,0
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2646,begin apogee
$GC,2653,-0.23,0.0,500.5,12.9,349,2826,0.50,0.00,167.98,0.981,6,0.116,0.000,2758,1746,3072,0,0,0,0,0,0
$STATE,2827,end apogee,CONTROL_FINISHED_OK
$STATE,2827,begin climb
$GC,2829,1.16,214.1,508.5,0.0,364,3015,1.23,2.22,171.98,0.952,4,0.051,0.050,3216,3153,2197,0,0,0,0,0,0
$GC,3040,0.86,214.1,475.9,28.9,383,3045,0.40,2.20,0.00,0.000,6,0.193,0.040,3122,1741,2195,0,0,0,0,0,0
$GC,3367,0.67,214.1,401.7,22.8,413,3372,0.22,2.12,0.00,0.000,4,0.174,0.044,3066,340,2192,0,0,0,0,0,0
$GC,3419,0.57,214.1,391.7,18.1,417,3424,0.15,2.15,0.00,0.000,6,0.171,0.035,3027,1759,2192,0,0,0,0,0,0
$GC,3746,0.54,227.3,348.3,13.3,447,3762,0.00,2.17,11.00,0.807,4,0.000,0.044,3035,334,2144,0,0,0,0,0,0
$GC,3820,0.49,227.3,337.9,14.8,453,3824,0.12,2.12,0.00,0.000,6,0.166,0.034,2999,1760,2143,0,0,0,0,0,0
$GC,4147,0.53,259.0,297.5,12.5,485,4176,0.00,0.00,27.02,0.848,6,0.000,0.000,2999,1761,2015,0,0,0,0,0,0
$GC,4501,0.66,347.9,253.9,10.0,549,4583,0.15,2.25,74.57,0.820,4,0.076,0.044,3068,3158,1652,0,0,0,0,0,0
$GC,4652,0.63,347.9,229.7,16.1,573,4660,0.12,2.15,0.00,0.000,6,0.180,0.034,3045,1745,1651,0,0,0,0,0,0
$GC,4988,0.61,347.9,173.7,17.5,634,4996,0.00,2.15,0.00,0.000,4,0.000,0.044,3054,343,1649,0,0,0,0,0,0
$GC,5024,0.61,347.9,167.0,17.5,640,5032,0.00,2.12,0.00,0.000,6,0.000,0.033,3046,1743,1646,0,0,0,0,0,0
$GC,5352,0.61,347.9,116.4,14.2,701,5361,0.00,2.15,0.00,0.000,4,0.000,0.044,3046,3164,1646,0,0,0,0,0,0
$GC,5418,0.67,369.4,107.7,13.0,712,5442,0.00,2.12,18.12,0.685,6,0.000,0.035,3052,1751,1566,0,0,0,0,0,0
$GC,5761,0.84,474.3,64.5,9.3,775,5856,0.15,2.25,85.18,0.666,4,0.072,0.044,3157,352,1137,0,0,0,0,0,0
$GC,5888,0.79,474.3,41.0,21.4,793,5897,0.15,2.17,0.00,0.000,6,0.131,0.032,3098,1756,1136,0,0,0,0,0,0
$STATE,6141,end climb,SURFACE_DEPTH_REACHED
$STATE,6141,begin surface coast
$FINISH,0.7,1.007202
$STATE,6159,end surface coast,CONTROL_FINISHED_OK
$STATE,6160,begin surface
$SM_CCo,6236,0.00,0.000,0,0,1130,476.13
$SM_GC,1.48,7.60,0.00,0.00,0.037,0.000,0.000,146,1761,1130,-8.36,-1.10,476.13
$IRIDIUM_FIX,2340.34,12626.75,071010,050549
$TT8_MAMPS,0.026215
$HUMID,41.21
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.60
$XPDR_PINGS,89
$24V_AH,24.3,33.374
$10V_AH,10.5,21.617
$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,20.200,51.850,555.850,0.000,0.000,30.076,17.752,137.092,22.250,0.000,13.200,1950.552,1657.130,522.714,2172.866,251.936,0.000,1326.144,0.000,1998.777,0.000,0.847,0.000
$DEVICE_MAMPS,227.970,56.610,980.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.083,861.391,1410.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50250,843
$CAP_FILE_SIZE,84914,0
$CFSIZE,260165632,169721856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,327.9,1
$GPS,071010,092325,2351.147,12629.209,41,1.0,41,-3.6