version: 66.08
glider: 166
mission: 3
dive: 183
start: 10 7 110 9 29 49
data:
$ID,166
$MISSION,3
$DIVE,183
$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,-21721.293
$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,41
$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
$GPS1,071010,092325,2351.147,12629.209,41,1.0,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.4
$GPS2,071010,092926,2351.183,12629.158,13,1.7,13,-3.6
$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,10.9,16390,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,105,0.00,0.00,-88.07,0.000,2,0.000,0.000,142,1761,3408,0,0,0,0,0,0
$GC,108,-1.16,-214.1,6.3,-12.9,12,133,8.73,2.28,-9.62,0.000,4,0.221,0.060,2445,3214,3948,0,0,0,0,0,0
$GC,188,-0.81,-214.1,50.8,-50.6,25,197,0.43,2.15,0.00,0.000,6,0.172,0.034,2572,1791,3951,0,0,0,0,0,0
$GC,512,-0.69,-214.1,151.8,-24.6,86,522,0.15,2.12,0.00,0.000,4,0.174,0.039,2620,392,3953,0,0,0,0,0,0
$GC,552,-0.66,-214.1,161.0,-20.2,92,560,0.00,2.12,0.00,0.000,6,0.000,0.034,2613,1799,3954,0,0,0,0,0,0
$GC,895,-0.63,-214.1,223.5,-18.5,153,902,0.00,2.12,0.00,0.000,4,0.000,0.047,2604,3208,3955,0,0,0,0,0,0
$GC,932,-0.63,-214.1,230.2,-17.3,159,939,0.12,2.05,0.00,0.000,6,0.157,0.031,2638,1796,3955,0,0,0,0,0,0
$GC,1274,-0.68,-214.1,278.4,-13.1,220,1282,0.00,2.17,0.00,0.000,4,0.000,0.050,2638,3203,3955,0,0,0,0,0,0
$GC,1338,-0.81,-214.1,285.0,-9.5,230,1348,0.15,2.08,0.00,0.000,6,0.038,0.032,2546,1804,3955,0,0,0,0,0,0
$GC,1676,-0.73,-214.1,356.5,-20.0,268,1680,0.20,2.12,0.00,0.000,4,0.166,0.041,2605,386,3955,0,0,0,0,0,0
$GC,1787,-0.79,-214.1,372.1,-12.8,277,1791,0.00,2.10,0.00,0.000,6,0.000,0.037,2601,1807,3955,0,0,0,0,0,0
$GC,2116,-0.81,-214.1,416.6,-13.2,307,2120,0.00,2.10,0.00,0.000,4,0.000,0.052,2601,3203,3953,0,0,0,0,0,0
$GC,2176,-0.90,-214.1,424.5,-11.2,312,2185,0.10,2.10,0.00,0.000,6,0.048,0.034,2532,1799,3953,0,0,0,0,0,0
$GC,2505,-0.83,-214.1,488.4,-19.0,343,2510,0.15,2.12,0.00,0.000,4,0.174,0.047,2571,390,3952,0,0,0,0,0,0
$STATE,2571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2571,begin apogee
$GC,2579,-0.23,0.0,500.6,15.5,349,2755,0.55,0.00,168.32,0.977,6,0.124,0.000,2759,1755,3072,0,0,0,0,0,0
$STATE,2756,end apogee,CONTROL_FINISHED_OK
$STATE,2756,begin climb
$GC,2759,1.16,214.1,509.4,0.0,364,2943,1.25,2.35,171.80,0.949,4,0.067,0.050,3223,358,2199,0,0,0,0,0,0
$GC,2982,0.84,214.1,471.5,32.1,383,2987,0.38,2.20,0.00,0.000,6,0.192,0.037,3117,1752,2197,0,0,0,0,0,0
$GC,3310,0.65,214.1,392.8,22.3,413,3315,0.22,2.15,0.00,0.000,4,0.173,0.045,3043,3173,2192,0,0,0,0,0,0
$GC,3407,0.59,214.1,375.8,15.0,421,3411,0.00,2.12,0.00,0.000,6,0.000,0.036,3051,1742,2189,0,0,0,0,0,0
$GC,3738,0.49,214.1,326.8,14.9,452,3742,0.17,2.10,0.00,0.000,4,0.168,0.044,3011,352,2188,0,0,0,0,0,0
$GC,3779,0.54,261.5,321.7,11.8,455,3827,0.00,2.10,38.72,0.866,6,0.000,0.034,3010,1762,2004,0,0,0,0,0,0
$GC,4153,0.58,294.1,273.4,12.5,507,4186,0.00,2.12,26.95,0.822,4,0.000,0.043,3010,3154,1872,0,0,0,0,0,0
$GC,4233,0.60,317.2,263.1,12.9,520,4261,0.00,2.15,21.02,0.794,6,0.000,0.034,3019,1756,1777,0,0,0,0,0,0
$GC,4598,0.60,317.2,213.7,14.7,584,4606,0.00,2.17,0.00,0.000,4,0.000,0.044,3031,344,1772,0,0,0,0,0,0
$GC,4642,0.62,317.2,206.7,14.5,591,4649,0.00,2.10,0.00,0.000,6,0.000,0.033,3031,1757,1772,0,0,0,0,0,0
$GC,4982,0.63,326.6,154.9,13.5,652,4997,0.00,2.17,8.52,0.658,4,0.000,0.044,3031,3166,1740,0,0,0,0,0,0
$GC,5081,0.68,342.1,142.0,13.2,669,5105,0.00,2.15,14.75,0.698,6,0.000,0.036,3039,1741,1676,0,0,0,0,0,0
$GC,5425,0.75,383.4,98.8,12.1,732,5463,0.12,0.00,34.72,0.693,6,0.084,0.000,3120,1741,1508,0,0,0,0,0,0
$GC,5787,0.73,383.4,40.3,14.9,797,5795,0.15,0.00,0.00,0.000,6,0.155,0.000,3077,1741,1505,0,0,0,0,0,0
$STATE,6085,end climb,SURFACE_DEPTH_REACHED
$STATE,6085,begin surface coast
$FINISH,0.7,1.003377
$STATE,6102,end surface coast,CONTROL_FINISHED_OK
$STATE,6102,begin surface
$SM_CCo,6121,24.38,0.350,1,0,1441,400.08
$SM_GC,1.88,0.00,0.00,24.38,0.000,0.000,0.350,142,1824,1441,-8.43,0.68,400.08
$IRIDIUM_FIX,2342.70,12628.15,071010,070735
$TT8_MAMPS,0.026964
$HUMID,41.37
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.90
$XPDR_PINGS,65
$24V_AH,24.3,33.514
$10V_AH,10.4,21.729
$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,20.200,55.725,484.825,24.375,0.000,29.725,15.504,173.804,16.250,0.000,14.501,2016.798,1443.984,514.882,2275.732,261.626,0.000,1324.837,0.000,2062.233,0.000,0.848,0.000
$DEVICE_MAMPS,221.085,112.455,976.905,349.605,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.689,875.379,1445.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,50304,856
$CAP_FILE_SIZE,87676,0
$CFSIZE,260165632,169664512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028,285.4,1
$GPS,071010,111328,2352.346,12629.175,10,2.1,29,-3.6