version: 66.08
glider: 166
mission: 3
dive: 184
start: 10 7 110 11 19 45
data:
$ID,166
$MISSION,3
$DIVE,184
$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,-21722.645
$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,59
$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
$GPS1,071010,111328,2352.346,12629.175,10,2.1,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.6
$GPS2,071010,111922,2352.367,12629.138,17,2.2,36,-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,14.2,14211,-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,-214.1,0.0,0.0,0,90,0.00,0.00,-72.62,0.000,2,0.000,0.000,140,1824,3322,0,0,0,0,0,0
$GC,93,-1.16,-214.1,5.7,-11.1,10,124,8.82,2.12,-11.52,0.000,4,0.225,0.057,2447,3204,3949,0,0,0,0,0,0
$GC,233,-0.86,-214.1,73.8,-43.9,34,242,0.35,2.12,0.00,0.000,6,0.161,0.034,2554,1794,3951,0,0,0,0,0,0
$GC,563,-0.72,-214.1,174.7,-29.6,95,569,0.17,0.00,0.00,0.000,6,0.180,0.000,2602,1790,3954,0,0,0,0,0,0
$GC,904,-0.68,-214.1,244.7,-17.9,156,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1790,3956,0,0,0,0,0,0
$GC,1250,-0.68,-214.1,303.9,-16.5,216,1254,0.00,2.08,0.00,0.000,4,0.000,0.044,2599,3184,3956,0,0,0,0,0,0
$GC,1349,-0.74,-214.1,318.5,-12.8,224,1358,0.00,2.08,0.00,0.000,6,0.000,0.031,2599,1793,3955,0,0,0,0,0,0
$GC,1676,-0.74,-214.1,371.4,-16.3,255,1679,0.00,2.08,0.00,0.000,4,0.000,0.041,2599,393,3955,0,0,0,0,0,0
$GC,1759,-0.78,-214.1,383.9,-13.7,262,1767,0.00,2.08,0.00,0.000,6,0.000,0.034,2591,1775,3955,0,0,0,0,0,0
$GC,2086,-0.78,-214.1,430.7,-13.8,293,2090,0.00,2.17,0.00,0.000,4,0.000,0.050,2585,3213,3953,0,0,0,0,0,0
$GC,2156,-0.85,-214.1,439.6,-11.8,299,2160,0.00,2.08,0.00,0.000,6,0.000,0.033,2585,1795,3953,0,0,0,0,0,0
$GC,2483,-0.85,-214.1,486.9,-14.7,329,2487,0.00,2.10,0.00,0.000,4,0.000,0.044,2585,401,3952,0,0,0,0,0,0
$GC,2523,-0.85,-214.1,493.2,-15.5,332,2527,0.00,2.08,0.00,0.000,6,0.000,0.039,2586,1799,3952,0,0,0,0,0,0
$STATE,2570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2570,begin apogee
$GC,2575,-0.23,0.0,500.2,14.2,336,2753,0.52,0.00,168.35,0.977,6,0.133,0.000,2761,1800,3071,0,0,0,0,0,0
$STATE,2753,end apogee,CONTROL_FINISHED_OK
$STATE,2753,begin climb
$GC,2756,1.16,214.1,508.1,0.0,351,2939,1.25,2.38,172.20,0.948,4,0.063,0.047,3228,358,2198,0,0,0,0,0,0
$GC,3003,0.85,214.1,466.6,29.2,372,3012,0.38,2.20,0.00,0.000,6,0.183,0.037,3116,1746,2195,0,0,0,0,0,0
$GC,3329,0.67,214.1,394.5,20.7,403,3334,0.20,2.15,0.00,0.000,4,0.176,0.044,3049,3165,2191,0,0,0,0,0,0
$GC,3506,0.59,214.1,362.9,16.5,418,3514,0.00,2.15,0.00,0.000,6,0.000,0.037,3057,1755,2188,0,0,0,0,0,0
$GC,3833,0.50,214.1,311.8,14.7,449,3838,0.17,2.12,0.00,0.000,4,0.169,0.044,3017,346,2187,0,0,0,0,0,0
$GC,3918,0.57,271.9,301.1,11.4,456,3971,0.00,2.12,47.00,0.857,6,0.000,0.034,3014,1752,1963,0,0,0,0,0,0
$GC,4305,0.61,300.4,254.8,12.7,523,4333,0.00,2.20,24.02,0.802,4,0.000,0.045,3013,3153,1847,0,0,0,0,0,0
$GC,4404,0.68,340.3,242.6,12.2,539,4449,0.12,2.12,35.08,0.796,6,0.080,0.035,3090,1738,1684,0,0,0,0,0,0
$GC,4788,0.61,340.3,163.1,21.0,605,4795,0.17,0.00,0.00,0.000,6,0.164,0.000,3041,1738,1680,0,0,0,0,0,0
$GC,5116,0.63,340.3,117.5,13.9,666,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1738,1679,0,0,0,0,0,0
$GC,5441,0.78,407.9,79.6,11.0,727,5500,0.15,0.00,54.97,0.686,6,0.076,0.000,3137,1738,1408,0,0,0,0,0,0
$GC,5822,0.73,407.9,11.6,17.9,795,5830,0.20,2.20,0.00,0.000,4,0.151,0.040,3067,3155,1404,0,0,0,0,0,0
$GC,5872,0.86,450.3,4.1,12.0,803,5890,0.08,2.12,12.52,0.577,2,0.051,0.034,3141,1757,1352,0,0,0,0,0,0
$STATE,5891,end climb,SURFACE_DEPTH_REACHED
$STATE,5891,begin surface coast
$FINISH,0.8,1.022189
$STATE,5918,end surface coast,CONTROL_FINISHED_OK
$STATE,5919,begin surface
$SM_CCo,5995,0.00,0.000,0,0,1348,422.90
$SM_GC,1.71,7.55,0.00,0.00,0.024,0.000,0.000,153,1753,1348,-8.33,-1.33,422.90
$IRIDIUM_FIX,2340.34,12628.65,071010,090929
$TT8_MAMPS,0.026215
$HUMID,41.14
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.60
$XPDR_PINGS,71
$24V_AH,24.3,33.655
$10V_AH,10.4,21.836
$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,20.150,42.750,514.150,0.000,0.000,30.850,21.742,138.795,17.750,0.000,38.676,1893.842,1531.208,481.554,2195.101,245.735,0.000,1277.540,0.000,1983.706,0.000,0.846,0.000
$DEVICE_MAMPS,224.910,56.610,976.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.966,827.848,1374.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46929,810
$CAP_FILE_SIZE,81724,0
$CFSIZE,260165632,169627648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,228.5,1
$GPS,071010,130055,2353.318,12629.251,40,1.1,40,-3.6