version: 66.08
glider: 166
mission: 3
dive: 185
start: 10 7 110 13 7 5
data:
$ID,166
$MISSION,3
$DIVE,185
$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,-21723.896
$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,41
$R_STBD_OVSHOOT,42
$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
$GPS1,071010,130055,2353.318,12629.251,40,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.7
$GPS2,071010,130644,2353.323,12629.187,9,1.5,9,-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,13.5,12442,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,91,0.00,0.00,-73.80,0.000,2,0.000,0.000,145,1753,3220,0,0,0,0,0,0
$GC,94,-1.16,-214.1,5.2,-9.8,10,126,8.93,2.22,-13.75,0.000,4,0.230,0.051,2446,3201,3947,0,0,0,0,0,0
$GC,215,-0.82,-214.1,64.3,-46.4,30,224,0.40,2.12,0.00,0.000,6,0.182,0.033,2563,1786,3949,0,0,0,0,0,0
$GC,547,-0.69,-214.1,164.8,-26.0,91,553,0.17,0.00,0.00,0.000,6,0.171,0.000,2612,1783,3952,0,0,0,0,0,0
$GC,889,-0.67,-214.1,232.5,-19.3,152,898,0.00,2.20,0.00,0.000,4,0.000,0.051,2612,3194,3954,0,0,0,0,0,0
$GC,911,-0.67,-214.1,236.4,-17.3,155,918,0.00,2.05,0.00,0.000,6,0.000,0.034,2612,1799,3955,0,0,0,0,0,0
$GC,1252,-0.67,-214.1,294.3,-16.1,216,1261,0.00,2.17,0.00,0.000,4,0.000,0.052,2612,3195,3954,0,0,0,0,0,0
$GC,1335,-0.75,-214.1,305.5,-12.3,226,1339,0.00,2.08,0.00,0.000,6,0.000,0.034,2611,1796,3954,0,0,0,0,0,0
$GC,1660,-0.77,-214.1,355.8,-15.3,256,1664,0.00,2.10,0.00,0.000,4,0.000,0.046,2611,391,3953,0,0,0,0,0,0
$GC,1725,-0.81,-214.1,364.8,-14.2,261,1729,0.00,2.10,0.00,0.000,6,0.000,0.037,2602,1807,3953,0,0,0,0,0,0
$GC,2056,-0.83,-214.1,412.7,-14.3,292,2060,0.00,2.12,0.00,0.000,4,0.000,0.053,2601,3206,3952,0,0,0,0,0,0
$GC,2100,-0.91,-214.1,418.5,-11.7,295,2107,0.15,2.08,0.00,0.000,6,0.076,0.034,2520,1798,3952,0,0,0,0,0,0
$GC,2425,-0.81,-214.1,487.3,-22.1,326,2427,0.20,0.00,0.00,0.000,6,0.170,0.000,2575,1798,3950,0,0,0,0,0,0
$STATE,2499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2499,begin apogee
$GC,2504,-0.23,0.0,500.2,15.9,333,2677,0.55,0.00,167.62,0.975,6,0.132,0.000,2760,1798,3072,0,0,0,0,0,0
$STATE,2678,end apogee,CONTROL_FINISHED_OK
$STATE,2678,begin climb
$GC,2680,1.16,214.1,508.0,0.0,348,2860,1.25,2.35,171.73,0.946,4,0.067,0.050,3224,353,2199,0,0,0,0,0,0
$GC,2934,0.84,214.1,461.4,32.1,370,2942,0.35,2.20,0.00,0.000,6,0.186,0.037,3119,1744,2196,0,0,0,0,0,0
$GC,3261,0.66,214.1,386.9,20.5,401,3266,0.22,2.15,0.00,0.000,4,0.174,0.044,3045,3173,2192,0,0,0,0,0,0
$GC,3412,0.59,214.1,362.5,14.9,414,3416,0.00,2.12,0.00,0.000,6,0.000,0.036,3052,1744,2190,0,0,0,0,0,0
$GC,3737,0.51,214.1,313.9,14.6,444,3742,0.17,2.10,0.00,0.000,4,0.168,0.044,3015,340,2188,0,0,0,0,0,0
$GC,3811,0.54,238.0,304.0,12.9,450,3835,0.00,2.12,19.73,0.832,6,0.000,0.033,3015,1764,2101,0,0,0,0,0,0
$GC,4167,0.60,292.3,259.5,11.5,511,4221,0.00,2.17,44.92,0.825,4,0.000,0.045,3014,3149,1880,0,0,0,0,0,0
$GC,4251,0.65,330.1,249.2,12.3,524,4293,0.00,2.15,33.10,0.791,6,0.000,0.036,3020,1753,1726,0,0,0,0,0,0
$GC,4623,0.66,339.0,197.0,13.5,590,4638,0.00,2.20,8.52,0.671,4,0.000,0.044,3030,348,1689,0,0,0,0,0,0
$GC,4672,0.69,339.0,190.0,14.4,598,4680,0.00,2.15,0.00,0.000,6,0.000,0.034,3031,1754,1688,0,0,0,0,0,0
$GC,5013,0.69,339.0,143.2,14.1,659,5021,0.00,2.12,0.00,0.000,4,0.000,0.044,3031,3157,1688,0,0,0,0,0,0
$GC,5115,0.73,339.0,128.7,14.1,677,5124,0.08,2.12,0.00,0.000,6,0.051,0.034,3106,1743,1688,0,0,0,0,0,0
$GC,5442,0.67,339.0,68.1,17.0,738,5451,0.17,2.15,0.00,0.000,4,0.158,0.042,3064,344,1687,0,0,0,0,0,0
$GC,5465,0.63,339.0,64.5,15.6,741,5473,0.00,2.12,0.00,0.000,6,0.000,0.031,3056,1765,1685,0,0,0,0,0,0
$GC,5795,0.87,475.7,30.5,8.0,802,5912,0.17,2.22,110.07,0.639,4,0.065,0.040,3142,3165,1132,0,0,0,0,0,0
$STATE,5958,end climb,SURFACE_DEPTH_REACHED
$STATE,5958,begin surface coast
$FINISH,1.0,1.022010
$STATE,5964,end surface coast,CONTROL_FINISHED_OK
$STATE,5964,begin surface
$SM_CCo,6044,0.00,0.000,0,0,1127,477.11
$SM_GC,1.42,7.72,0.00,0.00,0.029,0.000,0.000,148,1797,1127,-8.34,-0.08,477.11
$IRIDIUM_FIX,2342.70,12628.15,071010,111139
$TT8_MAMPS,0.026215
$HUMID,40.78
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.70
$XPDR_PINGS,71
$24V_AH,24.3,33.804
$10V_AH,10.4,21.944
$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,20.550,55.825,555.700,0.000,0.000,29.149,40.006,137.217,17.750,0.000,12.189,1917.765,1509.081,520.794,2188.590,251.624,0.000,1330.169,0.000,1989.037,0.000,0.848,0.000
$DEVICE_MAMPS,229.500,52.785,974.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.195,845.282,1379.691,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46901,827
$CAP_FILE_SIZE,84737,0
$CFSIZE,260165632,169570304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,173.6,1
$GPS,071010,144838,2354.139,12629.383,13,1.3,13,-3.6