version: 66.08
glider: 166
mission: 3
dive: 187
start: 10 7 110 16 42 46
data:
$ID,166
$MISSION,3
$DIVE,187
$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,-21726.508
$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,43
$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
$GPS1,071010,163624,2355.085,12629.430,26,1.2,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.6
$GPS2,071010,164225,2355.114,12629.335,12,1.4,17,-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,9.5,9118,-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,15,-1.16,-214.1,0.0,0.0,0,97,0.00,0.00,-78.97,0.000,2,0.000,0.000,139,1753,3355,0,0,0,0,0,0
$GC,100,-1.16,-214.1,5.9,-12.2,11,125,8.68,2.28,-10.68,0.000,4,0.217,0.055,2446,3220,3949,0,0,0,0,0,0
$GC,228,-0.89,-214.1,67.7,-38.1,33,237,0.32,2.15,0.00,0.000,6,0.166,0.034,2544,1791,3952,0,0,0,0,0,0
$GC,555,-0.74,-214.1,170.3,-27.9,94,563,0.20,2.15,0.00,0.000,4,0.173,0.041,2591,3198,3955,0,0,0,0,0,0
$GC,625,-0.74,-214.1,184.8,-15.7,106,633,0.00,2.08,0.00,0.000,6,0.000,0.032,2593,1802,3956,0,0,0,0,0,0
$GC,961,-0.70,-214.1,248.6,-20.4,167,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1802,3957,0,0,0,0,0,0
$GC,1293,-0.67,-214.1,308.0,-17.6,224,1297,0.00,2.08,0.00,0.000,4,0.000,0.040,2593,392,3956,0,0,0,0,0,0
$GC,1372,-0.67,-214.1,321.7,-17.1,231,1377,0.12,2.08,0.00,0.000,6,0.172,0.034,2619,1802,3957,0,0,0,0,0,0
$GC,1704,-0.72,-214.1,368.0,-13.3,262,1708,0.00,2.08,0.00,0.000,4,0.000,0.047,2613,3198,3956,0,0,0,0,0,0
$GC,1767,-0.81,-214.1,375.5,-11.1,267,1772,0.10,2.05,0.00,0.000,6,0.098,0.031,2552,1789,3956,0,0,0,0,0,0
$GC,2094,-0.77,-214.1,434.8,-18.7,297,2099,0.15,2.17,0.00,0.000,4,0.171,0.047,2584,3202,3955,0,0,0,0,0,0
$GC,2179,-0.83,-214.1,446.3,-12.0,304,2183,0.00,2.08,0.00,0.000,6,0.000,0.033,2584,1790,3954,0,0,0,0,0,0
$GC,2511,-0.85,-214.1,493.2,-14.3,335,2515,0.00,2.08,0.00,0.000,4,0.000,0.044,2584,398,3953,0,0,0,0,0,0
$STATE,2552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2552,begin apogee
$GC,2561,-0.23,0.0,500.2,14.9,338,2736,0.52,0.00,168.48,0.976,6,0.123,0.000,2763,1743,3072,0,0,0,0,0,0
$STATE,2737,end apogee,CONTROL_FINISHED_OK
$STATE,2737,begin climb
$GC,2739,1.16,214.1,509.8,0.0,353,2925,1.20,2.28,172.57,0.954,4,0.046,0.047,3232,344,2198,0,0,0,0,0,0
$GC,3031,0.82,214.1,448.9,33.5,380,3039,0.40,2.22,0.00,0.000,6,0.183,0.041,3110,1751,2194,0,0,0,0,0,0
$GC,3358,0.65,214.1,376.1,20.2,411,3363,0.20,2.15,0.00,0.000,4,0.175,0.046,3044,3163,2191,0,0,0,0,0,0
$GC,3447,0.56,214.1,360.4,15.9,418,3456,0.00,2.12,0.00,0.000,6,0.000,0.036,3051,1760,2189,0,0,0,0,0,0
$GC,3774,0.48,214.1,308.3,14.8,449,3779,0.20,2.12,0.00,0.000,4,0.161,0.042,2983,3175,2188,0,0,0,0,0,0
$GC,3815,0.54,266.9,303.0,11.6,452,3865,0.00,2.12,43.15,0.858,6,0.000,0.035,2992,1739,1982,0,0,0,0,0,0
$GC,4197,0.63,319.4,256.8,11.6,517,4252,0.15,2.20,43.92,0.821,4,0.076,0.045,3085,358,1769,0,0,0,0,0,0
$GC,4315,0.57,319.4,234.6,19.2,536,4323,0.15,2.17,0.00,0.000,6,0.146,0.033,3030,1765,1766,0,0,0,0,0,0
$GC,4659,0.58,328.5,183.6,13.5,597,4674,0.00,2.17,8.50,0.674,4,0.000,0.045,3028,3160,1732,0,0,0,0,0,0
$GC,4756,0.65,362.1,170.8,12.4,613,4790,0.00,2.12,29.42,0.750,6,0.000,0.034,3035,1741,1595,0,0,0,0,0,0
$GC,5115,0.70,386.4,121.1,12.8,678,5146,0.00,2.22,21.00,0.702,4,0.000,0.043,3035,3160,1496,0,0,0,0,0,0
$GC,5192,0.77,390.7,110.0,13.7,690,5203,0.08,2.15,5.12,0.516,6,0.050,0.035,3112,1753,1479,0,0,0,0,0,0
$GC,5527,0.77,390.7,48.4,15.6,751,5535,0.00,2.15,0.00,0.000,4,0.000,0.043,3124,344,1477,0,0,0,0,0,0
$GC,5565,0.77,396.8,42.6,13.6,757,5582,0.10,2.12,6.43,0.538,6,0.125,0.032,3088,1759,1454,0,0,0,0,0,0
$STATE,5895,end climb,SURFACE_DEPTH_REACHED
$STATE,5895,begin surface coast
$FINISH,0.6,1.015529
$STATE,5918,end surface coast,CONTROL_FINISHED_OK
$STATE,5918,begin surface
$SM_CCo,5934,13.15,0.080,1,0,1441,400.08
$SM_GC,1.07,0.00,0.00,13.15,0.000,0.000,0.080,155,1764,1441,-8.39,-1.02,400.08
$IRIDIUM_FIX,2345.05,12628.15,071010,141447
$TT8_MAMPS,0.026964
$HUMID,42.63
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.60
$XPDR_PINGS,78
$24V_AH,24.3,34.087
$10V_AH,10.4,22.158
$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,20.025,55.650,498.600,13.150,0.000,25.441,40.193,145.185,19.500,0.000,20.233,1933.241,1419.925,520.040,2188.647,249.287,0.000,1292.578,0.000,1975.588,0.000,0.847,0.000
$DEVICE_MAMPS,217.260,55.080,976.140,79.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.144,840.103,1379.658,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46982,822
$CAP_FILE_SIZE,84794,0
$CFSIZE,260165632,169472000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015,294.4,1
$GPS,071010,182306,2356.192,12629.411,13,0.9,29,-3.6