version: 66.08
glider: 166
mission: 3
dive: 188
start: 10 7 110 18 29 11
data:
$ID,166
$MISSION,3
$DIVE,188
$N_DIVES,195
$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,-21727.764
$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,43
$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
$GPS1,071010,182306,2356.192,12629.411,13,0.9,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.5
$GPS2,071010,182850,2356.261,12629.336,11,1.5,11,-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,15.1,7015,-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,-214.1,0.0,0.0,0,90,0.00,0.00,-72.53,0.000,2,0.000,0.000,145,1768,3325,0,0,0,0,0,0
$GC,93,-1.16,-214.1,5.6,-11.0,10,125,8.82,2.25,-11.38,0.000,4,0.224,0.059,2450,3208,3948,0,0,0,0,0,0
$GC,254,-0.90,-214.1,82.9,-40.2,38,263,0.32,2.12,0.00,0.000,6,0.180,0.036,2545,1798,3951,0,0,0,0,0,0
$GC,586,-0.76,-214.1,182.9,-28.6,99,593,0.17,0.00,0.00,0.000,6,0.170,0.000,2595,1795,3954,0,0,0,0,0,0
$GC,928,-0.72,-214.1,255.2,-19.6,160,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1795,3956,0,0,0,0,0,0
$GC,1270,-0.72,-214.1,312.2,-15.2,215,1274,0.00,2.10,0.00,0.000,4,0.000,0.045,2595,400,3956,0,0,0,0,0,0
$GC,1308,-0.74,-214.1,318.7,-15.9,218,1316,0.00,2.12,0.00,0.000,6,0.000,0.038,2588,1800,3956,0,0,0,0,0,0
$GC,1635,-0.74,-214.1,369.4,-15.4,249,1639,0.00,2.15,0.00,0.000,4,0.000,0.052,2578,3217,3955,0,0,0,0,0,0
$GC,1774,-0.78,-214.1,389.0,-14.1,261,1778,0.00,2.10,0.00,0.000,6,0.000,0.037,2578,1804,3955,0,0,0,0,0,0
$GC,2106,-0.78,-214.1,442.0,-15.4,292,2110,0.00,2.10,0.00,0.000,4,0.000,0.046,2578,395,3953,0,0,0,0,0,0
$GC,2172,-0.81,-214.1,451.8,-13.4,297,2179,0.00,2.10,0.00,0.000,6,0.000,0.039,2575,1806,3953,0,0,0,0,0,0
$GC,2499,-0.81,-214.1,496.0,-14.4,328,2503,0.00,2.12,0.00,0.000,4,0.000,0.051,2566,3218,3951,0,0,0,0,0,0
$STATE,2526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2526,begin apogee
$GC,2533,-0.23,0.0,500.2,13.6,330,2712,0.57,0.00,168.40,0.984,6,0.123,0.000,2760,1741,3072,0,0,0,0,0,0
$STATE,2713,end apogee,CONTROL_FINISHED_OK
$STATE,2713,begin climb
$GC,2716,1.16,214.1,507.6,0.0,345,2898,1.23,2.25,172.75,0.955,4,0.048,0.046,3236,344,2199,0,0,0,0,0,0
$GC,2928,0.82,214.1,473.4,32.0,364,2936,0.43,2.25,0.00,0.000,6,0.186,0.039,3109,1749,2196,0,0,0,0,0,0
$GC,3255,0.64,214.1,401.3,20.0,395,3257,0.20,0.00,0.00,0.000,6,0.176,0.000,3053,1754,2193,0,0,0,0,0,0
$GC,3573,0.54,214.1,349.2,17.5,425,3578,0.12,2.12,0.00,0.000,4,0.184,0.044,3009,3162,2190,0,0,0,0,0,0
$GC,3652,0.54,235.1,337.6,13.0,432,3678,0.00,2.10,17.75,0.850,6,0.000,0.035,3019,1742,2112,0,0,0,0,0,0
$GC,3999,0.51,235.4,289.9,13.9,470,4008,0.00,2.17,0.00,0.000,4,0.000,0.044,3016,3156,2108,0,0,0,0,0,0
$GC,4056,0.49,237.4,282.4,13.8,479,4062,0.00,2.10,0.00,0.000,6,0.000,0.035,3025,1746,2108,0,0,0,0,0,0
$GC,4396,0.48,252.2,236.8,13.2,540,4420,0.00,2.12,15.05,0.783,4,0.000,0.044,3038,353,2042,0,0,0,0,0,0
$GC,4479,0.46,252.2,225.8,14.1,553,4487,0.15,2.10,0.00,0.000,6,0.151,0.033,2993,1762,2041,0,0,0,0,0,0
$GC,4820,0.61,341.4,187.2,10.0,614,4902,0.12,2.22,74.25,0.779,4,0.084,0.044,3058,3153,1679,0,0,0,0,0,0
$GC,4971,0.61,341.4,163.8,15.8,638,4979,0.00,2.17,0.00,0.000,6,0.000,0.034,3063,1744,1677,0,0,0,0,0,0
$GC,5301,0.59,341.4,112.5,14.8,699,5309,0.00,2.17,0.00,0.000,4,0.000,0.043,3057,3160,1675,0,0,0,0,0,0
$GC,5356,0.61,341.4,103.6,15.6,708,5363,0.00,2.12,0.00,0.000,6,0.000,0.035,3065,1754,1675,0,0,0,0,0,0
$GC,5681,0.68,378.8,58.9,12.3,769,5719,0.00,2.15,30.90,0.665,4,0.000,0.041,3064,3165,1526,0,0,0,0,0,0
$GC,5754,0.79,419.7,49.8,12.1,780,5798,0.00,2.15,34.47,0.649,6,0.000,0.035,3074,1757,1360,0,0,0,0,0,0
$GC,6120,1.01,549.8,10.0,8.2,846,6167,0.25,0.00,43.88,0.614,2,0.054,0.000,3202,1756,1141,0,0,0,0,0,0
$STATE,6168,end climb,SURFACE_DEPTH_REACHED
$STATE,6168,begin surface coast
$FINISH,0.7,1.022066
$STATE,6180,end surface coast,CONTROL_FINISHED_OK
$STATE,6180,begin surface
$SM_CCo,6258,0.00,0.000,0,0,1137,474.66
$SM_GC,1.43,7.95,0.00,0.00,0.034,0.000,0.000,149,1753,1137,-8.35,-1.33,474.66
$IRIDIUM_FIX,2347.41,12631.45,071010,161625
$TT8_MAMPS,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.90
$XPDR_PINGS,80
$24V_AH,24.3,34.237
$10V_AH,10.4,22.269
$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,20.350,51.650,557.450,0.000,0.000,30.362,37.913,137.190,20.000,0.000,13.936,1972.546,1605.977,534.880,2231.635,251.452,0.000,1348.704,0.000,2036.135,0.000,0.848,0.000
$DEVICE_MAMPS,224.145,58.905,983.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.896,872.755,1440.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50116,854
$CAP_FILE_SIZE,84662,0
$CFSIZE,260165632,169410560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,336.8,1
$GPS,071010,201419,2357.479,12629.456,8,1.9,14,-3.6