version: 66.08
glider: 166
mission: 3
dive: 189
start: 10 7 110 20 20 29
data:
$ID,166
$MISSION,3
$DIVE,189
$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,-21729.018
$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,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
$GPS1,071010,201419,2357.479,12629.456,8,1.9,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.2
$GPS2,071010,202008,2357.558,12629.390,14,2.0,14,-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,21.2,4640,-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,-214.1,0.0,0.0,0,106,0.00,0.00,-88.62,0.000,2,0.000,0.000,147,1753,3439,0,0,0,0,0,0
$GC,109,-1.16,-214.1,6.5,-12.8,12,134,8.80,2.25,-8.88,0.000,4,0.225,0.054,2441,3209,3949,0,0,0,0,0,0
$GC,245,-0.89,-214.1,74.6,-41.9,35,253,0.35,2.12,0.00,0.000,6,0.180,0.034,2544,1797,3951,0,0,0,0,0,0
$GC,573,-0.74,-214.1,180.2,-28.1,96,581,0.17,2.15,0.00,0.000,4,0.175,0.045,2593,401,3955,0,0,0,0,0,0
$GC,619,-0.71,-214.1,191.3,-21.2,103,627,0.00,2.10,0.00,0.000,6,0.000,0.039,2587,1800,3955,0,0,0,0,0,0
$GC,958,-0.67,-214.1,260.6,-19.0,164,967,0.12,2.17,0.00,0.000,4,0.181,0.052,2613,3201,3956,0,0,0,0,0,0
$GC,995,-0.71,-214.1,266.9,-15.5,170,1004,0.00,2.10,0.00,0.000,6,0.000,0.034,2613,1805,3956,0,0,0,0,0,0
$GC,1341,-0.72,-214.1,317.2,-14.2,221,1345,0.00,2.12,0.00,0.000,4,0.000,0.045,2613,386,3956,0,0,0,0,0,0
$GC,1375,-0.75,-214.1,322.5,-14.4,223,1382,0.00,2.12,0.00,0.000,6,0.000,0.039,2613,1801,3956,0,0,0,0,0,0
$GC,1701,-0.79,-214.1,363.5,-12.7,254,1705,0.00,2.12,0.00,0.000,4,0.000,0.052,2614,3215,3955,0,0,0,0,0,0
$GC,1834,-0.90,-214.1,376.2,-9.4,265,1839,0.17,2.08,0.00,0.000,6,0.068,0.035,2523,1800,3954,0,0,0,0,0,0
$GC,2162,-0.81,-214.1,443.3,-21.4,295,2166,0.20,2.12,0.00,0.000,4,0.168,0.044,2579,396,3953,0,0,0,0,0,0
$GC,2247,-0.86,-214.1,458.4,-14.8,302,2251,0.00,2.12,0.00,0.000,6,0.000,0.040,2576,1809,3953,0,0,0,0,0,0
$STATE,2506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2508,begin apogee
$GC,2515,-0.23,0.0,500.2,16.3,326,2691,0.55,0.00,168.35,0.982,6,0.129,0.000,2760,1740,3072,0,0,0,0,0,0
$STATE,2692,end apogee,CONTROL_FINISHED_OK
$STATE,2692,begin climb
$GC,2694,1.16,214.1,509.8,0.0,341,2876,1.25,2.30,171.80,0.954,4,0.065,0.050,3225,358,2198,0,0,0,0,0,0
$GC,2963,0.85,214.1,455.3,32.7,364,2968,0.38,2.17,0.00,0.000,6,0.190,0.037,3118,1752,2195,0,0,0,0,0,0
$GC,3288,0.66,214.1,377.8,22.2,394,3293,0.22,2.12,0.00,0.000,4,0.174,0.044,3068,357,2191,0,0,0,0,0,0
$GC,3332,0.56,214.1,369.1,18.0,397,3339,0.15,2.10,0.00,0.000,6,0.174,0.035,3019,1758,2192,0,0,0,0,0,0
$GC,3658,0.60,270.9,327.9,11.4,428,3709,0.00,2.17,46.70,0.872,4,0.000,0.044,3005,3169,1966,0,0,0,0,0,0
$GC,3808,0.65,295.7,309.1,12.8,440,3841,0.08,2.17,21.48,0.825,6,0.053,0.036,3067,1756,1866,0,0,0,0,0,0
$GC,4168,0.57,295.7,242.4,18.9,500,4176,0.15,2.17,0.00,0.000,4,0.172,0.045,3037,349,1859,0,0,0,0,0,0
$GC,4267,0.57,295.7,227.5,14.7,517,4274,0.00,2.10,0.00,0.000,6,0.000,0.034,3030,1759,1859,0,0,0,0,0,0
$GC,4607,0.59,308.4,178.8,13.3,578,4623,0.00,2.17,11.18,0.711,4,0.000,0.044,3029,3166,1814,0,0,0,0,0,0
$GC,4689,0.61,309.4,167.9,13.8,591,4695,0.00,2.10,0.00,0.000,6,0.000,0.035,3037,1744,1813,0,0,0,0,0,0
$GC,5021,0.68,363.7,125.0,11.5,652,5073,0.00,2.25,46.65,0.729,4,0.000,0.042,3036,3162,1589,0,0,0,0,0,0
$GC,5098,0.77,413.7,115.8,11.7,663,5149,0.08,2.17,42.50,0.702,6,0.051,0.035,3112,1747,1384,0,0,0,0,0,0
$GC,5469,0.77,416.0,47.4,13.8,730,5478,0.00,2.12,0.00,0.000,4,0.000,0.043,3123,356,1379,0,0,0,0,0,0
$GC,5487,0.77,416.0,44.9,14.3,732,5496,0.10,2.10,0.00,0.000,6,0.127,0.030,3089,1761,1379,0,0,0,0,0,0
$GC,5815,0.90,487.2,4.9,10.8,793,5832,0.12,0.00,14.75,0.589,2,0.084,0.000,3157,1765,1315,0,0,0,0,0,0
$STATE,5833,end climb,SURFACE_DEPTH_REACHED
$STATE,5833,begin surface coast
$FINISH,0.8,1.016796
$STATE,5856,end surface coast,CONTROL_FINISHED_OK
$STATE,5856,begin surface
$SM_CCo,5933,0.00,0.000,0,0,1311,431.97
$SM_GC,1.55,7.75,0.00,0.00,0.038,0.000,0.000,152,1766,1311,-8.33,-0.96,431.97
$IRIDIUM_FIX,2349.77,12629.56,071010,181813
$TT8_MAMPS,0.026215
$HUMID,41.61
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.80
$XPDR_PINGS,66
$24V_AH,24.3,34.382
$10V_AH,10.4,22.374
$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,20.650,55.925,523.400,0.000,0.000,31.379,37.203,140.534,16.500,0.000,16.559,1877.227,1496.189,504.875,2149.577,249.679,0.000,1297.290,0.000,1948.836,0.000,0.848,0.000
$DEVICE_MAMPS,224.910,109.395,982.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.250,816.580,1349.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46898,799
$CAP_FILE_SIZE,84971,0
$CFSIZE,260165632,169361408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,327.6,1
$GPS,071010,220037,2358.655,12629.720,39,0.9,39,-3.6