version: 66.08
glider: 166
mission: 3
dive: 207
start: 10 9 110 5 15 55
data:
$ID,166
$MISSION,3
$DIVE,207
$N_DIVES,208
$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,-21752.473
$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,47
$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
$GPS1,091010,051007,2345.275,12631.551,28,1.1,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.2
$GPS2,091010,051532,2345.213,12631.620,14,1.2,14,-3.5
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2300.000,12630.000
$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,210.2,83779,-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,-214.1,0.0,0.0,0,104,0.00,0.00,-86.15,0.000,2,0.000,0.000,146,1762,3313,0,0,0,0,0,0
$GC,107,-1.16,-214.1,6.1,-12.4,12,138,8.68,2.25,-11.50,0.000,4,0.217,0.057,2450,3200,3949,0,0,0,0,0,0
$GC,246,-0.90,-214.1,72.0,-41.0,36,255,0.30,2.12,0.00,0.000,6,0.178,0.035,2538,1799,3951,0,0,0,0,0,0
$GC,576,-0.75,-214.1,174.2,-27.5,97,583,0.20,2.12,0.00,0.000,4,0.165,0.044,2596,401,3955,0,0,0,0,0,0
$GC,648,-0.75,-214.1,190.4,-17.7,109,655,0.00,2.10,0.00,0.000,6,0.000,0.039,2596,1793,3955,0,0,0,0,0,0
$GC,990,-0.72,-214.1,253.2,-19.9,170,998,0.00,2.17,0.00,0.000,4,0.000,0.051,2587,3206,3956,0,0,0,0,0,0
$GC,1012,-0.68,-214.1,257.2,-18.7,173,1020,0.12,2.10,0.00,0.000,6,0.161,0.035,2621,1792,3956,0,0,0,0,0,0
$GC,1352,-0.71,-214.1,306.7,-14.4,230,1356,0.00,2.17,0.00,0.000,4,0.000,0.053,2614,3203,3956,0,0,0,0,0,0
$GC,1390,-0.76,-214.1,311.4,-13.3,233,1394,0.00,2.08,0.00,0.000,6,0.000,0.035,2614,1795,3956,0,0,0,0,0,0
$GC,1717,-0.79,-214.1,360.0,-14.6,263,1721,0.00,2.17,0.00,0.000,4,0.000,0.054,2613,3205,3955,0,0,0,0,0,0
$GC,1758,-0.86,-214.1,365.7,-13.1,266,1763,0.15,2.10,0.00,0.000,6,0.076,0.037,2536,1794,3954,0,0,0,0,0,0
$GC,2084,-0.78,-214.1,430.3,-18.8,296,2089,0.17,2.15,0.00,0.000,4,0.168,0.047,2584,386,3953,0,0,0,0,0,0
$GC,2163,-0.81,-214.1,442.2,-12.9,302,2172,0.00,2.15,0.00,0.000,6,0.000,0.039,2576,1795,3953,0,0,0,0,0,0
$GC,2490,-0.81,-214.1,489.1,-14.8,333,2494,0.00,2.15,0.00,0.000,4,0.000,0.054,2566,3213,3952,0,0,0,0,0,0
$STATE,2567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2567,begin apogee
$GC,2575,-0.23,0.0,500.5,13.0,340,2754,0.57,0.00,168.75,0.988,6,0.125,0.000,2760,1746,3071,0,0,0,0,0,0
$STATE,2755,end apogee,CONTROL_FINISHED_OK
$STATE,2755,begin climb
$GC,2757,1.16,214.1,508.8,0.0,355,2938,1.25,2.38,171.82,0.959,4,0.066,0.052,3217,3160,2199,0,0,0,0,0,0
$GC,3061,0.87,214.1,448.7,30.3,381,3066,0.38,2.17,0.00,0.000,6,0.191,0.040,3127,1744,2195,0,0,0,0,0,0
$GC,3389,0.69,214.1,378.2,20.1,411,3394,0.22,2.12,0.00,0.000,4,0.171,0.044,3070,337,2193,0,0,0,0,0,0
$GC,3498,0.60,214.1,359.2,15.9,420,3507,0.08,2.17,0.00,0.000,6,0.158,0.034,3038,1767,2191,0,0,0,0,0,0
$GC,3825,0.54,214.1,313.5,14.3,451,3829,0.00,2.08,0.00,0.000,4,0.000,0.045,3029,3165,2189,0,0,0,0,0,0
$GC,3868,0.51,214.1,307.0,13.9,454,3877,0.08,2.15,0.00,0.000,6,0.148,0.036,3010,1739,2188,0,0,0,0,0,0
$GC,4201,0.60,290.5,268.7,10.6,510,4270,0.00,2.30,61.78,0.844,4,0.000,0.045,3000,3160,1887,0,0,0,0,0,0
$GC,4302,0.70,346.8,258.0,11.4,525,4358,0.17,2.15,48.70,0.810,6,0.067,0.035,3094,1751,1657,0,0,0,0,0,0
$GC,4688,0.62,346.8,173.5,20.6,593,4695,0.20,2.15,0.00,0.000,4,0.161,0.042,3046,340,1654,0,0,0,0,0,0
$GC,4726,0.62,346.8,165.8,17.4,599,4734,0.00,2.10,0.00,0.000,6,0.000,0.034,3040,1748,1652,0,0,0,0,0,0
$GC,5056,0.62,348.2,119.1,13.8,660,5064,0.00,2.15,0.00,0.000,4,0.000,0.045,3040,3159,1651,0,0,0,0,0,0
$GC,5132,0.66,348.2,108.3,14.4,673,5140,0.00,2.12,0.00,0.000,6,0.000,0.035,3047,1750,1651,0,0,0,0,0,0
$GC,5458,0.85,446.2,69.0,9.6,734,5547,0.17,2.20,80.93,0.685,4,0.065,0.042,3162,347,1251,0,0,0,0,0,0
$GC,5609,0.78,446.2,40.5,22.6,757,5617,0.20,2.17,0.00,0.000,6,0.125,0.034,3095,1754,1249,0,0,0,0,0,0
$STATE,5894,end climb,SURFACE_DEPTH_REACHED
$STATE,5895,begin surface coast
$FINISH,0.6,1.014179
$STATE,5924,end surface coast,CONTROL_FINISHED_OK
$STATE,5924,begin surface
$SM_CCo,6000,0.00,0.000,0,0,1243,448.41
$SM_GC,1.46,7.57,0.00,0.00,0.037,0.000,0.000,146,1759,1243,-8.35,-1.16,448.41
$IRIDIUM_FIX,2335.63,12630.54,091010,030349
$TT8_MAMPS,0.026215
$HUMID,41.96
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.80
$XPDR_PINGS,54
$24V_AH,24.3,37.104
$10V_AH,10.4,24.333
$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,20.525,60.500,531.975,0.000,0.000,25.298,16.135,142.068,13.500,0.000,15.799,1903.736,1482.226,518.020,2160.664,258.556,0.000,1320.906,0.000,1987.968,0.000,0.847,0.000
$DEVICE_MAMPS,217.260,57.375,988.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.172,833.918,1389.808,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,46935,815
$CAP_FILE_SIZE,86171,0
$CFSIZE,260165632,168415232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,120.3,1
$GPS,091010,065704,2344.117,12631.669,11,4.0,30,-3.5