version: 66.08
glider: 166
mission: 3
dive: 210
start: 10 9 110 10 58 30
data:
$ID,166
$MISSION,3
$DIVE,210
$N_DIVES,220
$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,-21783.865
$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,45
$R_STBD_OVSHOOT,62
$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
$GPS1,091010,105349,2341.846,12631.065,8,1.3,8,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.2
$GPS2,091010,105808,2341.810,12631.019,14,1.1,14,-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,179.0,77452,-19.7,-13.889
$D_GRID,1000
$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,17,-1.16,-214.1,0.0,0.0,0,99,0.00,0.00,-80.30,0.000,2,0.000,0.000,149,1831,3195,0,0,0,0,0,0
$GC,102,-1.16,-214.1,5.3,-11.4,11,134,8.65,2.20,-14.38,0.000,4,0.217,0.053,2459,382,3947,0,0,0,0,0,0
$GC,369,-0.93,-214.1,116.8,-31.8,59,377,0.28,2.12,0.00,0.000,6,0.168,0.039,2534,1772,3950,0,0,0,0,0,0
$GC,700,-0.79,-214.1,207.9,-25.0,120,708,0.17,2.22,0.00,0.000,4,0.175,0.049,2574,3210,3952,0,0,0,0,0,0
$GC,735,-0.73,-214.1,215.6,-21.2,125,743,0.00,2.08,0.00,0.000,6,0.000,0.037,2574,1804,3952,0,0,0,0,0,0
$GC,1067,-0.68,-214.1,283.3,-19.1,186,1075,0.15,2.17,0.00,0.000,4,0.164,0.047,2616,397,3951,0,0,0,0,0,0
$GC,1101,-0.68,-214.1,289.6,-18.5,191,1108,0.00,2.10,0.00,0.000,6,0.000,0.041,2614,1806,3951,0,0,0,0,0,0
$GC,1427,-0.70,-214.1,336.5,-14.2,228,1431,0.00,2.15,0.00,0.000,4,0.000,0.053,2613,3219,3951,0,0,0,0,0,0
$GC,1458,-0.75,-214.1,340.4,-13.2,230,1462,0.00,2.12,0.00,0.000,6,0.000,0.036,2613,1793,3951,0,0,0,0,0,0
$GC,1791,-0.79,-214.1,385.1,-13.5,261,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1793,3949,0,0,0,0,0,0
$GC,2112,-0.85,-214.1,424.6,-12.0,291,2117,0.12,2.12,0.00,0.000,4,0.090,0.048,2550,388,3947,0,0,0,0,0,0
$GC,2130,-0.87,-214.1,427.7,-13.2,292,2134,0.00,2.12,0.00,0.000,6,0.000,0.041,2545,1808,3947,0,0,0,0,0,0
$GC,2456,-0.83,-214.1,487.3,-17.4,322,2460,0.00,2.12,0.00,0.000,4,0.000,0.054,2545,3214,3945,0,0,0,0,0,0
$STATE,2540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2540,begin apogee
$GC,2548,-0.23,0.0,500.7,13.8,329,2721,0.65,0.00,167.27,0.992,6,0.125,0.000,2761,1750,3072,0,0,0,0,0,0
$STATE,2722,end apogee,CONTROL_FINISHED_OK
$STATE,2722,begin climb
$GC,2724,1.16,214.1,507.5,0.0,344,2906,1.20,0.00,172.10,0.962,6,0.050,0.000,3216,1750,2199,0,0,0,0,0,0
$GC,3225,0.86,214.1,389.9,29.7,390,3230,0.35,2.20,0.00,0.000,4,0.195,0.048,3110,3164,2193,0,0,0,0,0,0
$GC,3312,0.70,214.1,370.2,20.1,397,3316,0.20,2.15,0.00,0.000,6,0.180,0.039,3065,1745,2190,0,0,0,0,0,0
$GC,3638,0.60,214.1,313.9,15.9,427,3643,0.12,2.12,0.00,0.000,4,0.181,0.047,3038,343,2189,0,0,0,0,0,0
$GC,3680,0.55,214.1,307.4,15.3,430,3684,0.00,2.12,0.00,0.000,6,0.000,0.037,3041,1752,2188,0,0,0,0,0,0
$GC,4009,0.50,219.6,261.6,13.7,486,4017,0.15,2.15,0.00,0.000,4,0.162,0.047,2988,3153,2185,0,0,0,0,0,0
$GC,4042,0.56,267.8,257.5,11.8,491,4096,0.00,2.08,43.08,0.842,6,0.000,0.036,2994,1744,1980,0,0,0,0,0,0
$GC,4425,0.70,348.6,218.2,10.4,559,4499,0.20,0.00,67.20,0.806,6,0.064,0.000,3100,1744,1650,0,0,0,0,0,0
$GC,4827,0.59,348.6,135.2,22.0,630,4835,0.22,2.20,0.00,0.000,4,0.162,0.043,3026,3158,1644,0,0,0,0,0,0
$GC,4886,0.67,368.6,125.3,13.0,640,4909,0.00,2.15,17.10,0.703,6,0.000,0.037,3032,1746,1568,0,0,0,0,0,0
$GC,5229,0.84,452.6,82.5,10.2,703,5306,0.20,2.20,69.30,0.695,4,0.061,0.043,3157,341,1225,0,0,0,0,0,0
$GC,5369,0.81,452.6,54.2,19.7,724,5378,0.15,2.17,0.00,0.000,6,0.130,0.033,3106,1753,1222,0,0,0,0,0,0
$GC,5697,0.86,471.6,5.0,13.1,785,5714,0.00,0.00,14.70,0.596,2,0.000,0.000,3106,1757,1156,0,0,0,0,0,0
$STATE,5715,end climb,SURFACE_DEPTH_REACHED
$STATE,5715,begin surface coast
$FINISH,0.6,1.008768
$STATE,5737,end surface coast,CONTROL_FINISHED_OK
$STATE,5737,begin surface
$SM_CCo,5814,0.00,0.000,0,0,1152,470.98
$SM_GC,1.45,7.55,0.00,0.00,0.029,0.000,0.000,145,1758,1152,-8.35,-1.19,470.98
$IRIDIUM_FIX,2330.93,12629.14,091010,101004
$TT8_MAMPS,0.026215
$HUMID,41.96
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.40
$XPDR_PINGS,75
$24V_AH,24.3,37.583
$10V_AH,10.5,24.663
$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,20.375,47.325,550.750,0.000,0.000,0.000,0.000,0.000,18.750,0.000,14.912,1837.319,1479.050,508.724,1889.973,169.596,0.000,1279.560,0.000,1888.600,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,54.315,992.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.513,808.994,1326.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,46974,791
$CAP_FILE_SIZE,89173,0
$CFSIZE,260165632,168259584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,298.2,1
$GPS,091010,123628,2341.039,12630.949,9,2.7,28,-3.5