version: 66.08
glider: 166
mission: 3
dive: 214
start: 10 9 110 18 4 31
data:
$ID,166
$MISSION,3
$DIVE,214
$N_DIVES,226
$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,-21789.078
$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,45
$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
$GPS1,091010,175816,2338.810,12631.069,11,99.0,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.8
$GPS2,091010,180407,2338.854,12631.039,43,0.9,43,-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,193.2,71980,-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,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,105,0.00,0.00,-87.88,0.000,2,0.000,0.000,145,1760,3316,0,0,0,0,0,0
$GC,108,-1.16,-214.1,5.6,-11.0,12,139,8.88,2.10,-11.60,0.000,4,0.226,0.054,2458,387,3949,0,0,0,0,0,0
$GC,295,-0.88,-214.1,94.2,-40.4,45,303,0.32,2.15,0.00,0.000,6,0.169,0.041,2547,1789,3951,0,0,0,0,0,0
$GC,627,-0.75,-214.1,188.1,-23.5,106,636,0.17,2.20,0.00,0.000,4,0.178,0.050,2587,3210,3955,0,0,0,0,0,0
$GC,695,-0.75,-214.1,203.5,-18.8,117,702,0.00,2.10,0.00,0.000,6,0.000,0.037,2587,1799,3955,0,0,0,0,0,0
$GC,1036,-0.70,-214.1,272.5,-20.3,178,1045,0.00,2.15,0.00,0.000,4,0.000,0.046,2587,391,3956,0,0,0,0,0,0
$GC,1119,-0.70,-214.1,288.6,-18.0,192,1127,0.00,2.15,0.00,0.000,6,0.000,0.041,2586,1802,3956,0,0,0,0,0,0
$GC,1449,-0.68,-214.1,348.8,-17.2,228,1454,0.12,2.15,0.00,0.000,4,0.174,0.051,2613,3207,3955,0,0,0,0,0,0
$GC,1495,-0.76,-214.1,355.3,-11.8,231,1501,0.00,2.10,0.00,0.000,6,0.000,0.036,2613,1796,3955,0,0,0,0,0,0
$GC,1821,-0.81,-214.1,397.2,-13.8,262,1825,0.00,2.12,0.00,0.000,4,0.000,0.047,2613,398,3954,0,0,0,0,0,0
$GC,1856,-0.87,-214.1,401.9,-13.2,264,1865,0.12,2.15,0.00,0.000,6,0.047,0.041,2535,1806,3954,0,0,0,0,0,0
$GC,2183,-0.80,-214.1,465.6,-19.8,295,2188,0.17,2.15,0.00,0.000,4,0.168,0.051,2574,3206,3953,0,0,0,0,0,0
$GC,2269,-0.85,-214.1,478.3,-12.4,302,2273,0.00,2.08,0.00,0.000,6,0.000,0.037,2574,1801,3952,0,0,0,0,0,0
$STATE,2422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2422,begin apogee
$GC,2428,-0.23,0.0,501.0,14.8,316,2605,0.55,0.00,168.77,0.984,6,0.125,0.000,2759,1749,3071,0,0,0,0,0,0
$STATE,2606,end apogee,CONTROL_FINISHED_OK
$STATE,2606,begin climb
$GC,2609,1.16,214.1,508.5,0.0,331,2793,1.25,2.30,172.10,0.957,4,0.066,0.049,3222,353,2199,0,0,0,0,0,0
$GC,2806,0.86,214.1,480.1,26.3,348,2812,0.38,2.20,0.00,0.000,6,0.190,0.037,3118,1754,2197,0,0,0,0,0,0
$GC,3132,0.66,214.1,406.0,23.3,378,3137,0.22,2.15,0.00,0.000,4,0.178,0.046,3045,3174,2193,0,0,0,0,0,0
$GC,3276,0.59,214.1,380.9,16.7,390,3280,0.00,2.15,0.00,0.000,6,0.000,0.037,3053,1743,2190,0,0,0,0,0,0
$GC,3602,0.49,214.1,326.8,16.1,420,3606,0.20,2.12,0.00,0.000,4,0.161,0.044,3005,344,2189,0,0,0,0,0,0
$GC,3665,0.56,268.3,318.6,11.5,425,3715,0.00,2.10,44.30,0.870,6,0.000,0.036,3005,1758,1977,0,0,0,0,0,0
$GC,4046,0.60,297.8,270.4,12.6,480,4083,0.00,2.17,24.67,0.819,4,0.000,0.045,3005,3147,1856,0,0,0,0,0,0
$GC,4114,0.65,317.2,261.4,13.0,490,4137,0.08,2.15,18.15,0.786,6,0.052,0.037,3075,1754,1777,0,0,0,0,0,0
$GC,4474,0.58,317.2,195.3,18.9,553,4481,0.17,2.17,0.00,0.000,4,0.158,0.045,3034,331,1773,0,0,0,0,0,0
$GC,4535,0.64,340.5,186.3,12.9,563,4563,0.00,2.12,20.02,0.753,6,0.000,0.033,3034,1764,1684,0,0,0,0,0,0
$GC,4898,0.67,362.7,136.6,12.9,627,4928,0.00,2.15,19.60,0.715,4,0.000,0.044,3034,3152,1593,0,0,0,0,0,0
$GC,4974,0.78,414.0,127.1,11.7,639,5026,0.10,2.15,43.38,0.721,6,0.045,0.037,3121,1743,1384,0,0,0,0,0,0
$GC,5344,0.74,414.0,53.9,16.8,706,5355,0.15,2.17,0.00,0.000,4,0.155,0.045,3087,348,1379,0,0,0,0,0,0
$GC,5423,0.91,469.9,42.8,11.5,719,5476,0.10,2.12,45.88,0.657,6,0.044,0.032,3161,1759,1156,0,0,0,0,0,0
$STATE,5620,end climb,SURFACE_DEPTH_REACHED
$STATE,5620,begin surface coast
$FINISH,0.8,1.021820
$STATE,5632,end surface coast,CONTROL_FINISHED_OK
$STATE,5632,begin surface
$SM_CCo,5711,0.00,0.000,0,0,1150,471.47
$SM_GC,1.51,7.72,0.00,0.00,0.031,0.000,0.000,144,1763,1150,-8.35,-1.05,471.47
$IRIDIUM_FIX,2330.93,12632.43,091010,161658
$TT8_MAMPS,0.025466
$HUMID,42.28
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.30
$XPDR_PINGS,70
$24V_AH,24.3,38.203
$10V_AH,10.4,25.077
$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,20.725,55.900,556.875,0.000,0.000,28.196,15.774,137.382,17.500,0.000,44.546,1762.257,1496.984,533.093,2022.407,246.971,0.000,1308.581,0.000,1820.273,0.000,0.847,0.000
$DEVICE_MAMPS,225.675,155.295,983.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.181,772.252,1247.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,43601,755
$CAP_FILE_SIZE,83067,0
$CFSIZE,260165632,168058880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038, 13.4,1
$GPS,091010,194032,2338.080,12630.991,14,1.8,14,-3.5