version: 66.08
glider: 166
mission: 3
dive: 216
start: 10 9 110 21 35 24
data:
$ID,166
$MISSION,3
$DIVE,216
$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,-21791.592
$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,39
$R_STBD_OVSHOOT,44
$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
$GPS1,091010,212900,2337.419,12631.002,20,1.3,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.9
$GPS2,091010,213502,2337.469,12630.986,13,1.1,13,-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,188.4,69413,-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,-214.1,0.0,0.0,0,102,0.00,0.00,-84.78,0.000,2,0.000,0.000,136,1765,3385,0,0,0,0,0,0
$GC,105,-1.16,-214.1,6.6,-13.4,12,130,8.90,2.15,-9.82,0.000,4,0.224,0.050,2460,368,3949,0,0,0,0,0,0
$GC,234,-0.87,-214.1,69.3,-43.3,34,244,0.32,2.17,0.00,0.000,6,0.158,0.037,2552,1794,3952,0,0,0,0,0,0
$GC,563,-0.74,-214.1,162.1,-24.3,95,570,0.17,2.15,0.00,0.000,4,0.173,0.044,2593,3215,3955,0,0,0,0,0,0
$GC,635,-0.74,-214.1,177.1,-17.3,107,641,0.00,2.10,0.00,0.000,6,0.000,0.033,2593,1787,3956,0,0,0,0,0,0
$GC,976,-0.70,-214.1,238.8,-16.5,168,985,0.00,2.10,0.00,0.000,4,0.000,0.039,2593,395,3956,0,0,0,0,0,0
$GC,1055,-0.70,-214.1,251.2,-14.3,181,1063,0.00,2.10,0.00,0.000,6,0.000,0.034,2587,1810,3956,0,0,0,0,0,0
$GC,1398,-0.68,-214.1,310.5,-17.6,238,1400,0.12,0.00,0.00,0.000,6,0.173,0.000,2621,1812,3956,0,0,0,0,0,0
$GC,1717,-0.73,-214.1,354.0,-12.2,268,1720,0.00,2.08,0.00,0.000,4,0.000,0.047,2613,3202,3956,0,0,0,0,0,0
$GC,1749,-0.82,-214.1,357.9,-11.2,270,1759,0.08,2.10,0.00,0.000,6,0.054,0.033,2554,1804,3955,0,0,0,0,0,0
$GC,2076,-0.78,-214.1,414.2,-17.9,301,2078,0.12,0.00,0.00,0.000,6,0.176,0.000,2587,1803,3954,0,0,0,0,0,0
$GC,2395,-0.79,-214.1,461.3,-15.2,331,2398,0.00,2.12,0.00,0.000,4,0.000,0.050,2578,3201,3953,0,0,0,0,0,0
$GC,2487,-0.86,-214.1,474.1,-12.7,339,2491,0.00,2.08,0.00,0.000,6,0.000,0.036,2579,1798,3952,0,0,0,0,0,0
$STATE,2663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2663,begin apogee
$GC,2670,-0.23,0.0,500.1,14.6,355,2848,0.55,0.00,169.50,0.991,6,0.128,0.000,2763,1798,3071,0,0,0,0,0,0
$STATE,2849,end apogee,CONTROL_FINISHED_OK
$STATE,2849,begin climb
$GC,2851,1.16,214.1,510.5,0.0,370,3033,1.20,2.30,172.73,0.965,4,0.051,0.052,3215,3156,2198,0,0,0,0,0,0
$GC,3082,0.87,214.1,473.6,28.7,389,3087,0.38,2.17,0.00,0.000,6,0.194,0.040,3126,1756,2196,0,0,0,0,0,0
$GC,3409,0.67,214.1,400.7,21.6,419,3414,0.22,2.15,0.00,0.000,4,0.175,0.045,3052,3159,2193,0,0,0,0,0,0
$GC,3508,0.59,214.1,382.4,17.2,427,3513,0.12,2.12,0.00,0.000,6,0.185,0.037,3029,1738,2191,0,0,0,0,0,0
$GC,3835,0.56,234.5,334.9,13.0,457,3860,0.00,2.15,16.92,0.848,4,0.000,0.045,3038,340,2115,0,0,0,0,0,0
$GC,3897,0.51,234.5,326.3,14.0,462,3901,0.12,2.12,0.00,0.000,6,0.164,0.035,3004,1755,2115,0,0,0,0,0,0
$GC,4230,0.57,280.3,286.1,11.9,502,4271,0.00,0.00,38.65,0.855,6,0.000,0.000,3004,1755,1929,0,0,0,0,0,0
$GC,4607,0.63,313.8,237.6,12.4,568,4643,0.12,2.22,28.12,0.809,4,0.085,0.044,3082,339,1792,0,0,0,0,0,0
$GC,4680,0.55,313.8,224.6,20.0,579,4687,0.22,2.15,0.00,0.000,6,0.153,0.034,3018,1752,1791,0,0,0,0,0,0
$GC,5025,0.65,372.4,180.3,11.3,640,5078,0.00,0.00,49.47,0.776,6,0.000,0.000,3018,1755,1552,0,0,0,0,0,0
$GC,5407,0.76,413.9,134.7,12.1,708,5454,0.17,2.20,34.95,0.728,4,0.066,0.041,3106,3166,1383,0,0,0,0,0,0
$GC,5470,0.67,413.9,122.8,23.1,716,5478,0.17,2.20,0.00,0.000,6,0.142,0.036,3058,1757,1383,0,0,0,0,0,0
$GC,5801,0.70,413.9,70.0,14.3,777,5809,0.00,2.20,0.00,0.000,4,0.000,0.045,3066,340,1380,0,0,0,0,0,0
$GC,5886,0.93,510.9,60.0,9.7,792,5974,0.15,2.15,78.95,0.675,6,0.036,0.033,3162,1758,987,0,0,0,0,0,0
$STATE,6141,end climb,SURFACE_DEPTH_REACHED
$STATE,6141,begin surface coast
$FINISH,0.7,1.021899
$STATE,6153,end surface coast,CONTROL_FINISHED_OK
$STATE,6153,begin surface
$SM_CCo,6230,0.00,0.000,0,0,981,512.68
$SM_GC,1.53,7.72,0.00,0.00,0.030,0.000,0.000,151,1762,981,-8.33,-1.07,512.68
$IRIDIUM_FIX,2328.57,12632.43,091010,191939
$TT8_MAMPS,0.026215
$HUMID,42.91
$INTERNAL_PRESSURE,8.76469
$TCM_TEMP,23.80
$XPDR_PINGS,80
$24V_AH,24.3,38.515
$10V_AH,10.4,25.292
$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,20.900,47.300,589.300,0.000,0.000,23.826,50.271,145.394,20.000,0.000,15.661,1938.987,1660.589,538.920,2195.562,254.581,0.000,1355.670,0.000,1982.662,0.000,0.847,0.000
$DEVICE_MAMPS,224.145,52.020,990.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.659,855.775,1366.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,50327,837
$CAP_FILE_SIZE,85787,0
$CFSIZE,260165632,167948288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,354.5,1
$GPS,091010,232019,2336.782,12630.876,12,1.7,29,-3.5