version: 66.08
glider: 166
mission: 3
dive: 217
start: 10 9 110 23 26 38
data:
$ID,166
$MISSION,3
$DIVE,217
$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,-21792.848
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,091010,232019,2336.782,12630.876,12,1.7,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.4
$GPS2,091010,232616,2336.851,12630.822,11,3.0,30,-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,182.9,68262,-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,-214.1,0.0,0.0,0,107,0.00,0.00,-89.50,0.000,2,0.000,0.000,145,1765,3247,0,0,0,0,0,0
$GC,110,-1.16,-214.1,5.4,-9.9,12,141,8.73,2.10,-13.07,0.000,4,0.219,0.050,2459,381,3949,0,0,0,0,0,0
$GC,333,-0.95,-214.1,101.0,-33.8,52,342,0.25,2.15,0.00,0.000,6,0.164,0.038,2527,1790,3953,0,0,0,0,0,0
$GC,668,-0.80,-214.1,201.9,-25.0,113,676,0.20,2.15,0.00,0.000,4,0.174,0.041,2584,381,3956,0,0,0,0,0,0
$GC,708,-0.73,-214.1,211.5,-23.0,119,715,0.00,2.15,0.00,0.000,6,0.000,0.041,2584,1801,3956,0,0,0,0,0,0
$GC,1050,-0.69,-214.1,278.1,-17.9,180,1059,0.12,2.20,0.00,0.000,4,0.178,0.045,2617,388,3957,0,0,0,0,0,0
$GC,1090,-0.71,-214.1,284.2,-15.7,186,1099,0.00,2.15,0.00,0.000,6,0.000,0.039,2614,1800,3957,0,0,0,0,0,0
$GC,1429,-0.73,-214.1,331.5,-13.8,227,1433,0.00,2.17,0.00,0.000,4,0.000,0.054,2614,3211,3957,0,0,0,0,0,0
$GC,1484,-0.82,-214.1,338.4,-11.6,231,1489,0.12,2.10,0.00,0.000,6,0.084,0.037,2545,1786,3957,0,0,0,0,0,0
$GC,1813,-0.76,-214.1,400.0,-18.8,261,1819,0.17,0.00,0.00,0.000,6,0.165,0.000,2593,1784,3956,0,0,0,0,0,0
$GC,2140,-0.78,-214.1,447.7,-14.1,292,2144,0.00,2.22,0.00,0.000,4,0.000,0.054,2588,3219,3954,0,0,0,0,0,0
$GC,2260,-0.85,-214.1,462.0,-10.7,302,2264,0.00,2.12,0.00,0.000,6,0.000,0.036,2588,1794,3954,0,0,0,0,0,0
$STATE,2574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2574,begin apogee
$GC,2579,-0.23,0.0,500.9,11.6,331,2757,0.52,0.00,169.48,0.995,6,0.125,0.000,2765,1793,3071,0,0,0,0,0,0
$STATE,2758,end apogee,CONTROL_FINISHED_OK
$STATE,2758,begin climb
$GC,2760,1.16,214.1,507.6,0.0,346,2942,1.20,2.35,172.90,0.967,4,0.042,0.050,3241,350,2198,0,0,0,0,0,0
$GC,2967,0.82,214.1,474.4,32.6,364,2972,0.47,2.20,0.00,0.000,6,0.194,0.038,3109,1747,2196,0,0,0,0,0,0
$GC,3292,0.64,214.1,404.8,20.8,394,3297,0.20,2.17,0.00,0.000,4,0.176,0.047,3042,3169,2191,0,0,0,0,0,0
$GC,3363,0.56,214.1,392.7,15.2,400,3371,0.00,2.17,0.00,0.000,6,0.000,0.038,3049,1753,2190,0,0,0,0,0,0
$GC,3691,0.47,214.1,341.1,15.7,431,3696,0.20,2.17,0.00,0.000,4,0.163,0.045,2983,3173,2189,0,0,0,0,0,0
$GC,3708,0.41,214.1,338.2,15.5,432,3713,0.00,2.15,0.00,0.000,6,0.000,0.037,2990,1744,2188,0,0,0,0,0,0
$GC,4034,0.49,278.0,301.4,11.1,462,4092,0.00,2.22,51.88,0.874,4,0.000,0.045,3001,341,1939,0,0,0,0,0,0
$GC,4134,0.56,309.6,289.4,12.5,476,4169,0.00,2.20,27.73,0.833,6,0.000,0.034,3003,1756,1809,0,0,0,0,0,0
$GC,4505,0.64,347.1,241.8,12.3,541,4548,0.12,2.20,31.85,0.815,4,0.081,0.046,3064,3154,1657,0,0,0,0,0,0
$GC,4567,0.59,347.1,231.1,19.0,550,4576,0.10,2.17,0.00,0.000,6,0.151,0.036,3039,1747,1656,0,0,0,0,0,0
$GC,4911,0.59,347.1,177.7,14.5,611,4917,0.00,2.12,0.00,0.000,4,0.000,0.044,3046,345,1654,0,0,0,0,0,0
$GC,4973,0.61,347.1,168.0,14.4,622,4982,0.00,2.12,0.00,0.000,6,0.000,0.034,3047,1746,1653,0,0,0,0,0,0
$GC,5307,0.61,347.1,116.5,15.4,683,5315,0.00,2.15,0.00,0.000,4,0.000,0.044,3044,3151,1653,0,0,0,0,0,0
$GC,5349,0.64,347.1,110.3,14.5,690,5358,0.00,2.10,0.00,0.000,6,0.000,0.035,3050,1756,1652,0,0,0,0,0,0
$GC,5679,0.74,389.5,65.0,12.0,751,5723,0.00,2.20,35.03,0.688,4,0.000,0.045,3061,350,1483,0,0,0,0,0,0
$GC,5809,0.97,507.1,52.0,8.8,772,5913,0.20,2.12,96.38,0.667,6,0.034,0.031,3177,1755,1003,0,0,0,0,0,0
$STATE,6033,end climb,SURFACE_DEPTH_REACHED
$STATE,6033,begin surface coast
$FINISH,0.9,1.009345
$STATE,6045,end surface coast,CONTROL_FINISHED_OK
$STATE,6045,begin surface
$SM_CCo,6122,0.00,0.000,0,0,998,508.75
$SM_GC,1.54,7.78,0.00,0.00,0.028,0.000,0.000,149,1759,998,-8.33,-1.16,508.75
$IRIDIUM_FIX,2328.57,12625.85,091010,212112
$TT8_MAMPS,0.026215
$HUMID,42.79
$INTERNAL_PRESSURE,8.76469
$TCM_TEMP,23.70
$XPDR_PINGS,82
$24V_AH,24.2,38.674
$10V_AH,10.4,25.398
$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,20.400,56.375,585.225,0.000,0.000,22.923,36.949,137.981,20.500,0.000,33.527,1867.883,1664.870,558.780,2131.727,251.033,0.000,1363.649,0.000,1926.351,0.000,0.848,0.000
$DEVICE_MAMPS,218.790,53.550,995.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.917,828.181,1344.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46909,810
$CAP_FILE_SIZE,84983,0
$CFSIZE,260165632,167895040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,331.1,1
$GPS,101010,010955,2336.117,12630.749,39,1.6,39,-3.5