version: 66.08
glider: 166
mission: 3
dive: 221
start: 10 10 110 6 51 29
data:
$ID,166
$MISSION,3
$DIVE,221
$N_DIVES,234
$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,-21798.059
$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,60
$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
$GPS1,101010,064022,2334.000,12631.478,12,99.0,31,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.9
$GPS2,101010,065106,2334.078,12631.639,15,1.2,30,-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,204.3,63174,-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,-214.1,0.0,0.0,0,90,0.00,0.00,-72.82,0.000,2,0.000,0.000,146,1821,3165,0,0,0,0,0,0
$GC,93,-1.16,-214.1,5.1,-10.3,10,125,8.62,2.15,-15.05,0.000,4,0.214,0.048,2456,387,3946,0,0,0,0,0,0
$GC,175,-0.82,-214.1,45.4,-53.7,23,183,0.40,2.15,0.00,0.000,6,0.168,0.042,2568,1775,3948,0,0,0,0,0,0
$GC,498,-0.69,-214.1,147.5,-27.2,84,508,0.17,2.22,0.00,0.000,4,0.175,0.050,2614,3209,3951,0,0,0,0,0,0
$GC,535,-0.65,-214.1,155.9,-23.2,89,541,0.00,2.10,0.00,0.000,6,0.000,0.035,2614,1800,3951,0,0,0,0,0,0
$GC,874,-0.63,-214.1,220.7,-17.6,150,882,0.00,2.15,0.00,0.000,4,0.000,0.045,2614,392,3952,0,0,0,0,0,0
$GC,908,-0.63,-214.1,226.6,-19.3,155,915,0.00,2.12,0.00,0.000,6,0.000,0.041,2613,1804,3953,0,0,0,0,0,0
$GC,1247,-0.63,-214.1,281.8,-15.8,216,1256,0.00,2.15,0.00,0.000,4,0.000,0.050,2604,3204,3952,0,0,0,0,0,0
$GC,1320,-0.69,-214.1,292.3,-13.3,228,1329,0.00,2.12,0.00,0.000,6,0.000,0.035,2605,1795,3952,0,0,0,0,0,0
$GC,1653,-0.69,-214.1,343.6,-16.0,263,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1794,3952,0,0,0,0,0,0
$GC,1980,-0.72,-214.1,391.3,-14.0,294,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1794,3950,0,0,0,0,0,0
$GC,2300,-0.75,-214.1,435.5,-13.0,324,2304,0.00,2.20,0.00,0.000,4,0.000,0.054,2601,3202,3949,0,0,0,0,0,0
$GC,2364,-0.84,-214.1,443.6,-11.1,329,2368,0.00,2.08,0.00,0.000,6,0.000,0.036,2600,1799,3948,0,0,0,0,0,0
$GC,2696,-0.88,-214.1,489.5,-12.7,360,2700,0.12,2.15,0.00,0.000,4,0.089,0.048,2537,397,3946,0,0,0,0,0,0
$STATE,2758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2758,begin apogee
$GC,2766,-0.23,0.0,500.7,19.3,365,2941,0.68,0.00,168.12,0.986,6,0.130,0.000,2757,1751,3072,0,0,0,0,0,0
$STATE,2942,end apogee,CONTROL_FINISHED_OK
$STATE,2942,begin climb
$GC,2944,1.16,214.1,509.7,0.0,380,3128,1.25,2.28,172.45,0.959,4,0.067,0.049,3220,353,2198,0,0,0,0,0,0
$GC,3213,0.86,214.1,456.9,29.2,402,3221,0.32,2.20,0.00,0.000,6,0.181,0.038,3124,1746,2195,0,0,0,0,0,0
$GC,3540,0.67,214.1,382.4,21.6,433,3545,0.22,2.15,0.00,0.000,4,0.176,0.044,3049,3174,2191,0,0,0,0,0,0
$GC,3605,0.59,214.1,369.8,16.6,438,3613,0.00,2.15,0.00,0.000,6,0.000,0.037,3057,1753,2189,0,0,0,0,0,0
$GC,3933,0.49,214.1,316.6,16.1,469,3938,0.20,2.12,0.00,0.000,4,0.164,0.046,3009,338,2188,0,0,0,0,0,0
$GC,3954,0.44,214.1,312.8,15.3,470,3962,0.00,2.15,0.00,0.000,6,0.000,0.035,3010,1752,2187,0,0,0,0,0,0
$GC,4288,0.48,251.6,271.8,12.3,521,4329,0.00,2.20,30.20,0.835,4,0.000,0.046,3010,3158,2046,0,0,0,0,0,0
$GC,4370,0.48,251.6,260.7,14.2,534,4378,0.00,2.15,0.00,0.000,6,0.000,0.036,3018,1756,2045,0,0,0,0,0,0
$GC,4711,0.54,294.6,215.5,12.0,595,4753,0.00,0.00,36.10,0.797,6,0.000,0.000,3018,1755,1869,0,0,0,0,0,0
$GC,5093,0.63,349.8,169.9,11.5,661,5146,0.00,0.00,46.33,0.761,6,0.000,0.000,3018,1755,1645,0,0,0,0,0,0
$GC,5470,0.71,374.9,125.1,12.8,729,5501,0.15,2.17,22.05,0.705,4,0.073,0.043,3121,338,1542,0,0,0,0,0,0
$GC,5569,0.66,374.9,106.3,19.9,745,5577,0.17,2.17,0.00,0.000,6,0.123,0.034,3060,1760,1539,0,0,0,0,0,0
$GC,5898,0.76,421.1,66.3,11.9,806,5944,0.00,2.12,38.33,0.673,4,0.000,0.042,3058,3159,1353,0,0,0,0,0,0
$GC,6007,0.97,504.0,54.2,10.3,823,6085,0.20,2.15,68.15,0.656,6,0.031,0.035,3184,1753,1016,0,0,0,0,0,0
$STATE,6222,end climb,SURFACE_DEPTH_REACHED
$STATE,6222,begin surface coast
$FINISH,0.8,1.021775
$STATE,6235,end surface coast,CONTROL_FINISHED_OK
$STATE,6235,begin surface
$SM_CCo,6313,0.00,0.000,0,0,1009,506.05
$SM_GC,1.59,7.85,0.00,0.00,0.035,0.000,0.000,152,1753,1009,-8.33,-1.33,506.05
$IRIDIUM_FIX,2323.87,12629.63,101010,060651
$TT8_MAMPS,0.026215
$HUMID,42.51
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.60
$XPDR_PINGS,59
$24V_AH,24.3,39.287
$10V_AH,10.4,25.840
$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,20.375,51.700,581.725,0.000,0.000,84.038,132.411,144.041,14.750,0.000,30.866,1983.980,1753.619,542.783,2413.237,259.853,0.000,1383.506,0.000,2041.833,0.000,0.849,0.000
$DEVICE_MAMPS,214.200,54.315,986.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.906,880.225,1420.514,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333940
$DATA_FILE_SIZE,50278,861
$CAP_FILE_SIZE,87965,0
$CFSIZE,260165632,167677952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,105.7,1
$GPS,101010,083732,2333.102,12631.447,14,1.7,14,-3.5