version: 66.08
glider: 166
mission: 3
dive: 233
start: 10 11 110 4 52 12
data:
$ID,166
$MISSION,3
$DIVE,233
$N_DIVES,238
$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,-21813.617
$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,67
$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
$GPS1,111010,044606,2324.841,12630.822,30,0.9,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.0
$GPS2,111010,045150,2324.931,12630.841,11,1.0,11,-3.4
$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,178.0,46194,-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,15,-1.16,-214.1,0.0,0.0,0,99,0.00,0.00,-81.18,0.000,2,0.000,0.000,146,1843,3370,0,0,0,0,0,0
$GC,102,-1.16,-214.1,6.5,-13.6,11,128,8.80,2.25,-10.15,0.000,4,0.221,0.050,2458,382,3949,0,0,0,0,0,0
$GC,216,-0.93,-214.1,64.7,-40.7,30,225,0.28,2.12,0.00,0.000,6,0.155,0.037,2536,1769,3951,0,0,0,0,0,0
$GC,545,-0.80,-214.1,161.5,-25.3,91,552,0.15,0.00,0.00,0.000,6,0.183,0.000,2576,1771,3955,0,0,0,0,0,0
$GC,878,-0.75,-214.1,230.8,-19.1,152,885,0.00,2.12,0.00,0.000,4,0.000,0.045,2578,398,3956,0,0,0,0,0,0
$GC,910,-0.70,-214.1,237.6,-20.9,157,919,0.15,2.12,0.00,0.000,6,0.163,0.039,2615,1807,3957,0,0,0,0,0,0
$GC,1245,-0.73,-214.1,288.1,-14.1,218,1253,0.00,2.15,0.00,0.000,4,0.000,0.051,2613,3203,3957,0,0,0,0,0,0
$GC,1279,-0.79,-214.1,292.6,-13.5,223,1285,0.00,2.10,0.00,0.000,6,0.000,0.035,2613,1796,3957,0,0,0,0,0,0
$GC,1614,-0.83,-214.1,334.6,-12.1,259,1619,0.12,2.15,0.00,0.000,4,0.090,0.044,2550,385,3956,0,0,0,0,0,0
$GC,1666,-0.79,-214.1,343.4,-17.9,263,1671,0.12,2.12,0.00,0.000,6,0.174,0.041,2580,1806,3956,0,0,0,0,0,0
$GC,1993,-0.79,-214.1,395.8,-15.7,293,1997,0.00,2.10,0.00,0.000,4,0.000,0.050,2573,3205,3955,0,0,0,0,0,0
$GC,2045,-0.85,-214.1,403.7,-14.4,297,2048,0.00,2.08,0.00,0.000,6,0.000,0.035,2574,1796,3955,0,0,0,0,0,0
$GC,2371,-0.85,-214.1,455.1,-15.3,327,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1796,3954,0,0,0,0,0,0
$STATE,2675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2679,begin apogee
$GC,2684,-0.23,0.0,500.7,14.0,356,2863,0.55,0.00,169.15,0.992,6,0.126,0.000,2758,1796,3072,0,0,0,0,0,0
$STATE,2864,end apogee,CONTROL_FINISHED_OK
$STATE,2864,begin climb
$GC,2866,1.16,214.1,508.2,0.0,371,3047,1.25,2.30,171.90,0.968,4,0.064,0.052,3215,3154,2199,0,0,0,0,0,0
$GC,3113,0.86,214.1,463.9,29.2,392,3118,0.40,2.17,0.00,0.000,6,0.192,0.039,3120,1753,2196,0,0,0,0,0,0
$GC,3439,0.69,214.1,391.6,20.5,422,3444,0.20,2.17,0.00,0.000,4,0.174,0.045,3055,3168,2193,0,0,0,0,0,0
$GC,3536,0.60,214.1,375.5,15.4,430,3540,0.00,2.12,0.00,0.000,6,0.000,0.037,3062,1747,2191,0,0,0,0,0,0
$GC,3861,0.50,214.1,324.3,15.1,460,3866,0.20,2.12,0.00,0.000,4,0.162,0.044,3014,338,2189,0,0,0,0,0,0
$GC,3882,0.43,214.1,321.6,15.2,461,3887,0.12,2.12,0.00,0.000,6,0.159,0.035,2979,1762,2188,0,0,0,0,0,0
$GC,4215,0.62,338.0,291.8,8.5,499,4326,0.17,2.25,101.90,0.861,4,0.070,0.046,3067,3156,1694,0,0,0,0,0,0
$GC,4344,0.57,338.0,271.2,17.7,518,4354,0.15,2.20,0.00,0.000,6,0.147,0.036,3028,1751,1692,0,0,0,0,0,0
$GC,4688,0.57,338.0,219.4,16.3,579,4695,0.00,2.15,0.00,0.000,4,0.000,0.045,3036,341,1688,0,0,0,0,0,0
$GC,4707,0.57,338.0,216.0,15.6,582,4716,0.00,2.15,0.00,0.000,6,0.000,0.034,3037,1749,1687,0,0,0,0,0,0
$GC,5048,0.57,338.0,163.3,15.7,643,5054,0.00,2.15,0.00,0.000,4,0.000,0.046,3032,3160,1687,0,0,0,0,0,0
$GC,5152,0.62,350.6,148.8,13.3,661,5169,0.00,2.12,11.12,0.689,6,0.000,0.036,3039,1750,1642,0,0,0,0,0,0
$GC,5491,0.68,385.0,105.1,12.4,723,5528,0.00,2.15,29.52,0.710,4,0.000,0.043,3049,338,1500,0,0,0,0,0,0
$GC,5573,0.85,467.7,95.2,10.3,736,5655,0.15,2.17,68.57,0.699,6,0.037,0.033,3146,1759,1164,0,0,0,0,0,0
$GC,5977,0.82,467.7,13.9,17.5,807,5986,0.15,2.15,0.00,0.000,4,0.156,0.044,3094,3153,1161,0,0,0,0,0,0
$STATE,6054,end climb,SURFACE_DEPTH_REACHED
$STATE,6054,begin surface coast
$FINISH,0.6,1.021687
$STATE,6083,end surface coast,CONTROL_FINISHED_OK
$STATE,6083,begin surface
$SM_CCo,6161,0.00,0.000,0,0,1157,469.75
$SM_GC,1.47,7.50,0.00,0.00,0.031,0.000,0.000,146,1797,1157,-8.34,-0.08,469.75
$IRIDIUM_FIX,2316.83,12631.52,111010,030311
$TT8_MAMPS,0.026215
$HUMID,42.99
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.40
$XPDR_PINGS,63
$24V_AH,24.2,41.135
$10V_AH,10.4,27.140
$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,20.475,55.925,552.175,0.000,0.000,30.141,36.945,135.912,15.750,0.000,14.239,1920.177,1646.981,521.608,2154.317,256.890,0.000,1320.820,0.000,1966.188,0.000,0.847,0.000
$DEVICE_MAMPS,221.085,52.020,992.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.333,844.535,1364.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46944,826
$CAP_FILE_SIZE,85488,0
$CFSIZE,260165632,167055360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104, 25.1,1
$GPS,111010,063538,2324.259,12631.263,9,1.4,9,-3.4