version: 66.08
glider: 166
mission: 3
dive: 251
start: 10 12 110 14 23 7
data:
$ID,166
$MISSION,3
$DIVE,251
$N_DIVES,252
$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,-21837.084
$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,47
$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
$GPS1,121010,141708,2311.792,12630.560,13,1.3,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.2
$GPS2,121010,142244,2311.836,12630.548,14,1.5,14,-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,162.6,21940,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,102,0.00,0.00,-84.07,0.000,2,0.000,0.000,150,1757,3166,0,0,0,0,0,0
$GC,105,-1.16,-214.1,5.3,-10.5,12,136,8.98,2.08,-14.68,0.000,4,0.228,0.049,2458,386,3947,0,0,0,0,0,0
$GC,270,-0.85,-214.1,83.9,-43.0,41,279,0.35,2.17,0.00,0.000,6,0.166,0.041,2556,1791,3950,0,0,0,0,0,0
$GC,599,-0.74,-214.1,172.7,-25.2,102,609,0.15,2.20,0.00,0.000,4,0.175,0.046,2589,3215,3953,0,0,0,0,0,0
$GC,646,-0.74,-214.1,182.1,-16.7,109,652,0.00,2.10,0.00,0.000,6,0.000,0.031,2589,1799,3954,0,0,0,0,0,0
$GC,987,-0.71,-214.1,242.0,-17.8,170,996,0.00,2.12,0.00,0.000,4,0.000,0.041,2588,398,3954,0,0,0,0,0,0
$GC,1045,-0.73,-214.1,251.9,-16.7,179,1052,0.00,2.12,0.00,0.000,6,0.000,0.035,2587,1819,3954,0,0,0,0,0,0
$GC,1385,-0.73,-214.1,308.8,-16.4,235,1388,0.00,2.08,0.00,0.000,4,0.000,0.047,2577,3211,3954,0,0,0,0,0,0
$GC,1418,-0.74,-214.1,314.6,-15.8,237,1425,0.00,2.08,0.00,0.000,6,0.000,0.034,2578,1801,3955,0,0,0,0,0,0
$GC,1744,-0.74,-214.1,366.7,-15.6,268,1747,0.00,2.08,0.00,0.000,4,0.000,0.042,2578,402,3954,0,0,0,0,0,0
$GC,1834,-0.77,-214.1,380.1,-13.2,275,1841,0.00,2.10,0.00,0.000,6,0.000,0.037,2575,1803,3954,0,0,0,0,0,0
$GC,2159,-0.77,-214.1,431.7,-16.2,306,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1803,3953,0,0,0,0,0,0
$GC,2481,-0.77,-214.1,481.2,-14.9,336,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1803,3951,0,0,0,0,0,0
$STATE,2614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2614,begin apogee
$GC,2620,-0.23,0.0,500.8,13.9,349,2793,0.55,0.00,168.62,0.998,6,0.127,0.000,2759,1803,3072,0,0,0,0,0,0
$STATE,2794,end apogee,CONTROL_FINISHED_OK
$STATE,2794,begin climb
$GC,2796,1.16,214.1,509.4,0.0,363,2979,1.25,2.38,172.15,0.970,4,0.047,0.050,3237,358,2199,0,0,0,0,0,0
$GC,2996,0.83,214.1,478.5,29.8,380,3004,0.43,2.22,0.00,0.000,6,0.184,0.039,3111,1734,2197,0,0,0,0,0,0
$GC,3324,0.65,214.1,407.4,20.6,411,3329,0.22,2.20,0.00,0.000,4,0.173,0.047,3038,3170,2193,0,0,0,0,0,0
$GC,3411,0.58,214.1,392.4,14.9,418,3419,0.00,2.17,0.00,0.000,6,0.000,0.038,3045,1750,2190,0,0,0,0,0,0
$GC,3738,0.50,214.1,346.9,14.2,449,3740,0.15,0.00,0.00,0.000,6,0.172,0.000,3005,1750,2189,0,0,0,0,0,0
$GC,4056,0.60,294.7,314.2,10.4,479,4129,0.00,2.22,65.55,0.884,4,0.000,0.045,3014,346,1869,0,0,0,0,0,0
$GC,4170,0.66,324.4,300.8,12.6,488,4207,0.08,2.22,26.38,0.835,6,0.052,0.036,3073,1759,1748,0,0,0,0,0,0
$GC,4531,0.60,324.4,233.8,20.3,553,4539,0.15,2.12,0.00,0.000,4,0.169,0.046,3023,3160,1743,0,0,0,0,0,0
$GC,4613,0.65,345.4,221.5,13.0,567,4641,0.00,2.12,18.25,0.783,6,0.000,0.037,3030,1736,1663,0,0,0,0,0,0
$GC,4970,0.68,354.2,170.1,13.5,631,4985,0.00,2.12,8.38,0.672,4,0.000,0.044,3041,336,1628,0,0,0,0,0,0
$GC,5031,0.72,357.3,161.7,13.8,641,5046,0.00,2.12,4.50,0.517,6,0.000,0.035,3041,1752,1614,0,0,0,0,0,0
$GC,5368,0.80,398.9,116.0,12.1,703,5408,0.15,2.22,35.12,0.728,4,0.073,0.044,3120,3167,1445,0,0,0,0,0,0
$GC,5452,0.75,398.9,101.9,18.6,715,5462,0.12,2.17,0.00,0.000,6,0.142,0.036,3087,1756,1445,0,0,0,0,0,0
$GC,5783,0.79,413.2,53.7,13.3,776,5799,0.00,0.00,13.15,0.633,6,0.000,0.000,3087,1755,1386,0,0,0,0,0,0
$GC,6117,0.91,460.7,16.4,11.8,838,6164,0.12,2.25,39.50,0.635,4,0.083,0.044,3177,338,1192,0,0,0,0,0,0
$STATE,6195,end climb,SURFACE_DEPTH_REACHED
$STATE,6195,begin surface coast
$FINISH,0.7,1.008174
$STATE,6211,end surface coast,CONTROL_FINISHED_OK
$STATE,6211,begin surface
$SM_CCo,6290,0.00,0.000,0,0,1189,461.90
$SM_GC,1.41,7.82,0.00,0.00,0.032,0.000,0.000,147,1819,1189,-8.34,0.54,461.90
$IRIDIUM_FIX,2305.10,12629.22,121010,121235
$TT8_MAMPS,0.026215
$HUMID,41.21
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,25.10
$XPDR_PINGS,86
$24V_AH,24.2,43.990
$10V_AH,10.4,29.116
$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,20.525,51.950,551.600,0.000,0.000,31.114,17.330,145.125,21.500,0.000,15.557,1980.234,1623.019,537.482,2216.428,268.418,0.000,1351.888,0.000,2034.481,0.000,0.848,0.000
$DEVICE_MAMPS,227.970,49.725,998.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.896,872.374,1443.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50348,852
$CAP_FILE_SIZE,86158,0
$CFSIZE,260165632,166100992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,338.0,1
$GPS,121010,160907,2311.492,12630.699,32,1.8,32,-3.4