version: 66.08
glider: 166
mission: 3
dive: 261
start: 10 13 110 8 52 14
data:
$ID,166
$MISSION,3
$DIVE,261
$N_DIVES,265
$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,-21849.83
$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,46
$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
$GPS1,131010,084536,2306.373,12630.615,24,2.0,24,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.2
$GPS2,131010,085152,2306.362,12630.607,11,99.0,30,-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,171.2,11827,-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,16,-1.16,-214.1,0.0,0.0,0,103,0.00,0.00,-85.22,0.000,2,0.000,0.000,142,1755,3190,0,0,0,0,0,0
$GC,106,-1.16,-214.1,5.6,-10.7,12,138,9.10,2.08,-13.90,0.000,4,0.230,0.050,2460,376,3947,0,0,0,0,0,0
$GC,313,-0.95,-214.1,98.6,-33.1,49,321,0.25,2.17,0.00,0.000,6,0.156,0.037,2529,1797,3950,0,0,0,0,0,0
$GC,646,-0.81,-214.1,190.9,-26.6,110,655,0.17,2.15,0.00,0.000,4,0.176,0.038,2579,392,3954,0,0,0,0,0,0
$GC,708,-0.77,-214.1,204.8,-20.8,120,716,0.00,2.12,0.00,0.000,6,0.000,0.035,2575,1800,3954,0,0,0,0,0,0
$GC,1052,-0.72,-214.1,272.4,-18.7,181,1058,0.12,0.00,0.00,0.000,6,0.175,0.000,2608,1800,3954,0,0,0,0,0,0
$GC,1392,-0.75,-214.1,320.6,-14.1,229,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1800,3955,0,0,0,0,0,0
$GC,1714,-0.80,-214.1,360.3,-12.0,259,1718,0.00,2.15,0.00,0.000,4,0.000,0.048,2601,3203,3953,0,0,0,0,0,0
$GC,1761,-0.89,-214.1,365.9,-10.7,263,1766,0.12,2.08,0.00,0.000,6,0.084,0.032,2531,1786,3953,0,0,0,0,0,0
$GC,2088,-0.82,-214.1,427.4,-19.5,293,2093,0.15,2.12,0.00,0.000,4,0.174,0.044,2571,398,3952,0,0,0,0,0,0
$GC,2131,-0.82,-214.1,435.1,-14.5,296,2140,0.00,2.12,0.00,0.000,6,0.000,0.039,2570,1792,3952,0,0,0,0,0,0
$GC,2459,-0.82,-214.1,481.8,-13.5,327,2463,0.00,2.12,0.00,0.000,4,0.000,0.044,2571,401,3950,0,0,0,0,0,0
$GC,2492,-0.83,-214.1,486.8,-13.7,329,2499,0.00,2.12,0.00,0.000,6,0.000,0.038,2562,1807,3950,0,0,0,0,0,0
$STATE,2594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2594,begin apogee
$GC,2601,-0.23,0.0,500.3,13.6,339,2777,0.60,0.00,168.88,0.998,6,0.130,0.000,2760,1740,3072,0,0,0,0,0,0
$STATE,2778,end apogee,CONTROL_FINISHED_OK
$STATE,2778,begin climb
$GC,2780,1.16,214.1,507.4,0.0,354,2961,1.20,2.30,172.27,0.969,4,0.047,0.049,3228,363,2199,0,0,0,0,0,0
$GC,2987,0.84,214.1,474.5,30.7,371,2992,0.40,2.17,0.00,0.000,6,0.194,0.037,3116,1752,2196,0,0,0,0,0,0
$GC,3314,0.65,214.1,402.1,20.6,401,3316,0.22,0.00,0.00,0.000,6,0.175,0.000,3053,1756,2192,0,0,0,0,0,0
$GC,3633,0.55,214.1,349.2,16.2,431,3638,0.12,2.15,0.00,0.000,4,0.181,0.045,3008,3163,2189,0,0,0,0,0,0
$GC,3704,0.55,231.5,339.2,13.1,437,3729,0.00,2.10,14.35,0.846,6,0.000,0.036,3016,1753,2127,0,0,0,0,0,0
$GC,4047,0.57,270.2,296.2,12.2,471,4088,0.00,2.17,32.97,0.871,4,0.000,0.042,3016,3158,1969,0,0,0,0,0,0
$GC,4095,0.57,292.9,289.7,12.9,478,4123,0.00,2.17,20.23,0.825,6,0.000,0.035,3026,1754,1877,0,0,0,0,0,0
$GC,4459,0.57,294.1,236.8,13.8,542,4467,0.00,2.17,0.00,0.000,4,0.000,0.046,3038,346,1870,0,0,0,0,0,0
$GC,4538,0.58,296.4,225.9,13.8,555,4545,0.00,2.12,0.00,0.000,6,0.000,0.033,3038,1766,1870,0,0,0,0,0,0
$GC,4880,0.56,296.4,177.0,14.1,616,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1766,1868,0,0,0,0,0,0
$GC,5215,0.57,303.3,132.5,13.6,677,5231,0.00,0.00,8.88,0.662,6,0.000,0.000,3037,1770,1834,0,0,0,0,0,0
$GC,5552,0.68,377.7,91.1,10.7,739,5624,0.00,2.20,62.17,0.715,4,0.000,0.043,3037,3156,1531,0,0,0,0,0,0
$GC,5684,0.92,507.1,78.0,8.3,759,5798,0.20,2.17,106.47,0.683,6,0.031,0.034,3166,1744,1004,0,0,0,0,0,0
$STATE,6048,end climb,SURFACE_DEPTH_REACHED
$STATE,6048,begin surface coast
$FINISH,0.7,0.998155
$STATE,6068,end surface coast,CONTROL_FINISHED_OK
$STATE,6068,begin surface
$SM_CCo,6147,0.00,0.000,0,0,997,509.00
$SM_GC,1.58,7.75,0.00,0.00,0.031,0.000,0.000,145,1828,997,-8.35,0.79,509.00
$IRIDIUM_FIX,2258.07,12629.71,131010,060645
$TT8_MAMPS,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.00
$XPDR_PINGS,87
$24V_AH,24.2,45.558
$10V_AH,10.4,30.198
$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,20.425,43.150,586.225,0.000,0.000,25.158,37.128,145.801,21.750,0.000,33.393,1902.134,1653.246,537.540,2175.765,248.055,0.000,1348.297,0.000,1953.863,0.000,0.847,0.000
$DEVICE_MAMPS,230.265,107.100,997.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.826,842.134,1369.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,50352,824
$CAP_FILE_SIZE,83134,0
$CFSIZE,260165632,165572608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,325.9,1
$GPS,131010,103555,2305.828,12630.464,39,1.1,39,-3.4