version: 66.08
glider: 166
mission: 3
dive: 284
start: 10 15 110 3 33 55
data:
$ID,166
$MISSION,3
$DIVE,284
$N_DIVES,293
$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,-21880.213
$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,43
$R_STBD_OVSHOOT,47
$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
$GPS1,151010,032336,2315.973,12629.923,9,1.5,25,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.0
$GPS2,151010,033334,2316.073,12629.941,10,2.8,29,-3.4
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,359.4,81353,-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,-214.1,0.0,0.0,0,115,0.00,0.00,-96.93,0.000,2,0.000,0.000,145,1816,3234,0,0,0,0,0,0
$GC,118,-1.16,-214.1,5.5,-10.2,13,150,9.05,2.12,-13.00,0.000,4,0.228,0.055,2445,3200,3949,0,0,0,0,0,0
$GC,336,-0.91,-214.1,99.8,-40.0,52,344,0.30,2.12,0.00,0.000,6,0.160,0.034,2541,1796,3952,0,0,0,0,0,0
$GC,665,-0.80,-214.1,187.5,-23.4,113,672,0.15,2.10,0.00,0.000,4,0.177,0.038,2583,393,3954,0,0,0,0,0,0
$GC,745,-0.80,-214.1,202.4,-16.4,127,752,0.00,2.08,0.00,0.000,6,0.000,0.034,2576,1804,3955,0,0,0,0,0,0
$GC,1078,-0.77,-214.1,263.5,-16.1,188,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1805,3955,0,0,0,0,0,0
$GC,1412,-0.75,-214.1,320.1,-16.7,238,1416,0.00,2.12,0.00,0.000,4,0.000,0.041,2575,396,3954,0,0,0,0,0,0
$GC,1460,-0.75,-214.1,328.9,-16.7,242,1468,0.08,2.10,0.00,0.000,6,0.139,0.035,2592,1793,3954,0,0,0,0,0,0
$GC,1787,-0.78,-214.1,372.1,-12.7,273,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1793,3953,0,0,0,0,0,0
$GC,2106,-0.82,-214.1,417.4,-15.0,303,2110,0.00,2.12,0.00,0.000,4,0.000,0.050,2588,3198,3951,0,0,0,0,0,0
$GC,2146,-0.90,-214.1,423.4,-13.7,306,2154,0.08,2.10,0.00,0.000,6,0.054,0.034,2531,1804,3950,0,0,0,0,0,0
$GC,2473,-0.86,-214.1,483.9,-17.5,337,2477,0.12,2.15,0.00,0.000,4,0.177,0.045,2565,399,3949,0,0,0,0,0,0
$GC,2550,-0.89,-214.1,495.2,-13.5,343,2558,0.00,2.10,0.00,0.000,6,0.000,0.039,2561,1802,3948,0,0,0,0,0,0
$STATE,2588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2588,begin apogee
$GC,2594,-0.23,0.0,500.2,12.7,347,2772,0.60,0.00,168.40,0.989,6,0.129,0.000,2760,1738,3072,0,0,0,0,0,0
$STATE,2773,end apogee,CONTROL_FINISHED_OK
$STATE,2773,begin climb
$GC,2775,1.16,214.1,506.6,0.0,362,2955,1.23,2.22,172.00,0.960,4,0.050,0.047,3233,354,2199,0,0,0,0,0,0
$GC,2981,0.83,214.1,472.6,32.1,380,2986,0.43,2.20,0.00,0.000,6,0.189,0.038,3112,1747,2198,0,0,0,0,0,0
$GC,3308,0.65,214.1,403.1,18.1,410,3313,0.22,2.15,0.00,0.000,4,0.171,0.045,3038,3169,2193,0,0,0,0,0,0
$GC,3381,0.58,214.1,391.9,14.0,416,3385,0.00,2.10,0.00,0.000,6,0.000,0.037,3046,1757,2190,0,0,0,0,0,0
$GC,3707,0.50,214.1,343.8,15.2,446,3711,0.15,2.12,0.00,0.000,4,0.171,0.045,3013,346,2189,0,0,0,0,0,0
$GC,3780,0.52,237.7,334.1,12.9,452,3804,0.00,2.10,19.65,0.861,6,0.000,0.034,3009,1760,2103,0,0,0,0,0,0
$GC,4124,0.56,265.5,290.9,12.7,490,4152,0.00,2.20,23.62,0.845,4,0.000,0.046,3009,3156,1989,0,0,0,0,0,0
$GC,4175,0.56,268.9,284.0,13.7,498,4190,0.00,2.15,4.65,0.574,6,0.000,0.036,3017,1757,1975,0,0,0,0,0,0
$GC,4518,0.64,329.7,240.3,11.2,560,4579,0.00,2.28,50.90,0.826,4,0.000,0.046,3028,348,1727,0,0,0,0,0,0
$GC,4659,0.75,388.8,223.6,11.3,583,4720,0.15,2.12,50.00,0.799,6,0.076,0.034,3115,1751,1486,0,0,0,0,0,0
$GC,5044,0.65,388.8,132.8,20.8,652,5053,0.22,2.15,0.00,0.000,4,0.155,0.043,3040,3150,1481,0,0,0,0,0,0
$GC,5131,0.81,449.6,121.9,11.2,667,5191,0.10,2.15,50.45,0.727,6,0.042,0.037,3131,1741,1238,0,0,0,0,0,0
$GC,5510,0.78,449.6,48.5,16.9,735,5519,0.15,2.17,0.00,0.000,4,0.151,0.044,3097,347,1234,0,0,0,0,0,0
$GC,5560,0.92,496.4,41.8,11.9,743,5606,0.08,2.12,38.35,0.657,6,0.049,0.031,3165,1754,1047,0,0,0,0,0,0
$STATE,5773,end climb,SURFACE_DEPTH_REACHED
$STATE,5773,begin surface coast
$FINISH,0.6,1.005401
$STATE,5790,end surface coast,CONTROL_FINISHED_OK
$STATE,5790,begin surface
$SM_CCo,5867,0.00,0.000,0,0,1041,498.20
$SM_GC,1.50,7.75,0.00,0.00,0.033,0.000,0.000,152,1759,1041,-8.34,-1.16,498.20
$IRIDIUM_FIX,2307.44,12630.61,151010,030344
$TT8_MAMPS,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.40
$XPDR_PINGS,71
$24V_AH,24.2,49.274
$10V_AH,10.4,32.703
$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,20.850,51.450,578.025,0.000,0.000,53.627,35.024,253.209,17.750,0.000,31.604,1796.078,1602.898,561.826,2230.492,269.031,0.000,1340.256,0.000,1862.417,0.000,1.152,0.000
$DEVICE_MAMPS,227.970,109.395,989.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.475,800.468,1285.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,47028,783
$CAP_FILE_SIZE,85207,0
$CFSIZE,260165632,164360192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,248.4,1
$GPS,151010,051231,2316.961,12629.602,8,1.2,13,-3.4