version: 66.08
glider: 166
mission: 3
dive: 286
start: 10 15 110 7 18 10
data:
$ID,166
$MISSION,3
$DIVE,286
$N_DIVES,298
$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,-21882.82
$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,40
$R_STBD_OVSHOOT,45
$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
$GPS1,151010,070736,2318.048,12629.608,32,1.1,32,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.6
$GPS2,151010,071749,2318.057,12629.669,9,1.4,14,-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,16.8,77680,-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,-214.1,0.0,0.0,0,105,0.00,0.00,-87.05,0.000,2,0.000,0.000,139,1761,3310,0,0,0,0,0,0
$GC,108,-1.16,-214.1,5.7,-10.3,12,132,9.20,0.00,-11.45,0.000,6,0.232,0.000,2458,1761,3947,0,0,0,0,0,0
$GC,449,-0.92,-214.1,142.7,-34.5,75,457,0.25,2.10,0.00,0.000,4,0.182,0.035,2544,383,3952,0,0,0,0,0,0
$GC,580,-0.83,-214.1,175.6,-22.9,98,589,0.10,2.12,0.00,0.000,6,0.147,0.034,2567,1789,3953,0,0,0,0,0,0
$GC,925,-0.77,-214.1,245.0,-19.1,159,932,0.00,2.10,0.00,0.000,4,0.000,0.039,2567,386,3954,0,0,0,0,0,0
$GC,975,-0.74,-214.1,254.3,-19.5,167,983,0.12,2.10,0.00,0.000,6,0.168,0.034,2597,1807,3954,0,0,0,0,0,0
$GC,1312,-0.74,-214.1,306.7,-14.8,224,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1808,3953,0,0,0,0,0,0
$GC,1630,-0.77,-214.1,352.7,-12.8,254,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1808,3952,0,0,0,0,0,0
$GC,1950,-0.81,-214.1,389.9,-11.6,284,1954,0.00,2.12,0.00,0.000,4,0.000,0.049,2587,3204,3951,0,0,0,0,0,0
$GC,1979,-0.87,-214.1,393.6,-11.5,286,1983,0.00,2.08,0.00,0.000,6,0.000,0.033,2587,1794,3950,0,0,0,0,0,0
$GC,2304,-0.90,-214.1,439.3,-14.3,316,2306,0.12,0.00,0.00,0.000,6,0.090,0.000,2521,1794,3949,0,0,0,0,0,0
$GC,2623,-0.84,-214.1,499.0,-17.7,346,2625,0.15,0.00,0.00,0.000,6,0.169,0.000,2562,1793,3947,0,0,0,0,0,0
$STATE,2634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2634,begin apogee
$GC,2641,-0.23,0.0,500.8,17.3,347,2815,0.60,0.00,168.18,0.995,6,0.128,0.000,2763,1793,3072,0,0,0,0,0,0
$STATE,2816,end apogee,CONTROL_FINISHED_OK
$STATE,2816,begin climb
$GC,2818,1.16,214.1,508.4,0.0,362,3000,1.20,0.00,172.12,0.964,6,0.047,0.000,3220,1793,2199,0,0,0,0,0,0
$GC,3315,0.85,214.1,390.6,27.8,408,3320,0.35,2.12,0.00,0.000,4,0.193,0.047,3111,3159,2193,0,0,0,0,0,0
$GC,3335,0.59,214.1,386.1,26.3,409,3340,0.30,2.12,0.00,0.000,6,0.169,0.039,3035,1753,2191,0,0,0,0,0,0
$GC,3663,0.53,214.1,335.7,15.2,439,3667,0.00,2.17,0.00,0.000,4,0.000,0.047,3043,334,2189,0,0,0,0,0,0
$GC,3694,0.46,214.1,331.1,14.2,441,3699,0.17,2.12,0.00,0.000,6,0.154,0.036,2992,1752,2187,0,0,0,0,0,0
$GC,4025,0.53,270.9,294.4,11.4,475,4080,0.00,2.17,46.38,0.864,4,0.000,0.045,2990,3160,1965,0,0,0,0,0,0
$GC,4134,0.66,331.9,281.8,11.2,492,4196,0.12,2.17,51.47,0.842,6,0.041,0.036,3077,1750,1719,0,0,0,0,0,0
$GC,4535,0.57,331.9,205.9,19.1,561,4542,0.20,0.00,0.00,0.000,6,0.161,0.000,3020,1750,1714,0,0,0,0,0,0
$GC,4875,0.70,400.0,164.5,10.9,622,4939,0.12,2.25,56.40,0.764,4,0.086,0.044,3106,344,1440,0,0,0,0,0,0
$GC,4979,0.63,400.0,145.8,22.9,637,4987,0.17,2.17,0.00,0.000,6,0.137,0.034,3049,1751,1439,0,0,0,0,0,0
$GC,5305,0.72,436.4,102.1,12.3,698,5344,0.00,2.15,30.67,0.701,4,0.000,0.044,3048,3155,1292,0,0,0,0,0,0
$GC,5369,0.84,474.6,93.7,12.2,707,5409,0.12,2.15,32.72,0.687,6,0.036,0.036,3150,1756,1137,0,0,0,0,0,0
$GC,5730,0.81,474.6,22.7,17.7,772,5738,0.17,2.20,0.00,0.000,4,0.149,0.044,3108,337,1133,0,0,0,0,0,0
$GC,5805,1.04,571.1,13.1,9.7,785,5873,0.15,2.12,61.60,0.631,2,0.037,0.031,3206,1755,826,0,0,0,0,0,0
$STATE,5873,end climb,SURFACE_DEPTH_REACHED
$STATE,5873,begin surface coast
$FINISH,0.6,1.021454
$STATE,5887,end surface coast,CONTROL_FINISHED_OK
$STATE,5887,begin surface
$SM_CCo,5966,0.00,0.000,0,0,821,551.92
$SM_GC,1.50,8.00,0.00,0.00,0.034,0.000,0.000,150,1757,821,-8.34,-1.24,551.92
$IRIDIUM_FIX,2307.44,12630.61,151010,070750
$TT8_MAMPS,0.026215
$HUMID,42.40
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.50
$XPDR_PINGS,54
$24V_AH,24.2,49.604
$10V_AH,10.4,32.922
$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,21.650,38.575,619.550,0.000,0.000,58.020,42.311,264.195,13.500,0.000,15.127,1815.839,1689.978,557.016,2228.073,282.230,0.000,1328.811,0.000,1859.979,0.000,1.153,0.000
$DEVICE_MAMPS,231.795,48.960,994.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.373,814.144,1316.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333896
$DATA_FILE_SIZE,47051,796
$CAP_FILE_SIZE,82914,0
$CFSIZE,260165632,164253696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,312.0,1
$GPS,151010,085836,2319.281,12629.631,15,1.3,25,-3.4