version: 66.08
glider: 166
mission: 3
dive: 292
start: 10 15 110 18 30 7
data:
$ID,166
$MISSION,3
$DIVE,292
$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,-21890.629
$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,52
$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
$GPS1,151010,182406,2325.929,12629.578,37,1.0,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.8
$GPS2,151010,182944,2325.949,12629.543,13,1.1,13,-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,3.0,63066,-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,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,113,0.00,0.00,-95.43,0.000,2,0.000,0.000,156,1819,3240,0,0,0,0,0,0
$GC,116,-1.16,-214.1,5.6,-11.1,13,147,8.88,2.15,-13.05,0.000,4,0.222,0.061,2440,3192,3948,0,0,0,0,0,0
$GC,187,-0.82,-214.1,41.5,-48.4,24,196,0.43,2.10,0.00,0.000,6,0.174,0.031,2564,1792,3951,0,0,0,0,0,0
$GC,516,-0.71,-214.1,133.1,-24.2,85,525,0.15,2.12,0.00,0.000,4,0.169,0.043,2610,412,3954,0,0,0,0,0,0
$GC,586,-0.71,-214.1,147.6,-18.8,97,594,0.00,2.10,0.00,0.000,6,0.000,0.038,2605,1788,3955,0,0,0,0,0,0
$GC,927,-0.71,-214.1,209.9,-16.8,158,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1788,3956,0,0,0,0,0,0
$GC,1272,-0.71,-214.1,260.1,-11.5,219,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1788,3956,0,0,0,0,0,0
$GC,1617,-0.73,-214.1,310.1,-15.9,275,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1788,3956,0,0,0,0,0,0
$GC,1944,-0.77,-214.1,358.7,-13.6,306,1948,0.00,2.15,0.00,0.000,4,0.000,0.050,2591,3210,3954,0,0,0,0,0,0
$GC,1968,-0.81,-214.1,362.1,-13.2,307,1975,0.00,2.10,0.00,0.000,6,0.000,0.037,2591,1809,3955,0,0,0,0,0,0
$GC,2295,-0.84,-214.1,403.8,-11.7,338,2299,0.00,2.15,0.00,0.000,4,0.000,0.047,2590,399,3953,0,0,0,0,0,0
$GC,2363,-0.88,-214.1,412.2,-11.3,343,2370,0.00,2.12,0.00,0.000,6,0.000,0.038,2588,1810,3953,0,0,0,0,0,0
$GC,2691,-0.92,-214.1,452.0,-13.1,374,2692,0.12,0.00,0.00,0.000,6,0.090,0.000,2525,1811,3951,0,0,0,0,0,0
$STATE,2965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2966,begin apogee
$GC,2971,-0.23,0.0,501.8,18.0,400,3147,0.73,0.00,169.45,1.000,6,0.136,0.000,2758,1747,3071,0,0,0,0,0,0
$STATE,3148,end apogee,CONTROL_FINISHED_OK
$STATE,3148,begin climb
$GC,3151,1.16,214.1,510.6,0.0,415,3333,1.25,2.38,172.62,0.969,4,0.057,0.051,3216,3152,2198,0,0,0,0,0,0
$GC,3384,0.87,214.1,473.0,27.5,435,3393,0.40,2.20,0.00,0.000,6,0.192,0.040,3121,1752,2196,0,0,0,0,0,0
$GC,3709,0.70,214.1,403.3,20.6,466,3711,0.20,0.00,0.00,0.000,6,0.174,0.000,3064,1752,2193,0,0,0,0,0,0
$GC,4028,0.60,214.1,349.2,16.8,496,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1752,2191,0,0,0,0,0,0
$GC,4349,0.52,219.0,301.4,13.7,526,4364,0.20,2.20,3.70,0.504,4,0.158,0.046,3013,347,2179,0,0,0,0,0,0
$GC,4393,0.60,282.7,295.9,11.1,532,4454,0.00,2.15,54.45,0.874,6,0.000,0.035,3013,1750,1918,0,0,0,0,0,0
$GC,4780,0.67,344.9,252.2,11.2,601,4843,0.12,2.28,51.90,0.833,4,0.083,0.046,3073,3154,1665,0,0,0,0,0,0
$GC,4869,0.62,344.9,238.0,17.9,614,4877,0.12,2.20,0.00,0.000,6,0.149,0.036,3043,1751,1664,0,0,0,0,0,0
$GC,5202,0.62,344.9,186.7,15.0,675,5210,0.00,2.17,0.00,0.000,4,0.000,0.046,3051,338,1662,0,0,0,0,0,0
$GC,5274,0.65,347.7,176.3,13.8,687,5281,0.00,2.12,0.00,0.000,6,0.000,0.033,3043,1753,1661,0,0,0,0,0,0
$GC,5606,0.74,402.4,133.4,11.5,748,5657,0.10,0.00,47.42,0.745,6,0.098,0.000,3106,1754,1431,0,0,0,0,0,0
$GC,5978,0.72,402.4,67.5,16.5,815,5988,0.12,2.22,0.00,0.000,4,0.164,0.044,3082,344,1427,0,0,0,0,0,0
$GC,6019,0.84,445.4,62.4,12.0,821,6065,0.00,2.15,36.15,0.678,6,0.000,0.032,3081,1763,1255,0,0,0,0,0,0
$GC,6386,1.12,581.4,27.1,8.0,887,6498,0.28,0.00,108.50,0.638,2,0.048,0.000,3226,1767,708,0,0,0,0,0,0
$STATE,6499,end climb,SURFACE_DEPTH_REACHED
$STATE,6499,begin surface coast
$FINISH,0.6,1.019332
$STATE,6513,end surface coast,CONTROL_FINISHED_OK
$STATE,6513,begin surface
$SM_CCo,6591,0.00,0.000,0,0,704,580.87
$SM_GC,1.44,8.10,0.00,0.00,0.034,0.000,0.000,150,1768,704,-8.36,-0.90,580.87
$IRIDIUM_FIX,2319.18,12631.52,151010,161632
$TT8_MAMPS,0.026964
$HUMID,41.88
$INTERNAL_PRESSURE,8.76469
$TCM_TEMP,25.00
$XPDR_PINGS,70
$24V_AH,24.1,50.585
$10V_AH,10.4,33.592
$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,21.200,39.150,644.200,0.000,0.000,26.315,16.428,153.583,17.500,0.000,14.363,2047.597,1718.149,592.758,2307.975,261.681,0.000,1459.360,0.000,2118.895,0.000,0.848,0.000
$DEVICE_MAMPS,221.850,112.455,999.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.414,923.984,1504.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53584,904
$CAP_FILE_SIZE,86078,0
$CFSIZE,260165632,163926016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138, 12.5,1
$GPS,151010,202050,2327.598,12629.632,14,1.6,14,-3.4