version: 66.08
glider: 166
mission: 3
dive: 116
start: 10 2 110 6 48 53
data:
$ID,166
$MISSION,3
$DIVE,116
$N_DIVES,130
$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,642
$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,-21633.939
$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,44
$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
$GPS1,021010,064243,2312.682,12629.322,8,1.7,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.2
$GPS2,021010,064831,2312.804,12629.342,10,1.9,15,-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,152.9,23740,-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,-214.1,0.0,0.0,0,126,0.00,0.00,-108.75,0.000,2,0.000,0.000,146,1787,3217,0,0,0,0,0,0
$GC,129,-1.16,-214.1,5.1,-10.2,15,161,8.95,2.08,-13.73,0.000,4,0.233,0.045,2458,389,3947,0,0,0,0,0,0
$GC,201,-0.84,-214.1,40.2,-47.2,26,210,0.38,2.17,0.00,0.000,6,0.163,0.041,2564,1797,3950,0,0,0,0,0,0
$GC,526,-0.69,-214.1,140.6,-29.6,87,534,0.17,2.20,0.00,0.000,4,0.177,0.054,2612,3213,3952,0,0,0,0,0,0
$GC,639,-0.73,-214.1,165.3,-18.3,107,646,0.00,2.10,0.00,0.000,6,0.000,0.036,2611,1802,3953,0,0,0,0,0,0
$GC,974,-0.71,-214.1,232.2,-17.6,168,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1802,3954,0,0,0,0,0,0
$GC,1309,-0.71,-214.1,288.2,-16.0,229,1316,0.00,2.12,0.00,0.000,4,0.000,0.045,2611,389,3953,0,0,0,0,0,0
$GC,1335,-0.71,-214.1,292.5,-16.0,233,1342,0.00,2.12,0.00,0.000,6,0.000,0.039,2603,1810,3953,0,0,0,0,0,0
$GC,1662,-0.71,-214.1,344.6,-15.3,268,1666,0.00,2.10,0.00,0.000,4,0.000,0.052,2602,3217,3952,0,0,0,0,0,0
$GC,1698,-0.74,-214.1,349.8,-14.4,271,1702,0.00,2.10,0.00,0.000,6,0.000,0.036,2601,1800,3952,0,0,0,0,0,0
$GC,2024,-0.74,-214.1,400.7,-17.2,301,2028,0.00,2.15,0.00,0.000,4,0.000,0.047,2601,385,3951,0,0,0,0,0,0
$GC,2079,-0.78,-214.1,409.7,-14.8,305,2087,0.00,2.12,0.00,0.000,6,0.000,0.041,2602,1803,3950,0,0,0,0,0,0
$GC,2405,-0.81,-214.1,457.9,-14.2,336,2409,0.00,2.10,0.00,0.000,4,0.000,0.052,2594,3209,3948,0,0,0,0,0,0
$GC,2448,-0.88,-214.1,464.0,-12.6,339,2455,0.10,2.08,0.00,0.000,6,0.099,0.037,2536,1793,3948,0,0,0,0,0,0
$STATE,2644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2651,-0.23,0.0,501.1,19.6,358,2828,0.70,0.00,166.45,0.959,6,0.142,0.000,2762,1792,3072,0,0,0,0,0,0
$STATE,2828,end apogee,CONTROL_FINISHED_OK
$STATE,2828,begin climb
$GC,2832,1.16,214.1,508.6,0.0,373,3017,1.25,0.00,172.48,0.930,6,0.069,0.000,3219,1792,2198,0,0,0,0,0,0
$GC,3335,0.86,214.1,383.5,29.4,421,3340,0.35,2.22,0.00,0.000,4,0.197,0.047,3134,343,2192,0,0,0,0,0,0
$GC,3365,0.64,214.1,375.8,23.0,423,3370,0.30,2.15,0.00,0.000,6,0.174,0.040,3049,1746,2192,0,0,0,0,0,0
$GC,3693,0.57,214.1,326.8,14.3,453,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1746,2188,0,0,0,0,0,0
$GC,4022,0.50,214.1,274.0,16.0,498,4030,0.15,2.17,0.00,0.000,4,0.170,0.047,2995,3156,2186,0,0,0,0,0,0
$GC,4104,0.56,237.4,263.0,12.9,512,4132,0.00,2.12,18.60,0.785,6,0.000,0.037,2999,1756,2104,0,0,0,0,0,0
$GC,4456,0.69,324.4,225.3,10.1,576,4537,0.17,2.30,70.80,0.781,4,0.070,0.045,3105,343,1748,0,0,0,0,0,0
$GC,4590,0.59,324.4,201.5,20.5,597,4600,0.22,2.15,0.00,0.000,6,0.160,0.035,3034,1746,1744,0,0,0,0,0,0
$GC,4924,0.59,324.4,150.7,15.1,658,4932,0.00,2.15,0.00,0.000,4,0.000,0.044,3032,3160,1742,0,0,0,0,0,0
$GC,4962,0.62,334.9,145.5,13.4,664,4978,0.00,2.15,9.27,0.635,6,0.000,0.036,3037,1739,1706,0,0,0,0,0,0
$GC,5298,0.69,390.3,100.3,11.5,726,5350,0.00,2.28,45.28,0.682,4,0.000,0.044,3037,3166,1479,0,0,0,0,0,0
$GC,5403,0.82,447.0,88.1,11.4,742,5457,0.12,2.17,46.58,0.660,6,0.041,0.036,3135,1747,1249,0,0,0,0,0,0
$GC,5777,0.76,447.0,7.1,19.4,809,5786,0.17,2.20,0.00,0.000,4,0.158,0.044,3073,3165,1244,0,0,0,0,0,0
$STATE,5798,end climb,SURFACE_DEPTH_REACHED
$STATE,5798,begin surface coast
$FINISH,1.0,1.021638
$STATE,5810,end surface coast,CONTROL_FINISHED_OK
$STATE,5810,begin surface
$SM_CCo,5829,166.18,0.565,1,0,454,641.95
$SM_CCo,6003,-0.35,0.000,0,0,454,642.20
$SM_GC,1.34,0.00,0.00,-0.35,0.000,0.000,0.000,149,1794,454,-8.41,-0.17,642.20
$IRIDIUM_FIX,2305.10,12630.61,021010,040411
$TT8_MAMPS,0.026215
$HUMID,38.54
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.00
$XPDR_PINGS,68
$24V_AH,24.4,22.986
$10V_AH,10.5,14.428
$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,20.575,51.600,529.450,166.175,0.000,27.452,39.800,141.919,17.000,0.000,17.332,1866.127,1417.727,727.960,2101.843,239.200,0.000,1499.851,0.000,1901.794,0.000,0.848,0.000
$DEVICE_MAMPS,233.325,53.550,959.310,564.570,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.933,831.795,1349.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,46994,814
$CAP_FILE_SIZE,83108,0
$CFSIZE,260165632,173174784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.236,285.7,1
$GPS,021010,083007,2312.205,12629.078,29,1.4,30,-3.4