version: 66.08
glider: 166
mission: 3
dive: 134
start: 10 3 110 15 21 13
data:
$ID,166
$MISSION,3
$DIVE,134
$N_DIVES,140
$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,-21657.301
$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,61
$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
$GPS1,031010,151520,2305.580,12629.363,13,1.1,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.5
$GPS2,031010,152050,2305.569,12629.295,13,1.1,13,-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,143.5,10384,-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,-214.1,0.0,0.0,0,129,0.00,0.00,-111.03,0.000,2,0.000,0.000,148,1830,3309,0,0,0,0,0,0
$GC,132,-1.16,-214.1,6.0,-12.4,15,164,8.77,2.22,-11.35,0.000,4,0.227,0.049,2458,379,3949,0,0,0,0,0,0
$GC,402,-0.93,-214.1,123.0,-35.4,64,411,0.28,2.10,0.00,0.000,6,0.171,0.032,2533,1774,3953,0,0,0,0,0,0
$GC,734,-0.81,-214.1,218.5,-27.1,125,742,0.15,2.10,0.00,0.000,4,0.177,0.038,2574,386,3955,0,0,0,0,0,0
$GC,817,-0.77,-214.1,235.9,-19.4,139,823,0.00,2.12,0.00,0.000,6,0.000,0.037,2571,1809,3955,0,0,0,0,0,0
$GC,1151,-0.73,-214.1,302.4,-18.4,200,1156,0.12,2.15,0.00,0.000,4,0.177,0.042,2606,381,3956,0,0,0,0,0,0
$GC,1194,-0.76,-214.1,310.0,-15.0,203,1201,0.00,2.10,0.00,0.000,6,0.000,0.037,2602,1803,3956,0,0,0,0,0,0
$GC,1522,-0.78,-214.1,358.5,-14.5,234,1526,0.00,2.12,0.00,0.000,4,0.000,0.050,2602,3216,3954,0,0,0,0,0,0
$GC,1607,-0.86,-214.1,369.4,-12.0,241,1612,0.12,2.10,0.00,0.000,6,0.086,0.034,2534,1788,3954,0,0,0,0,0,0
$GC,1934,-0.79,-214.1,436.9,-20.9,271,1939,0.17,2.08,0.00,0.000,4,0.164,0.045,2582,401,3953,0,0,0,0,0,0
$GC,2020,-0.82,-214.1,451.4,-14.4,278,2028,0.00,2.12,0.00,0.000,6,0.000,0.038,2577,1806,3953,0,0,0,0,0,0
$GC,2346,-0.82,-214.1,499.3,-14.5,309,2350,0.00,2.05,0.00,0.000,3,0.000,0.053,2575,3179,3951,0,0,0,0,0,0
$STATE,2351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2351,begin apogee
$GC,2359,-0.23,0.0,500.2,14.3,309,2532,0.55,0.00,167.10,0.967,6,0.129,0.000,2759,1739,3071,0,0,0,0,0,0
$STATE,2533,end apogee,CONTROL_FINISHED_OK
$STATE,2533,begin climb
$GC,2536,1.16,214.1,508.3,0.0,324,2717,1.25,0.00,172.15,0.940,6,0.067,0.000,3212,1739,2199,0,0,0,0,0,0
$GC,3036,0.86,214.1,388.4,29.6,371,3041,0.32,2.15,0.00,0.000,4,0.197,0.045,3133,341,2191,0,0,0,0,0,0
$GC,3088,0.66,214.1,374.0,24.5,375,3093,0.28,2.15,0.00,0.000,6,0.175,0.039,3057,1752,2190,0,0,0,0,0,0
$GC,3415,0.57,214.1,320.0,15.4,405,3420,0.12,2.10,0.00,0.000,4,0.179,0.047,3012,3165,2187,0,0,0,0,0,0
$GC,3481,0.58,222.1,310.1,13.5,410,3492,0.00,2.12,6.18,0.668,6,0.000,0.037,3018,1756,2166,0,0,0,0,0,0
$GC,3824,0.60,254.9,265.5,12.5,465,3858,0.00,2.25,28.15,0.818,4,0.000,0.046,3025,340,2032,0,0,0,0,0,0
$GC,3930,0.60,254.9,250.6,14.1,483,3937,0.00,2.15,0.00,0.000,6,0.000,0.034,3030,1756,2029,0,0,0,0,0,0
$GC,4262,0.57,254.9,202.9,14.4,544,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1757,2027,0,0,0,0,0,0
$GC,4595,0.63,298.5,159.5,12.0,605,4637,0.00,2.15,35.00,0.745,4,0.000,0.043,3024,3167,1855,0,0,0,0,0,0
$GC,4662,0.67,331.2,151.0,12.5,615,4698,0.00,2.17,28.25,0.719,6,0.000,0.036,3027,1738,1720,0,0,0,0,0,0
$GC,5018,0.77,390.4,106.8,11.3,680,5072,0.17,2.22,47.95,0.695,4,0.070,0.044,3133,352,1479,0,0,0,0,0,0
$GC,5131,0.66,390.4,84.4,24.4,697,5140,0.20,2.15,0.00,0.000,6,0.145,0.031,3061,1756,1477,0,0,0,0,0,0
$GC,5462,0.87,497.3,42.3,9.2,758,5554,0.17,2.28,84.82,0.636,4,0.067,0.043,3159,350,1043,0,0,0,0,0,0
$GC,5576,0.81,497.3,22.8,20.2,773,5586,0.15,2.17,0.00,0.000,6,0.135,0.031,3101,1751,1042,0,0,0,0,0,0
$STATE,5697,end climb,SURFACE_DEPTH_REACHED
$STATE,5697,begin surface coast
$FINISH,0.6,1.009247
$STATE,5721,end surface coast,CONTROL_FINISHED_OK
$STATE,5721,begin surface
$SM_CCo,5737,123.10,0.549,1,0,454,641.95
$SM_CCo,5870,-0.40,0.000,0,0,454,642.20
$SM_GC,1.39,0.00,0.00,-0.40,0.000,0.000,0.000,147,1756,454,-8.42,-1.24,642.20
$IRIDIUM_FIX,2255.72,12629.71,031010,131332
$TT8_MAMPS,0.026964
$HUMID,39.25
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.40
$XPDR_PINGS,85
$24V_AH,24.4,26.046
$10V_AH,10.5,16.350
$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,20.450,51.500,569.600,123.100,0.000,30.873,18.115,138.454,21.250,0.000,14.315,1841.964,1341.385,680.336,2097.558,241.413,0.000,1471.727,0.000,1914.747,0.000,0.847,0.000
$DEVICE_MAMPS,227.205,52.785,966.960,549.270,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.103,816.779,1346.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46968,799
$CAP_FILE_SIZE,83498,0
$CFSIZE,260165632,172240896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.243,307.8,1
$GPS,031010,170024,2305.428,12629.305,25,1.2,42,-3.4