version: 66.08
glider: 166
mission: 3
dive: 135
start: 10 3 110 17 6 30
data:
$ID,166
$MISSION,3
$DIVE,135
$N_DIVES,145
$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,-21658.561
$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,39
$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
$GPS1,031010,170024,2305.428,12629.305,25,1.2,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.0
$GPS2,031010,170608,2305.429,12629.247,14,1.9,14,-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,146.2,10136,-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,-214.1,0.0,0.0,0,130,0.00,0.00,-112.68,0.000,2,0.000,0.000,145,1756,3373,0,0,0,0,0,0
$GC,133,-1.16,-214.1,6.6,-14.4,16,158,8.77,2.10,-10.05,0.000,4,0.226,0.051,2458,384,3949,0,0,0,0,0,0
$GC,397,-0.92,-214.1,122.1,-35.7,64,405,0.28,2.12,0.00,0.000,6,0.168,0.034,2535,1795,3953,0,0,0,0,0,0
$GC,733,-0.81,-214.1,217.7,-25.8,125,741,0.15,2.12,0.00,0.000,4,0.177,0.040,2576,390,3956,0,0,0,0,0,0
$GC,844,-0.77,-214.1,241.8,-20.2,144,852,0.00,2.12,0.00,0.000,6,0.000,0.036,2571,1801,3956,0,0,0,0,0,0
$GC,1185,-0.73,-214.1,308.6,-19.1,201,1190,0.12,2.12,0.00,0.000,4,0.178,0.042,2606,388,3956,0,0,0,0,0,0
$GC,1238,-0.75,-214.1,317.5,-15.3,205,1241,0.00,2.10,0.00,0.000,6,0.000,0.037,2601,1809,3956,0,0,0,0,0,0
$GC,1566,-0.77,-214.1,369.7,-16.2,235,1570,0.00,2.10,0.00,0.000,4,0.000,0.050,2602,3211,3955,0,0,0,0,0,0
$GC,1615,-0.84,-214.1,377.0,-13.5,239,1619,0.00,2.10,0.00,0.000,6,0.000,0.034,2600,1789,3955,0,0,0,0,0,0
$GC,1943,-0.87,-214.1,424.3,-13.6,269,1948,0.12,2.17,0.00,0.000,4,0.092,0.052,2537,3211,3953,0,0,0,0,0,0
$GC,1968,-0.87,-214.1,428.1,-14.4,271,1972,0.00,2.10,0.00,0.000,6,0.000,0.036,2537,1791,3953,0,0,0,0,0,0
$GC,2299,-0.82,-214.1,489.7,-18.5,302,2303,0.15,2.10,0.00,0.000,4,0.166,0.047,2577,389,3951,0,0,0,0,0,0
$GC,2364,-0.85,-214.1,499.5,-14.0,307,2368,0.00,2.10,0.00,0.000,6,0.000,0.040,2577,1800,3951,0,0,0,0,0,0
$STATE,2373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2373,begin apogee
$GC,2379,-0.23,0.0,501.5,13.5,308,2551,0.55,0.00,167.25,0.965,6,0.127,0.000,2763,1800,3072,0,0,0,0,0,0
$STATE,2551,end apogee,CONTROL_FINISHED_OK
$STATE,2551,begin climb
$GC,2554,1.16,214.1,507.8,0.0,322,2736,1.20,2.35,171.88,0.934,4,0.049,0.047,3232,355,2198,0,0,0,0,0,0
$GC,2806,0.80,214.1,457.2,36.2,343,2811,0.47,2.17,0.00,0.000,6,0.194,0.037,3101,1748,2195,0,0,0,0,0,0
$GC,3133,0.64,214.1,383.4,21.0,373,3137,0.20,2.15,0.00,0.000,4,0.179,0.045,3036,3159,2190,0,0,0,0,0,0
$GC,3185,0.57,214.1,374.0,16.3,377,3188,0.00,2.12,0.00,0.000,6,0.000,0.035,3043,1741,2189,0,0,0,0,0,0
$GC,3511,0.49,214.1,323.8,15.0,407,3513,0.15,0.00,0.00,0.000,6,0.174,0.000,3003,1740,2187,0,0,0,0,0,0
$GC,3833,0.54,253.0,284.7,12.2,449,3873,0.00,2.17,31.10,0.830,4,0.000,0.045,3007,357,2040,0,0,0,0,0,0
$GC,3913,0.59,292.6,274.8,12.2,462,3954,0.00,2.15,33.05,0.810,6,0.000,0.034,3007,1757,1878,0,0,0,0,0,0
$GC,4279,0.60,292.6,226.2,14.0,528,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1757,1873,0,0,0,0,0,0
$GC,4611,0.68,329.0,180.8,12.3,589,4652,0.15,2.17,30.05,0.750,4,0.073,0.044,3078,3153,1730,0,0,0,0,0,0
$GC,4684,0.61,329.0,168.3,18.0,600,4693,0.12,2.15,0.00,0.000,6,0.155,0.034,3046,1744,1729,0,0,0,0,0,0
$GC,5012,0.62,336.7,121.0,13.6,661,5028,0.00,2.15,7.53,0.598,4,0.000,0.043,3051,353,1699,0,0,0,0,0,0
$GC,5062,0.63,342.4,113.7,13.6,669,5078,0.00,2.12,6.45,0.562,6,0.000,0.031,3043,1758,1675,0,0,0,0,0,0
$GC,5399,0.98,475.6,78.3,8.1,731,5516,0.28,2.28,106.28,0.667,4,0.049,0.043,3213,357,1132,0,0,0,0,0,0
$GC,5548,0.86,475.6,46.1,24.4,752,5557,0.30,2.15,0.00,0.000,6,0.147,0.032,3117,1747,1131,0,0,0,0,0,0
$STATE,5838,end climb,SURFACE_DEPTH_REACHED
$STATE,5838,begin surface coast
$FINISH,0.7,1.021781
$STATE,5863,end surface coast,CONTROL_FINISHED_OK
$STATE,5863,begin surface
$SM_CCo,5880,141.15,0.557,1,0,454,641.95
$SM_CCo,6029,-0.45,0.000,0,0,455,642.20
$SM_GC,1.39,0.00,0.00,-0.45,0.000,0.000,0.000,146,1753,455,-8.42,-1.33,642.20
$IRIDIUM_FIX,2255.72,12627.83,031010,151526
$TT8_MAMPS,0.026215
$HUMID,38.93
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.70
$XPDR_PINGS,72
$24V_AH,24.4,26.214
$10V_AH,10.5,16.458
$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,20.600,51.525,553.575,141.150,0.000,29.701,36.831,136.899,18.000,0.000,16.722,1880.120,1431.722,674.539,2141.539,246.297,0.000,1478.927,0.000,1948.281,0.000,0.847,0.000
$DEVICE_MAMPS,226.440,52.020,965.430,556.920,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.878,827.893,1372.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46958,810
$CAP_FILE_SIZE,85272,0
$CFSIZE,260165632,172191744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.253,317.1,1
$GPS,031010,184806,2305.377,12629.351,11,1.6,27,-3.4