version: 66.08
glider: 166
mission: 3
dive: 142
start: 10 4 110 5 54 14
data:
$ID,166
$MISSION,3
$DIVE,142
$N_DIVES,155
$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,-21667.631
$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,49
$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
$GPS1,041010,054758,2302.561,12630.220,12,3.8,31,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.7
$GPS2,041010,055352,2302.537,12630.203,13,3.4,32,-3.3
$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,199.5,4712,-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,-214.1,0.0,0.0,0,127,0.00,0.00,-109.82,0.000,2,0.000,0.000,147,1772,3260,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.5,-11.1,15,162,8.68,2.17,-12.68,0.000,4,0.222,0.053,2449,3197,3949,0,0,0,0,0,0
$GC,400,-0.95,-214.1,119.5,-34.8,64,408,0.25,2.10,0.00,0.000,6,0.166,0.034,2525,1802,3953,0,0,0,0,0,0
$GC,731,-0.82,-214.1,212.9,-26.3,125,738,0.17,0.00,0.00,0.000,6,0.174,0.000,2573,1799,3956,0,0,0,0,0,0
$GC,1064,-0.78,-214.1,278.3,-19.7,186,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1800,3956,0,0,0,0,0,0
$GC,1397,-0.76,-214.1,338.8,-17.8,228,1401,0.00,2.12,0.00,0.000,4,0.000,0.046,2574,390,3955,0,0,0,0,0,0
$GC,1425,-0.72,-214.1,344.1,-18.4,230,1433,0.10,2.12,0.00,0.000,6,0.140,0.038,2604,1791,3954,0,0,0,0,0,0
$GC,1752,-0.76,-214.1,389.3,-12.8,261,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1791,3954,0,0,0,0,0,0
$GC,2072,-0.81,-214.1,427.4,-11.2,291,2076,0.00,2.12,0.00,0.000,4,0.000,0.047,2604,399,3952,0,0,0,0,0,0
$GC,2119,-0.86,-214.1,433.1,-12.2,295,2124,0.12,2.10,0.00,0.000,6,0.086,0.038,2530,1803,3952,0,0,0,0,0,0
$GC,2450,-0.81,-214.1,492.8,-17.7,326,2455,0.17,2.15,0.00,0.000,4,0.161,0.051,2572,3210,3949,0,0,0,0,0,0
$GC,2484,-0.85,-214.1,498.1,-14.5,328,2492,0.00,2.12,0.00,0.000,6,0.000,0.037,2572,1802,3949,0,0,0,0,0,0
$STATE,2511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2511,begin apogee
$GC,2517,-0.23,0.0,501.5,12.5,331,2693,0.55,0.00,166.48,0.970,6,0.126,0.000,2760,1745,3073,0,0,0,0,0,0
$STATE,2693,end apogee,CONTROL_FINISHED_OK
$STATE,2693,begin climb
$GC,2696,1.16,214.1,508.3,0.0,346,2877,1.25,2.35,171.80,0.936,4,0.065,0.052,3224,3152,2198,0,0,0,0,0,0
$GC,2924,0.86,214.1,467.3,29.8,365,2930,0.43,2.17,0.00,0.000,6,0.196,0.039,3124,1755,2195,0,0,0,0,0,0
$GC,3253,0.68,214.1,392.1,22.8,395,3260,0.22,0.00,0.00,0.000,6,0.177,0.000,3061,1754,2191,0,0,0,0,0,0
$GC,3579,0.60,214.1,337.4,15.5,426,3582,0.00,2.15,0.00,0.000,4,0.000,0.045,3067,334,2187,0,0,0,0,0,0
$GC,3613,0.51,214.1,331.7,16.3,428,3622,0.17,2.15,0.00,0.000,6,0.147,0.035,3011,1751,2186,0,0,0,0,0,0
$GC,3941,0.59,276.9,290.7,11.2,466,4003,0.00,2.25,50.12,0.840,4,0.000,0.047,3010,3161,1942,0,0,0,0,0,0
$GC,4065,0.67,320.9,276.0,12.0,485,4109,0.12,2.15,36.92,0.806,6,0.080,0.036,3086,1744,1763,0,0,0,0,0,0
$GC,4446,0.61,320.9,200.2,19.4,551,4453,0.17,2.17,0.00,0.000,4,0.165,0.044,3029,3161,1757,0,0,0,0,0,0
$GC,4477,0.61,320.9,194.3,17.4,556,4485,0.00,2.15,0.00,0.000,6,0.000,0.036,3030,1741,1756,0,0,0,0,0,0
$GC,4819,0.69,361.8,149.4,12.1,617,4856,0.00,0.00,33.22,0.726,6,0.000,0.000,3031,1741,1596,0,0,0,0,0,0
$GC,5175,0.82,418.6,105.3,11.4,682,5227,0.20,0.00,46.28,0.689,6,0.062,0.000,3143,1741,1364,0,0,0,0,0,0
$GC,5548,0.79,418.6,31.5,17.2,749,5557,0.17,2.15,0.00,0.000,4,0.153,0.043,3096,352,1360,0,0,0,0,0,0
$GC,5640,0.94,482.7,19.3,11.1,765,5700,0.10,2.12,51.00,0.617,6,0.044,0.031,3170,1767,1103,0,0,0,0,0,0
$STATE,5727,end climb,SURFACE_DEPTH_REACHED
$STATE,5730,begin surface coast
$FINISH,0.6,1.007576
$STATE,5747,end surface coast,CONTROL_FINISHED_OK
$STATE,5747,begin surface
$SM_CCo,5764,133.95,0.554,1,0,455,641.95
$SM_CCo,5906,0.00,0.000,0,0,454,642.20
$SM_GC,1.34,0.00,0.00,0.00,0.000,0.000,0.000,148,1771,454,-8.41,-0.82,642.20
$IRIDIUM_FIX,2255.72,12515.65,041010,030316
$TT8_MAMPS,0.026215
$HUMID,39.01
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.20
$XPDR_PINGS,75
$24V_AH,24.4,27.401
$10V_AH,10.5,17.208
$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,20.725,38.900,555.825,133.950,0.000,22.233,37.012,136.003,18.750,0.000,35.413,1792.306,1493.779,671.122,2061.591,239.356,0.000,1448.024,0.000,1851.968,0.000,0.848,0.000
$DEVICE_MAMPS,221.850,156.825,970.020,553.860,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.002,798.260,1306.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,46952,781
$CAP_FILE_SIZE,81088,0
$CFSIZE,260165632,171823104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,236.5,1
$GPS,041010,073401,2301.554,12629.655,32,1.6,43,-3.3