version: 66.08
glider: 166
mission: 3
dive: 144
start: 10 4 110 9 27 58
data:
$ID,166
$MISSION,3
$DIVE,144
$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,-21670.238
$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,47
$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
$GPS1,041010,092138,2300.781,12629.455,12,1.6,12,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.0
$GPS2,041010,092736,2300.788,12629.442,10,1.3,26,-3.3
$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,33.0,109665,-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,-214.1,0.0,0.0,0,129,0.00,0.00,-111.97,0.000,2,0.000,0.000,144,1768,3289,0,0,0,0,0,0
$GC,133,-1.16,-214.1,5.3,-9.5,15,157,8.70,0.00,-12.12,0.000,6,0.222,0.000,2456,1768,3948,0,0,0,0,0,0
$GC,470,-0.91,-214.1,153.4,-35.2,78,479,0.28,2.10,0.00,0.000,4,0.179,0.037,2541,386,3953,0,0,0,0,0,0
$GC,526,-0.78,-214.1,169.7,-26.3,87,534,0.20,2.08,0.00,0.000,6,0.164,0.033,2590,1795,3954,0,0,0,0,0,0
$GC,859,-0.75,-214.1,237.1,-19.7,148,866,0.00,2.12,0.00,0.000,4,0.000,0.046,2585,3198,3955,0,0,0,0,0,0
$GC,884,-0.73,-214.1,242.3,-19.7,152,892,0.00,2.08,0.00,0.000,6,0.000,0.032,2585,1800,3956,0,0,0,0,0,0
$GC,1217,-0.71,-214.1,302.7,-17.5,212,1221,0.00,2.08,0.00,0.000,4,0.000,0.041,2584,401,3955,0,0,0,0,0,0
$GC,1288,-0.71,-214.1,315.5,-16.8,218,1296,0.00,2.10,0.00,0.000,6,0.000,0.034,2584,1800,3955,0,0,0,0,0,0
$GC,1614,-0.71,-214.1,368.1,-15.7,249,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1800,3953,0,0,0,0,0,0
$GC,1935,-0.71,-214.1,415.4,-13.7,279,1939,0.00,2.15,0.00,0.000,4,0.000,0.050,2576,3207,3953,0,0,0,0,0,0
$GC,2014,-0.76,-214.1,425.9,-12.2,286,2018,0.00,2.08,0.00,0.000,6,0.000,0.034,2576,1802,3951,0,0,0,0,0,0
$GC,2346,-0.76,-214.1,474.7,-14.9,317,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1802,3950,0,0,0,0,0,0
$STATE,2514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2514,begin apogee
$GC,2521,-0.23,0.0,500.1,14.9,333,2697,0.55,0.00,166.98,0.969,6,0.124,0.000,2763,1802,3072,0,0,0,0,0,0
$STATE,2698,end apogee,CONTROL_FINISHED_OK
$STATE,2698,begin climb
$GC,2702,1.16,214.1,509.0,0.0,348,2882,1.20,2.42,171.90,0.941,4,0.049,0.048,3229,356,2199,0,0,0,0,0,0
$GC,2900,0.84,214.1,478.5,30.1,364,2909,0.43,2.25,0.00,0.000,6,0.187,0.040,3116,1745,2197,0,0,0,0,0,0
$GC,3227,0.66,214.1,402.8,22.3,395,3229,0.20,0.00,0.00,0.000,6,0.176,0.000,3060,1750,2193,0,0,0,0,0,0
$GC,3545,0.57,214.1,347.2,16.7,425,3550,0.12,2.15,0.00,0.000,4,0.186,0.046,3014,3171,2189,0,0,0,0,0,0
$GC,3570,0.50,214.1,343.3,16.4,427,3573,0.00,2.12,0.00,0.000,6,0.000,0.037,3023,1745,2188,0,0,0,0,0,0
$GC,3901,0.51,254.1,300.9,12.2,458,3941,0.00,2.15,32.47,0.845,4,0.000,0.044,3033,355,2034,0,0,0,0,0,0
$GC,3977,0.48,254.1,291.0,14.4,469,3985,0.15,2.12,0.00,0.000,6,0.155,0.034,2995,1755,2032,0,0,0,0,0,0
$GC,4313,0.59,316.9,253.0,11.2,530,4375,0.10,2.22,51.05,0.813,4,0.101,0.047,3042,3154,1779,0,0,0,0,0,0
$GC,4396,0.57,316.9,240.7,17.3,542,4404,0.00,2.17,0.00,0.000,6,0.000,0.035,3047,1749,1778,0,0,0,0,0,0
$GC,4733,0.54,316.9,185.1,14.9,603,4740,0.15,0.00,0.00,0.000,6,0.170,0.000,3011,1749,1774,0,0,0,0,0,0
$GC,5066,0.67,379.0,147.3,11.2,664,5120,0.12,0.00,50.30,0.731,6,0.086,0.000,3087,1749,1526,0,0,0,0,0,0
$GC,5438,0.67,379.0,78.8,16.2,731,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1749,1522,0,0,0,0,0,0
$GC,5763,0.84,474.2,40.9,9.8,792,5846,0.00,2.20,75.28,0.641,4,0.000,0.044,3090,351,1138,0,0,0,0,0,0
$GC,5897,1.00,529.2,25.9,11.5,812,5951,0.15,2.17,45.05,0.610,6,0.037,0.032,3183,1764,914,0,0,0,0,0,0
$STATE,6009,end climb,SURFACE_DEPTH_REACHED
$STATE,6009,begin surface coast
$FINISH,0.7,1.007853
$STATE,6023,end surface coast,CONTROL_FINISHED_OK
$STATE,6023,begin surface
$SM_CCo,6039,97.80,0.535,1,0,455,641.95
$SM_CCo,6146,0.00,0.000,0,0,453,642.20
$SM_GC,1.32,0.00,0.00,0.00,0.000,0.000,0.000,149,1770,453,-8.41,-0.82,642.20
$IRIDIUM_FIX,2253.38,12628.32,041010,070702
$TT8_MAMPS,0.026215
$HUMID,39.80
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.60
$XPDR_PINGS,83
$24V_AH,24.4,27.739
$10V_AH,10.4,17.424
$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,20.200,38.775,593.025,97.800,0.000,29.234,37.009,139.810,20.750,0.000,28.543,1894.095,1537.203,656.620,2168.841,245.485,0.000,1471.999,0.000,1959.963,0.000,0.847,0.000
$DEVICE_MAMPS,221.850,49.725,969.255,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.780,849.356,1369.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50352,831
$CAP_FILE_SIZE,81906,0
$CFSIZE,260165632,171716608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.126,282.3,1
$GPS,041010,111134,2301.885,12629.597,12,4.4,31,-3.3