version: 66.08
glider: 166
mission: 3
dive: 150
start: 10 4 110 20 37 59
data:
$ID,166
$MISSION,3
$DIVE,150
$N_DIVES,160
$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,400
$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,-21678.154
$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,48
$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
$GPS1,041010,203152,2308.674,12629.146,9,99.0,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.1
$GPS2,041010,203736,2308.715,12629.112,16,1.0,32,-3.4
$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,26.6,94992,-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,15,-1.16,-214.1,0.0,0.0,0,105,0.00,0.00,-86.82,0.000,2,0.000,0.000,137,1764,3333,0,0,0,0,0,0
$GC,108,-1.16,-214.1,5.9,-11.7,12,132,8.88,0.00,-11.02,0.000,6,0.228,0.000,2459,1764,3948,0,0,0,0,0,0
$GC,449,-0.91,-214.1,159.5,-38.0,75,457,0.25,2.05,0.00,0.000,4,0.181,0.038,2540,385,3953,0,0,0,0,0,0
$GC,503,-0.80,-214.1,177.0,-26.5,84,512,0.15,2.12,0.00,0.000,6,0.148,0.037,2580,1787,3953,0,0,0,0,0,0
$GC,848,-0.75,-214.1,253.5,-22.2,145,855,0.00,2.10,0.00,0.000,4,0.000,0.042,2579,386,3955,0,0,0,0,0,0
$GC,897,-0.72,-214.1,263.8,-19.7,153,904,0.12,2.12,0.00,0.000,6,0.171,0.038,2609,1801,3955,0,0,0,0,0,0
$GC,1230,-0.72,-214.1,316.1,-14.4,204,1234,0.00,2.12,0.00,0.000,4,0.000,0.050,2601,3216,3955,0,0,0,0,0,0
$GC,1318,-0.79,-214.1,327.8,-11.8,211,1325,0.00,2.08,0.00,0.000,6,0.000,0.034,2601,1801,3955,0,0,0,0,0,0
$GC,1644,-0.81,-214.1,372.3,-13.6,242,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1801,3954,0,0,0,0,0,0
$GC,1964,-0.84,-214.1,415.7,-13.1,272,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1801,3953,0,0,0,0,0,0
$GC,2284,-0.88,-214.1,455.1,-12.8,302,2292,0.12,0.00,0.00,0.000,6,0.093,0.000,2539,1801,3951,0,0,0,0,0,0
$STATE,2532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2532,begin apogee
$GC,2539,-0.23,0.0,500.3,18.1,326,2711,0.68,0.00,167.27,0.975,6,0.138,0.000,2760,1800,3072,0,0,0,0,0,0
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2712,begin climb
$GC,2714,1.16,214.1,509.2,0.0,340,2895,1.25,2.42,171.52,0.943,4,0.066,0.048,3223,353,2199,0,0,0,0,0,0
$GC,2959,0.85,214.1,464.8,30.8,360,2967,0.38,2.22,0.00,0.000,6,0.184,0.039,3117,1752,2196,0,0,0,0,0,0
$GC,3286,0.67,214.1,393.9,20.0,391,3291,0.22,2.15,0.00,0.000,4,0.174,0.045,3048,3159,2192,0,0,0,0,0,0
$GC,3384,0.59,214.1,378.8,14.2,399,3388,0.00,2.10,0.00,0.000,6,0.000,0.036,3055,1745,2189,0,0,0,0,0,0
$GC,3711,0.50,214.1,326.9,16.4,429,3716,0.17,2.10,0.00,0.000,4,0.168,0.045,3012,350,2188,0,0,0,0,0,0
$GC,3774,0.53,237.4,318.1,12.9,434,3801,0.00,2.10,19.10,0.832,6,0.000,0.034,3014,1762,2103,0,0,0,0,0,0
$GC,4126,0.58,279.2,277.1,12.1,484,4169,0.00,2.17,34.70,0.828,4,0.000,0.046,3013,3149,1933,0,0,0,0,0,0
$GC,4226,0.64,308.6,265.3,12.6,499,4259,0.00,2.10,25.40,0.793,6,0.000,0.035,3020,1743,1812,0,0,0,0,0,0
$GC,4594,0.70,359.0,218.0,11.7,564,4643,0.12,2.22,41.80,0.779,4,0.086,0.044,3095,352,1608,0,0,0,0,0,0
$GC,4671,0.63,359.0,204.0,21.1,575,4678,0.20,2.12,0.00,0.000,6,0.155,0.033,3040,1751,1607,0,0,0,0,0,0
$GC,5012,0.63,359.0,147.5,15.0,636,5020,0.00,2.15,0.00,0.000,4,0.000,0.044,3039,3162,1603,0,0,0,0,0,0
$GC,5060,0.68,359.0,140.0,13.9,644,5068,0.00,2.12,0.00,0.000,6,0.000,0.035,3045,1752,1603,0,0,0,0,0,0
$GC,5386,0.70,377.5,92.8,13.1,705,5409,0.00,2.12,15.85,0.654,4,0.000,0.041,3045,3163,1532,0,0,0,0,0,0
$GC,5437,0.77,404.5,86.5,12.7,712,5468,0.08,2.15,23.08,0.653,6,0.052,0.035,3122,1743,1421,0,0,0,0,0,0
$GC,5790,0.73,404.5,24.7,16.7,776,5799,0.15,2.15,0.00,0.000,4,0.157,0.044,3087,341,1418,0,0,0,0,0,0
$GC,5930,0.85,446.2,6.6,12.1,801,5962,0.00,2.12,26.45,0.598,2,0.000,0.031,3080,1761,1289,0,0,0,0,0,0
$STATE,5962,end climb,SURFACE_DEPTH_REACHED
$STATE,5963,begin surface coast
$FINISH,0.9,1.021846
$STATE,5985,end surface coast,CONTROL_FINISHED_OK
$STATE,5985,begin surface
$SM_CCo,6062,0.00,0.000,0,0,1284,438.60
$SM_GC,1.61,7.57,0.00,0.00,0.036,0.000,0.000,150,1765,1284,-8.35,-0.99,438.60
$IRIDIUM_FIX,2300.41,12629.22,041010,181812
$TT8_MAMPS,0.026215
$HUMID,41.25
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.40
$XPDR_PINGS,80
$24V_AH,24.4,28.701
$10V_AH,10.4,18.092
$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,20.350,47.150,525.175,0.000,0.000,31.386,17.214,136.459,20.000,0.000,33.675,1884.460,1647.252,502.575,2126.719,245.287,0.000,1283.216,0.000,1930.212,0.000,0.846,0.000
$DEVICE_MAMPS,227.970,50.490,975.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.038,827.012,1341.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47071,809
$CAP_FILE_SIZE,82274,0
$CFSIZE,260165632,171405312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,343.1,1
$GPS,041010,221950,2310.331,12629.396,12,1.7,12,-3.4