version: 66.08
glider: 166
mission: 3
dive: 172
start: 10 6 110 13 8 57
data:
$ID,166
$MISSION,3
$DIVE,172
$N_DIVES,185
$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,-21707.002
$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,42
$R_STBD_OVSHOOT,41
$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
$GPS1,061010,130238,2337.041,12628.982,9,2.0,10,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.0
$GPS2,061010,130836,2337.050,12628.920,10,1.4,26,-3.5
$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,18.1,42543,-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,-214.1,0.0,0.0,0,96,0.00,0.00,-78.20,0.000,2,0.000,0.000,144,1754,3385,0,0,0,0,0,0
$GC,99,-1.16,-214.1,6.2,-12.1,11,124,8.93,2.25,-9.98,0.000,4,0.230,0.054,2450,3208,3949,0,0,0,0,0,0
$GC,158,-0.81,-214.1,38.8,-53.8,20,167,0.43,2.12,0.00,0.000,6,0.177,0.034,2575,1799,3951,0,0,0,0,0,0
$GC,485,-0.70,-214.1,141.8,-25.0,81,493,0.12,0.00,0.00,0.000,6,0.181,0.000,2608,1796,3955,0,0,0,0,0,0
$GC,821,-0.67,-214.1,209.2,-19.1,142,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1796,3957,0,0,0,0,0,0
$GC,1153,-0.67,-214.1,268.6,-17.1,203,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1796,3957,0,0,0,0,0,0
$GC,1485,-0.67,-214.1,323.1,-16.5,251,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1796,3957,0,0,0,0,0,0
$GC,1807,-0.70,-214.1,372.1,-14.1,281,1810,0.00,2.10,0.00,0.000,4,0.000,0.047,2608,402,3956,0,0,0,0,0,0
$GC,1829,-0.74,-214.1,376.1,-14.4,282,1837,0.00,2.12,0.00,0.000,6,0.000,0.039,2601,1797,3956,0,0,0,0,0,0
$GC,2157,-0.76,-214.1,420.9,-13.6,313,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1797,3955,0,0,0,0,0,0
$GC,2485,-0.80,-214.1,463.8,-13.1,344,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1798,3954,0,0,0,0,0,0
$STATE,2768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2768,begin apogee
$GC,2775,-0.23,0.0,500.6,13.0,371,2951,0.47,0.00,168.10,0.977,6,0.124,0.000,2763,1798,3072,0,0,0,0,0,0
$STATE,2951,end apogee,CONTROL_FINISHED_OK
$STATE,2951,begin climb
$GC,2955,1.16,214.1,510.3,0.0,386,3138,1.20,2.38,171.98,0.945,4,0.044,0.048,3239,356,2198,0,0,0,0,0,0
$GC,3165,0.83,214.1,479.5,29.0,403,3170,0.45,2.20,0.00,0.000,6,0.192,0.039,3113,1749,2196,0,0,0,0,0,0
$GC,3492,0.65,214.1,404.5,22.1,433,3497,0.22,2.15,0.00,0.000,4,0.173,0.046,3043,3165,2192,0,0,0,0,0,0
$GC,3580,0.58,214.1,388.4,16.3,440,3588,0.00,2.15,0.00,0.000,6,0.000,0.037,3047,1759,2189,0,0,0,0,0,0
$GC,3908,0.50,214.1,337.2,14.7,471,3910,0.17,0.00,0.00,0.000,6,0.168,0.000,2998,1759,2188,0,0,0,0,0,0
$GC,4226,0.58,282.5,302.0,10.9,501,4290,0.00,2.22,55.47,0.850,4,0.000,0.045,3006,344,1918,0,0,0,0,0,0
$GC,4328,0.65,317.5,290.2,12.4,515,4369,0.12,2.17,30.65,0.812,6,0.083,0.036,3071,1767,1775,0,0,0,0,0,0
$GC,4708,0.57,317.5,217.1,19.3,581,4715,0.17,2.10,0.00,0.000,4,0.165,0.045,3012,3158,1770,0,0,0,0,0,0
$GC,4746,0.59,317.5,210.8,14.8,587,4753,0.00,2.12,0.00,0.000,6,0.000,0.036,3018,1742,1769,0,0,0,0,0,0
$GC,5084,0.64,339.7,164.7,12.9,648,5111,0.00,2.17,18.58,0.724,4,0.000,0.046,3028,350,1687,0,0,0,0,0,0
$GC,5135,0.70,366.6,158.0,12.7,656,5170,0.08,2.15,23.67,0.715,6,0.053,0.034,3096,1756,1576,0,0,0,0,0,0
$GC,5490,0.64,366.6,92.0,20.2,721,5499,0.17,2.15,0.00,0.000,4,0.155,0.044,3036,3156,1573,0,0,0,0,0,0
$GC,5540,0.78,419.9,84.8,11.6,729,5594,0.10,2.12,44.05,0.676,6,0.043,0.035,3128,1750,1359,0,0,0,0,0,0
$GC,5915,0.74,419.9,11.3,18.3,796,5923,0.17,2.17,0.00,0.000,4,0.153,0.042,3086,338,1356,0,0,0,0,0,0
$GC,5943,0.74,419.9,6.6,17.7,800,5951,0.00,2.15,0.00,0.000,6,0.000,0.032,3086,1762,1354,0,0,0,0,0,0
$STATE,5969,end climb,SURFACE_DEPTH_REACHED
$STATE,5969,begin surface coast
$FINISH,0.7,1.009908
$STATE,5992,end surface coast,CONTROL_FINISHED_OK
$STATE,5992,begin surface
$SM_CCo,6070,0.00,0.000,0,0,1352,421.92
$SM_GC,1.64,7.43,0.00,0.00,0.029,0.000,0.000,156,1768,1352,-8.33,-0.90,421.92
$IRIDIUM_FIX,2323.87,12629.63,061010,111137
$TT8_MAMPS,0.026215
$HUMID,42.08
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.10
$XPDR_PINGS,79
$24V_AH,24.3,31.911
$10V_AH,10.4,20.514
$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,20.250,39.025,512.500,0.000,0.000,24.170,38.738,139.729,19.750,0.000,28.549,1865.368,1717.262,497.787,2101.589,239.417,0.000,1262.673,0.000,1895.873,0.000,0.846,0.000
$DEVICE_MAMPS,229.500,54.315,976.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.481,825.645,1321.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46785,808
$CAP_FILE_SIZE,79727,0
$CFSIZE,260165632,170254336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,324.6,1
$GPS,061010,145116,2338.228,12629.206,13,2.2,33,-3.5