version: 66.08
glider: 166
mission: 3
dive: 186
start: 10 7 110 14 54 25
data:
$ID,166
$MISSION,3
$DIVE,186
$N_DIVES,200
$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,-21725.25
$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,44
$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
$GPS1,071010,144838,2354.139,12629.383,13,1.3,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.4
$GPS2,071010,145402,2354.128,12629.312,12,1.6,12,-3.6
$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,7.1,10937,-19.7,-13.889
$D_GRID,5000
$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,-214.1,0.0,0.0,0,105,0.00,0.00,-88.10,0.000,2,0.000,0.000,143,1798,3416,0,0,0,0,0,0
$GC,109,-1.16,-214.1,6.3,-11.7,12,134,8.70,2.20,-9.38,0.000,4,0.220,0.055,2442,3217,3948,0,0,0,0,0,0
$GC,211,-0.89,-214.1,59.1,-41.0,29,220,0.32,2.15,0.00,0.000,6,0.173,0.034,2542,1795,3951,0,0,0,0,0,0
$GC,538,-0.73,-214.1,158.7,-27.3,90,546,0.20,0.00,0.00,0.000,6,0.177,0.000,2598,1791,3954,0,0,0,0,0,0
$GC,881,-0.70,-214.1,230.5,-18.6,151,888,0.00,2.15,0.00,0.000,4,0.000,0.049,2589,3198,3956,0,0,0,0,0,0
$GC,918,-0.70,-214.1,237.4,-16.9,157,925,0.00,2.08,0.00,0.000,6,0.000,0.034,2589,1804,3956,0,0,0,0,0,0
$GC,1264,-0.67,-214.1,304.5,-18.1,217,1269,0.12,2.15,0.00,0.000,4,0.172,0.046,2622,390,3956,0,0,0,0,0,0
$GC,1353,-0.74,-214.1,317.3,-11.8,224,1363,0.00,2.12,0.00,0.000,6,0.000,0.037,2615,1790,3956,0,0,0,0,0,0
$GC,1680,-0.77,-214.1,361.5,-13.7,255,1684,0.00,2.15,0.00,0.000,4,0.000,0.052,2613,3210,3955,0,0,0,0,0,0
$GC,1718,-0.85,-214.1,366.7,-11.7,258,1727,0.10,2.12,0.00,0.000,6,0.047,0.035,2545,1802,3955,0,0,0,0,0,0
$GC,2044,-0.79,-214.1,427.0,-18.2,289,2049,0.15,2.15,0.00,0.000,4,0.172,0.050,2576,3213,3954,0,0,0,0,0,0
$GC,2130,-0.84,-214.1,438.0,-11.4,296,2134,0.00,2.08,0.00,0.000,6,0.000,0.036,2576,1798,3953,0,0,0,0,0,0
$GC,2456,-0.84,-214.1,485.3,-15.0,326,2460,0.00,2.10,0.00,0.000,4,0.000,0.047,2576,391,3953,0,0,0,0,0,0
$GC,2498,-0.84,-214.1,491.4,-14.7,329,2502,0.00,2.10,0.00,0.000,6,0.000,0.038,2572,1803,3953,0,0,0,0,0,0
$STATE,2555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2555,begin apogee
$GC,2562,-0.23,0.0,500.1,14.8,334,2740,0.57,0.00,168.30,0.975,6,0.130,0.000,2763,1738,3071,0,0,0,0,0,0
$STATE,2741,end apogee,CONTROL_FINISHED_OK
$STATE,2741,begin climb
$GC,2745,1.16,214.1,507.1,0.0,349,2928,1.23,2.28,172.20,0.946,4,0.056,0.048,3228,358,2199,0,0,0,0,0,0
$GC,2971,0.84,214.1,468.5,30.8,369,2976,0.43,2.17,0.00,0.000,6,0.192,0.037,3110,1745,2197,0,0,0,0,0,0
$GC,3298,0.67,214.1,398.3,19.6,399,3303,0.17,2.15,0.00,0.000,4,0.178,0.045,3051,3173,2192,0,0,0,0,0,0
$GC,3423,0.58,214.1,377.4,16.1,409,3430,0.12,2.10,0.00,0.000,6,0.187,0.035,3029,1754,2190,0,0,0,0,0,0
$GC,3748,0.53,214.1,329.7,14.5,440,3752,0.00,2.12,0.00,0.000,4,0.000,0.045,3037,349,2189,0,0,0,0,0,0
$GC,3816,0.48,216.3,320.3,13.8,445,3823,0.15,2.10,0.00,0.000,6,0.161,0.034,2997,1770,2188,0,0,0,0,0,0
$GC,4148,0.55,273.3,283.7,11.4,489,4201,0.00,0.00,47.75,0.848,6,0.000,0.000,2997,1772,1958,0,0,0,0,0,0
$GC,4535,0.68,350.3,241.1,10.5,557,4604,0.17,0.00,64.78,0.806,6,0.068,0.000,3085,1774,1643,0,0,0,0,0,0
$GC,4939,0.61,350.3,160.9,18.7,627,4947,0.17,2.12,0.00,0.000,4,0.165,0.044,3026,3163,1639,0,0,0,0,0,0
$GC,4966,0.59,350.3,156.1,17.1,631,4973,0.00,2.12,0.00,0.000,6,0.000,0.035,3031,1739,1638,0,0,0,0,0,0
$GC,5292,0.64,365.6,110.6,13.2,692,5315,0.00,2.20,13.25,0.670,4,0.000,0.043,3027,3153,1581,0,0,0,0,0,0
$GC,5377,0.79,429.0,101.1,11.1,706,5439,0.12,2.12,52.83,0.695,6,0.040,0.036,3126,1757,1323,0,0,0,0,0,0
$GC,5759,0.75,429.0,25.6,16.1,774,5768,0.15,0.00,0.00,0.000,6,0.159,0.000,3084,1756,1319,0,0,0,0,0,0
$STATE,5940,end climb,SURFACE_DEPTH_REACHED
$STATE,5940,begin surface coast
$FINISH,0.6,1.019876
$STATE,5963,end surface coast,CONTROL_FINISHED_OK
$STATE,5963,begin surface
$SM_CCo,6040,0.00,0.000,0,0,1314,430.99
$SM_GC,1.63,7.47,0.00,0.00,0.034,0.000,0.000,141,1753,1314,-8.36,-1.33,430.99
$IRIDIUM_FIX,2342.70,12626.75,071010,131304
$TT8_MAMPS,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.40
$XPDR_PINGS,80
$24V_AH,24.3,33.947
$10V_AH,10.4,22.050
$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,20.375,47.125,519.100,0.000,0.000,30.143,17.567,138.192,20.000,0.000,13.522,1891.813,1578.764,508.581,2133.066,249.340,0.000,1294.074,0.000,1959.096,0.000,0.846,0.000
$DEVICE_MAMPS,220.320,110.925,975.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.960,830.070,1359.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46876,812
$CAP_FILE_SIZE,83485,0
$CFSIZE,260165632,169521152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,174.5,1
$GPS,071010,163624,2355.085,12629.430,26,1.2,43,-3.6