version: 66.08
glider: 166
mission: 3
dive: 192
start: 10 8 110 1 38 37
data:
$ID,166
$MISSION,3
$DIVE,192
$N_DIVES,195
$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,-21732.977
$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,40
$R_STBD_OVSHOOT,45
$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
$GPS1,081010,013237,2358.512,12630.310,35,1.1,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.2
$GPS2,081010,013814,2358.516,12630.320,16,1.5,16,-3.6
$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,194.1,108373,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,107,0.00,0.00,-88.95,0.000,2,0.000,0.000,145,1769,3324,0,0,0,0,0,0
$GC,110,-1.16,-214.1,5.8,-11.5,12,141,8.70,2.15,-11.40,0.000,4,0.220,0.052,2457,378,3949,0,0,0,0,0,0
$GC,290,-0.91,-214.1,92.9,-39.6,44,299,0.30,2.17,0.00,0.000,6,0.161,0.043,2540,1782,3951,0,0,0,0,0,0
$GC,624,-0.77,-214.1,186.3,-26.4,105,631,0.17,2.20,0.00,0.000,4,0.180,0.052,2583,3212,3955,0,0,0,0,0,0
$GC,656,-0.70,-214.1,194.8,-21.9,110,665,0.00,2.15,0.00,0.000,6,0.000,0.035,2583,1791,3955,0,0,0,0,0,0
$GC,999,-0.66,-214.1,261.8,-18.0,171,1005,0.15,0.00,0.00,0.000,6,0.166,0.000,2624,1791,3956,0,0,0,0,0,0
$GC,1339,-0.69,-214.1,309.2,-13.8,226,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1791,3956,0,0,0,0,0,0
$GC,1669,-0.74,-214.1,354.6,-13.0,257,1673,0.00,2.10,0.00,0.000,4,0.000,0.047,2624,395,3955,0,0,0,0,0,0
$GC,1695,-0.80,-214.1,358.4,-13.9,259,1700,0.12,2.12,0.00,0.000,6,0.089,0.040,2558,1812,3955,0,0,0,0,0,0
$GC,2026,-0.75,-214.1,418.1,-18.6,290,2031,0.15,2.15,0.00,0.000,4,0.171,0.052,2589,3214,3953,0,0,0,0,0,0
$GC,2081,-0.81,-214.1,426.6,-12.7,294,2090,0.00,2.15,0.00,0.000,6,0.000,0.035,2589,1790,3953,0,0,0,0,0,0
$GC,2407,-0.83,-214.1,476.0,-14.8,325,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1789,3952,0,0,0,0,0,0
$STATE,2583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2583,begin apogee
$GC,2589,-0.23,0.0,500.8,13.5,342,2762,0.50,0.00,168.62,0.979,6,0.125,0.000,2759,1789,3071,0,0,0,0,0,0
$STATE,2763,end apogee,CONTROL_FINISHED_OK
$STATE,2763,begin climb
$GC,2765,1.16,214.1,508.9,0.0,356,2944,1.23,0.00,171.68,0.954,6,0.053,0.000,3222,1789,2199,0,0,0,0,0,0
$GC,3263,0.86,214.1,394.6,28.8,401,3268,0.38,2.15,0.00,0.000,4,0.197,0.050,3115,3162,2193,0,0,0,0,0,0
$GC,3348,0.71,214.1,374.0,22.0,408,3353,0.17,2.15,0.00,0.000,6,0.183,0.038,3074,1744,2191,0,0,0,0,0,0
$GC,3681,0.61,214.1,315.7,15.6,439,3685,0.12,2.12,0.00,0.000,4,0.184,0.047,3046,349,2190,0,0,0,0,0,0
$GC,3772,0.56,222.4,303.1,13.5,446,3783,0.00,2.12,6.72,0.695,6,0.000,0.036,3046,1745,2165,0,0,0,0,0,0
$GC,4118,0.52,222.9,260.0,13.9,506,4127,0.12,2.17,0.00,0.000,4,0.171,0.047,3003,3161,2163,0,0,0,0,0,0
$GC,4134,0.49,232.6,257.5,13.5,508,4150,0.00,2.12,10.00,0.745,6,0.000,0.036,3010,1747,2123,0,0,0,0,0,0
$GC,4482,0.54,273.9,216.6,12.1,570,4523,0.00,2.22,35.10,0.793,4,0.000,0.046,3019,349,1954,0,0,0,0,0,0
$GC,4537,0.62,325.0,210.1,11.7,578,4586,0.00,2.17,43.55,0.771,6,0.000,0.035,3020,1751,1746,0,0,0,0,0,0
$GC,4924,0.69,356.9,163.7,12.5,645,4958,0.12,2.15,27.15,0.731,4,0.082,0.043,3084,3162,1616,0,0,0,0,0,0
$GC,5074,0.69,356.9,136.6,19.7,671,5082,0.00,2.15,0.00,0.000,6,0.000,0.036,3089,1753,1615,0,0,0,0,0,0
$GC,5400,0.67,356.9,79.9,14.5,732,5409,0.12,2.17,0.00,0.000,4,0.174,0.044,3064,339,1613,0,0,0,0,0,0
$GC,5424,0.69,378.0,77.0,13.0,735,5448,0.00,2.15,18.52,0.659,6,0.000,0.033,3065,1760,1529,0,0,0,0,0,0
$GC,5769,0.88,476.7,43.6,9.6,798,5858,0.15,0.00,80.18,0.645,6,0.072,0.000,3148,1761,1127,0,0,0,0,0,0
$STATE,5977,end climb,SURFACE_DEPTH_REACHED
$STATE,5977,begin surface coast
$FINISH,1.0,1.022005
$STATE,5989,end surface coast,CONTROL_FINISHED_OK
$STATE,5989,begin surface
$SM_CCo,6067,0.00,0.000,0,0,1124,477.84
$SM_GC,1.50,7.72,0.00,0.00,0.032,0.000,0.000,144,1765,1124,-8.34,-0.99,477.84
$IRIDIUM_FIX,2352.12,12630.96,071010,232331
$TT8_MAMPS,0.026215
$HUMID,40.90
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.90
$XPDR_PINGS,68
$24V_AH,24.3,34.817
$10V_AH,10.4,22.694
$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,20.250,43.075,561.525,0.000,0.000,28.407,31.434,136.135,17.000,0.000,17.359,1934.729,1527.754,524.689,2169.134,246.695,0.000,1326.376,0.000,1978.509,0.000,0.848,0.000
$DEVICE_MAMPS,220.320,52.020,979.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.041,852.267,1384.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50263,834
$CAP_FILE_SIZE,83677,0
$CFSIZE,260165632,169201664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,113.0,1
$GPS,081010,032049,2357.411,12630.555,13,1.6,30,-3.6