version: 66.08
glider: 166
mission: 3
dive: 193
start: 10 8 110 3 31 47
data:
$ID,166
$MISSION,3
$DIVE,193
$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,-21734.236
$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,38
$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
$GPS1,081010,032049,2357.411,12630.555,13,1.6,30,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.6
$GPS2,081010,033125,2357.426,12630.589,13,1.9,24,-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,201.2,106357,-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,-214.1,0.0,0.0,0,104,0.00,0.00,-86.45,0.000,2,0.000,0.000,140,1765,3348,0,0,0,0,0,0
$GC,107,-1.16,-214.1,5.9,-12.8,12,132,8.75,2.15,-10.88,0.000,4,0.220,0.050,2457,374,3948,0,0,0,0,0,0
$GC,266,-0.93,-214.1,85.9,-39.1,40,275,0.28,2.17,0.00,0.000,6,0.168,0.037,2532,1797,3951,0,0,0,0,0,0
$GC,598,-0.78,-214.1,188.4,-26.9,101,606,0.20,2.15,0.00,0.000,4,0.172,0.045,2580,3218,3954,0,0,0,0,0,0
$GC,663,-0.76,-214.1,202.7,-19.7,111,671,0.00,2.12,0.00,0.000,6,0.000,0.033,2579,1786,3955,0,0,0,0,0,0
$GC,1004,-0.71,-214.1,275.0,-19.6,172,1013,0.12,2.12,0.00,0.000,4,0.174,0.044,2613,401,3955,0,0,0,0,0,0
$GC,1050,-0.72,-214.1,282.7,-15.9,179,1057,0.00,2.10,0.00,0.000,6,0.000,0.039,2613,1801,3955,0,0,0,0,0,0
$GC,1382,-0.72,-214.1,336.6,-16.7,219,1385,0.00,2.15,0.00,0.000,4,0.000,0.052,2612,3218,3955,0,0,0,0,0,0
$GC,1413,-0.77,-214.1,340.8,-13.6,221,1417,0.00,2.08,0.00,0.000,6,0.000,0.034,2612,1799,3955,0,0,0,0,0,0
$GC,1740,-0.81,-214.1,385.4,-14.4,251,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1799,3954,0,0,0,0,0,0
$GC,2059,-0.85,-214.1,428.7,-13.9,281,2064,0.12,2.22,0.00,0.000,4,0.090,0.054,2546,3216,3952,0,0,0,0,0,0
$GC,2126,-0.85,-214.1,439.6,-15.1,286,2135,0.00,2.15,0.00,0.000,6,0.000,0.037,2546,1797,3952,0,0,0,0,0,0
$GC,2452,-0.81,-214.1,494.5,-16.3,317,2457,0.12,2.12,0.00,0.000,4,0.171,0.048,2580,393,3950,0,0,0,0,0,0
$STATE,2490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2490,begin apogee
$GC,2499,-0.23,0.0,500.6,14.0,320,2671,0.55,0.00,167.88,0.975,6,0.121,0.000,2762,1752,3072,0,0,0,0,0,0
$STATE,2672,end apogee,CONTROL_FINISHED_OK
$STATE,2672,begin climb
$GC,2676,1.16,214.1,508.3,0.0,334,2859,1.20,2.33,172.27,0.948,4,0.050,0.049,3227,356,2199,0,0,0,0,0,0
$GC,2892,0.83,214.1,473.0,31.9,353,2897,0.43,2.17,0.00,0.000,6,0.193,0.037,3108,1758,2196,0,0,0,0,0,0
$GC,3219,0.66,214.1,405.8,19.9,383,3224,0.20,2.12,0.00,0.000,4,0.173,0.045,3044,3169,2192,0,0,0,0,0,0
$GC,3318,0.58,214.1,389.6,16.0,391,3322,0.00,2.12,0.00,0.000,6,0.000,0.037,3050,1737,2190,0,0,0,0,0,0
$GC,3649,0.50,214.1,332.4,17.2,422,3653,0.17,2.10,0.00,0.000,4,0.166,0.045,3009,340,2189,0,0,0,0,0,0
$GC,3713,0.55,253.8,324.1,12.2,427,3752,0.00,2.12,32.40,0.862,6,0.000,0.034,3001,1765,2037,0,0,0,0,0,0
$GC,4081,0.68,344.1,283.1,10.0,475,4163,0.15,2.33,75.43,0.838,4,0.075,0.046,3089,346,1668,0,0,0,0,0,0
$GC,4189,0.59,344.1,263.8,20.1,491,4197,0.20,2.15,0.00,0.000,6,0.161,0.034,3028,1752,1668,0,0,0,0,0,0
$GC,4530,0.59,344.1,210.1,15.4,552,4539,0.00,2.15,0.00,0.000,4,0.000,0.045,3017,3156,1663,0,0,0,0,0,0
$GC,4602,0.72,390.5,201.1,11.9,564,4652,0.10,2.12,38.85,0.773,6,0.046,0.035,3098,1751,1479,0,0,0,0,0,0
$GC,4982,0.67,390.5,121.1,18.7,631,4991,0.15,2.17,0.00,0.000,4,0.164,0.042,3046,3159,1476,0,0,0,0,0,0
$GC,5005,0.64,390.5,117.0,18.0,634,5013,0.00,2.12,0.00,0.000,6,0.000,0.034,3053,1749,1475,0,0,0,0,0,0
$GC,5330,0.75,428.4,74.6,12.2,695,5367,0.00,2.17,31.42,0.680,4,0.000,0.041,3053,3163,1324,0,0,0,0,0,0
$GC,5383,0.94,508.1,69.0,10.4,702,5459,0.17,2.15,65.55,0.666,6,0.031,0.036,3175,1758,1000,0,0,0,0,0,0
$STATE,5670,end climb,SURFACE_DEPTH_REACHED
$STATE,5670,begin surface coast
$FINISH,0.6,1.022061
$STATE,5687,end surface coast,CONTROL_FINISHED_OK
$STATE,5687,begin surface
$SM_CCo,5764,0.00,0.000,0,0,992,510.22
$SM_GC,1.44,7.72,0.00,0.00,0.030,0.000,0.000,150,1758,992,-8.34,-1.19,510.22
$IRIDIUM_FIX,2345.05,12631.45,081010,030356
$TT8_MAMPS,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.30
$XPDR_PINGS,63
$24V_AH,24.3,34.982
$10V_AH,10.5,22.796
$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,20.650,55.975,583.800,0.000,0.000,47.819,95.372,220.217,15.750,0.000,25.153,1749.023,1629.918,547.641,2222.965,247.241,0.000,1306.554,0.000,1803.339,0.000,1.152,0.000
$DEVICE_MAMPS,220.320,54.315,975.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.301,770.766,1245.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43690,754
$CAP_FILE_SIZE,83832,0
$CFSIZE,260165632,169160704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,117.3,1
$GPS,081010,050906,2356.309,12630.639,37,0.9,39,-3.6