version: 66.08
glider: 166
mission: 3
dive: 209
start: 10 9 110 8 56 30
data:
$ID,166
$MISSION,3
$DIVE,209
$N_DIVES,208
$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,-21754.982
$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,35
$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
$GPS1,091010,085019,2342.919,12631.518,8,1.4,13,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.6
$GPS2,091010,085608,2342.864,12631.519,14,1.6,14,-3.5
$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,193.5,79427,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,116,0.00,0.00,-98.53,0.000,2,0.000,0.000,145,1764,3240,0,0,0,0,0,0
$GC,119,-1.16,-214.1,5.6,-11.5,13,151,8.65,2.25,-13.20,0.000,4,0.216,0.060,2449,3208,3948,0,0,0,0,0,0
$GC,354,-0.94,-214.1,105.3,-33.2,55,364,0.25,2.15,0.00,0.000,6,0.172,0.035,2524,1790,3951,0,0,0,0,0,0
$GC,686,-0.79,-214.1,201.2,-26.9,116,694,0.20,0.00,0.00,0.000,6,0.170,0.000,2581,1788,3954,0,0,0,0,0,0
$GC,1023,-0.74,-214.1,271.4,-20.0,177,1030,0.00,2.20,0.00,0.000,4,0.000,0.051,2572,3207,3955,0,0,0,0,0,0
$GC,1053,-0.71,-214.1,277.2,-18.0,182,1061,0.10,2.12,0.00,0.000,6,0.138,0.036,2606,1803,3954,0,0,0,0,0,0
$GC,1384,-0.71,-214.1,327.9,-14.7,226,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1803,3954,0,0,0,0,0,0
$GC,1707,-0.73,-214.1,372.0,-13.2,256,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1803,3953,0,0,0,0,0,0
$GC,2036,-0.77,-214.1,415.5,-12.9,287,2040,0.00,2.15,0.00,0.000,4,0.000,0.047,2606,390,3952,0,0,0,0,0,0
$GC,2094,-0.83,-214.1,422.9,-12.3,292,2098,0.00,2.15,0.00,0.000,6,0.000,0.040,2600,1812,3952,0,0,0,0,0,0
$GC,2420,-0.87,-214.1,465.7,-12.1,322,2424,0.12,2.15,0.00,0.000,4,0.093,0.053,2533,3207,3950,0,0,0,0,0,0
$GC,2483,-0.87,-214.1,475.3,-15.7,327,2487,0.00,2.10,0.00,0.000,6,0.000,0.037,2533,1798,3949,0,0,0,0,0,0
$STATE,2621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2621,begin apogee
$GC,2627,-0.23,0.0,501.3,18.8,340,2805,0.70,0.00,168.15,0.995,6,0.141,0.000,2758,1798,3071,0,0,0,0,0,0
$STATE,2806,end apogee,CONTROL_FINISHED_OK
$STATE,2806,begin climb
$GC,2808,1.16,214.1,509.6,0.0,355,2989,1.25,2.42,172.05,0.965,4,0.068,0.049,3221,349,2199,0,0,0,0,0,0
$GC,3006,0.85,214.1,480.2,28.9,371,3015,0.40,2.22,0.00,0.000,6,0.187,0.039,3115,1755,2197,0,0,0,0,0,0
$GC,3333,0.67,214.1,405.3,22.2,402,3338,0.22,2.15,0.00,0.000,4,0.174,0.045,3043,3174,2192,0,0,0,0,0,0
$GC,3435,0.59,214.1,386.9,17.7,411,3439,0.00,2.15,0.00,0.000,6,0.000,0.037,3050,1748,2190,0,0,0,0,0,0
$GC,3762,0.51,214.1,332.5,15.5,441,3766,0.15,2.10,0.00,0.000,4,0.173,0.045,3018,343,2188,0,0,0,0,0,0
$GC,3794,0.48,221.5,327.4,13.6,443,3805,0.00,2.12,6.28,0.701,6,0.000,0.035,3017,1767,2167,0,0,0,0,0,0
$GC,4130,0.50,255.9,285.6,12.4,485,4165,0.00,2.15,29.52,0.854,4,0.000,0.044,3017,3165,2027,0,0,0,0,0,0
$GC,4195,0.53,274.9,277.3,13.1,495,4216,0.00,2.15,16.95,0.806,6,0.000,0.037,3024,1748,1951,0,0,0,0,0,0
$GC,4544,0.53,292.0,229.3,13.1,558,4566,0.00,2.15,14.68,0.775,4,0.000,0.044,3035,337,1881,0,0,0,0,0,0
$GC,4581,0.53,292.0,224.0,14.2,563,4589,0.00,2.15,0.00,0.000,6,0.000,0.034,3036,1755,1880,0,0,0,0,0,0
$GC,4915,0.53,292.0,174.4,14.1,624,4922,0.00,2.17,0.00,0.000,4,0.000,0.047,3036,3156,1877,0,0,0,0,0,0
$GC,5001,0.53,292.0,161.9,14.0,639,5010,0.12,2.12,0.00,0.000,6,0.170,0.034,3011,1736,1877,0,0,0,0,0,0
$GC,5335,0.65,354.0,122.6,11.2,700,5398,0.12,2.15,51.35,0.737,4,0.086,0.042,3102,352,1630,0,0,0,0,0,0
$GC,5440,0.60,354.0,103.0,21.5,715,5450,0.20,2.15,0.00,0.000,6,0.130,0.033,3037,1749,1628,0,0,0,0,0,0
$GC,5772,0.83,469.4,64.2,8.9,776,5874,0.20,2.20,94.18,0.679,4,0.060,0.041,3152,353,1158,0,0,0,0,0,0
$GC,5895,0.76,469.4,40.9,21.1,793,5903,0.20,2.17,0.00,0.000,6,0.126,0.033,3085,1745,1157,0,0,0,0,0,0
$STATE,6201,end climb,SURFACE_DEPTH_REACHED
$STATE,6201,begin surface coast
$FINISH,0.7,1.021856
$STATE,6237,end surface coast,CONTROL_FINISHED_OK
$STATE,6237,begin surface
$SM_CCo,6316,0.00,0.000,0,0,1152,470.98
$SM_GC,1.39,7.53,0.00,0.00,0.034,0.000,0.000,141,1828,1152,-8.36,0.79,470.98
$IRIDIUM_FIX,2335.63,12633.83,091010,070738
$TT8_MAMPS,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.80
$XPDR_PINGS,75
$24V_AH,24.3,37.422
$10V_AH,10.4,24.555
$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,20.425,52.075,553.150,0.000,0.000,31.013,37.461,138.549,18.750,0.000,16.610,1987.879,1635.901,536.088,2240.287,259.866,0.000,1362.899,0.000,2043.224,0.000,0.849,0.000
$DEVICE_MAMPS,216.495,143.820,995.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.440,874.898,1445.744,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333916
$DATA_FILE_SIZE,50204,856
$CAP_FILE_SIZE,87000,0
$CFSIZE,260165632,168304640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,283.4,1
$GPS,091010,104301,2341.939,12631.174,39,1.2,39,-3.5