version: 66.08
glider: 166
mission: 3
dive: 211
start: 10 9 110 12 42 36
data:
$ID,166
$MISSION,3
$DIVE,211
$N_DIVES,220
$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,-21785.121
$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,40
$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
$GPS1,091010,123628,2341.039,12630.949,9,2.7,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.6
$GPS2,091010,124214,2341.040,12630.893,13,1.7,13,-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,171.1,76022,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,104,0.00,0.00,-86.43,0.000,2,0.000,0.000,143,1758,3385,0,0,0,0,0,0
$GC,107,-1.16,-214.1,6.3,-12.9,12,132,8.77,2.15,-9.98,0.000,4,0.222,0.055,2457,382,3949,0,0,0,0,0,0
$GC,335,-0.89,-214.1,108.3,-36.5,53,344,0.32,2.17,0.00,0.000,6,0.168,0.040,2546,1794,3952,0,0,0,0,0,0
$GC,673,-0.75,-214.1,204.4,-27.1,114,682,0.17,2.20,0.00,0.000,4,0.174,0.051,2587,3209,3956,0,0,0,0,0,0
$GC,723,-0.75,-214.1,214.8,-17.9,122,732,0.00,2.12,0.00,0.000,6,0.000,0.037,2587,1804,3956,0,0,0,0,0,0
$GC,1065,-0.72,-214.1,278.7,-17.7,183,1072,0.00,2.12,0.00,0.000,4,0.000,0.046,2587,394,3956,0,0,0,0,0,0
$GC,1104,-0.69,-214.1,285.6,-18.4,189,1111,0.15,2.10,0.00,0.000,6,0.158,0.039,2620,1804,3957,0,0,0,0,0,0
$GC,1442,-0.73,-214.1,329.4,-12.2,229,1446,0.00,2.12,0.00,0.000,4,0.000,0.051,2613,3205,3956,0,0,0,0,0,0
$GC,1496,-0.82,-214.1,335.6,-10.6,233,1501,0.10,2.10,0.00,0.000,6,0.098,0.036,2554,1786,3956,0,0,0,0,0,0
$GC,1828,-0.77,-214.1,394.6,-17.9,264,1833,0.12,2.12,0.00,0.000,4,0.177,0.047,2586,389,3956,0,0,0,0,0,0
$GC,1870,-0.79,-214.1,401.3,-15.1,267,1874,0.00,2.12,0.00,0.000,6,0.000,0.042,2583,1799,3955,0,0,0,0,0,0
$GC,2201,-0.79,-214.1,451.8,-15.3,298,2205,0.00,2.15,0.00,0.000,4,0.000,0.054,2575,3208,3954,0,0,0,0,0,0
$GC,2314,-0.85,-214.1,467.8,-13.2,307,2321,0.00,2.10,0.00,0.000,6,0.000,0.037,2575,1802,3953,0,0,0,0,0,0
$STATE,2531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2531,begin apogee
$GC,2539,-0.23,0.0,501.0,15.0,328,2712,0.55,0.00,169.05,0.995,6,0.129,0.000,2759,1750,3072,0,0,0,0,0,0
$STATE,2713,end apogee,CONTROL_FINISHED_OK
$STATE,2713,begin climb
$GC,2715,1.16,214.1,508.1,0.0,342,2902,1.23,2.28,172.70,0.963,4,0.051,0.047,3232,346,2199,0,0,0,0,0,0
$GC,2915,0.84,214.1,475.4,30.2,360,2920,0.43,2.20,0.00,0.000,6,0.191,0.038,3114,1746,2197,0,0,0,0,0,0
$GC,3240,0.66,214.1,404.2,20.8,390,3245,0.20,2.15,0.00,0.000,4,0.175,0.046,3050,3162,2193,0,0,0,0,0,0
$GC,3339,0.58,214.1,387.3,15.4,398,3347,0.00,2.17,0.00,0.000,6,0.000,0.037,3055,1742,2191,0,0,0,0,0,0
$GC,3667,0.50,214.1,335.2,15.3,429,3671,0.20,2.15,0.00,0.000,4,0.161,0.045,3006,334,2189,0,0,0,0,0,0
$GC,3741,0.54,252.9,325.2,12.2,435,3779,0.00,2.15,32.05,0.879,6,0.000,0.035,3005,1765,2040,0,0,0,0,0,0
$GC,4104,0.60,297.2,277.5,12.0,484,4148,0.00,2.15,36.75,0.849,4,0.000,0.044,3005,3163,1859,0,0,0,0,0,0
$GC,4170,0.66,335.0,270.0,12.2,493,4211,0.12,2.15,33.30,0.825,6,0.079,0.036,3082,1742,1706,0,0,0,0,0,0
$GC,4547,0.58,335.0,197.1,20.4,559,4554,0.20,2.10,0.00,0.000,4,0.156,0.042,3033,349,1701,0,0,0,0,0,0
$GC,4574,0.54,335.0,192.1,18.5,563,4581,0.00,2.12,0.00,0.000,6,0.000,0.034,3033,1761,1699,0,0,0,0,0,0
$GC,4912,0.56,348.7,144.7,13.3,624,4929,0.00,2.17,11.95,0.699,4,0.000,0.045,3033,3162,1650,0,0,0,0,0,0
$GC,4997,0.62,363.1,133.4,13.3,638,5020,0.00,2.15,13.88,0.697,6,0.000,0.037,3040,1751,1590,0,0,0,0,0,0
$GC,5342,0.72,406.1,89.9,12.0,701,5389,0.00,2.20,35.75,0.702,4,0.000,0.046,3050,355,1416,0,0,0,0,0,0
$GC,5472,0.95,506.8,75.3,9.5,722,5562,0.22,2.12,82.88,0.683,6,0.032,0.031,3175,1752,1005,0,0,0,0,0,0
$STATE,5767,end climb,SURFACE_DEPTH_REACHED
$STATE,5767,begin surface coast
$FINISH,0.7,1.009679
$STATE,5783,end surface coast,CONTROL_FINISHED_OK
$STATE,5783,begin surface
$SM_CCo,5861,0.00,0.000,0,0,998,509.00
$SM_GC,1.57,7.82,0.00,0.00,0.036,0.000,0.000,151,1755,998,-8.33,-1.30,509.00
$IRIDIUM_FIX,2330.93,12632.43,091010,101029
$TT8_MAMPS,0.026215
$HUMID,42.95
$INTERNAL_PRESSURE,8.76469
$TCM_TEMP,23.90
$XPDR_PINGS,76
$24V_AH,24.3,37.743
$10V_AH,10.4,24.764
$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,20.625,55.925,588.300,0.000,0.000,22.191,36.138,146.355,19.000,0.000,15.727,1796.557,1557.175,551.218,2053.394,245.501,0.000,1329.073,0.000,1855.179,0.000,0.847,0.000
$DEVICE_MAMPS,221.850,156.060,994.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.442,791.062,1283.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,46887,774
$CAP_FILE_SIZE,83176,0
$CFSIZE,260165632,168210432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,309.2,1
$GPS,091010,142131,2340.382,12630.751,38,1.6,38,-3.5