version: 66.08
glider: 166
mission: 3
dive: 215
start: 10 9 110 19 46 53
data:
$ID,166
$MISSION,3
$DIVE,215
$N_DIVES,226
$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,-21790.334
$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,43
$R_STBD_OVSHOOT,47
$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
$GPS1,091010,194032,2338.080,12630.991,14,1.8,14,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.4
$GPS2,091010,194632,2338.144,12630.986,10,1.8,10,-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,186.3,70663,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,101,0.00,0.00,-83.00,0.000,2,0.000,0.000,143,1764,3255,0,0,0,0,0,0
$GC,104,-1.16,-214.1,5.2,-9.7,11,135,8.80,2.08,-12.98,0.000,4,0.223,0.050,2457,386,3948,0,0,0,0,0,0
$GC,286,-0.90,-214.1,88.8,-39.1,43,295,0.30,2.12,0.00,0.000,6,0.162,0.037,2540,1785,3951,0,0,0,0,0,0
$GC,614,-0.74,-214.1,184.3,-30.8,104,622,0.20,2.17,0.00,0.000,4,0.174,0.046,2588,3206,3955,0,0,0,0,0,0
$GC,690,-0.74,-214.1,202.5,-17.5,117,698,0.00,2.08,0.00,0.000,6,0.000,0.034,2588,1798,3955,0,0,0,0,0,0
$GC,1024,-0.69,-214.1,269.2,-17.5,178,1032,0.10,2.15,0.00,0.000,4,0.184,0.044,2613,399,3957,0,0,0,0,0,0
$GC,1113,-0.74,-214.1,282.4,-12.6,193,1121,0.00,2.08,0.00,0.000,6,0.000,0.038,2612,1799,3956,0,0,0,0,0,0
$GC,1441,-0.76,-214.1,330.1,-14.1,235,1445,0.00,2.17,0.00,0.000,4,0.000,0.052,2609,3217,3956,0,0,0,0,0,0
$GC,1531,-0.85,-214.1,341.1,-10.5,242,1539,0.10,2.12,0.00,0.000,6,0.048,0.036,2541,1805,3956,0,0,0,0,0,0
$GC,1859,-0.78,-214.1,405.5,-19.6,273,1863,0.17,2.12,0.00,0.000,4,0.167,0.047,2589,397,3955,0,0,0,0,0,0
$GC,1889,-0.75,-214.1,411.2,-17.2,275,1893,0.00,2.10,0.00,0.000,6,0.000,0.040,2587,1809,3955,0,0,0,0,0,0
$GC,2217,-0.75,-214.1,460.1,-15.6,305,2220,0.00,2.10,0.00,0.000,4,0.000,0.052,2577,3203,3953,0,0,0,0,0,0
$GC,2331,-0.82,-214.1,476.6,-13.0,315,2338,0.00,2.08,0.00,0.000,6,0.000,0.036,2577,1799,3953,0,0,0,0,0,0
$STATE,2484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2485,begin apogee
$GC,2491,-0.23,0.0,500.0,15.6,330,2665,0.55,0.00,169.32,0.985,6,0.129,0.000,2761,1799,3072,0,0,0,0,0,0
$STATE,2666,end apogee,CONTROL_FINISHED_OK
$STATE,2666,begin climb
$GC,2668,1.16,214.1,509.3,0.0,344,2853,1.20,2.22,172.60,0.962,4,0.053,0.049,3205,3157,2198,0,0,0,0,0,0
$GC,2876,0.87,214.1,477.2,28.6,362,2882,0.35,2.20,0.00,0.000,6,0.195,0.040,3125,1756,2196,0,0,0,0,0,0
$GC,3202,0.67,214.1,401.1,24.5,392,3207,0.22,2.15,0.00,0.000,4,0.179,0.045,3051,3159,2193,0,0,0,0,0,0
$GC,3321,0.59,214.1,379.5,16.9,402,3325,0.00,2.12,0.00,0.000,6,0.000,0.037,3059,1732,2191,0,0,0,0,0,0
$GC,3649,0.49,214.1,325.2,15.3,432,3654,0.20,2.12,0.00,0.000,4,0.164,0.043,3011,346,2190,0,0,0,0,0,0
$GC,3701,0.53,246.0,318.2,12.5,436,3738,0.00,2.10,26.33,0.864,6,0.000,0.035,3012,1761,2068,0,0,0,0,0,0
$GC,4056,0.54,258.2,271.1,13.4,488,4077,0.00,2.15,11.32,0.773,4,0.000,0.047,3013,3150,2017,0,0,0,0,0,0
$GC,4091,0.56,267.4,266.2,13.5,493,4105,0.00,2.10,9.07,0.733,6,0.000,0.037,3019,1747,1981,0,0,0,0,0,0
$GC,4432,0.59,298.4,223.0,12.5,555,4467,0.00,2.20,26.27,0.803,4,0.000,0.044,3030,337,1854,0,0,0,0,0,0
$GC,4508,0.65,322.6,213.0,12.8,567,4536,0.00,2.15,21.83,0.773,6,0.000,0.034,3030,1749,1755,0,0,0,0,0,0
$GC,4861,0.65,322.6,165.3,14.4,631,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1749,1753,0,0,0,0,0,0
$GC,5190,0.73,369.4,122.8,11.9,692,5235,0.12,2.22,39.28,0.727,4,0.083,0.044,3097,3162,1565,0,0,0,0,0,0
$GC,5296,0.68,369.4,103.4,21.2,708,5304,0.12,2.17,0.00,0.000,6,0.141,0.037,3064,1753,1565,0,0,0,0,0,0
$GC,5627,0.84,463.4,58.3,9.8,769,5711,0.12,2.28,77.18,0.672,4,0.086,0.044,3153,341,1182,0,0,0,0,0,0
$GC,5769,0.84,463.4,33.9,16.2,790,5777,0.10,2.17,0.00,0.000,6,0.134,0.032,3117,1759,1180,0,0,0,0,0,0
$STATE,5959,end climb,SURFACE_DEPTH_REACHED
$STATE,5959,begin surface coast
$FINISH,0.7,1.021816
$STATE,5977,end surface coast,CONTROL_FINISHED_OK
$STATE,5977,begin surface
$SM_CCo,6055,0.00,0.000,0,0,1176,465.09
$SM_GC,1.53,7.60,0.00,0.00,0.031,0.000,0.000,138,1764,1176,-8.35,-1.02,465.09
$IRIDIUM_FIX,2330.93,12632.43,091010,181820
$TT8_MAMPS,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.50
$XPDR_PINGS,78
$24V_AH,24.3,38.355
$10V_AH,10.4,25.185
$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,20.275,55.750,553.200,0.000,0.000,28.275,48.576,142.477,19.500,0.000,12.651,1933.428,1486.229,528.271,2207.581,254.883,0.000,1340.352,0.000,1998.667,0.000,0.846,0.000
$DEVICE_MAMPS,222.615,52.020,985.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.581,846.423,1382.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333940
$DATA_FILE_SIZE,50172,828
$CAP_FILE_SIZE,86602,0
$CFSIZE,260165632,167993344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 20.6,1
$GPS,091010,212900,2337.419,12631.002,20,1.3,36,-3.5