version: 66.08
glider: 166
mission: 3
dive: 266
start: 10 13 110 18 13 10
data:
$ID,166
$MISSION,3
$DIVE,266
$N_DIVES,277
$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,-21856.486
$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,44
$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
$GPS1,131010,180656,2304.418,12630.587,9,1.8,9,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.9
$GPS2,131010,181246,2304.468,12630.620,12,2.7,31,-3.3
$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,194.0,8342,-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,-214.1,0.0,0.0,0,91,0.00,0.00,-74.20,0.000,2,0.000,0.000,149,1760,3052,0,0,0,0,0,0
$GC,94,-1.16,-214.1,5.0,-10.3,10,126,9.18,2.12,-17.12,0.000,4,0.235,0.051,2459,386,3947,0,0,0,0,0,0
$GC,334,-0.96,-214.1,107.3,-34.8,53,343,0.22,2.15,0.00,0.000,6,0.151,0.038,2522,1792,3951,0,0,0,0,0,0
$GC,670,-0.82,-214.1,201.9,-25.9,114,679,0.17,0.00,0.00,0.000,6,0.177,0.000,2570,1794,3954,0,0,0,0,0,0
$GC,1017,-0.77,-214.1,271.9,-18.6,175,1024,0.00,2.15,0.00,0.000,4,0.000,0.045,2561,3219,3955,0,0,0,0,0,0
$GC,1037,-0.73,-214.1,275.5,-17.6,178,1046,0.12,2.12,0.00,0.000,6,0.138,0.031,2602,1792,3955,0,0,0,0,0,0
$GC,1377,-0.75,-214.1,323.9,-14.1,224,1381,0.00,2.08,0.00,0.000,4,0.000,0.041,2602,404,3954,0,0,0,0,0,0
$GC,1440,-0.80,-214.1,333.1,-14.1,229,1446,0.00,2.10,0.00,0.000,6,0.000,0.036,2600,1804,3954,0,0,0,0,0,0
$GC,1765,-0.83,-214.1,378.0,-13.6,260,1769,0.00,2.10,0.00,0.000,4,0.000,0.050,2600,3203,3953,0,0,0,0,0,0
$GC,1845,-0.93,-214.1,387.5,-11.9,266,1854,0.12,2.10,0.00,0.000,6,0.044,0.033,2520,1798,3953,0,0,0,0,0,0
$GC,2172,-0.85,-214.1,452.3,-20.5,297,2177,0.17,2.12,0.00,0.000,4,0.169,0.044,2567,399,3952,0,0,0,0,0,0
$GC,2261,-0.86,-214.1,467.5,-14.8,304,2270,0.00,2.12,0.00,0.000,6,0.000,0.038,2561,1793,3951,0,0,0,0,0,0
$STATE,2480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2480,begin apogee
$GC,2485,-0.23,0.0,501.4,15.3,325,2659,0.60,0.00,168.98,0.991,6,0.132,0.000,2759,1793,3072,0,0,0,0,0,0
$STATE,2660,end apogee,CONTROL_FINISHED_OK
$STATE,2660,begin climb
$GC,2662,1.16,214.1,510.6,0.0,339,2845,1.23,2.20,171.93,0.962,4,0.044,0.047,3219,3165,2199,0,0,0,0,0,0
$GC,2859,0.83,214.1,483.1,30.0,355,2865,0.45,2.22,0.00,0.000,6,0.191,0.040,3111,1759,2198,0,0,0,0,0,0
$GC,3186,0.66,214.1,412.8,19.6,385,3191,0.20,2.17,0.00,0.000,4,0.176,0.044,3064,330,2194,0,0,0,0,0,0
$GC,3229,0.55,214.1,403.8,19.2,388,3238,0.12,2.17,0.00,0.000,6,0.149,0.037,3024,1746,2194,0,0,0,0,0,0
$GC,3556,0.52,238.2,358.9,12.8,419,3583,0.00,2.20,20.65,0.875,4,0.000,0.047,3022,3161,2100,0,0,0,0,0,0
$GC,3639,0.49,242.5,347.4,13.7,426,3650,0.08,2.17,5.25,0.643,6,0.151,0.037,3005,1739,2082,0,0,0,0,0,0
$GC,3977,0.54,281.5,307.2,12.2,458,4016,0.00,2.22,33.12,0.868,4,0.000,0.046,3014,342,1923,0,0,0,0,0,0
$GC,4072,0.57,285.8,295.5,13.7,469,4087,0.00,2.15,4.85,0.592,6,0.000,0.034,3015,1758,1906,0,0,0,0,0,0
$GC,4417,0.58,292.0,248.4,13.6,531,4432,0.00,2.12,6.53,0.668,4,0.000,0.045,3015,3166,1880,0,0,0,0,0,0
$GC,4501,0.62,308.6,236.6,13.2,545,4522,0.00,2.15,15.73,0.782,6,0.000,0.037,3024,1741,1812,0,0,0,0,0,0
$GC,4849,0.63,317.2,188.9,13.5,608,4865,0.00,2.20,8.52,0.682,4,0.000,0.044,3035,346,1777,0,0,0,0,0,0
$GC,4899,0.68,336.5,181.8,13.1,616,4922,0.00,2.15,17.70,0.750,6,0.000,0.034,3035,1750,1700,0,0,0,0,0,0
$GC,5246,0.73,376.2,136.6,12.2,679,5286,0.12,2.25,34.05,0.737,4,0.081,0.045,3105,3170,1538,0,0,0,0,0,0
$GC,5365,0.67,376.2,115.3,17.5,698,5373,0.15,2.17,0.00,0.000,6,0.145,0.034,3065,1756,1537,0,0,0,0,0,0
$GC,5696,0.88,498.6,76.4,8.6,759,5803,0.17,2.28,100.03,0.684,4,0.067,0.042,3174,346,1038,0,0,0,0,0,0
$GC,5871,0.86,498.6,43.1,19.0,785,5881,0.17,2.17,0.00,0.000,6,0.125,0.032,3116,1753,1036,0,0,0,0,0,0
$STATE,6148,end climb,SURFACE_DEPTH_REACHED
$STATE,6148,begin surface coast
$FINISH,0.5,1.011075
$STATE,6170,end surface coast,CONTROL_FINISHED_OK
$STATE,6173,begin surface
$SM_CCo,6250,0.00,0.000,0,0,1032,500.17
$SM_GC,1.43,7.55,0.00,0.00,0.030,0.000,0.000,149,1759,1032,-8.33,-1.16,500.17
$IRIDIUM_FIX,2258.07,12629.71,131010,161642
$TT8_MAMPS,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,25.10
$XPDR_PINGS,76
$24V_AH,24.2,46.349
$10V_AH,10.4,30.750
$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,20.850,56.200,587.325,0.000,0.000,31.199,17.237,140.183,19.000,0.000,33.515,1967.494,1605.623,540.840,2222.306,262.019,0.000,1371.226,0.000,2022.745,0.000,0.848,0.000
$DEVICE_MAMPS,234.855,51.255,991.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.063,859.561,1402.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,50290,841
$CAP_FILE_SIZE,88673,0
$CFSIZE,260165632,165298176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.225, 17.1,1
$GPS,131010,195836,2304.288,12630.902,40,1.0,40,-3.3