version: 66.08
glider: 166
mission: 3
dive: 267
start: 10 13 110 20 4 38
data:
$ID,166
$MISSION,3
$DIVE,267
$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,-21857.834
$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
$GPS1,131010,195836,2304.288,12630.902,40,1.0,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.6
$GPS2,131010,200414,2304.320,12630.911,13,1.3,13,-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,198.3,8150,-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,-214.1,0.0,0.0,0,103,0.00,0.00,-85.57,0.000,2,0.000,0.000,148,1760,3250,0,0,0,0,0,0
$GC,106,-1.16,-214.1,5.9,-11.8,12,137,9.15,2.12,-12.50,0.000,4,0.234,0.052,2458,382,3949,0,0,0,0,0,0
$GC,367,-0.96,-214.1,120.2,-33.7,59,375,0.25,2.17,0.00,0.000,6,0.156,0.037,2528,1802,3952,0,0,0,0,0,0
$GC,704,-0.82,-214.1,214.5,-25.7,120,712,0.17,2.17,0.00,0.000,4,0.177,0.038,2579,387,3955,0,0,0,0,0,0
$GC,732,-0.72,-214.1,221.1,-23.7,124,741,0.10,2.15,0.00,0.000,6,0.142,0.034,2606,1810,3955,0,0,0,0,0,0
$GC,1074,-0.74,-214.1,276.5,-15.6,185,1081,0.00,2.10,0.00,0.000,4,0.000,0.047,2601,3203,3956,0,0,0,0,0,0
$GC,1150,-0.81,-214.1,287.0,-12.7,198,1159,0.00,2.10,0.00,0.000,6,0.000,0.032,2601,1798,3956,0,0,0,0,0,0
$GC,1491,-0.83,-214.1,334.0,-13.4,237,1494,0.00,2.12,0.00,0.000,4,0.000,0.042,2601,389,3956,0,0,0,0,0,0
$GC,1576,-0.90,-214.1,346.3,-12.2,244,1581,0.15,2.12,0.00,0.000,6,0.076,0.037,2519,1805,3956,0,0,0,0,0,0
$GC,1902,-0.81,-214.1,414.2,-21.1,274,1906,0.20,2.15,0.00,0.000,4,0.165,0.048,2566,3213,3954,0,0,0,0,0,0
$GC,1931,-0.78,-214.1,419.9,-19.3,276,1935,0.00,2.10,0.00,0.000,6,0.000,0.034,2566,1802,3954,0,0,0,0,0,0
$GC,2256,-0.78,-214.1,470.3,-15.8,306,2260,0.00,2.10,0.00,0.000,4,0.000,0.046,2566,398,3953,0,0,0,0,0,0
$GC,2299,-0.78,-214.1,477.4,-15.3,309,2306,0.00,2.12,0.00,0.000,6,0.000,0.040,2561,1791,3953,0,0,0,0,0,0
$STATE,2444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2444,begin apogee
$GC,2449,-0.23,0.0,500.2,16.1,323,2627,0.60,0.00,169.40,0.993,6,0.129,0.000,2760,1792,3071,0,0,0,0,0,0
$STATE,2628,end apogee,CONTROL_FINISHED_OK
$STATE,2628,begin climb
$GC,2631,1.16,214.1,511.5,0.0,338,2813,1.20,2.20,172.27,0.965,4,0.047,0.050,3213,3154,2198,0,0,0,0,0,0
$GC,2837,0.86,214.1,481.8,28.3,356,2842,0.40,2.22,0.00,0.000,6,0.190,0.041,3118,1747,2196,0,0,0,0,0,0
$GC,3162,0.67,214.1,407.1,21.7,386,3167,0.20,2.15,0.00,0.000,4,0.176,0.045,3070,342,2193,0,0,0,0,0,0
$GC,3191,0.52,214.1,400.9,20.9,388,3196,0.20,2.12,0.00,0.000,6,0.164,0.037,3014,1751,2191,0,0,0,0,0,0
$GC,3517,0.54,258.1,358.5,12.0,418,3557,0.00,0.00,36.25,0.895,6,0.000,0.000,3014,1751,2019,0,0,0,0,0,0
$GC,3877,0.60,302.6,315.7,12.0,452,3916,0.00,0.00,37.25,0.869,6,0.000,0.000,3014,1754,1837,0,0,0,0,0,0
$GC,4245,0.60,302.6,265.0,14.4,508,4253,0.00,2.17,0.00,0.000,4,0.000,0.046,3010,3165,1833,0,0,0,0,0,0
$GC,4295,0.63,302.6,258.2,14.2,516,4303,0.00,2.17,0.00,0.000,6,0.000,0.037,3018,1744,1832,0,0,0,0,0,0
$GC,4637,0.69,348.1,213.9,11.9,577,4686,0.12,2.22,38.65,0.804,4,0.086,0.046,3103,350,1651,0,0,0,0,0,0
$GC,4733,0.61,348.1,196.2,20.8,592,4742,0.20,2.17,0.00,0.000,6,0.137,0.034,3039,1748,1649,0,0,0,0,0,0
$GC,5079,0.64,358.1,146.3,13.5,653,5095,0.00,2.15,9.35,0.665,4,0.000,0.043,3034,3171,1612,0,0,0,0,0,0
$GC,5126,0.72,386.3,140.3,12.7,660,5158,0.00,2.17,24.92,0.726,6,0.000,0.036,3042,1753,1496,0,0,0,0,0,0
$GC,5479,0.90,480.6,98.7,9.8,724,5569,0.22,2.28,77.95,0.702,4,0.055,0.044,3176,343,1111,0,0,0,0,0,0
$GC,5634,0.85,480.6,65.8,22.5,747,5643,0.15,2.17,0.00,0.000,6,0.139,0.032,3118,1753,1109,0,0,0,0,0,0
$GC,5963,0.88,487.4,16.2,13.6,808,5972,0.00,0.00,6.53,0.510,6,0.000,0.000,3118,1757,1084,0,0,0,0,0,0
$STATE,6058,end climb,SURFACE_DEPTH_REACHED
$STATE,6058,begin surface coast
$FINISH,0.6,1.008486
$STATE,6082,end surface coast,CONTROL_FINISHED_OK
$STATE,6082,begin surface
$SM_CCo,6159,0.00,0.000,0,0,1080,488.39
$SM_GC,1.53,7.57,0.00,0.00,0.032,0.000,0.000,151,1758,1080,-8.33,-1.19,488.39
$IRIDIUM_FIX,2258.07,12627.83,131010,181805
$TT8_MAMPS,0.026215
$HUMID,41.92
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,25.20
$XPDR_PINGS,61
$24V_AH,24.2,46.506
$10V_AH,10.4,30.857
$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,20.900,51.775,572.575,0.000,0.000,30.493,18.115,147.388,15.250,0.000,14.417,1928.298,1613.450,546.761,2147.258,260.280,0.000,1347.889,0.000,1963.298,0.000,0.847,0.000
$DEVICE_MAMPS,234.090,52.020,992.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.628,847.629,1379.694,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50256,829
$CAP_FILE_SIZE,85430,0
$CFSIZE,260165632,165249024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210, 42.4,1
$GPS,131010,214807,2303.868,12631.129,14,1.2,14,-3.3