version: 66.08
glider: 166
mission: 3
dive: 281
start: 10 14 110 21 55 31
data:
$ID,166
$MISSION,3
$DIVE,281
$N_DIVES,293
$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,-21876.35
$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
$GPS1,141010,214930,2313.094,12630.139,41,0.9,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.5
$GPS2,141010,215508,2313.126,12630.189,15,1.0,15,-3.4
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,341.7,86811,-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,15,-1.16,-214.1,0.0,0.0,0,97,0.00,0.00,-78.90,0.000,2,0.000,0.000,145,1810,3192,0,0,0,0,0,0
$GC,100,-1.16,-214.1,5.3,-10.1,11,131,9.10,2.12,-13.77,0.000,4,0.230,0.055,2449,3209,3947,0,0,0,0,0,0
$GC,251,-0.93,-214.1,71.1,-35.6,37,260,0.28,2.12,0.00,0.000,6,0.167,0.034,2531,1796,3950,0,0,0,0,0,0
$GC,579,-0.78,-214.1,170.4,-27.5,98,587,0.17,2.12,0.00,0.000,4,0.172,0.037,2581,396,3952,0,0,0,0,0,0
$GC,676,-0.78,-214.1,190.2,-17.2,115,682,0.00,2.08,0.00,0.000,6,0.000,0.033,2575,1810,3953,0,0,0,0,0,0
$GC,1010,-0.74,-214.1,252.0,-18.7,176,1018,0.00,2.10,0.00,0.000,4,0.000,0.045,2565,3194,3954,0,0,0,0,0,0
$GC,1044,-0.74,-214.1,257.4,-16.9,181,1052,0.12,2.05,0.00,0.000,6,0.154,0.033,2600,1798,3954,0,0,0,0,0,0
$GC,1380,-0.76,-214.1,303.3,-12.9,240,1383,0.00,2.10,0.00,0.000,4,0.000,0.041,2600,389,3954,0,0,0,0,0,0
$GC,1491,-0.82,-214.1,318.5,-12.2,250,1495,0.00,2.10,0.00,0.000,6,0.000,0.037,2600,1809,3954,0,0,0,0,0,0
$GC,1817,-0.86,-214.1,362.9,-13.3,280,1819,0.10,0.00,0.00,0.000,6,0.105,0.000,2547,1809,3953,0,0,0,0,0,0
$GC,2135,-0.82,-214.1,418.5,-16.8,310,2139,0.00,2.15,0.00,0.000,4,0.000,0.044,2548,398,3952,0,0,0,0,0,0
$GC,2191,-0.82,-214.1,428.3,-16.4,314,2199,0.00,2.15,0.00,0.000,6,0.000,0.040,2546,1804,3952,0,0,0,0,0,0
$GC,2518,-0.80,-214.1,484.1,-16.4,345,2520,0.12,0.00,0.00,0.000,6,0.176,0.000,2579,1804,3950,0,0,0,0,0,0
$STATE,2642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2642,begin apogee
$GC,2649,-0.23,0.0,501.3,12.8,357,2825,0.52,0.00,168.82,0.991,6,0.122,0.000,2759,1804,3072,0,0,0,0,0,0
$STATE,2825,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2829,1.16,214.1,509.6,0.0,372,3014,1.23,2.45,172.07,0.968,4,0.048,0.049,3235,337,2198,0,0,0,0,0,0
$GC,3029,0.83,214.1,481.7,28.9,389,3034,0.45,2.25,0.00,0.000,6,0.190,0.039,3108,1751,2195,0,0,0,0,0,0
$GC,3355,0.65,214.1,410.3,21.4,419,3360,0.20,2.15,0.00,0.000,4,0.175,0.045,3043,3158,2192,0,0,0,0,0,0
$GC,3429,0.57,214.1,397.1,16.6,425,3433,0.00,2.12,0.00,0.000,6,0.000,0.037,3050,1750,2190,0,0,0,0,0,0
$GC,3755,0.49,214.1,347.1,14.9,455,3760,0.17,2.15,0.00,0.000,4,0.168,0.047,3010,343,2189,0,0,0,0,0,0
$GC,3840,0.53,245.5,336.4,12.5,462,3876,0.00,2.12,26.02,0.878,6,0.000,0.036,3011,1752,2070,0,0,0,0,0,0
$GC,4195,0.58,288.3,292.1,12.0,501,4237,0.00,2.25,35.70,0.858,4,0.000,0.047,3011,3156,1896,0,0,0,0,0,0
$GC,4274,0.63,320.5,282.6,12.5,513,4309,0.00,2.15,28.58,0.830,6,0.000,0.036,3020,1744,1764,0,0,0,0,0,0
$GC,4637,0.65,332.8,233.7,13.4,578,4658,0.00,2.20,11.38,0.746,4,0.000,0.047,3030,352,1715,0,0,0,0,0,0
$GC,4742,0.70,348.6,218.9,13.2,596,4767,0.08,2.15,14.85,0.761,6,0.056,0.034,3089,1752,1649,0,0,0,0,0,0
$GC,5097,0.62,348.6,147.1,21.0,659,5105,0.17,2.17,0.00,0.000,4,0.161,0.044,3032,3153,1647,0,0,0,0,0,0
$GC,5187,0.70,362.9,132.9,13.3,675,5210,0.00,2.15,13.30,0.701,6,0.000,0.036,3040,1751,1592,0,0,0,0,0,0
$GC,5530,0.85,436.3,94.9,10.7,738,5598,0.20,2.28,60.75,0.709,4,0.061,0.044,3166,343,1293,0,0,0,0,0,0
$GC,5667,0.78,436.3,65.1,21.0,759,5675,0.17,2.17,0.00,0.000,6,0.136,0.032,3099,1755,1290,0,0,0,0,0,0
$GC,5998,0.96,527.7,24.5,9.9,820,6075,0.15,0.00,73.78,0.643,6,0.073,0.000,3177,1758,919,0,0,0,0,0,0
$STATE,6112,end climb,SURFACE_DEPTH_REACHED
$STATE,6114,begin surface coast
$FINISH,0.7,1.007864
$STATE,6126,end surface coast,CONTROL_FINISHED_OK
$STATE,6126,begin surface
$SM_CCo,6204,0.00,0.000,0,0,915,529.11
$SM_GC,1.51,7.85,0.00,0.00,0.031,0.000,0.000,152,1759,915,-8.33,-1.16,529.11
$IRIDIUM_FIX,2302.75,12632.50,141010,191952
$TT8_MAMPS,0.026215
$HUMID,42.20
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.90
$XPDR_PINGS,76
$24V_AH,24.2,48.772
$10V_AH,10.4,32.382
$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,21.100,51.875,605.250,0.000,0.000,31.184,19.646,140.570,19.000,0.000,16.128,1939.507,1586.434,556.785,2196.025,261.490,0.000,1383.661,0.000,2005.316,0.000,0.848,0.000
$DEVICE_MAMPS,230.265,55.080,991.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.921,857.539,1405.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50335,839
$CAP_FILE_SIZE,86815,0
$CFSIZE,260165632,164507648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164, 74.4,1
$GPS,141010,233944,2314.172,12630.298,12,2.0,13,-3.4