version: 66.08
glider: 166
mission: 3
dive: 198
start: 10 8 110 12 21 43
data:
$ID,166
$MISSION,3
$DIVE,198
$N_DIVES,205
$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,-21740.795
$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,44
$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
$GPS1,081010,121534,2353.149,12630.400,10,2.7,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.4
$GPS2,081010,122120,2353.169,12630.472,14,0.9,14,-3.6
$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,191.8,98472,-19.7,-13.889
$D_GRID,5000
$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,-85.45,0.000,2,0.000,0.000,146,1760,3227,0,0,0,0,0,0
$GC,106,-1.16,-214.1,5.4,-9.7,12,137,8.70,2.22,-13.77,0.000,4,0.220,0.057,2446,3197,3947,0,0,0,0,0,0
$GC,215,-0.88,-214.1,54.6,-45.8,30,224,0.35,2.12,0.00,0.000,6,0.174,0.035,2550,1794,3949,0,0,0,0,0,0
$GC,543,-0.73,-214.1,155.0,-27.9,91,550,0.17,2.10,0.00,0.000,4,0.170,0.044,2600,396,3952,0,0,0,0,0,0
$GC,582,-0.63,-214.1,165.9,-25.2,97,589,0.12,2.10,0.00,0.000,6,0.173,0.040,2633,1801,3952,0,0,0,0,0,0
$GC,922,-0.66,-214.1,224.2,-17.0,158,931,0.00,2.15,0.00,0.000,4,0.000,0.051,2627,3201,3954,0,0,0,0,0,0
$GC,967,-0.72,-214.1,230.8,-13.8,165,974,0.00,2.08,0.00,0.000,6,0.000,0.034,2627,1791,3953,0,0,0,0,0,0
$GC,1307,-0.76,-214.1,280.9,-13.4,226,1315,0.00,2.12,0.00,0.000,4,0.000,0.046,2627,398,3954,0,0,0,0,0,0
$GC,1364,-0.81,-214.1,289.1,-14.5,235,1372,0.15,2.10,0.00,0.000,6,0.080,0.039,2549,1804,3953,0,0,0,0,0,0
$GC,1703,-0.74,-214.1,358.8,-19.7,271,1708,0.17,2.15,0.00,0.000,4,0.170,0.050,2589,3208,3953,0,0,0,0,0,0
$GC,1769,-0.79,-214.1,370.0,-13.8,276,1777,0.00,2.12,0.00,0.000,6,0.000,0.036,2589,1802,3953,0,0,0,0,0,0
$GC,2098,-0.79,-214.1,424.9,-17.3,307,2101,0.00,2.15,0.00,0.000,4,0.000,0.047,2589,385,3952,0,0,0,0,0,0
$GC,2147,-0.81,-214.1,434.5,-17.5,311,2154,0.00,2.12,0.00,0.000,6,0.000,0.040,2584,1797,3952,0,0,0,0,0,0
$GC,2474,-0.81,-214.1,484.4,-13.7,342,2478,0.00,2.15,0.00,0.000,4,0.000,0.053,2580,3207,3950,0,0,0,0,0,0
$GC,2540,-0.88,-214.1,492.7,-11.0,347,2547,0.00,2.10,0.00,0.000,6,0.000,0.037,2580,1797,3950,0,0,0,0,0,0
$STATE,2608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2609,begin apogee
$GC,2614,-0.23,0.0,501.2,12.6,354,2793,0.52,0.00,168.23,0.984,6,0.129,0.000,2756,1797,3072,0,0,0,0,0,0
$STATE,2794,end apogee,CONTROL_FINISHED_OK
$STATE,2794,begin climb
$GC,2796,1.16,214.1,506.8,0.0,369,2980,1.27,2.22,172.15,0.958,4,0.068,0.052,3220,3153,2198,0,0,0,0,0,0
$GC,3075,0.86,214.1,448.3,31.2,393,3083,0.40,2.17,0.00,0.000,6,0.190,0.041,3125,1750,2194,0,0,0,0,0,0
$GC,3401,0.69,214.1,379.6,19.8,424,3405,0.20,2.15,0.00,0.000,4,0.175,0.045,3076,343,2192,0,0,0,0,0,0
$GC,3411,0.52,214.1,377.3,20.1,424,3419,0.20,2.17,0.00,0.000,6,0.152,0.036,3012,1757,2190,0,0,0,0,0,0
$GC,3738,0.60,294.6,341.7,10.4,455,3809,0.00,2.28,65.50,0.888,4,0.000,0.047,3004,3163,1870,0,0,0,0,0,0
$GC,3928,0.72,361.0,320.1,11.0,471,3995,0.17,2.17,56.58,0.859,6,0.067,0.037,3099,1738,1600,0,0,0,0,0,0
$GC,4325,0.62,361.0,233.8,23.8,533,4332,0.20,2.15,0.00,0.000,4,0.164,0.042,3051,338,1595,0,0,0,0,0,0
$GC,4386,0.62,361.0,222.2,16.6,543,4393,0.00,2.15,0.00,0.000,6,0.000,0.033,3046,1762,1594,0,0,0,0,0,0
$GC,4724,0.62,362.3,170.7,13.8,604,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1763,1593,0,0,0,0,0,0
$GC,5057,0.64,363.8,124.8,13.8,665,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1767,1593,0,0,0,0,0,0
$GC,5383,0.82,463.2,82.6,9.6,726,5472,0.17,0.00,82.97,0.695,6,0.067,0.000,3138,1767,1182,0,0,0,0,0,0
$STATE,5785,end climb,SURFACE_DEPTH_REACHED
$STATE,5785,begin surface coast
$FINISH,0.7,1.021924
$STATE,5802,end surface coast,CONTROL_FINISHED_OK
$STATE,5802,begin surface
$SM_CCo,5879,0.00,0.000,0,0,1175,465.33
$SM_GC,1.60,7.65,0.00,0.00,0.033,0.000,0.000,135,1769,1175,-8.36,-0.88,465.33
$IRIDIUM_FIX,2347.41,12631.45,081010,101059
$TT8_MAMPS,0.026215
$HUMID,42.40
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.10
$XPDR_PINGS,58
$24V_AH,24.3,35.752
$10V_AH,10.4,23.323
$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,20.475,47.275,545.425,0.000,0.000,30.975,30.391,141.289,14.500,0.000,14.951,1862.027,1447.955,534.369,2137.947,242.354,0.000,1322.394,0.000,1937.873,0.000,0.847,0.000
$DEVICE_MAMPS,220.320,57.375,983.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.623,817.637,1344.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,46925,800
$CAP_FILE_SIZE,82170,0
$CFSIZE,260165632,168902656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,105.1,1
$GPS,081010,140032,2352.150,12630.493,14,1.5,14,-3.6