version: 66.08
glider: 166
mission: 3
dive: 299
start: 10 16 110 7 43 12
data:
$ID,166
$MISSION,3
$DIVE,299
$N_DIVES,309
$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,-21899.607
$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,40
$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
$GPS1,161010,073706,2334.032,12628.927,38,1.3,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-61.0
$GPS2,161010,074249,2334.093,12628.894,12,1.6,17,-3.5
$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,19.3,48016,-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,-214.1,0.0,0.0,0,110,0.00,0.00,-92.60,0.000,2,0.000,0.000,156,1751,3399,0,0,0,0,0,0
$GC,113,-1.16,-214.1,6.5,-13.6,12,138,8.75,2.30,-9.60,0.000,4,0.215,0.055,2448,3216,3949,0,0,0,0,0,0
$GC,167,-0.83,-214.1,36.8,-51.3,20,176,0.40,2.17,0.00,0.000,6,0.171,0.035,2567,1793,3952,0,0,0,0,0,0
$GC,492,-0.73,-214.1,132.7,-23.3,81,500,0.12,2.17,0.00,0.000,4,0.177,0.044,2605,389,3954,0,0,0,0,0,0
$GC,523,-0.66,-214.1,139.4,-21.3,85,531,0.00,2.15,0.00,0.000,6,0.000,0.037,2594,1803,3955,0,0,0,0,0,0
$GC,860,-0.64,-214.1,198.6,-15.6,146,869,0.12,2.20,0.00,0.000,4,0.174,0.046,2629,392,3957,0,0,0,0,0,0
$GC,896,-0.67,-214.1,203.5,-14.6,151,902,0.00,2.12,0.00,0.000,6,0.000,0.039,2627,1803,3957,0,0,0,0,0,0
$GC,1235,-0.72,-214.1,249.8,-12.9,212,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1803,3957,0,0,0,0,0,0
$GC,1578,-0.79,-214.1,290.7,-12.6,273,1585,0.12,2.17,0.00,0.000,4,0.090,0.053,2560,3212,3956,0,0,0,0,0,0
$GC,1622,-0.81,-214.1,297.2,-16.0,280,1629,0.00,2.12,0.00,0.000,6,0.000,0.036,2559,1807,3956,0,0,0,0,0,0
$GC,1952,-0.78,-214.1,356.8,-18.0,312,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1807,3955,0,0,0,0,0,0
$GC,2273,-0.78,-214.1,406.0,-14.2,342,2277,0.00,2.15,0.00,0.000,4,0.000,0.047,2560,398,3954,0,0,0,0,0,0
$GC,2294,-0.78,-214.1,410.0,-14.7,343,2301,0.00,2.10,0.00,0.000,6,0.000,0.040,2559,1802,3954,0,0,0,0,0,0
$GC,2619,-0.78,-214.1,457.4,-15.1,374,2623,0.00,2.12,0.00,0.000,4,0.000,0.047,2559,399,3952,0,0,0,0,0,0
$GC,2649,-0.78,-214.1,461.8,-15.4,376,2653,0.00,2.10,0.00,0.000,6,0.000,0.039,2559,1804,3952,0,0,0,0,0,0
$STATE,2908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2910,begin apogee
$GC,2916,-0.23,0.0,500.3,15.0,400,3095,0.60,0.00,169.40,1.001,6,0.124,0.000,2759,1743,3072,0,0,0,0,0,0
$STATE,3096,end apogee,CONTROL_FINISHED_OK
$STATE,3096,begin climb
$GC,3099,1.16,214.1,509.9,0.0,415,3280,1.20,2.33,172.27,0.973,4,0.047,0.050,3229,352,2199,0,0,0,0,0,0
$GC,3329,0.85,214.1,474.3,28.4,434,3338,0.35,2.22,0.00,0.000,6,0.184,0.039,3122,1750,2196,0,0,0,0,0,0
$GC,3656,0.66,214.1,406.4,19.9,465,3661,0.22,2.17,0.00,0.000,4,0.174,0.045,3048,3174,2191,0,0,0,0,0,0
$GC,3743,0.58,214.1,391.6,15.0,472,3751,0.00,2.15,0.00,0.000,6,0.000,0.036,3056,1756,2189,0,0,0,0,0,0
$GC,4070,0.49,214.1,341.9,15.5,503,4072,0.20,0.00,0.00,0.000,6,0.163,0.000,2998,1756,2188,0,0,0,0,0,0
$GC,4389,0.58,281.5,305.2,11.0,533,4450,0.00,2.30,55.08,0.880,4,0.000,0.045,2996,3171,1924,0,0,0,0,0,0
$GC,4491,0.69,336.4,293.9,11.5,546,4548,0.12,2.20,47.30,0.846,6,0.043,0.036,3081,1754,1699,0,0,0,0,0,0
$GC,4876,0.62,336.4,219.6,19.5,614,4884,0.15,0.00,0.00,0.000,6,0.168,0.000,3041,1754,1695,0,0,0,0,0,0
$GC,5211,0.62,337.7,171.8,13.8,675,5219,0.00,2.17,0.00,0.000,4,0.000,0.044,3049,336,1692,0,0,0,0,0,0
$GC,5261,0.66,338.9,165.1,13.8,683,5269,0.00,2.12,0.00,0.000,6,0.000,0.032,3042,1766,1690,0,0,0,0,0,0
$GC,5592,0.73,376.1,126.2,12.3,744,5632,0.10,2.20,32.70,0.731,4,0.099,0.044,3097,3165,1538,0,0,0,0,0,0
$GC,5672,0.70,376.1,112.8,18.1,756,5680,0.10,2.17,0.00,0.000,6,0.141,0.035,3072,1753,1538,0,0,0,0,0,0
$GC,6000,0.93,515.5,70.7,7.8,817,6119,0.17,0.00,113.80,0.680,6,0.067,0.000,3170,1752,969,0,0,0,0,0,0
$STATE,6372,end climb,SURFACE_DEPTH_REACHED
$STATE,6372,begin surface coast
$FINISH,0.8,1.021653
$STATE,6389,end surface coast,CONTROL_FINISHED_OK
$STATE,6389,begin surface
$SM_CCo,6467,0.00,0.000,0,0,964,517.09
$SM_GC,1.45,7.65,0.00,0.00,0.025,0.000,0.000,150,1819,964,-8.34,0.54,517.09
$IRIDIUM_FIX,2323.87,12631.03,161010,050513
$TT8_MAMPS,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.60
$XPDR_PINGS,76
$24V_AH,24.2,51.711
$10V_AH,10.4,34.375
$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,20.400,48.100,590.550,0.000,0.000,22.511,21.356,153.606,19.000,0.000,18.017,2033.440,1676.086,556.088,2279.173,264.185,0.000,1403.118,0.000,2088.840,0.000,0.847,0.000
$DEVICE_MAMPS,214.965,116.280,1000.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.289,903.774,1468.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333920
$DATA_FILE_SIZE,50354,884
$CAP_FILE_SIZE,86388,0
$CFSIZE,260165632,163549184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,267.7,1
$GPS,161010,093206,2335.159,12629.067,13,1.2,29,-3.5