version: 66.08
glider: 166
mission: 3
dive: 306
start: 10 16 110 21 17 15
data:
$ID,166
$MISSION,3
$DIVE,306
$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,-21908.682
$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,41
$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
$GPS1,161010,210958,2342.723,12629.589,10,3.2,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-60.9
$GPS2,161010,211654,2342.725,12629.631,36,1.1,40,-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,346.7,32000,-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,14,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,101,0.00,0.00,-82.05,0.000,2,0.000,0.000,149,1762,3200,0,0,0,0,0,0
$GC,104,-1.16,-214.1,5.2,-10.7,11,135,9.15,2.22,-14.00,0.000,4,0.231,0.059,2450,3200,3947,0,0,0,0,0,0
$GC,198,-0.87,-214.1,48.0,-43.2,26,207,0.35,2.12,0.00,0.000,6,0.168,0.034,2556,1804,3949,0,0,0,0,0,0
$GC,524,-0.77,-214.1,141.3,-23.8,87,533,0.12,2.17,0.00,0.000,4,0.177,0.045,2592,401,3952,0,0,0,0,0,0
$GC,607,-0.73,-214.1,159.4,-21.3,101,615,0.00,2.08,0.00,0.000,6,0.000,0.038,2589,1793,3953,0,0,0,0,0,0
$GC,941,-0.70,-214.1,222.3,-18.2,162,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1793,3954,0,0,0,0,0,0
$GC,1274,-0.69,-214.1,274.4,-14.9,223,1281,0.00,2.15,0.00,0.000,4,0.000,0.046,2589,392,3954,0,0,0,0,0,0
$GC,1343,-0.69,-214.1,284.3,-14.9,235,1350,0.15,2.12,0.00,0.000,6,0.152,0.037,2620,1808,3954,0,0,0,0,0,0
$GC,1671,-0.75,-214.1,322.6,-12.0,278,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1809,3954,0,0,0,0,0,0
$GC,1992,-0.82,-214.1,359.9,-11.2,308,1997,0.12,2.20,0.00,0.000,4,0.083,0.045,2557,388,3952,0,0,0,0,0,0
$GC,2024,-0.80,-214.1,365.1,-16.2,310,2032,0.00,2.15,0.00,0.000,6,0.000,0.039,2550,1796,3952,0,0,0,0,0,0
$GC,2351,-0.78,-214.1,421.0,-16.7,341,2353,0.12,0.00,0.00,0.000,6,0.173,0.000,2584,1796,3951,0,0,0,0,0,0
$GC,2670,-0.82,-214.1,463.8,-13.2,371,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1797,3950,0,0,0,0,0,0
$STATE,2933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2933,begin apogee
$GC,2940,-0.23,0.0,500.2,14.0,396,3113,0.52,0.00,169.07,1.000,6,0.122,0.000,2763,1797,3072,0,0,0,0,0,0
$STATE,3114,end apogee,CONTROL_FINISHED_OK
$STATE,3114,begin climb
$GC,3118,1.16,214.1,511.4,0.0,410,3299,1.20,2.22,172.65,0.973,4,0.049,0.050,3217,3156,2198,0,0,0,0,0,0
$GC,3317,0.86,214.1,483.9,26.5,426,3325,0.38,2.28,0.00,0.000,6,0.183,0.041,3123,1753,2195,0,0,0,0,0,0
$GC,3644,0.67,214.1,413.4,21.0,457,3646,0.22,0.00,0.00,0.000,6,0.173,0.000,3059,1752,2192,0,0,0,0,0,0
$GC,3962,0.59,214.1,365.9,14.1,487,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1752,2190,0,0,0,0,0,0
$GC,4283,0.52,214.1,320.2,14.5,517,4288,0.17,2.17,0.00,0.000,4,0.161,0.047,3015,330,2186,0,0,0,0,0,0
$GC,4360,0.57,261.5,310.0,11.8,524,4408,0.00,2.15,38.92,0.878,6,0.000,0.036,3016,1757,2004,0,0,0,0,0,0
$GC,4731,0.63,310.0,265.4,11.8,584,4780,0.00,2.17,40.42,0.841,4,0.000,0.046,3016,3157,1807,0,0,0,0,0,0
$GC,4817,0.71,345.4,255.2,12.4,597,4859,0.12,2.17,31.17,0.812,6,0.081,0.037,3096,1741,1664,0,0,0,0,0,0
$GC,5187,0.63,345.4,180.5,19.5,663,5194,0.17,0.00,0.00,0.000,6,0.163,0.000,3047,1741,1660,0,0,0,0,0,0
$GC,5519,0.67,357.3,133.3,13.4,724,5536,0.00,2.22,10.60,0.674,4,0.000,0.045,3055,333,1615,0,0,0,0,0,0
$GC,5586,0.79,409.7,124.8,11.6,735,5640,0.08,2.15,44.35,0.734,6,0.052,0.033,3121,1748,1401,0,0,0,0,0,0
$GC,5963,0.77,409.7,57.1,14.5,802,5972,0.12,2.17,0.00,0.000,4,0.158,0.044,3076,3155,1398,0,0,0,0,0,0
$GC,6025,1.03,537.2,50.8,8.4,812,6137,0.20,2.15,103.28,0.668,6,0.031,0.036,3205,1742,881,0,0,0,0,0,0
$STATE,6232,end climb,SURFACE_DEPTH_REACHED
$STATE,6233,begin surface coast
$FINISH,0.9,1.021718
$STATE,6245,end surface coast,CONTROL_FINISHED_OK
$STATE,6245,begin surface
$SM_CCo,6324,0.00,0.000,0,0,875,538.92
$SM_GC,1.44,7.82,0.00,0.00,0.026,0.000,0.000,145,1808,875,-8.35,0.23,538.92
$IRIDIUM_FIX,2335.63,12625.36,161010,191912
$TT8_MAMPS,0.026215
$HUMID,43.18
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.30
$XPDR_PINGS,76
$24V_AH,24.1,52.829
$10V_AH,10.4,35.174
$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,21.050,39.175,610.475,0.000,0.000,25.151,44.839,162.442,19.000,0.000,42.705,1943.955,1737.811,556.884,2239.267,256.227,0.000,1368.578,0.000,1977.131,0.000,0.847,0.000
$DEVICE_MAMPS,231.030,111.690,999.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.791,865.795,1377.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333924
$DATA_FILE_SIZE,50330,847
$CAP_FILE_SIZE,83706,0
$CFSIZE,260165632,163176448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181, 76.4,1
$GPS,161010,230328,2343.997,12629.841,12,2.0,14,-3.5