version: 66.08
glider: 166
mission: 3
dive: 307
start: 10 16 110 23 9 39
data:
$ID,166
$MISSION,3
$DIVE,307
$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,-21910.031
$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,44
$R_STBD_OVSHOOT,50
$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
$GPS1,161010,230328,2343.997,12629.841,12,2.0,14,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-59.0
$GPS2,161010,230917,2343.991,12629.893,14,2.0,23,-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,333.3,29648,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,115,0.00,0.00,-96.38,0.000,2,0.000,0.000,147,1812,3331,0,0,0,0,0,0
$GC,118,-1.16,-214.1,5.4,-9.9,13,149,9.18,2.17,-11.50,0.000,4,0.233,0.060,2450,3197,3949,0,0,0,0,0,0
$GC,231,-0.92,-214.1,56.0,-37.7,32,240,0.28,2.15,0.00,0.000,6,0.156,0.039,2536,1802,3952,0,0,0,0,0,0
$GC,557,-0.78,-214.1,149.5,-26.1,93,565,0.15,2.17,0.00,0.000,4,0.174,0.045,2582,392,3954,0,0,0,0,0,0
$GC,642,-0.75,-214.1,167.2,-16.7,107,650,0.00,2.08,0.00,0.000,6,0.000,0.038,2576,1787,3955,0,0,0,0,0,0
$GC,974,-0.71,-214.1,227.8,-19.5,168,982,0.12,2.20,0.00,0.000,4,0.174,0.046,2610,386,3956,0,0,0,0,0,0
$GC,1006,-0.71,-214.1,233.6,-18.6,173,1013,0.00,2.15,0.00,0.000,6,0.000,0.039,2604,1810,3956,0,0,0,0,0,0
$GC,1337,-0.73,-214.1,284.3,-14.2,234,1345,0.00,2.20,0.00,0.000,4,0.000,0.047,2604,390,3956,0,0,0,0,0,0
$GC,1393,-0.77,-214.1,292.0,-14.2,243,1401,0.00,2.12,0.00,0.000,6,0.000,0.040,2603,1812,3956,0,0,0,0,0,0
$GC,1728,-0.80,-214.1,338.3,-13.2,279,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1812,3955,0,0,0,0,0,0
$GC,2050,-0.84,-214.1,378.6,-12.4,309,2053,0.00,2.17,0.00,0.000,4,0.000,0.047,2603,392,3954,0,0,0,0,0,0
$GC,2133,-0.90,-214.1,389.3,-12.4,316,2142,0.12,2.15,0.00,0.000,6,0.047,0.039,2522,1797,3954,0,0,0,0,0,0
$GC,2460,-0.84,-214.1,448.7,-18.5,347,2465,0.15,2.15,0.00,0.000,4,0.165,0.053,2559,3201,3952,0,0,0,0,0,0
$GC,2490,-0.84,-214.1,453.3,-15.2,349,2494,0.00,2.10,0.00,0.000,6,0.000,0.037,2559,1789,3952,0,0,0,0,0,0
$STATE,2802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2802,begin apogee
$GC,2807,-0.23,0.0,500.1,14.8,378,2981,0.60,0.00,169.50,0.992,6,0.129,0.000,2758,1789,3072,0,0,0,0,0,0
$STATE,2982,end apogee,CONTROL_FINISHED_OK
$STATE,2982,begin climb
$GC,2985,1.16,214.1,507.3,0.0,392,3168,1.23,2.25,172.43,0.963,4,0.050,0.050,3215,3158,2199,0,0,0,0,0,0
$GC,3326,0.87,214.1,435.1,27.9,422,3334,0.35,2.17,0.00,0.000,6,0.180,0.039,3123,1755,2195,0,0,0,0,0,0
$GC,3653,0.69,214.1,375.2,18.0,453,3655,0.20,0.00,0.00,0.000,6,0.172,0.000,3066,1754,2193,0,0,0,0,0,0
$GC,3971,0.60,214.1,327.6,16.2,483,3976,0.12,2.17,0.00,0.000,4,0.180,0.047,3040,338,2191,0,0,0,0,0,0
$GC,4088,0.56,214.1,310.3,14.2,493,4095,0.00,2.12,0.00,0.000,6,0.000,0.035,3040,1752,2188,0,0,0,0,0,0
$GC,4418,0.57,262.2,267.2,11.8,547,4461,0.00,0.00,39.42,0.846,6,0.000,0.000,3040,1752,2003,0,0,0,0,0,0
$GC,4790,0.54,262.2,217.5,14.1,613,4797,0.00,2.12,0.00,0.000,4,0.000,0.046,3040,3156,1998,0,0,0,0,0,0
$GC,4873,0.52,262.2,205.0,13.9,628,4882,0.12,2.15,0.00,0.000,6,0.139,0.035,3007,1737,1998,0,0,0,0,0,0
$GC,5207,0.73,403.6,174.2,7.8,689,5336,0.20,2.20,116.12,0.772,4,0.063,0.044,3129,344,1426,0,0,0,0,0,0
$GC,5367,0.65,403.6,143.3,22.6,713,5376,0.20,2.20,0.00,0.000,6,0.132,0.036,3059,1751,1423,0,0,0,0,0,0
$GC,5697,0.77,466.9,97.3,11.1,774,5757,0.00,2.17,52.22,0.706,4,0.000,0.043,3058,3160,1167,0,0,0,0,0,0
$GC,5805,0.95,524.4,85.1,11.4,790,5864,0.17,2.17,48.12,0.685,6,0.031,0.036,3177,1753,932,0,0,0,0,0,0
$STATE,6156,end climb,SURFACE_DEPTH_REACHED
$STATE,6156,begin surface coast
$FINISH,0.7,1.010172
$STATE,6168,end surface coast,CONTROL_FINISHED_OK
$STATE,6168,begin surface
$SM_CCo,6246,0.00,0.000,0,0,925,526.66
$SM_GC,1.61,7.68,0.00,0.00,0.027,0.000,0.000,146,1804,925,-8.34,0.11,526.66
$IRIDIUM_FIX,2333.28,12629.14,161010,212104
$TT8_MAMPS,0.026215
$HUMID,43.97
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.10
$XPDR_PINGS,67
$24V_AH,24.2,52.989
$10V_AH,10.4,35.283
$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,20.875,47.625,597.825,0.000,0.000,27.990,25.436,138.607,16.750,0.000,24.398,1958.119,1585.338,560.392,2225.725,262.718,0.000,1397.049,0.000,2028.626,0.000,0.848,0.000
$DEVICE_MAMPS,232.560,153.765,992.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.427,874.128,1392.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,50186,855
$CAP_FILE_SIZE,85200,0
$CFSIZE,260165632,163123200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205, 93.3,1
$GPS,171010,005501,2344.728,12629.919,41,1.1,41,-3.5