version: 66.08
glider: 166
mission: 3
dive: 328
start: 10 18 110 14 56 55
data:
$ID,166
$MISSION,3
$DIVE,328
$N_DIVES,330
$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,-21936.711
$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,39
$R_STBD_OVSHOOT,39
$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
$GPS1,181010,145022,2358.258,12629.710,8,2.5,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.5
$GPS2,181010,145634,2358.321,12629.688,11,2.5,30,-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,184.0,108011,-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,-214.1,0.0,0.0,0,114,0.00,0.00,-95.65,0.000,2,0.000,0.000,165,1754,3458,0,0,0,0,0,0
$GC,117,-1.16,-214.1,6.3,-11.9,13,142,9.18,2.15,-8.57,0.000,4,0.234,0.052,2456,374,3948,0,0,0,0,0,0
$GC,293,-0.95,-214.1,83.4,-31.3,44,301,0.28,2.17,0.00,0.000,6,0.168,0.038,2528,1794,3951,0,0,0,0,0,0
$GC,620,-0.82,-214.1,169.3,-22.0,105,626,0.15,0.00,0.00,0.000,6,0.181,0.000,2569,1796,3955,0,0,0,0,0,0
$GC,952,-0.77,-214.1,230.6,-18.0,166,960,0.00,2.17,0.00,0.000,4,0.000,0.046,2568,402,3956,0,0,0,0,0,0
$GC,1020,-0.74,-214.1,243.7,-17.8,178,1029,0.10,2.15,0.00,0.000,6,0.134,0.040,2596,1802,3956,0,0,0,0,0,0
$GC,1356,-0.77,-214.1,293.4,-14.4,239,1363,0.00,2.17,0.00,0.000,4,0.000,0.046,2596,389,3956,0,0,0,0,0,0
$GC,1384,-0.80,-214.1,297.9,-15.2,243,1392,0.00,2.12,0.00,0.000,6,0.000,0.038,2591,1804,3956,0,0,0,0,0,0
$GC,1720,-0.82,-214.1,348.1,-14.4,275,1724,0.00,2.17,0.00,0.000,4,0.000,0.047,2590,389,3955,0,0,0,0,0,0
$GC,1774,-0.87,-214.1,355.7,-13.8,279,1778,0.00,2.12,0.00,0.000,6,0.000,0.039,2589,1799,3955,0,0,0,0,0,0
$GC,2101,-0.90,-214.1,399.1,-12.9,309,2106,0.12,2.17,0.00,0.000,4,0.093,0.047,2530,389,3954,0,0,0,0,0,0
$GC,2124,-0.90,-214.1,402.9,-15.1,310,2132,0.00,2.15,0.00,0.000,6,0.000,0.040,2523,1792,3954,0,0,0,0,0,0
$GC,2451,-0.85,-214.1,464.1,-19.1,341,2453,0.15,0.00,0.00,0.000,6,0.172,0.000,2562,1793,3952,0,0,0,0,0,0
$STATE,2691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2691,begin apogee
$GC,2698,-0.23,0.0,501.1,14.6,364,2877,0.57,0.00,170.48,0.997,6,0.122,0.000,2758,1792,3072,0,0,0,0,0,0
$STATE,2877,end apogee,CONTROL_FINISHED_OK
$STATE,2877,begin climb
$GC,2881,1.16,214.1,511.9,0.0,379,3060,1.23,0.00,173.15,0.969,6,0.051,0.000,3215,1792,2198,0,0,0,0,0,0
$GC,3375,0.87,214.1,402.6,25.8,424,3380,0.32,2.12,0.00,0.000,4,0.194,0.048,3115,3167,2192,0,0,0,0,0,0
$GC,3404,0.65,214.1,395.7,22.7,426,3409,0.25,2.17,0.00,0.000,6,0.171,0.041,3054,1753,2191,0,0,0,0,0,0
$GC,3730,0.57,214.1,345.6,14.2,456,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1753,2190,0,0,0,0,0,0
$GC,4050,0.53,242.3,301.5,12.7,486,4078,0.15,2.28,23.38,0.853,4,0.163,0.049,3018,335,2084,0,0,0,0,0,0
$GC,4092,0.64,333.5,296.7,9.9,491,4180,0.00,2.17,77.32,0.858,6,0.000,0.036,3019,1754,1711,0,0,0,0,0,0
$GC,4505,0.67,333.5,243.0,14.6,564,4514,0.10,2.17,0.00,0.000,4,0.096,0.048,3078,3153,1706,0,0,0,0,0,0
$GC,4559,0.61,333.5,233.3,20.3,573,4567,0.17,2.10,0.00,0.000,6,0.166,0.037,3041,1744,1705,0,0,0,0,0,0
$GC,4890,0.61,333.5,184.4,15.2,634,4897,0.00,2.17,0.00,0.000,4,0.000,0.047,3049,349,1704,0,0,0,0,0,0
$GC,4934,0.61,333.5,178.1,15.4,641,4941,0.00,2.10,0.00,0.000,6,0.000,0.034,3049,1758,1703,0,0,0,0,0,0
$GC,5265,0.62,339.8,130.1,13.6,702,5282,0.00,2.15,5.38,0.551,4,0.000,0.046,3049,3149,1686,0,0,0,0,0,0
$GC,5333,0.66,339.8,120.1,14.1,713,5341,0.00,2.15,0.00,0.000,6,0.000,0.037,3059,1744,1686,0,0,0,0,0,0
$GC,5660,0.75,387.0,79.8,11.8,774,5706,0.00,2.25,40.50,0.697,4,0.000,0.045,3057,3155,1494,0,0,0,0,0,0
$GC,5742,0.94,479.1,71.8,9.9,786,5831,0.17,2.17,76.82,0.678,6,0.032,0.037,3175,1750,1119,0,0,0,0,0,0
$STATE,6098,end climb,SURFACE_DEPTH_REACHED
$STATE,6099,begin surface coast
$FINISH,0.7,1.010542
$STATE,6115,end surface coast,CONTROL_FINISHED_OK
$STATE,6116,begin surface
$SM_CCo,6193,0.00,0.000,0,0,1109,481.52
$SM_GC,1.45,7.85,0.00,0.00,0.037,0.000,0.000,151,1817,1109,-8.35,0.51,481.52
$IRIDIUM_FIX,2349.77,12629.56,181010,121257
$TT8_MAMPS,0.026215
$HUMID,43.54
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.30
$XPDR_PINGS,71
$24V_AH,24.1,56.350
$10V_AH,10.4,37.624
$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,20.800,47.650,567.025,0.000,0.000,25.694,40.005,140.449,17.750,0.000,33.631,1960.196,1587.797,541.677,2206.374,261.181,0.000,1350.325,0.000,2000.001,0.000,0.846,0.000
$DEVICE_MAMPS,234.090,144.585,996.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.039,870.223,1420.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50095,851
$CAP_FILE_SIZE,84242,0
$CFSIZE,260165632,162013184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,308.2,1
$GPS,181010,164116,2357.476,12629.673,12,2.6,31,-3.6