version: 66.08
glider: 166
mission: 3
dive: 304
start: 10 16 110 17 28 16
data:
$ID,166
$MISSION,3
$DIVE,304
$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,-21906.074
$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,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
$GPS1,161010,172204,2339.966,12628.870,12,3.0,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.7
$GPS2,161010,172755,2339.955,12628.814,8,1.4,13,-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,21.7,37177,-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,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,107,0.00,0.00,-88.82,0.000,2,0.000,0.000,152,1751,3474,0,0,0,0,0,0
$GC,110,-1.16,-214.1,6.7,-12.3,12,135,9.10,2.30,-8.05,0.000,4,0.230,0.056,2450,3216,3949,0,0,0,0,0,0
$GC,174,-0.83,-214.1,43.7,-49.4,22,183,0.38,2.17,0.00,0.000,6,0.158,0.035,2564,1791,3952,0,0,0,0,0,0
$GC,502,-0.73,-214.1,128.4,-23.5,83,510,0.12,2.15,0.00,0.000,4,0.174,0.044,2601,400,3954,0,0,0,0,0,0
$GC,567,-0.69,-214.1,142.6,-19.8,94,576,0.00,2.12,0.00,0.000,6,0.000,0.039,2600,1793,3955,0,0,0,0,0,0
$GC,906,-0.67,-214.1,204.0,-16.5,155,913,0.00,2.15,0.00,0.000,4,0.000,0.050,2591,3205,3957,0,0,0,0,0,0
$GC,954,-0.71,-214.1,212.0,-15.0,163,961,0.00,2.08,0.00,0.000,6,0.000,0.035,2592,1803,3957,0,0,0,0,0,0
$GC,1294,-0.71,-214.1,270.5,-16.4,224,1302,0.00,2.15,0.00,0.000,4,0.000,0.045,2591,399,3957,0,0,0,0,0,0
$GC,1379,-0.73,-214.1,284.6,-15.8,238,1387,0.00,2.15,0.00,0.000,6,0.000,0.039,2588,1808,3956,0,0,0,0,0,0
$GC,1711,-0.73,-214.1,337.1,-15.7,277,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1809,3956,0,0,0,0,0,0
$GC,2034,-0.76,-214.1,383.4,-12.4,307,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1809,3955,0,0,0,0,0,0
$GC,2363,-0.79,-214.1,424.6,-13.1,338,2367,0.00,2.12,0.00,0.000,4,0.000,0.051,2578,3206,3954,0,0,0,0,0,0
$GC,2387,-0.84,-214.1,428.0,-12.6,339,2394,0.00,2.10,0.00,0.000,6,0.000,0.037,2578,1799,3954,0,0,0,0,0,0
$GC,2713,-0.87,-214.1,473.4,-14.5,370,2717,0.00,2.12,0.00,0.000,4,0.000,0.046,2578,392,3952,0,0,0,0,0,0
$GC,2792,-0.91,-214.1,485.3,-14.5,376,2800,0.00,2.15,0.00,0.000,6,0.000,0.039,2576,1797,3952,0,0,0,0,0,0
$STATE,2904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2904,begin apogee
$GC,2910,-0.23,0.0,501.1,13.9,387,3089,0.55,0.00,169.95,1.001,6,0.124,0.000,2760,1797,3072,0,0,0,0,0,0
$STATE,3090,end apogee,CONTROL_FINISHED_OK
$STATE,3090,begin climb
$GC,3092,1.16,214.1,511.1,0.0,402,3274,1.23,0.00,172.90,0.974,6,0.048,0.000,3224,1797,2198,0,0,0,0,0,0
$GC,3592,0.85,214.1,396.2,29.5,448,3597,0.38,2.28,0.00,0.000,4,0.197,0.045,3130,346,2192,0,0,0,0,0,0
$GC,3635,0.66,214.1,385.9,22.4,451,3640,0.25,2.15,0.00,0.000,6,0.171,0.038,3051,1759,2192,0,0,0,0,0,0
$GC,3962,0.66,271.1,338.7,11.4,481,4015,0.00,2.20,47.30,0.892,4,0.000,0.048,3050,3168,1965,0,0,0,0,0,0
$GC,4065,0.63,275.5,325.8,13.7,489,4078,0.00,2.20,4.97,0.610,6,0.000,0.037,3058,1741,1948,0,0,0,0,0,0
$GC,4403,0.57,275.5,276.6,14.8,534,4412,0.12,0.00,0.00,0.000,6,0.178,0.000,3025,1741,1945,0,0,0,0,0,0
$GC,4744,0.60,299.5,232.9,12.8,595,4771,0.00,2.15,20.48,0.801,4,0.000,0.044,3033,341,1850,0,0,0,0,0,0
$GC,4796,0.63,323.4,226.0,12.9,603,4824,0.00,2.15,21.58,0.788,6,0.000,0.034,3034,1757,1753,0,0,0,0,0,0
$GC,5159,0.70,381.1,176.7,11.4,667,5214,0.00,2.25,48.88,0.777,4,0.000,0.046,3028,3164,1518,0,0,0,0,0,0
$GC,5265,0.84,442.4,164.6,11.2,683,5325,0.20,2.17,52.45,0.752,6,0.058,0.035,3144,1739,1268,0,0,0,0,0,0
$GC,5646,0.76,442.4,75.2,21.0,752,5655,0.20,2.20,0.00,0.000,4,0.158,0.041,3077,3153,1264,0,0,0,0,0,0
$GC,5706,0.85,480.6,66.3,12.2,762,5746,0.00,2.15,31.88,0.679,6,0.000,0.036,3085,1747,1111,0,0,0,0,0,0
$GC,6071,1.11,601.4,26.4,8.6,827,6176,0.25,2.28,97.30,0.643,4,0.052,0.041,3230,337,618,0,0,0,0,0,0
$STATE,6185,end climb,SURFACE_DEPTH_REACHED
$STATE,6185,begin surface coast
$FINISH,0.7,1.021774
$STATE,6198,end surface coast,CONTROL_FINISHED_OK
$STATE,6198,begin surface
$SM_CCo,6278,0.00,0.000,0,0,613,603.19
$SM_GC,1.41,8.07,0.00,0.00,0.032,0.000,0.000,143,1814,613,-8.35,0.40,603.19
$IRIDIUM_FIX,2330.93,12629.14,161010,151547
$TT8_MAMPS,0.026215
$HUMID,42.51
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,24.50
$XPDR_PINGS,71
$24V_AH,24.1,52.508
$10V_AH,10.4,34.950
$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,20.850,52.225,667.675,0.000,0.000,27.493,37.490,142.956,17.750,0.000,15.407,1913.218,1647.178,612.990,2182.171,268.216,0.000,1449.195,0.000,1988.134,0.000,0.848,0.000
$DEVICE_MAMPS,229.500,55.845,1000.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.404,863.531,1389.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50161,844
$CAP_FILE_SIZE,85399,0
$CFSIZE,260165632,163278848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,343.8,1
$GPS,161010,191404,2341.249,12629.083,14,2.7,33,-3.5