version: 66.08
glider: 166
mission: 3
dive: 313
start: 10 17 110 10 36 22
data:
$ID,166
$MISSION,3
$DIVE,313
$N_DIVES,323
$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,-21917.666
$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,62
$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
$GPS1,171010,103000,2347.829,12628.688,34,1.1,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-59.9
$GPS2,171010,103601,2347.867,12628.609,13,1.3,19,-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,14.6,22593,-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,15,-1.16,-214.1,0.0,0.0,0,113,0.00,0.00,-94.65,0.000,2,0.000,0.000,154,1821,3445,0,0,0,0,0,0
$GC,116,-1.16,-214.1,6.4,-12.3,13,140,9.23,2.15,-8.90,0.000,4,0.234,0.055,2441,3195,3947,0,0,0,0,0,0
$GC,251,-0.94,-214.1,69.1,-35.1,36,260,0.30,2.15,0.00,0.000,6,0.162,0.040,2532,1797,3951,0,0,0,0,0,0
$GC,578,-0.81,-214.1,154.7,-24.8,97,585,0.15,2.15,0.00,0.000,4,0.177,0.046,2574,391,3953,0,0,0,0,0,0
$GC,661,-0.77,-214.1,173.3,-21.2,111,669,0.00,2.08,0.00,0.000,6,0.000,0.037,2565,1773,3953,0,0,0,0,0,0
$GC,995,-0.71,-214.1,241.8,-19.4,172,1003,0.15,0.00,0.00,0.000,6,0.174,0.000,2605,1773,3954,0,0,0,0,0,0
$GC,1332,-0.74,-214.1,292.0,-13.7,233,1339,0.00,2.17,0.00,0.000,4,0.000,0.053,2603,3207,3954,0,0,0,0,0,0
$GC,1358,-0.78,-214.1,295.6,-14.1,237,1364,0.00,2.10,0.00,0.000,6,0.000,0.036,2602,1792,3954,0,0,0,0,0,0
$GC,1692,-0.82,-214.1,339.1,-12.5,271,1696,0.00,2.10,0.00,0.000,4,0.000,0.047,2602,395,3954,0,0,0,0,0,0
$GC,1759,-0.87,-214.1,347.6,-12.3,276,1767,0.00,2.15,0.00,0.000,6,0.000,0.038,2593,1808,3953,0,0,0,0,0,0
$GC,2086,-0.90,-214.1,391.9,-13.3,307,2088,0.12,0.00,0.00,0.000,6,0.091,0.000,2531,1808,3952,0,0,0,0,0,0
$GC,2405,-0.86,-214.1,448.0,-18.1,337,2410,0.12,2.20,0.00,0.000,4,0.174,0.048,2563,389,3950,0,0,0,0,0,0
$GC,2441,-0.86,-214.1,455.3,-17.9,340,2450,0.00,2.15,0.00,0.000,6,0.000,0.040,2560,1797,3950,0,0,0,0,0,0
$STATE,2736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2737,begin apogee
$GC,2742,-0.23,0.0,500.4,15.7,368,2920,0.60,0.00,169.82,0.999,6,0.126,0.000,2760,1742,3071,0,0,0,0,0,0
$STATE,2921,end apogee,CONTROL_FINISHED_OK
$STATE,2921,begin climb
$GC,2925,1.16,214.1,512.4,0.0,383,3103,1.23,0.00,172.62,0.969,6,0.049,0.000,3223,1742,2199,0,0,0,0,0,0
$GC,3419,0.86,214.1,403.6,28.3,428,3421,0.38,0.00,0.00,0.000,6,0.190,0.000,3124,1742,2193,0,0,0,0,0,0
$GC,3738,0.69,214.1,337.0,20.7,458,3743,0.20,2.20,0.00,0.000,4,0.180,0.047,3058,3170,2190,0,0,0,0,0,0
$GC,3769,0.57,214.1,331.5,17.9,460,3774,0.15,2.12,0.00,0.000,6,0.174,0.038,3026,1753,2189,0,0,0,0,0,0
$GC,4097,0.62,273.3,292.6,11.3,496,4151,0.00,2.28,48.55,0.864,4,0.000,0.048,3034,347,1956,0,0,0,0,0,0
$GC,4220,0.63,281.9,277.1,13.5,516,4235,0.00,2.20,8.65,0.719,6,0.000,0.037,3035,1757,1922,0,0,0,0,0,0
$GC,4563,0.68,325.0,230.6,12.0,578,4605,0.00,2.25,36.55,0.809,4,0.000,0.046,3034,3169,1746,0,0,0,0,0,0
$GC,4681,0.73,351.5,216.0,12.7,597,4717,0.10,2.17,23.95,0.777,6,0.096,0.036,3105,1741,1638,0,0,0,0,0,0
$GC,5047,0.65,351.5,139.8,21.0,662,5055,0.20,2.15,0.00,0.000,4,0.161,0.042,3058,349,1634,0,0,0,0,0,0
$GC,5064,0.57,351.5,136.4,20.5,664,5072,0.00,2.15,0.00,0.000,6,0.000,0.034,3054,1759,1633,0,0,0,0,0,0
$GC,5395,0.68,417.4,92.2,11.0,725,5454,0.00,2.25,54.30,0.710,4,0.000,0.045,3054,3165,1370,0,0,0,0,0,0
$GC,5475,0.80,466.8,82.7,11.7,736,5528,0.08,2.20,42.25,0.680,6,0.047,0.036,3133,1754,1168,0,0,0,0,0,0
$GC,5848,0.83,489.6,21.5,12.9,803,5871,0.00,0.00,19.77,0.618,6,0.000,0.000,3133,1754,1075,0,0,0,0,0,0
$STATE,5970,end climb,SURFACE_DEPTH_REACHED
$STATE,5970,begin surface coast
$FINISH,0.8,1.010157
$STATE,5990,end surface coast,CONTROL_FINISHED_OK
$STATE,5990,begin surface
$SM_CCo,6068,0.00,0.000,0,0,1071,490.85
$SM_GC,1.49,7.62,0.00,0.00,0.030,0.000,0.000,143,1841,1071,-8.34,1.16,490.85
$IRIDIUM_FIX,2337.99,12626.75,171010,080814
$TT8_MAMPS,0.026215
$HUMID,43.46
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.50
$XPDR_PINGS,66
$24V_AH,24.1,53.940
$10V_AH,10.4,35.954
$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,20.625,43.500,576.475,0.000,0.000,31.815,36.762,141.770,16.500,0.000,21.816,1900.677,1568.689,538.520,2154.738,262.352,0.000,1328.939,0.000,1951.691,0.000,0.847,0.000
$DEVICE_MAMPS,234.090,144.585,999.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.784,846.829,1392.399,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46942,828
$CAP_FILE_SIZE,82147,0
$CFSIZE,260165632,162807808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,185.4,1
$GPS,171010,121836,2348.778,12628.836,14,1.0,30,-3.5