version: 66.08
glider: 166
mission: 3
dive: 9
start: 9 24 110 4 41 43
data:
$ID,166
$MISSION,3
$DIVE,9
$N_DIVES,15
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,1
$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,-21486.863
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2789
$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,100
$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,2
$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
$GPS1,240910,043525,2317.186,12608.690,40,1.2,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.7
$GPS2,240910,044120,2317.207,12608.613,11,2.0,11,-3.4
$SPEED_LIMITS,0.241,0.365
$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,45.9,87122,-18.5,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.14,-243.3,0.0,0.0,0,112,0.00,0.00,-94.30,0.000,2,0.000,0.000,151,1805,3362,0,0,0,0,0,0
$GC,115,-1.14,-243.3,6.6,-13.3,13,139,8.90,2.12,-7.28,0.000,4,0.236,0.052,2467,376,3782,0,0,0,0,0,0
$GC,195,-0.47,-243.3,53.9,-53.0,26,203,0.73,2.17,0.00,0.000,6,0.183,0.041,2680,1796,3783,0,0,0,0,0,0
$GC,519,-0.58,-243.3,107.7,-11.9,87,528,0.00,2.17,0.00,0.000,4,0.000,0.053,2671,3209,3786,0,0,0,0,0,0
$GC,538,-0.69,-243.3,110.1,-12.3,89,546,0.12,2.10,0.00,0.000,6,0.047,0.036,2591,1795,3786,0,0,0,0,0,0
$GC,874,-0.55,-243.3,176.7,-19.6,150,881,0.25,2.05,0.00,0.000,4,0.164,0.044,2669,396,3787,0,0,0,0,0,0
$GC,949,-0.74,-243.3,187.0,-10.5,163,958,0.17,2.10,0.00,0.000,6,0.073,0.039,2584,1812,3787,0,0,0,0,0,0
$GC,1298,-0.65,-243.3,246.5,-16.7,224,1305,0.17,2.12,0.00,0.000,4,0.170,0.045,2633,392,3787,0,0,0,0,0,0
$GC,1329,-0.65,-243.3,251.5,-14.1,229,1336,0.00,2.10,0.00,0.000,6,0.000,0.040,2628,1807,3787,0,0,0,0,0,0
$GC,1675,-0.71,-243.3,294.4,-12.4,290,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1808,3787,0,0,0,0,0,0
$GC,2022,-0.80,-243.3,334.6,-10.4,351,2029,0.12,0.00,0.00,0.000,6,0.093,0.000,2570,1808,3786,0,0,0,0,0,0
$GC,2368,-0.74,-243.3,387.0,-14.7,412,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1809,3786,0,0,0,0,0,0
$GC,2712,-0.71,-243.3,438.7,-13.7,473,2719,0.15,2.15,0.00,0.000,4,0.174,0.050,2612,398,3785,0,0,0,0,0,0
$GC,2794,-0.81,-243.3,448.5,-11.0,487,2802,0.00,2.10,0.00,0.000,6,0.000,0.042,2611,1800,3784,0,0,0,0,0,0
$GC,3142,-0.92,-243.3,485.1,-10.6,548,3149,0.20,2.12,0.00,0.000,4,0.076,0.047,2523,389,3783,0,0,0,0,0,0
$GC,3173,-0.81,-243.3,490.0,-15.9,553,3180,0.22,2.12,0.00,0.000,6,0.178,0.044,2579,1805,3783,0,0,0,0,0,0
$STATE,3240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3241,begin apogee
$GC,3247,-0.23,0.0,500.8,14.3,565,3445,0.52,0.00,189.65,0.955,6,0.142,0.000,2757,1805,2788,0,0,0,0,0,0
$STATE,3446,end apogee,CONTROL_FINISHED_OK
$STATE,3446,begin climb
$GC,3449,1.14,243.3,508.3,0.0,583,3658,1.30,0.00,200.50,0.921,6,0.090,0.000,3203,1808,1797,0,0,0,0,0,0
$GC,3998,0.57,243.3,339.6,33.6,672,4006,0.60,2.17,0.00,0.000,4,0.199,0.047,3042,399,1790,0,0,0,0,0,0
$GC,4019,0.12,243.3,332.7,31.4,675,4027,0.52,2.15,0.00,0.000,6,0.154,0.043,2880,1798,1788,0,0,0,0,0,0
$GC,4366,0.87,356.2,305.2,9.6,736,4470,0.65,2.30,92.82,0.828,4,0.087,0.054,3113,3206,1337,0,0,0,0,0,0
$GC,4518,0.65,356.2,268.1,28.9,761,4525,0.25,2.17,0.00,0.000,6,0.174,0.041,3053,1802,1335,0,0,0,0,0,0
$GC,4864,0.53,356.2,187.9,22.0,822,4872,0.15,2.15,0.00,0.000,4,0.183,0.049,3020,383,1332,0,0,0,0,0,0
$GC,4925,0.63,356.2,176.5,14.4,832,4931,0.00,2.15,0.00,0.000,6,0.000,0.040,3019,1807,1329,0,0,0,0,0,0
$GC,5257,0.66,381.2,127.1,12.9,893,5281,0.10,0.00,20.83,0.697,6,0.107,0.000,3066,1810,1235,0,0,0,0,0,0
$GC,5600,0.61,381.2,61.3,17.2,956,5608,0.00,2.15,0.00,0.000,4,0.000,0.050,3065,3203,1232,0,0,0,0,0,0
$GC,5628,0.61,381.2,56.9,15.2,960,5636,0.10,2.12,0.00,0.000,6,0.148,0.041,3041,1800,1232,0,0,0,0,0,0
$GC,5957,1.08,551.9,28.2,7.4,1021,6063,0.35,0.00,102.60,0.616,2,0.052,0.000,3206,1799,708,0,0,0,0,0,0
$STATE,6064,end climb,SURFACE_DEPTH_REACHED
$STATE,6064,begin surface coast
$FINISH,0.5,1.021702
$STATE,6073,end surface coast,CONTROL_FINISHED_OK
$STATE,6073,begin surface
$SM_CCo,6151,0.00,0.000,0,0,705,511.21
$SM_GC,1.27,8.18,0.00,0.00,0.046,0.000,0.000,158,1796,705,-8.33,-0.08,511.21
$IRIDIUM_FIX,2305.10,12609.05,240910,020248
$TT8_MAMPS,0.026964
$HUMID,39.76
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.20
$XPDR_PINGS,114
$24V_AH,24.3,5.129
$10V_AH,10.5,2.973
$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,23.775,42.825,606.400,0.000,0.000,23.406,35.604,164.887,28.500,0.000,12.504,2330.164,1211.071,612.536,2106.182,242.403,0.000,1495.110,0.000,1898.465,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,53.550,954.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.273,1058.766,762.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330492
$DATA_FILE_SIZE,56828,1036
$CAP_FILE_SIZE,92596,0
$CFSIZE,260165632,178692096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,347.1,1
$GPS,240910,062522,2318.200,12609.457,12,3.2,31,-3.4