version: 66.08
glider: 166
mission: 3
dive: 15
start: 9 24 110 16 25 43
data:
$ID,166
$MISSION,3
$DIVE,15
$N_DIVES,20
$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,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,-21494.49
$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,39
$R_STBD_OVSHOOT,37
$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,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
$GPS1,240910,162004,2322.979,12610.968,12,2.4,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.3
$GPS2,240910,162519,2323.004,12610.945,10,1.5,15,-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,46.5,75722,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.14,-243.3,0.0,0.0,0,104,0.00,0.00,-86.60,0.000,2,0.000,0.000,138,1815,3367,0,0,0,0,0,0
$GC,107,-1.14,-243.3,6.8,-14.7,12,131,8.77,2.12,-7.35,0.000,4,0.229,0.049,2464,378,3782,0,0,0,0,0,0
$GC,231,-0.54,-243.3,69.5,-43.2,33,239,0.68,2.17,0.00,0.000,6,0.182,0.043,2654,1795,3784,0,0,0,0,0,0
$GC,556,-0.54,-243.3,128.0,-15.7,94,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1800,3786,0,0,0,0,0,0
$GC,892,-0.61,-243.3,173.7,-12.8,155,898,0.00,2.10,0.00,0.000,4,0.000,0.046,2654,390,3788,0,0,0,0,0,0
$GC,984,-0.72,-243.3,185.5,-12.5,171,992,0.12,2.10,0.00,0.000,6,0.091,0.040,2588,1814,3788,0,0,0,0,0,0
$GC,1327,-0.64,-243.3,245.4,-16.5,232,1335,0.15,0.00,0.00,0.000,6,0.173,0.000,2629,1814,3787,0,0,0,0,0,0
$GC,1669,-0.71,-243.3,290.3,-12.8,293,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1815,3787,0,0,0,0,0,0
$GC,2005,-0.79,-243.3,329.9,-11.4,331,2012,0.12,0.00,0.00,0.000,6,0.093,0.000,2572,1816,3787,0,0,0,0,0,0
$GC,2331,-0.73,-243.3,381.5,-15.8,362,2336,0.12,2.17,0.00,0.000,4,0.180,0.048,2605,389,3787,0,0,0,0,0,0
$GC,2418,-0.78,-243.3,393.4,-13.5,369,2422,0.00,2.10,0.00,0.000,6,0.000,0.041,2599,1809,3787,0,0,0,0,0,0
$GC,2750,-0.82,-243.3,435.4,-12.0,400,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1810,3785,0,0,0,0,0,0
$GC,3071,-0.88,-243.3,475.9,-12.9,430,3080,0.12,0.00,0.00,0.000,6,0.099,0.000,2542,1810,3784,0,0,0,0,0,0
$STATE,3225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3226,begin apogee
$GC,3231,-0.23,0.0,501.7,17.1,445,3431,0.68,0.00,190.00,0.959,6,0.148,0.000,2762,1810,2787,0,0,0,0,0,0
$STATE,3431,end apogee,CONTROL_FINISHED_OK
$STATE,3432,begin climb
$GC,3434,1.14,243.3,510.2,0.0,462,3648,1.27,2.33,200.80,0.923,4,0.086,0.055,3197,3200,1796,0,0,0,0,0,0
$GC,3752,0.56,243.3,424.5,38.1,489,3757,0.65,2.17,0.00,0.000,6,0.191,0.041,3027,1803,1793,0,0,0,0,0,0
$GC,4079,0.43,243.3,358.7,17.9,519,4081,0.15,0.00,0.00,0.000,6,0.164,0.000,2983,1803,1789,0,0,0,0,0,0
$GC,4397,0.48,277.2,316.9,12.6,549,4433,0.00,2.20,28.48,0.831,4,0.000,0.050,2992,392,1657,0,0,0,0,0,0
$GC,4458,0.54,284.4,308.9,13.6,554,4473,0.00,2.15,7.75,0.702,6,0.000,0.040,2992,1802,1629,0,0,0,0,0,0
$GC,4801,0.54,284.4,260.2,14.5,609,4807,0.00,2.12,0.00,0.000,4,0.000,0.052,2992,3211,1625,0,0,0,0,0,0
$GC,4841,0.58,284.4,254.6,14.5,615,4848,0.00,2.15,0.00,0.000,6,0.000,0.041,3002,1791,1624,0,0,0,0,0,0
$GC,5176,0.60,303.0,205.8,13.2,676,5199,0.00,2.20,16.38,0.744,4,0.000,0.049,3013,396,1551,0,0,0,0,0,0
$GC,5240,0.71,334.7,197.6,12.7,686,5277,0.12,2.17,26.98,0.747,6,0.052,0.038,3085,1810,1423,0,0,0,0,0,0
$GC,5602,0.52,334.7,115.1,23.7,751,5611,0.25,2.15,0.00,0.000,4,0.162,0.047,2996,3209,1419,0,0,0,0,0,0
$GC,5635,0.52,334.7,108.6,18.1,756,5643,0.00,2.15,0.00,0.000,6,0.000,0.040,3005,1799,1419,0,0,0,0,0,0
$GC,5961,0.68,375.0,66.9,12.3,817,6000,0.15,2.22,33.00,0.661,4,0.080,0.047,3093,386,1259,0,0,0,0,0,0
$GC,6035,0.61,375.0,54.6,18.8,828,6044,0.15,2.17,0.00,0.000,6,0.136,0.036,3042,1807,1256,0,0,0,0,0,0
$GC,6366,1.11,587.3,28.5,5.8,889,6472,0.38,0.00,102.03,0.612,2,0.049,0.000,3221,1810,736,0,0,0,0,0,0
$STATE,6473,end climb,SURFACE_DEPTH_REACHED
$STATE,6473,begin surface coast
$FINISH,0.7,1.021792
$STATE,6481,end surface coast,CONTROL_FINISHED_OK
$STATE,6481,begin surface
$SM_CCo,6559,0.00,0.000,0,0,732,504.34
$SM_GC,1.37,8.18,0.00,0.00,0.041,0.000,0.000,148,1811,732,-8.35,0.31,504.34
$IRIDIUM_FIX,2312.13,12608.54,240910,141414
$TT8_MAMPS,0.026964
$HUMID,39.80
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.10
$XPDR_PINGS,115
$24V_AH,24.3,6.112
$10V_AH,10.6,3.616
$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,22.075,38.975,605.400,0.000,0.000,27.452,14.161,136.391,28.750,0.000,16.776,2081.353,1661.746,559.441,2332.603,237.496,0.000,1420.053,0.000,2152.766,0.000,0.846,0.000
$DEVICE_MAMPS,228.735,55.080,959.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.503,923.730,1532.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330500
$DATA_FILE_SIZE,53706,904
$CAP_FILE_SIZE,86582,0
$CFSIZE,260165632,178372608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,272.8,1
$GPS,240910,181606,2324.000,12611.503,12,1.5,28,-3.4