version: 66.08
glider: 166
mission: 3
dive: 24
start: 9 25 110 9 10 8
data:
$ID,166
$MISSION,3
$DIVE,24
$N_DIVES,30
$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,-21509.133
$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,38
$R_STBD_OVSHOOT,40
$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
$GPS1,250910,090437,2333.350,12615.945,35,1.1,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.2
$GPS2,250910,090944,2333.371,12615.936,14,1.5,14,-3.5
$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,25.0,54758,-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,-243.3,0.0,0.0,0,128,0.00,0.00,-110.60,0.000,2,0.000,0.000,140,1817,3149,0,0,0,0,0,0
$GC,131,-1.14,-243.3,5.1,-10.8,15,155,9.00,0.00,-12.20,0.000,6,0.239,0.000,2462,1817,3783,0,0,0,0,0,0
$GC,471,-0.59,-243.3,146.6,-33.5,78,479,0.60,2.15,0.00,0.000,4,0.186,0.041,2644,389,3788,0,0,0,0,0,0
$GC,515,-0.47,-243.3,159.1,-21.8,85,524,0.15,2.12,0.00,0.000,6,0.158,0.041,2684,1804,3788,0,0,0,0,0,0
$GC,849,-0.67,-243.3,191.1,-7.8,146,858,0.17,2.15,0.00,0.000,4,0.071,0.053,2597,3201,3789,0,0,0,0,0,0
$GC,893,-0.67,-243.3,196.9,-14.8,153,901,0.00,2.05,0.00,0.000,6,0.000,0.034,2597,1796,3789,0,0,0,0,0,0
$GC,1225,-0.60,-243.3,254.6,-16.5,214,1234,0.17,2.12,0.00,0.000,4,0.161,0.045,2647,386,3790,0,0,0,0,0,0
$GC,1252,-0.60,-243.3,259.0,-15.5,218,1260,0.00,2.12,0.00,0.000,6,0.000,0.041,2647,1798,3790,0,0,0,0,0,0
$GC,1589,-0.73,-243.3,295.2,-10.2,279,1596,0.12,2.12,0.00,0.000,4,0.090,0.044,2586,383,3789,0,0,0,0,0,0
$GC,1628,-0.67,-243.3,300.5,-15.6,285,1633,0.15,2.12,0.00,0.000,6,0.168,0.041,2626,1811,3790,0,0,0,0,0,0
$GC,1955,-0.74,-243.3,341.8,-11.1,315,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1812,3790,0,0,0,0,0,0
$GC,2276,-0.84,-243.3,375.1,-10.3,345,2283,0.17,0.00,0.00,0.000,6,0.077,0.000,2549,1812,3789,0,0,0,0,0,0
$GC,2603,-0.70,-243.3,432.8,-17.3,376,2607,0.22,2.12,0.00,0.000,4,0.165,0.045,2614,387,3787,0,0,0,0,0,0
$GC,2680,-0.81,-243.3,443.1,-11.2,382,2688,0.08,2.15,0.00,0.000,6,0.063,0.042,2561,1803,3787,0,0,0,0,0,0
$GC,3008,-0.74,-243.3,491.8,-15.0,413,3015,0.15,0.00,0.00,0.000,6,0.172,0.000,2602,1803,3785,0,0,0,0,0,0
$STATE,3076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3076,begin apogee
$GC,3081,-0.23,0.0,500.5,10.6,420,3283,0.45,0.00,190.95,0.950,6,0.129,0.000,2759,1802,2787,0,0,0,0,0,0
$STATE,3283,end apogee,CONTROL_FINISHED_OK
$STATE,3283,begin climb
$GC,3287,1.14,243.3,506.1,0.0,437,3502,1.27,2.35,200.62,0.913,4,0.083,0.048,3213,398,1795,0,0,0,0,0,0
$GC,3544,0.52,243.3,438.1,38.9,458,3552,0.65,2.25,0.00,0.000,6,0.189,0.044,3016,1798,1791,0,0,0,0,0,0
$GC,3872,0.40,243.3,371.8,18.5,489,3876,0.15,2.15,0.00,0.000,4,0.168,0.051,2964,3211,1787,0,0,0,0,0,0
$GC,3909,0.46,243.3,365.0,14.3,492,3917,0.00,2.15,0.00,0.000,6,0.000,0.038,2972,1802,1785,0,0,0,0,0,0
$GC,4236,0.51,262.1,321.5,13.2,523,4260,0.00,2.17,15.80,0.801,4,0.000,0.047,2983,400,1719,0,0,0,0,0,0
$GC,4309,0.66,302.8,312.2,12.3,529,4350,0.20,2.12,34.88,0.820,6,0.069,0.038,3073,1809,1553,0,0,0,0,0,0
$GC,4676,0.41,302.8,221.2,23.1,590,4685,0.30,2.15,0.00,0.000,4,0.164,0.047,2970,3205,1547,0,0,0,0,0,0
$GC,4732,0.68,390.3,213.2,10.5,599,4815,0.22,2.12,71.85,0.763,6,0.058,0.037,3091,1788,1196,0,0,0,0,0,0
$GC,5136,0.44,390.3,103.0,27.2,671,5144,0.32,2.12,0.00,0.000,4,0.161,0.043,2998,397,1191,0,0,0,0,0,0
$GC,5158,0.30,390.3,97.8,24.1,674,5167,0.15,2.15,0.00,0.000,6,0.116,0.035,2942,1812,1189,0,0,0,0,0,0
$GC,5487,0.98,448.2,66.1,11.7,735,5541,0.55,0.00,46.22,0.651,6,0.072,0.000,3156,1817,960,0,0,0,0,0,0
$STATE,5794,end climb,SURFACE_DEPTH_REACHED
$STATE,5794,begin surface coast
$FINISH,1.0,1.021750
$STATE,5807,end surface coast,CONTROL_FINISHED_OK
$STATE,5807,begin surface
$SM_CCo,5884,0.00,0.000,0,0,955,450.13
$SM_GC,1.68,7.85,0.00,0.00,0.045,0.000,0.000,150,1817,955,-8.35,0.48,450.13
$IRIDIUM_FIX,2321.52,12614.60,250910,070709
$TT8_MAMPS,0.026215
$HUMID,41.17
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,23.20
$XPDR_PINGS,99
$24V_AH,24.3,7.544
$10V_AH,10.5,4.596
$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,23.125,43.000,560.325,0.000,0.000,23.212,14.518,133.693,24.750,0.000,17.229,1828.513,1516.864,559.609,2050.491,234.424,0.000,1346.068,0.000,1888.809,0.000,0.847,0.000
$DEVICE_MAMPS,238.680,52.785,950.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.770,809.320,1303.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330488
$DATA_FILE_SIZE,46905,792
$CAP_FILE_SIZE,81573,0
$CFSIZE,260165632,177922048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,233.3,1
$GPS,250910,104901,2334.470,12616.169,9,1.8,14,-3.5