version: 66.08
glider: 166
mission: 3
dive: 31
start: 9 25 110 21 59 36
data:
$ID,166
$MISSION,3
$DIVE,31
$N_DIVES,40
$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,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,642
$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,-21521.236
$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,43
$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,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
$GPS1,250910,215336,2340.444,12618.869,36,1.0,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.7
$GPS2,250910,215913,2340.489,12618.852,14,1.2,14,-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,45.7,40761,-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,12,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,-94.90,0.000,2,0.000,0.000,139,1802,3310,0,0,0,0,0,0
$GC,116,-1.16,-214.1,5.4,-9.9,13,140,9.15,0.00,-11.50,0.000,6,0.246,0.000,2457,1800,3949,0,0,0,0,0,0
$GC,454,-0.63,-214.1,160.5,-38.4,76,463,0.57,2.12,0.00,0.000,4,0.186,0.041,2630,392,3954,0,0,0,0,0,0
$GC,532,-0.69,-214.1,178.5,-16.0,89,538,0.00,2.10,0.00,0.000,6,0.000,0.038,2625,1797,3955,0,0,0,0,0,0
$GC,866,-0.75,-214.1,230.1,-14.6,150,873,0.00,2.15,0.00,0.000,4,0.000,0.052,2625,3204,3957,0,0,0,0,0,0
$GC,925,-0.95,-214.1,237.9,-12.1,160,933,0.20,2.10,0.00,0.000,6,0.042,0.034,2518,1796,3957,0,0,0,0,0,0
$GC,1258,-0.70,-214.1,320.8,-26.9,214,1262,0.30,2.05,0.00,0.000,4,0.171,0.043,2608,396,3956,0,0,0,0,0,0
$GC,1300,-0.76,-214.1,329.9,-16.4,217,1307,0.00,2.08,0.00,0.000,6,0.000,0.037,2601,1799,3957,0,0,0,0,0,0
$GC,1626,-0.82,-214.1,375.3,-13.8,248,1630,0.00,2.10,0.00,0.000,4,0.000,0.045,2600,390,3955,0,0,0,0,0,0
$GC,1668,-0.90,-214.1,381.2,-14.5,251,1672,0.15,2.10,0.00,0.000,6,0.083,0.040,2526,1802,3955,0,0,0,0,0,0
$GC,1995,-0.75,-214.1,449.1,-21.7,281,1999,0.25,2.12,0.00,0.000,4,0.169,0.051,2599,3212,3954,0,0,0,0,0,0
$GC,2024,-0.75,-214.1,454.5,-17.0,283,2028,0.00,2.05,0.00,0.000,6,0.000,0.035,2599,1798,3954,0,0,0,0,0,0
$GC,2351,-0.87,-214.1,493.9,-11.3,313,2356,0.12,2.10,0.00,0.000,4,0.093,0.047,2539,391,3952,0,0,0,0,0,0
$GC,2385,-0.87,-214.1,499.0,-16.0,316,2389,0.00,2.10,0.00,0.000,6,0.000,0.042,2534,1797,3952,0,0,0,0,0,0
$STATE,2403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2403,begin apogee
$GC,2408,-0.23,0.0,501.8,16.3,317,2587,0.70,0.00,168.73,0.949,6,0.146,0.000,2762,1798,3072,0,0,0,0,0,0
$STATE,2587,end apogee,CONTROL_FINISHED_OK
$STATE,2588,begin climb
$GC,2590,1.16,214.1,509.8,0.0,332,2774,1.20,0.00,173.60,0.923,6,0.050,0.000,3217,1798,2198,0,0,0,0,0,0
$GC,3090,0.54,214.1,387.5,29.7,380,3093,0.73,0.00,0.00,0.000,6,0.199,0.000,3017,1799,2192,0,0,0,0,0,0
$GC,3409,0.42,214.1,336.7,14.4,410,3414,0.12,2.17,0.00,0.000,4,0.176,0.050,2980,3218,2189,0,0,0,0,0,0
$GC,3441,0.45,232.7,331.9,13.1,412,3463,0.00,2.15,15.48,0.801,6,0.000,0.037,2989,1795,2123,0,0,0,0,0,0
$GC,3784,0.49,271.0,290.1,12.2,452,3818,0.00,0.00,32.15,0.812,6,0.000,0.000,2989,1795,1966,0,0,0,0,0,0
$GC,4151,0.55,316.6,242.8,11.9,517,4191,0.00,0.00,37.75,0.782,6,0.000,0.000,2989,1794,1781,0,0,0,0,0,0
$GC,4520,0.63,335.3,196.5,13.1,583,4541,0.15,0.00,16.90,0.727,6,0.080,0.000,3060,1795,1703,0,0,0,0,0,0
$GC,4862,0.50,335.3,129.1,19.4,646,4870,0.20,0.00,0.00,0.000,6,0.163,0.000,3004,1795,1700,0,0,0,0,0,0
$GC,5186,0.74,429.1,90.3,9.8,707,5269,0.20,2.17,75.30,0.675,4,0.068,0.042,3112,393,1321,0,0,0,0,0,0
$GC,5302,0.59,429.1,67.6,22.3,723,5311,0.25,2.20,0.00,0.000,6,0.142,0.034,3032,1809,1320,0,0,0,0,0,0
$GC,5630,1.15,609.3,37.4,6.1,784,5753,0.43,0.00,119.43,0.610,2,0.041,0.000,3239,1813,712,0,0,0,0,0,0
$STATE,5756,end climb,SURFACE_DEPTH_REACHED
$STATE,5756,begin surface coast
$FINISH,0.7,1.021454
$STATE,5762,end surface coast,CONTROL_FINISHED_OK
$STATE,5763,begin surface
$SM_CCo,5781,59.62,0.483,1,0,454,641.95
$SM_CCo,5849,-0.50,0.000,0,0,455,642.20
$SM_GC,1.34,0.00,0.00,-0.50,0.000,0.000,0.000,149,1816,455,-8.41,0.45,642.20
$IRIDIUM_FIX,2330.93,12617.38,250910,202059
$TT8_MAMPS,0.026964
$HUMID,38.58
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.00
$XPDR_PINGS,93
$24V_AH,24.3,8.659
$10V_AH,10.5,5.363
$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,22.950,33.875,639.325,59.625,0.000,30.205,18.598,142.586,23.250,0.000,15.053,1822.930,1417.069,641.409,2077.065,231.060,0.000,1421.011,0.000,1882.729,0.000,0.846,0.000
$DEVICE_MAMPS,245.565,52.020,948.600,482.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.664,819.797,1331.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330468
$DATA_FILE_SIZE,46848,802
$CAP_FILE_SIZE,79572,0
$CFSIZE,260165632,177553408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,326.9,1
$GPS,250910,233756,2341.597,12619.506,13,1.5,13,-3.5