version: 66.08
glider: 166
mission: 3
dive: 33
start: 9 26 110 1 31 43
data:
$ID,166
$MISSION,3
$DIVE,33
$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,-21523.936
$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,42
$R_STBD_OVSHOOT,48
$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
$GPS1,260910,012537,2342.725,12620.182,35,1.1,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.0
$GPS2,260910,013120,2342.730,12620.189,12,1.9,12,-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,40.6,36033,-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,-214.1,0.0,0.0,0,134,0.00,0.00,-115.85,0.000,2,0.000,0.000,140,1813,3459,0,0,0,0,0,0
$GC,137,-1.16,-214.1,6.4,-12.8,16,160,9.12,0.00,-8.48,0.000,6,0.244,0.000,2453,1811,3948,0,0,0,0,0,0
$GC,478,-0.59,-214.1,161.9,-40.3,79,485,0.62,2.10,0.00,0.000,4,0.190,0.040,2637,391,3954,0,0,0,0,0,0
$GC,583,-0.72,-214.1,182.4,-13.0,97,590,0.00,2.08,0.00,0.000,6,0.000,0.039,2638,1790,3956,0,0,0,0,0,0
$GC,925,-0.82,-214.1,228.6,-12.9,158,935,0.17,2.17,0.00,0.000,4,0.078,0.053,2556,3202,3956,0,0,0,0,0,0
$GC,982,-0.77,-214.1,238.5,-19.6,167,990,0.12,2.05,0.00,0.000,6,0.174,0.034,2589,1788,3955,0,0,0,0,0,0
$GC,1321,-0.77,-214.1,298.6,-17.6,228,1329,0.00,2.17,0.00,0.000,4,0.000,0.054,2585,3198,3955,0,0,0,0,0,0
$GC,1372,-0.85,-214.1,306.7,-14.7,233,1376,0.00,2.08,0.00,0.000,6,0.000,0.034,2586,1787,3954,0,0,0,0,0,0
$GC,1698,-0.85,-214.1,358.7,-14.2,263,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1787,3953,0,0,0,0,0,0
$GC,2019,-0.85,-214.1,404.8,-14.6,293,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1787,3953,0,0,0,0,0,0
$GC,2348,-0.90,-214.1,450.3,-13.2,324,2353,0.10,2.05,0.00,0.000,4,0.108,0.047,2535,399,3951,0,0,0,0,0,0
$GC,2404,-0.82,-214.1,460.4,-19.0,328,2412,0.10,2.12,0.00,0.000,6,0.152,0.042,2567,1797,3950,0,0,0,0,0,0
$STATE,2673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2673,begin apogee
$GC,2679,-0.23,0.0,501.0,14.5,354,2857,0.57,0.00,167.62,0.946,6,0.135,0.000,2761,1797,3071,0,0,0,0,0,0
$STATE,2858,end apogee,CONTROL_FINISHED_OK
$STATE,2858,begin climb
$GC,2860,1.16,214.1,509.9,0.0,369,3042,1.20,2.30,172.93,0.920,4,0.051,0.048,3225,408,2199,0,0,0,0,0,0
$GC,3064,0.51,214.1,476.9,32.8,386,3075,0.73,2.22,0.00,0.000,6,0.188,0.041,3013,1799,2195,0,0,0,0,0,0
$GC,3392,0.39,214.1,419.9,16.2,417,3397,0.17,2.15,0.00,0.000,4,0.161,0.050,2952,3214,2192,0,0,0,0,0,0
$GC,3477,0.56,282.7,409.2,10.9,424,3540,0.15,2.12,56.78,0.881,6,0.079,0.038,3038,1802,1918,0,0,0,0,0,0
$GC,3866,0.37,282.7,337.4,19.2,460,3871,0.25,2.15,0.00,0.000,4,0.166,0.044,2971,387,1909,0,0,0,0,0,0
$GC,3894,0.34,282.7,332.8,15.1,462,3898,0.00,2.15,0.00,0.000,6,0.000,0.037,2969,1805,1908,0,0,0,0,0,0
$GC,4222,0.53,368.4,298.8,10.2,493,4303,0.12,2.25,70.00,0.825,4,0.086,0.052,3030,3208,1569,0,0,0,0,0,0
$GC,4344,0.47,368.4,277.4,19.6,512,4353,0.12,2.20,0.00,0.000,6,0.148,0.037,2998,1797,1567,0,0,0,0,0,0
$GC,4688,0.51,368.4,222.1,15.0,573,4695,0.00,2.12,0.00,0.000,4,0.000,0.046,3007,391,1563,0,0,0,0,0,0
$GC,4726,0.58,368.4,216.2,14.6,579,4733,0.00,2.12,0.00,0.000,6,0.000,0.036,3006,1804,1562,0,0,0,0,0,0
$GC,5065,0.62,368.4,167.9,14.1,640,5073,0.10,2.12,0.00,0.000,4,0.102,0.047,3060,3211,1561,0,0,0,0,0,0
$GC,5099,0.58,368.4,162.5,16.9,645,5106,0.15,2.12,0.00,0.000,6,0.176,0.037,3030,1784,1561,0,0,0,0,0,0
$GC,5426,0.58,368.4,111.6,14.4,706,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1784,1561,0,0,0,0,0,0
$GC,5757,0.81,453.3,66.8,10.2,767,5832,0.20,2.12,67.12,0.656,4,0.068,0.042,3143,396,1223,0,0,0,0,0,0
$GC,5906,0.76,453.3,38.9,20.0,790,5915,0.17,2.15,0.00,0.000,6,0.132,0.033,3084,1801,1221,0,0,0,0,0,0
$STATE,6168,end climb,SURFACE_DEPTH_REACHED
$STATE,6168,begin surface coast
$FINISH,0.8,1.010564
$STATE,6191,end surface coast,CONTROL_FINISHED_OK
$STATE,6191,begin surface
$SM_CCo,6209,158.62,0.555,1,0,454,641.95
$SM_CCo,6376,-0.43,0.000,0,0,454,642.20
$SM_GC,1.30,0.00,0.00,-0.43,0.000,0.000,0.000,146,1808,454,-8.42,0.23,642.20
$IRIDIUM_FIX,2333.28,12620.67,250910,232356
$TT8_MAMPS,0.026964
$HUMID,37.63
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.40
$XPDR_PINGS,107
$24V_AH,24.3,9.003
$10V_AH,10.5,5.581
$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,21.725,47.150,534.450,158.625,0.000,29.308,42.689,135.502,26.750,0.000,13.512,1946.486,1627.776,700.034,2208.336,239.184,0.000,1515.378,0.000,2000.525,0.000,0.847,0.000
$DEVICE_MAMPS,244.035,53.550,946.305,554.625,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.875,861.765,1400.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50309,843
$CAP_FILE_SIZE,85678,0
$CFSIZE,260165632,177442816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,322.7,1
$GPS,260910,031850,2343.762,12620.805,12,1.5,12,-3.5