version: 66.08
glider: 166
mission: 3
dive: 40
start: 9 26 110 13 57 46
data:
$ID,166
$MISSION,3
$DIVE,40
$N_DIVES,45
$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,-5
$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,-21533.389
$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,33
$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
$GPS1,260910,135134,2349.319,12623.753,9,2.8,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.0
$GPS2,260910,135722,2349.310,12623.717,11,2.2,30,-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,27.6,22472,-19.7,-13.889
$D_GRID,5000
$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,16,-1.16,-214.1,0.0,0.0,0,133,0.00,0.00,-115.38,0.000,2,0.000,0.000,142,1800,3347,0,0,0,0,0,0
$GC,137,-1.16,-214.1,5.9,-11.0,15,161,8.95,0.00,-10.70,0.000,6,0.236,0.000,2458,1798,3949,0,0,0,0,0,0
$GC,475,-0.66,-214.1,158.4,-38.0,78,483,0.55,0.00,0.00,0.000,6,0.181,0.000,2623,1797,3954,0,0,0,0,0,0
$GC,808,-0.71,-214.1,215.6,-14.3,139,815,0.00,2.12,0.00,0.000,4,0.000,0.051,2614,3211,3956,0,0,0,0,0,0
$GC,829,-0.78,-214.1,218.6,-13.6,142,837,0.00,2.12,0.00,0.000,6,0.000,0.034,2614,1796,3956,0,0,0,0,0,0
$GC,1165,-0.84,-214.1,265.8,-14.8,203,1172,0.12,0.00,0.00,0.000,6,0.091,0.000,2555,1796,3956,0,0,0,0,0,0
$GC,1497,-0.73,-214.1,333.2,-20.6,249,1502,0.17,2.12,0.00,0.000,4,0.168,0.047,2604,386,3956,0,0,0,0,0,0
$GC,1538,-0.78,-214.1,340.9,-17.1,252,1542,0.00,2.12,0.00,0.000,6,0.000,0.041,2600,1813,3956,0,0,0,0,0,0
$GC,1865,-0.85,-214.1,385.7,-13.4,282,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1813,3955,0,0,0,0,0,0
$GC,2185,-0.94,-214.1,428.4,-14.2,312,2190,0.17,2.12,0.00,0.000,4,0.078,0.046,2518,395,3954,0,0,0,0,0,0
$GC,2261,-0.80,-214.1,445.4,-23.0,318,2270,0.17,2.15,0.00,0.000,6,0.149,0.044,2574,1803,3953,0,0,0,0,0,0
$GC,2588,-0.84,-214.1,498.0,-14.4,349,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1804,3952,0,0,0,0,0,0
$STATE,2606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2606,begin apogee
$GC,2611,-0.23,0.0,500.9,14.0,351,2789,0.55,0.00,168.25,0.945,6,0.131,0.000,2763,1804,3072,0,0,0,0,0,0
$STATE,2790,end apogee,CONTROL_FINISHED_OK
$STATE,2790,begin climb
$GC,2792,1.16,214.1,508.1,0.0,366,2978,1.23,2.28,173.23,0.916,4,0.053,0.051,3213,3210,2198,0,0,0,0,0,0
$GC,3006,0.55,214.1,469.1,31.6,385,3014,0.75,2.20,0.00,0.000,6,0.197,0.038,3022,1794,2195,0,0,0,0,0,0
$GC,3332,0.40,214.1,412.1,16.1,416,3334,0.17,0.00,0.00,0.000,6,0.160,0.000,2971,1793,2192,0,0,0,0,0,0
$GC,3650,0.54,326.8,378.4,9.0,446,3752,0.12,2.22,92.65,0.865,4,0.093,0.047,3045,392,1738,0,0,0,0,0,0
$GC,3815,0.46,326.8,352.5,16.8,460,3820,0.20,2.17,0.00,0.000,6,0.153,0.039,2988,1804,1734,0,0,0,0,0,0
$GC,4140,0.46,326.8,307.8,14.1,490,4144,0.00,2.12,0.00,0.000,4,0.000,0.050,2983,3211,1730,0,0,0,0,0,0
$GC,4184,0.58,343.3,301.5,13.2,493,4206,0.10,2.12,14.15,0.772,6,0.098,0.037,3051,1790,1671,0,0,0,0,0,0
$GC,4540,0.41,343.3,231.6,21.5,555,4547,0.25,2.15,0.00,0.000,4,0.163,0.046,2963,3210,1667,0,0,0,0,0,0
$GC,4582,0.53,346.5,223.5,13.8,562,4591,0.08,2.15,0.00,0.000,6,0.050,0.038,3037,1796,1667,0,0,0,0,0,0
$GC,4926,0.47,346.5,163.6,15.7,623,4933,0.15,0.00,0.00,0.000,6,0.163,0.000,2995,1795,1667,0,0,0,0,0,0
$GC,5256,0.74,458.0,127.3,9.0,684,5358,0.22,2.22,92.32,0.695,4,0.063,0.042,3116,396,1202,0,0,0,0,0,0
$GC,5370,0.53,458.0,101.9,25.9,699,5378,0.28,2.20,0.00,0.000,6,0.145,0.034,3020,1809,1201,0,0,0,0,0,0
$GC,5700,1.08,626.3,63.2,6.6,760,5844,0.40,2.25,135.52,0.622,4,0.044,0.045,3219,3197,516,0,0,0,0,0,0
$STATE,5887,end climb,SURFACE_DEPTH_REACHED
$STATE,5887,begin surface coast
$FINISH,0.7,1.021931
$STATE,5898,end surface coast,CONTROL_FINISHED_OK
$STATE,5898,begin surface
$SM_CCo,5919,20.52,0.275,1,0,455,641.95
$SM_CCo,5948,-0.38,0.000,0,0,454,642.20
$SM_GC,1.47,0.00,0.00,-0.38,0.000,0.000,0.000,152,1781,454,-8.40,-0.54,642.20
$IRIDIUM_FIX,2340.34,12621.56,260910,121207
$TT8_MAMPS,0.026215
$HUMID,40.07
$INTERNAL_PRESSURE,8.69632
$TCM_TEMP,23.50
$XPDR_PINGS,100
$24V_AH,24.3,10.198
$10V_AH,10.6,6.304
$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,22.775,39.075,676.125,20.525,0.000,30.938,37.756,128.499,25.000,0.000,32.573,1789.248,1549.082,644.712,2078.130,239.061,0.000,1450.635,0.000,1870.439,0.000,0.847,0.000
$DEVICE_MAMPS,236.385,51.255,944.775,274.635,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.668,806.941,1283.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,46862,789
$CAP_FILE_SIZE,81084,0
$CFSIZE,260165632,177094656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046,179.1,1
$GPS,260910,153749,2350.230,12624.086,12,1.8,17,-3.5