version: 66.08
glider: 166
mission: 3
dive: 51
start: 9 27 110 9 58 45
data:
$ID,166
$MISSION,3
$DIVE,51
$N_DIVES,60
$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,-21547.971
$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,0.015
$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,39
$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
$GPS1,270910,095220,2359.316,12629.461,13,1.7,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.3
$GPS2,270910,095822,2359.334,12629.407,13,99.0,32,-3.6
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2312.000,12630.000
$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,179.4,87668,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-110.07,0.000,2,0.000,0.000,146,1815,3258,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.3,-10.8,15,162,9.15,2.17,-12.75,0.000,4,0.244,0.052,2460,387,3949,0,0,0,0,0,0
$GC,402,-0.90,-214.1,128.2,-39.5,64,411,0.30,2.15,0.00,0.000,6,0.172,0.040,2542,1794,3952,0,0,0,0,0,0
$GC,733,-0.76,-214.1,227.1,-26.7,125,742,0.17,2.12,0.00,0.000,4,0.181,0.041,2591,392,3955,0,0,0,0,0,0
$GC,799,-0.75,-214.1,241.3,-18.0,136,807,0.00,2.15,0.00,0.000,6,0.000,0.038,2588,1810,3955,0,0,0,0,0,0
$GC,1136,-0.72,-214.1,300.9,-17.3,197,1139,0.00,2.10,0.00,0.000,4,0.000,0.043,2587,395,3956,0,0,0,0,0,0
$GC,1175,-0.72,-214.1,308.4,-18.1,200,1179,0.00,2.08,0.00,0.000,6,0.000,0.038,2587,1801,3955,0,0,0,0,0,0
$GC,1501,-0.72,-214.1,358.9,-15.2,230,1504,0.00,2.12,0.00,0.000,4,0.000,0.051,2578,3210,3955,0,0,0,0,0,0
$GC,1557,-0.77,-214.1,367.2,-13.6,234,1565,0.00,2.10,0.00,0.000,6,0.000,0.034,2579,1803,3954,0,0,0,0,0,0
$GC,1883,-0.77,-214.1,418.6,-15.6,265,1887,0.00,2.12,0.00,0.000,4,0.000,0.052,2574,3214,3953,0,0,0,0,0,0
$GC,1917,-0.80,-214.1,423.7,-14.6,268,1921,0.00,2.08,0.00,0.000,6,0.000,0.035,2574,1793,3953,0,0,0,0,0,0
$GC,2243,-0.80,-214.1,473.2,-14.4,298,2247,0.00,2.08,0.00,0.000,4,0.000,0.046,2574,389,3951,0,0,0,0,0,0
$GC,2272,-0.80,-214.1,477.5,-15.4,300,2276,0.00,2.12,0.00,0.000,6,0.000,0.040,2573,1812,3951,0,0,0,0,0,0
$STATE,2437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2437,begin apogee
$GC,2442,-0.23,0.0,501.4,14.2,315,2619,0.55,0.00,167.38,0.952,6,0.133,0.000,2758,1812,3071,0,0,0,0,0,0
$STATE,2620,end apogee,CONTROL_FINISHED_OK
$STATE,2620,begin climb
$GC,2623,1.16,214.1,509.9,0.0,330,2806,1.23,2.28,172.75,0.922,4,0.054,0.053,3222,3207,2199,0,0,0,0,0,0
$GC,2869,0.86,214.1,465.0,32.4,351,2876,0.43,2.17,0.00,0.000,6,0.196,0.039,3123,1803,2195,0,0,0,0,0,0
$GC,3195,0.68,214.1,387.4,22.3,382,3200,0.22,2.15,0.00,0.000,4,0.181,0.045,3050,3220,2192,0,0,0,0,0,0
$GC,3239,0.59,214.1,378.1,17.6,385,3246,0.00,2.12,0.00,0.000,6,0.000,0.037,3058,1787,2190,0,0,0,0,0,0
$GC,3566,0.51,214.1,325.3,15.7,416,3570,0.20,2.08,0.00,0.000,4,0.166,0.043,3011,392,2187,0,0,0,0,0,0
$GC,3594,0.48,221.9,321.1,13.5,418,3609,0.00,2.10,6.20,0.676,6,0.000,0.036,3010,1806,2167,0,0,0,0,0,0
$GC,3928,0.55,276.8,284.1,11.5,462,3982,0.00,2.22,46.12,0.820,4,0.000,0.046,3020,394,1942,0,0,0,0,0,0
$GC,3994,0.63,337.2,276.2,11.3,472,4056,0.00,2.17,50.97,0.796,6,0.000,0.034,3020,1795,1695,0,0,0,0,0,0
$GC,4390,0.65,337.2,217.9,14.6,541,4397,0.00,2.12,0.00,0.000,4,0.000,0.044,3031,387,1689,0,0,0,0,0,0
$GC,4421,0.67,337.2,213.2,15.4,546,4430,0.00,2.17,0.00,0.000,6,0.000,0.036,3028,1808,1688,0,0,0,0,0,0
$GC,4765,0.75,384.2,165.3,11.8,607,4812,0.15,2.20,37.85,0.726,4,0.076,0.047,3098,3212,1505,0,0,0,0,0,0
$GC,4832,0.66,384.2,152.6,21.6,617,4840,0.20,2.15,0.00,0.000,6,0.166,0.036,3054,1797,1504,0,0,0,0,0,0
$GC,5160,0.68,384.2,102.9,14.5,678,5169,0.00,2.12,0.00,0.000,4,0.000,0.045,3053,402,1501,0,0,0,0,0,0
$GC,5241,0.74,401.6,91.8,13.1,692,5264,0.00,2.12,15.30,0.641,6,0.000,0.033,3048,1810,1432,0,0,0,0,0,0
$GC,5586,1.02,546.3,56.8,7.6,755,5707,0.30,0.00,115.30,0.627,6,0.050,0.000,3193,1814,844,0,0,0,0,0,0
$STATE,5796,end climb,SURFACE_DEPTH_REACHED
$STATE,5796,begin surface coast
$FINISH,0.7,1.008560
$STATE,5808,end surface coast,CONTROL_FINISHED_OK
$STATE,5808,begin surface
$SM_CCo,5826,85.03,0.514,1,0,455,641.95
$SM_CCo,5919,-0.05,0.000,0,0,453,642.20
$SM_GC,1.31,0.00,0.00,-0.05,0.000,0.000,0.000,150,1816,453,-8.41,0.48,642.20
$IRIDIUM_FIX,2347.41,12626.26,270910,080807
$TT8_MAMPS,0.026215
$HUMID,39.28
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.50
$XPDR_PINGS,91
$24V_AH,24.4,12.039
$10V_AH,10.6,7.492
$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,20.850,55.600,611.875,85.025,0.000,29.663,36.051,137.753,22.750,0.000,35.079,1801.684,1455.993,677.389,2108.643,238.862,0.000,1481.677,0.000,1889.365,0.000,0.849,0.000
$DEVICE_MAMPS,244.035,52.785,951.660,514.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.860,807.689,1318.752,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,46895,790
$CAP_FILE_SIZE,84378,0
$CFSIZE,260165632,176521216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,351.7,1
$GPS,270910,113835,2358.472,12629.481,11,99.0,30,-3.6