version: 66.08
glider: 166
mission: 3
dive: 53
start: 9 27 110 13 32 27
data:
$ID,166
$MISSION,3
$DIVE,53
$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,-21550.58
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,270910,132628,2357.490,12629.403,14,2.6,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.1
$GPS2,270910,133204,2357.483,12629.331,13,2.4,32,-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,180.5,84242,-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,-214.1,0.0,0.0,0,134,0.00,0.00,-115.78,0.000,2,0.000,0.000,145,1790,3423,0,0,0,0,0,0
$GC,137,-1.16,-214.1,6.3,-12.9,16,162,9.00,2.15,-9.23,0.000,4,0.238,0.052,2459,379,3949,0,0,0,0,0,0
$GC,402,-0.91,-214.1,127.2,-37.3,64,410,0.30,2.15,0.00,0.000,6,0.171,0.035,2541,1803,3952,0,0,0,0,0,0
$GC,739,-0.78,-214.1,225.9,-26.4,125,747,0.15,2.12,0.00,0.000,4,0.184,0.041,2582,389,3955,0,0,0,0,0,0
$GC,795,-0.72,-214.1,239.6,-23.4,134,804,0.08,2.12,0.00,0.000,6,0.161,0.037,2599,1797,3955,0,0,0,0,0,0
$GC,1140,-0.72,-214.1,300.9,-18.0,195,1144,0.00,2.08,0.00,0.000,4,0.000,0.041,2599,389,3955,0,0,0,0,0,0
$GC,1171,-0.72,-214.1,306.9,-18.1,197,1175,0.00,2.10,0.00,0.000,6,0.000,0.038,2600,1803,3955,0,0,0,0,0,0
$GC,1498,-0.73,-214.1,360.5,-14.8,227,1502,0.00,2.12,0.00,0.000,4,0.000,0.052,2601,3213,3954,0,0,0,0,0,0
$GC,1554,-0.82,-214.1,368.0,-11.4,231,1561,0.00,2.10,0.00,0.000,6,0.000,0.034,2601,1786,3954,0,0,0,0,0,0
$GC,1881,-0.86,-214.1,412.2,-13.2,262,1886,0.12,2.20,0.00,0.000,4,0.093,0.053,2536,3214,3953,0,0,0,0,0,0
$GC,1934,-0.83,-214.1,420.9,-17.7,266,1938,0.12,2.10,0.00,0.000,6,0.164,0.037,2570,1789,3952,0,0,0,0,0,0
$GC,2260,-0.83,-214.1,476.4,-16.4,296,2264,0.00,2.05,0.00,0.000,4,0.000,0.047,2570,396,3951,0,0,0,0,0,0
$GC,2279,-0.83,-214.1,479.4,-16.8,297,2283,0.00,2.08,0.00,0.000,6,0.000,0.039,2566,1802,3951,0,0,0,0,0,0
$STATE,2400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2400,begin apogee
$GC,2405,-0.23,0.0,500.2,16.5,308,2582,0.57,0.00,167.75,0.946,6,0.135,0.000,2760,1802,3071,0,0,0,0,0,0
$STATE,2583,end apogee,CONTROL_FINISHED_OK
$STATE,2583,begin climb
$GC,2585,1.16,214.1,509.3,0.0,323,2767,1.27,2.33,172.80,0.918,4,0.071,0.050,3233,399,2199,0,0,0,0,0,0
$GC,2855,0.84,214.1,458.1,32.5,346,2865,0.38,2.20,0.00,0.000,6,0.190,0.037,3118,1802,2195,0,0,0,0,0,0
$GC,3182,0.66,214.1,384.6,22.2,377,3187,0.22,2.12,0.00,0.000,4,0.184,0.045,3045,3217,2191,0,0,0,0,0,0
$GC,3317,0.58,214.1,361.2,15.7,388,3325,0.00,2.15,0.00,0.000,6,0.000,0.037,3053,1795,2188,0,0,0,0,0,0
$GC,3645,0.50,214.1,306.9,16.7,419,3649,0.17,2.15,0.00,0.000,4,0.173,0.047,2995,3217,2187,0,0,0,0,0,0
$GC,3660,0.44,214.1,304.0,16.1,420,3668,0.00,2.12,0.00,0.000,6,0.000,0.037,3006,1803,2186,0,0,0,0,0,0
$GC,3997,0.51,271.5,265.6,11.4,478,4053,0.00,2.22,45.97,0.805,4,0.000,0.047,3016,397,1964,0,0,0,0,0,0
$GC,4228,0.59,312.6,237.4,12.1,517,4269,0.00,2.15,34.17,0.770,6,0.000,0.034,3012,1816,1796,0,0,0,0,0,0
$GC,4604,0.69,354.5,191.0,12.1,583,4645,0.15,2.28,35.03,0.737,4,0.075,0.044,3098,392,1625,0,0,0,0,0,0
$GC,4691,0.62,354.5,175.8,20.1,596,4700,0.15,2.17,0.00,0.000,6,0.147,0.035,3044,1803,1622,0,0,0,0,0,0
$GC,5027,0.63,361.0,125.5,13.6,657,5043,0.00,2.15,6.10,0.558,4,0.000,0.047,3040,3201,1600,0,0,0,0,0,0
$GC,5119,0.73,398.4,112.9,12.3,673,5157,0.00,2.12,31.55,0.677,6,0.000,0.035,3044,1790,1447,0,0,0,0,0,0
$GC,5479,0.85,436.8,70.5,12.2,738,5519,0.17,2.12,31.73,0.640,4,0.067,0.041,3155,386,1290,0,0,0,0,0,0
$GC,5589,0.79,436.8,49.4,20.2,755,5598,0.15,2.15,0.00,0.000,6,0.138,0.034,3097,1796,1287,0,0,0,0,0,0
$STATE,5909,end climb,SURFACE_DEPTH_REACHED
$STATE,5909,begin surface coast
$FINISH,0.7,1.011193
$STATE,5936,end surface coast,CONTROL_FINISHED_OK
$STATE,5936,begin surface
$SM_CCo,5953,173.95,0.553,1,0,455,641.95
$SM_CCo,6135,-0.03,0.000,0,0,453,642.20
$SM_GC,1.37,0.00,0.00,-0.03,0.000,0.000,0.000,126,1801,453,-8.48,0.03,642.20
$IRIDIUM_FIX,2347.41,12626.26,270910,111139
$TT8_MAMPS,0.026964
$HUMID,37.95
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.60
$XPDR_PINGS,90
$24V_AH,24.4,12.373
$10V_AH,10.5,7.707
$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,20.650,55.825,525.100,173.950,0.000,28.942,19.735,135.179,22.500,0.000,34.484,1915.507,1440.331,698.167,2173.432,248.189,0.000,1505.505,0.000,1977.054,0.000,0.847,0.000
$DEVICE_MAMPS,237.915,52.785,945.540,553.095,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.165,837.300,1384.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,46891,819
$CAP_FILE_SIZE,86822,0
$CFSIZE,260165632,176418816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,209.3,1
$GPS,270910,151537,2356.489,12629.299,8,1.6,14,-3.6