version: 66.08
glider: 166
mission: 3
dive: 56
start: 9 27 110 18 44 37
data:
$ID,166
$MISSION,3
$DIVE,56
$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,-21554.627
$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,42
$R_STBD_OVSHOOT,45
$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
$GPS1,270910,183844,2354.385,12629.011,13,1.5,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.2
$GPS2,270910,184414,2354.405,12628.890,13,1.5,13,-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,169.4,78557,-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,15,-1.16,-214.1,0.0,0.0,0,127,0.00,0.00,-109.30,0.000,2,0.000,0.000,133,1813,3215,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.1,-9.7,15,162,9.35,2.15,-13.70,0.000,4,0.248,0.049,2461,386,3943,0,0,0,0,0,0
$GC,365,-0.90,-214.1,110.7,-36.6,57,374,0.30,2.15,0.00,0.000,6,0.168,0.037,2543,1797,3946,0,0,0,0,0,0
$GC,697,-0.78,-214.1,205.8,-27.5,118,706,0.15,2.15,0.00,0.000,4,0.187,0.040,2583,394,3948,0,0,0,0,0,0
$GC,769,-0.73,-214.1,222.9,-22.3,130,777,0.00,2.12,0.00,0.000,6,0.000,0.034,2575,1809,3948,0,0,0,0,0,0
$GC,1104,-0.68,-214.1,292.3,-19.5,191,1111,0.15,2.08,0.00,0.000,4,0.174,0.047,2609,3205,3949,0,0,0,0,0,0
$GC,1135,-0.68,-214.1,297.7,-16.3,196,1143,0.00,2.10,0.00,0.000,6,0.000,0.033,2609,1791,3949,0,0,0,0,0,0
$GC,1464,-0.70,-214.1,346.9,-14.4,228,1468,0.00,2.12,0.00,0.000,4,0.000,0.048,2605,3204,3948,0,0,0,0,0,0
$GC,1487,-0.73,-214.1,350.6,-15.0,229,1495,0.00,2.05,0.00,0.000,6,0.000,0.033,2604,1789,3948,0,0,0,0,0,0
$GC,1813,-0.75,-214.1,399.0,-16.2,260,1817,0.00,2.12,0.00,0.000,4,0.000,0.049,2596,3213,3947,0,0,0,0,0,0
$GC,1855,-0.81,-214.1,405.1,-14.6,263,1859,0.00,2.08,0.00,0.000,6,0.000,0.035,2596,1794,3947,0,0,0,0,0,0
$GC,2186,-0.83,-214.1,455.9,-13.8,294,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1794,3946,0,0,0,0,0,0
$STATE,2504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2505,begin apogee
$GC,2510,-0.23,0.0,500.5,13.3,324,2681,0.47,0.00,166.32,0.943,6,0.129,0.000,2759,1794,3072,0,0,0,0,0,0
$STATE,2681,end apogee,CONTROL_FINISHED_OK
$STATE,2681,begin climb
$GC,2685,1.16,214.1,508.7,0.0,338,2867,1.27,2.28,172.40,0.916,4,0.074,0.049,3228,409,2199,0,0,0,0,0,0
$GC,2933,0.86,214.1,465.2,30.7,359,2939,0.40,2.17,0.00,0.000,6,0.193,0.041,3121,1795,2196,0,0,0,0,0,0
$GC,3260,0.68,214.1,389.7,21.5,389,3265,0.20,2.15,0.00,0.000,4,0.181,0.047,3056,3220,2191,0,0,0,0,0,0
$GC,3304,0.60,214.1,381.0,17.0,392,3313,0.10,2.15,0.00,0.000,6,0.164,0.037,3034,1804,2190,0,0,0,0,0,0
$GC,3632,0.55,214.1,334.1,14.8,423,3636,0.00,2.12,0.00,0.000,4,0.000,0.047,3027,3221,2188,0,0,0,0,0,0
$GC,3709,0.51,214.1,321.8,15.2,429,3717,0.12,2.10,0.00,0.000,6,0.177,0.037,3002,1793,2187,0,0,0,0,0,0
$GC,4039,0.58,270.7,280.5,11.4,474,4093,0.00,2.17,45.65,0.809,4,0.000,0.045,3012,395,1967,0,0,0,0,0,0
$GC,4157,0.66,308.7,266.4,12.2,493,4199,0.12,2.15,32.10,0.779,6,0.086,0.035,3077,1802,1812,0,0,0,0,0,0
$GC,4527,0.59,308.7,197.5,18.7,559,4534,0.17,2.17,0.00,0.000,4,0.167,0.044,3038,387,1806,0,0,0,0,0,0
$GC,4569,0.59,308.7,190.7,14.3,566,4577,0.00,2.15,0.00,0.000,6,0.000,0.035,3036,1794,1805,0,0,0,0,0,0
$GC,4904,0.62,336.1,149.1,12.7,627,4934,0.00,2.17,22.85,0.700,4,0.000,0.045,3036,3217,1700,0,0,0,0,0,0
$GC,4979,0.66,336.1,138.6,14.2,639,4987,0.00,2.15,0.00,0.000,6,0.000,0.037,3041,1805,1699,0,0,0,0,0,0
$GC,5304,0.72,364.4,94.0,12.7,700,5334,0.00,2.15,23.45,0.659,4,0.000,0.043,3048,392,1586,0,0,0,0,0,0
$GC,5448,0.90,453.7,78.7,10.0,724,5530,0.17,2.15,72.18,0.650,6,0.037,0.034,3151,1811,1221,0,0,0,0,0,0
$STATE,5801,end climb,SURFACE_DEPTH_REACHED
$STATE,5801,begin surface coast
$FINISH,0.7,1.011804
$STATE,5813,end surface coast,CONTROL_FINISHED_OK
$STATE,5813,begin surface
$SM_CCo,5829,158.10,0.552,1,0,454,641.95
$SM_CCo,5996,-0.45,0.000,0,0,454,642.20
$SM_GC,1.30,0.00,0.00,-0.45,0.000,0.000,0.000,145,1815,454,-8.43,0.42,642.20
$IRIDIUM_FIX,2345.05,12631.45,270910,161600
$TT8_MAMPS,0.026215
$HUMID,38.18
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.00
$XPDR_PINGS,72
$24V_AH,24.4,12.869
$10V_AH,10.5,8.009
$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,20.725,51.375,534.950,158.100,0.000,24.087,27.853,138.453,18.000,0.000,14.847,1822.125,1511.583,690.582,2064.749,241.031,0.000,1470.139,0.000,1881.822,0.000,0.848,0.000
$DEVICE_MAMPS,247.860,48.960,943.245,552.330,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.911,805.798,1311.078,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46983,788
$CAP_FILE_SIZE,82733,0
$CFSIZE,260165632,176271360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.022,325.9,1
$GPS,270910,202555,2353.564,12629.144,42,1.1,42,-3.6