version: 66.08
glider: 166
mission: 3
dive: 61
start: 9 28 110 3 35 19
data:
$ID,166
$MISSION,3
$DIVE,61
$N_DIVES,70
$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,-21561.377
$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,37
$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
$GPS1,280910,032934,2350.295,12628.728,14,99.0,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.5
$GPS2,280910,033456,2350.299,12628.726,13,1.0,13,-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,170.8,70963,-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,-214.1,0.0,0.0,0,132,0.00,0.00,-114.00,0.000,2,0.000,0.000,133,1790,3405,0,0,0,0,0,0
$GC,135,-1.16,-214.1,6.0,-11.2,16,160,9.15,2.15,-9.52,0.000,4,0.240,0.053,2466,387,3948,0,0,0,0,0,0
$GC,387,-0.92,-214.1,119.7,-40.5,62,396,0.28,2.15,0.00,0.000,6,0.177,0.038,2537,1799,3952,0,0,0,0,0,0
$GC,725,-0.79,-214.1,218.1,-25.2,123,732,0.15,2.12,0.00,0.000,4,0.186,0.038,2577,382,3954,0,0,0,0,0,0
$GC,777,-0.73,-214.1,230.4,-23.6,131,784,0.12,2.10,0.00,0.000,6,0.178,0.035,2602,1812,3954,0,0,0,0,0,0
$GC,1117,-0.73,-214.1,295.0,-17.7,192,1125,0.00,2.10,0.00,0.000,4,0.000,0.047,2594,3204,3955,0,0,0,0,0,0
$GC,1200,-0.78,-214.1,308.3,-14.5,202,1204,0.00,2.05,0.00,0.000,6,0.000,0.033,2594,1787,3954,0,0,0,0,0,0
$GC,1525,-0.78,-214.1,363.3,-16.3,232,1529,0.00,2.03,0.00,0.000,4,0.000,0.041,2594,398,3953,0,0,0,0,0,0
$GC,1564,-0.78,-214.1,370.4,-17.7,235,1571,0.00,2.08,0.00,0.000,6,0.000,0.037,2589,1806,3953,0,0,0,0,0,0
$GC,1889,-0.78,-214.1,424.0,-16.7,266,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1806,3952,0,0,0,0,0,0
$GC,2211,-0.81,-214.1,474.2,-15.3,296,2215,0.00,2.12,0.00,0.000,4,0.000,0.051,2584,3214,3951,0,0,0,0,0,0
$GC,2263,-0.87,-214.1,482.2,-13.9,300,2267,0.00,2.10,0.00,0.000,6,0.000,0.036,2583,1797,3950,0,0,0,0,0,0
$STATE,2395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2395,begin apogee
$GC,2402,-0.23,0.0,501.3,14.3,312,2577,0.52,0.00,167.15,0.945,6,0.124,0.000,2764,1796,3071,0,0,0,0,0,0
$STATE,2578,end apogee,CONTROL_FINISHED_OK
$STATE,2578,begin climb
$GC,2582,1.16,214.1,508.2,0.0,327,2762,1.25,2.30,172.35,0.916,4,0.069,0.051,3212,3203,2198,0,0,0,0,0,0
$GC,2868,0.88,214.1,448.7,30.9,351,2873,0.38,2.15,0.00,0.000,6,0.197,0.038,3124,1794,2194,0,0,0,0,0,0
$GC,3195,0.70,214.1,370.7,23.0,381,3200,0.20,2.12,0.00,0.000,4,0.177,0.044,3078,386,2190,0,0,0,0,0,0
$GC,3218,0.55,214.1,365.7,19.7,382,3227,0.15,2.17,0.00,0.000,6,0.150,0.037,3020,1804,2189,0,0,0,0,0,0
$GC,3544,0.54,225.5,321.7,13.4,413,3559,0.00,2.20,9.23,0.744,4,0.000,0.048,3029,390,2152,0,0,0,0,0,0
$GC,3583,0.51,226.7,316.1,13.8,416,3591,0.00,2.15,0.00,0.000,6,0.000,0.036,3029,1798,2152,0,0,0,0,0,0
$GC,3916,0.48,226.7,268.6,14.0,466,3926,0.12,2.15,0.00,0.000,4,0.164,0.047,2984,3202,2149,0,0,0,0,0,0
$GC,3984,0.63,306.3,260.6,10.4,477,4061,0.15,2.08,66.05,0.803,6,0.075,0.035,3073,1788,1822,0,0,0,0,0,0
$GC,4395,0.57,306.3,184.5,19.5,548,4404,0.17,2.15,0.00,0.000,4,0.168,0.045,3034,393,1816,0,0,0,0,0,0
$GC,4498,0.62,325.9,169.6,13.0,565,4519,0.00,2.10,16.73,0.706,6,0.000,0.034,3027,1811,1742,0,0,0,0,0,0
$GC,4846,0.70,370.0,127.2,12.0,628,4891,0.12,2.17,36.28,0.695,4,0.084,0.043,3090,3201,1563,0,0,0,0,0,0
$GC,4921,0.66,370.0,113.9,17.9,639,4930,0.12,2.15,0.00,0.000,6,0.148,0.035,3058,1805,1562,0,0,0,0,0,0
$GC,5250,0.86,477.9,65.5,9.2,700,5347,0.17,2.25,86.20,0.648,4,0.070,0.042,3159,387,1122,0,0,0,0,0,0
$GC,5404,0.82,477.9,35.6,20.7,723,5413,0.15,2.17,0.00,0.000,6,0.131,0.033,3106,1802,1120,0,0,0,0,0,0
$STATE,5613,end climb,SURFACE_DEPTH_REACHED
$STATE,5613,begin surface coast
$FINISH,0.6,1.008710
$STATE,5630,end surface coast,CONTROL_FINISHED_OK
$STATE,5630,begin surface
$SM_CCo,5647,139.60,0.549,1,0,454,641.95
$SM_CCo,5795,-0.50,0.000,0,0,455,642.20
$SM_GC,1.35,0.00,0.00,-0.50,0.000,0.000,0.000,134,1807,455,-8.46,0.20,642.20
$IRIDIUM_FIX,2342.70,12630.05,280910,010106
$TT8_MAMPS,0.026215
$HUMID,37.83
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.30
$XPDR_PINGS,77
$24V_AH,24.4,13.697
$10V_AH,10.5,8.529
$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,20.850,51.325,553.975,139.600,0.000,31.142,14.191,136.472,19.250,0.000,14.213,1766.852,1415.011,680.813,2020.922,235.841,0.000,1456.467,0.000,1843.332,0.000,0.848,0.000
$DEVICE_MAMPS,240.210,52.785,944.775,549.270,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.717,782.105,1295.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43660,765
$CAP_FILE_SIZE,82490,0
$CFSIZE,260165632,176025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,251.5,1
$GPS,280910,051304,2349.256,12628.552,11,3.5,30,-3.5