version: 66.08
glider: 166
mission: 3
dive: 66
start: 9 28 110 12 13 7
data:
$ID,166
$MISSION,3
$DIVE,66
$N_DIVES,75
$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,-21568.035
$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,39
$R_STBD_OVSHOOT,35
$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
$GPS1,280910,120707,2346.184,12629.183,40,0.9,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.5
$GPS2,280910,121244,2346.204,12629.212,10,1.8,10,-3.5
$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,176.8,63360,-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,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-109.93,0.000,2,0.000,0.000,139,1800,3257,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.4,-10.2,15,162,8.98,2.15,-12.75,0.000,4,0.235,0.052,2459,382,3949,0,0,0,0,0,0
$GC,400,-0.95,-214.1,129.3,-32.9,64,408,0.25,2.15,0.00,0.000,6,0.177,0.034,2526,1806,3951,0,0,0,0,0,0
$GC,735,-0.81,-214.1,227.4,-26.7,125,743,0.17,2.12,0.00,0.000,4,0.181,0.046,2567,3216,3955,0,0,0,0,0,0
$GC,787,-0.77,-214.1,238.8,-18.5,133,794,0.00,2.08,0.00,0.000,6,0.000,0.032,2567,1792,3955,0,0,0,0,0,0
$GC,1119,-0.72,-214.1,306.4,-19.1,191,1123,0.15,2.10,0.00,0.000,4,0.172,0.041,2609,389,3955,0,0,0,0,0,0
$GC,1231,-0.77,-214.1,322.8,-12.2,200,1239,0.00,2.12,0.00,0.000,6,0.000,0.035,2603,1804,3955,0,0,0,0,0,0
$GC,1558,-0.80,-214.1,369.4,-14.3,231,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1805,3954,0,0,0,0,0,0
$GC,1877,-0.84,-214.1,415.4,-14.3,261,1882,0.10,2.10,0.00,0.000,4,0.107,0.050,2552,3202,3953,0,0,0,0,0,0
$GC,1917,-0.84,-214.1,422.2,-17.0,264,1921,0.00,2.08,0.00,0.000,6,0.000,0.035,2552,1796,3952,0,0,0,0,0,0
$GC,2243,-0.81,-214.1,480.2,-17.0,294,2247,0.00,2.08,0.00,0.000,4,0.000,0.044,2552,391,3951,0,0,0,0,0,0
$GC,2286,-0.79,-214.1,487.0,-16.8,297,2291,0.12,2.12,0.00,0.000,6,0.172,0.041,2587,1807,3951,0,0,0,0,0,0
$STATE,2377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2377,begin apogee
$GC,2382,-0.23,0.0,500.2,12.9,305,2559,0.50,0.00,167.68,0.954,6,0.125,0.000,2761,1808,3072,0,0,0,0,0,0
$STATE,2560,end apogee,CONTROL_FINISHED_OK
$STATE,2560,begin climb
$GC,2564,1.16,214.1,508.7,0.0,320,2745,1.23,2.33,172.62,0.927,4,0.051,0.052,3224,3203,2199,0,0,0,0,0,0
$GC,2829,0.85,214.1,457.0,30.5,342,2837,0.40,2.20,0.00,0.000,6,0.189,0.039,3123,1807,2195,0,0,0,0,0,0
$GC,3157,0.66,214.1,378.4,23.5,373,3161,0.22,2.15,0.00,0.000,4,0.178,0.046,3050,3208,2191,0,0,0,0,0,0
$GC,3210,0.58,214.1,368.0,16.5,377,3214,0.00,2.12,0.00,0.000,6,0.000,0.037,3058,1794,2189,0,0,0,0,0,0
$GC,3543,0.50,214.1,315.5,14.6,408,3547,0.20,2.12,0.00,0.000,4,0.166,0.044,3010,394,2187,0,0,0,0,0,0
$GC,3618,0.57,271.1,306.0,11.4,414,3673,0.00,2.12,46.28,0.839,6,0.000,0.036,3010,1798,1965,0,0,0,0,0,0
$GC,3994,0.57,274.3,259.6,13.8,478,4002,0.00,2.17,0.00,0.000,4,0.000,0.045,3020,390,1958,0,0,0,0,0,0
$GC,4026,0.58,282.1,255.2,13.5,483,4042,0.00,2.12,9.45,0.718,6,0.000,0.035,3019,1801,1921,0,0,0,0,0,0
$GC,4369,0.63,323.4,207.8,12.1,545,4411,0.00,2.17,34.22,0.767,4,0.000,0.045,3019,3211,1754,0,0,0,0,0,0
$GC,4504,0.72,359.9,191.1,12.3,567,4545,0.12,2.12,31.67,0.739,6,0.082,0.037,3097,1791,1603,0,0,0,0,0,0
$GC,4866,0.64,359.9,113.9,22.6,633,4875,0.17,2.15,0.00,0.000,4,0.169,0.043,3058,392,1598,0,0,0,0,0,0
$GC,4895,0.60,359.9,108.3,20.0,637,4904,0.00,2.15,0.00,0.000,6,0.000,0.035,3052,1807,1598,0,0,0,0,0,0
$GC,5222,0.82,478.1,64.9,8.8,698,5326,0.15,2.25,93.57,0.656,4,0.074,0.044,3134,3206,1122,0,0,0,0,0,0
$GC,5351,0.82,478.1,46.9,17.8,716,5359,0.00,2.20,0.00,0.000,6,0.000,0.034,3135,1794,1121,0,0,0,0,0,0
$STATE,5587,end climb,SURFACE_DEPTH_REACHED
$STATE,5587,begin surface coast
$FINISH,0.6,1.009369
$STATE,5605,end surface coast,CONTROL_FINISHED_OK
$STATE,5605,begin surface
$SM_CCo,5621,141.48,0.551,1,0,454,641.95
$SM_CCo,5771,-0.03,0.000,0,0,453,642.20
$SM_GC,1.41,0.00,0.00,-0.03,0.000,0.000,0.000,138,1793,453,-8.45,-0.20,642.20
$IRIDIUM_FIX,2335.63,12628.65,280910,101037
$TT8_MAMPS,0.026964
$HUMID,38.46
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.30
$XPDR_PINGS,88
$24V_AH,24.4,14.527
$10V_AH,10.5,9.042
$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,20.500,51.500,555.500,141.475,0.000,31.121,36.300,135.420,22.000,0.000,11.765,1768.250,1376.297,687.986,2042.589,237.050,0.000,1467.570,0.000,1848.155,0.000,0.848,0.000
$DEVICE_MAMPS,234.855,52.020,953.955,550.800,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.768,780.085,1267.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,43581,763
$CAP_FILE_SIZE,82311,0
$CFSIZE,260165632,175779840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,325.4,1
$GPS,280910,135028,2345.454,12629.391,10,2.2,29,-3.5