version: 66.08
glider: 166
mission: 3
dive: 69
start: 9 28 110 17 32 46
data:
$ID,166
$MISSION,3
$DIVE,69
$N_DIVES,80
$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,-21571.9
$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,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
$GPS1,280910,172506,2343.742,12629.623,13,1.2,29,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.0
$GPS2,280910,173225,2343.685,12629.547,11,1.1,16,-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,173.1,58685,-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,17,-1.16,-214.1,0.0,0.0,0,129,0.00,0.00,-109.47,0.000,2,0.000,0.000,140,1806,3202,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.3,-10.9,15,163,9.02,2.15,-13.77,0.000,4,0.236,0.050,2460,377,3948,0,0,0,0,0,0
$GC,403,-0.91,-214.1,123.7,-38.2,64,412,0.30,2.17,0.00,0.000,6,0.173,0.036,2541,1809,3951,0,0,0,0,0,0
$GC,735,-0.78,-214.1,220.5,-26.7,125,744,0.17,2.12,0.00,0.000,4,0.177,0.037,2594,382,3954,0,0,0,0,0,0
$GC,765,-0.70,-214.1,227.6,-23.7,129,773,0.00,2.10,0.00,0.000,6,0.000,0.036,2587,1810,3954,0,0,0,0,0,0
$GC,1099,-0.66,-214.1,292.4,-19.6,190,1107,0.15,2.12,0.00,0.000,4,0.170,0.047,2621,3202,3954,0,0,0,0,0,0
$GC,1148,-0.74,-214.1,299.9,-12.7,198,1156,0.00,2.10,0.00,0.000,6,0.000,0.032,2621,1789,3954,0,0,0,0,0,0
$GC,1475,-0.78,-214.1,343.0,-12.8,229,1479,0.00,2.08,0.00,0.000,4,0.000,0.042,2621,386,3953,0,0,0,0,0,0
$GC,1497,-0.83,-214.1,346.4,-13.8,230,1506,0.10,2.12,0.00,0.000,6,0.054,0.037,2554,1797,3953,0,0,0,0,0,0
$GC,1826,-0.78,-214.1,409.5,-19.2,261,1830,0.12,2.15,0.00,0.000,4,0.182,0.050,2579,3210,3952,0,0,0,0,0,0
$GC,1869,-0.81,-214.1,417.5,-15.0,264,1877,0.00,2.10,0.00,0.000,6,0.000,0.034,2579,1804,3952,0,0,0,0,0,0
$GC,2196,-0.81,-214.1,467.4,-15.2,295,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1804,3950,0,0,0,0,0,0
$STATE,2406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2406,begin apogee
$GC,2411,-0.23,0.0,500.3,15.4,315,2587,0.52,0.00,167.15,0.951,6,0.129,0.000,2757,1803,3071,0,0,0,0,0,0
$STATE,2588,end apogee,CONTROL_FINISHED_OK
$STATE,2588,begin climb
$GC,2590,1.16,214.1,509.0,0.0,330,2772,1.27,2.33,172.27,0.923,4,0.073,0.052,3214,3199,2198,0,0,0,0,0,0
$GC,2784,0.85,214.1,478.3,30.6,346,2793,0.38,2.22,0.00,0.000,6,0.189,0.038,3121,1808,2196,0,0,0,0,0,0
$GC,3112,0.66,214.1,401.7,21.4,377,3117,0.25,2.17,0.00,0.000,4,0.177,0.047,3036,3209,2192,0,0,0,0,0,0
$GC,3195,0.60,214.1,387.0,14.0,384,3199,0.00,2.12,0.00,0.000,6,0.000,0.037,3044,1789,2190,0,0,0,0,0,0
$GC,3522,0.53,216.3,340.1,13.8,414,3523,0.12,0.00,0.00,0.000,6,0.180,0.000,3012,1789,2189,0,0,0,0,0,0
$GC,3839,0.58,253.5,302.6,12.3,444,3877,0.00,2.15,32.00,0.829,4,0.000,0.044,3020,389,2037,0,0,0,0,0,0
$GC,3973,0.58,260.2,285.7,13.6,465,3989,0.00,2.15,6.80,0.669,6,0.000,0.034,3019,1805,2010,0,0,0,0,0,0
$GC,4318,0.60,272.4,237.0,13.4,527,4338,0.00,2.17,11.43,0.730,4,0.000,0.047,3019,3210,1960,0,0,0,0,0,0
$GC,4368,0.61,281.4,229.6,13.5,535,4383,0.00,2.10,8.68,0.686,6,0.000,0.037,3028,1797,1924,0,0,0,0,0,0
$GC,4712,0.70,356.7,186.7,10.6,597,4782,0.10,2.20,62.17,0.750,4,0.103,0.044,3094,390,1616,0,0,0,0,0,0
$GC,4829,0.64,356.7,165.7,19.8,615,4836,0.15,2.15,0.00,0.000,6,0.166,0.034,3050,1804,1612,0,0,0,0,0,0
$GC,5157,0.64,356.7,113.3,17.2,676,5165,0.00,2.15,0.00,0.000,4,0.000,0.046,3049,3211,1610,0,0,0,0,0,0
$GC,5210,0.69,369.9,105.6,13.3,685,5227,0.00,2.15,11.25,0.636,6,0.000,0.037,3051,1796,1563,0,0,0,0,0,0
$GC,5548,0.82,444.8,57.6,10.6,747,5615,0.15,2.25,60.35,0.648,4,0.074,0.044,3154,386,1257,0,0,0,0,0,0
$GC,5673,0.79,444.8,39.5,18.0,766,5683,0.15,2.17,0.00,0.000,6,0.135,0.033,3097,1803,1256,0,0,0,0,0,0
$STATE,5935,end climb,SURFACE_DEPTH_REACHED
$STATE,5935,begin surface coast
$FINISH,0.6,1.021768
$STATE,5958,end surface coast,CONTROL_FINISHED_OK
$STATE,5958,begin surface
$SM_CCo,5976,164.77,0.557,1,0,455,641.95
$SM_CCo,6149,-0.03,0.000,0,0,453,642.20
$SM_GC,1.39,0.00,0.00,-0.03,0.000,0.000,0.000,146,1808,453,-8.42,0.23,642.20
$IRIDIUM_FIX,2335.63,12628.65,280910,171713
$TT8_MAMPS,0.026215
$HUMID,38.10
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.60
$XPDR_PINGS,79
$24V_AH,24.4,15.033
$10V_AH,10.5,9.362
$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,20.525,51.725,532.100,164.775,0.000,57.238,48.531,134.145,19.750,0.000,17.070,1894.928,1567.240,700.633,2177.464,248.497,0.000,1495.923,0.000,1946.008,0.000,0.847,0.000
$DEVICE_MAMPS,235.620,52.020,950.895,556.920,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.693,837.432,1379.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46987,819
$CAP_FILE_SIZE,86195,0
$CFSIZE,260165632,175620096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,348.9,1
$GPS,280910,191608,2342.885,12629.740,12,1.2,12,-3.5