version: 66.08
glider: 166
mission: 3
dive: 72
start: 9 28 110 22 58 56
data:
$ID,166
$MISSION,3
$DIVE,72
$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,-21575.949
$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,39
$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
$GPS1,280910,225306,2341.502,12629.974,14,1.5,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.6
$GPS2,280910,225832,2341.539,12629.937,14,1.7,14,-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,195.5,54706,-19.7,-13.889
$D_GRID,1000
$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,-214.1,0.0,0.0,0,127,0.00,0.00,-109.20,0.000,2,0.000,0.000,127,1816,3250,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.6,-11.7,15,161,9.00,2.17,-12.82,0.000,4,0.233,0.051,2460,385,3949,0,0,0,0,0,0
$GC,399,-0.93,-214.1,126.8,-35.7,64,407,0.28,2.15,0.00,0.000,6,0.169,0.037,2535,1801,3952,0,0,0,0,0,0
$GC,730,-0.79,-214.1,222.2,-26.8,125,738,0.17,2.10,0.00,0.000,4,0.181,0.038,2583,385,3955,0,0,0,0,0,0
$GC,751,-0.67,-214.1,228.4,-26.8,128,760,0.12,2.12,0.00,0.000,6,0.147,0.034,2616,1802,3955,0,0,0,0,0,0
$GC,1083,-0.67,-214.1,281.6,-15.4,189,1091,0.00,2.10,0.00,0.000,4,0.000,0.049,2614,3203,3955,0,0,0,0,0,0
$GC,1133,-0.75,-214.1,287.8,-11.8,197,1141,0.00,2.08,0.00,0.000,6,0.000,0.032,2614,1784,3955,0,0,0,0,0,0
$GC,1469,-0.78,-214.1,336.4,-14.6,236,1473,0.00,2.15,0.00,0.000,4,0.000,0.050,2615,3208,3954,0,0,0,0,0,0
$GC,1505,-0.84,-214.1,341.2,-12.9,239,1510,0.12,2.05,0.00,0.000,6,0.086,0.033,2547,1798,3954,0,0,0,0,0,0
$GC,1833,-0.77,-214.1,406.7,-20.2,269,1838,0.15,2.08,0.00,0.000,4,0.175,0.044,2587,402,3953,0,0,0,0,0,0
$GC,1901,-0.81,-214.1,418.5,-15.4,275,1906,0.00,2.10,0.00,0.000,6,0.000,0.040,2587,1810,3952,0,0,0,0,0,0
$GC,2229,-0.81,-214.1,466.9,-14.7,305,2233,0.00,2.10,0.00,0.000,4,0.000,0.052,2580,3211,3951,0,0,0,0,0,0
$GC,2299,-0.86,-214.1,477.5,-13.4,311,2306,0.00,2.08,0.00,0.000,6,0.000,0.036,2580,1798,3950,0,0,0,0,0,0
$STATE,2452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2453,begin apogee
$GC,2458,-0.23,0.0,500.8,15.2,326,2635,0.52,0.00,166.85,0.953,6,0.129,0.000,2757,1798,3071,0,0,0,0,0,0
$STATE,2636,end apogee,CONTROL_FINISHED_OK
$STATE,2636,begin climb
$GC,2638,1.16,214.1,508.2,0.0,341,2819,1.27,2.30,172.23,0.926,4,0.072,0.053,3212,3202,2199,0,0,0,0,0,0
$GC,2844,0.86,214.1,475.2,28.9,359,2849,0.40,2.17,0.00,0.000,6,0.196,0.038,3119,1797,2196,0,0,0,0,0,0
$GC,3171,0.68,214.1,400.0,20.9,389,3176,0.20,2.15,0.00,0.000,4,0.176,0.046,3055,3209,2193,0,0,0,0,0,0
$GC,3214,0.59,214.1,391.9,16.3,392,3222,0.08,2.15,0.00,0.000,6,0.165,0.037,3038,1795,2191,0,0,0,0,0,0
$GC,3540,0.53,214.1,343.0,15.5,423,3544,0.00,2.12,0.00,0.000,4,0.000,0.046,3048,383,2189,0,0,0,0,0,0
$GC,3584,0.47,214.1,335.8,15.4,426,3593,0.12,2.15,0.00,0.000,6,0.142,0.035,2998,1800,2188,0,0,0,0,0,0
$GC,3911,0.55,273.2,297.2,11.3,459,3966,0.00,2.17,47.70,0.836,4,0.000,0.047,2997,3209,1957,0,0,0,0,0,0
$GC,4012,0.63,310.1,285.1,12.3,475,4055,0.10,2.15,31.48,0.802,6,0.096,0.036,3063,1793,1806,0,0,0,0,0,0
$GC,4385,0.57,310.1,215.7,17.9,541,4393,0.15,2.12,0.00,0.000,4,0.168,0.045,3031,396,1800,0,0,0,0,0,0
$GC,4465,0.59,310.1,202.7,14.4,555,4473,0.00,2.10,0.00,0.000,6,0.000,0.033,3026,1816,1798,0,0,0,0,0,0
$GC,4798,0.67,355.6,161.4,11.9,616,4845,0.00,2.25,36.70,0.732,4,0.000,0.044,3030,397,1621,0,0,0,0,0,0
$GC,4895,0.76,393.7,150.0,12.2,631,4935,0.12,2.15,31.92,0.709,6,0.047,0.033,3112,1808,1467,0,0,0,0,0,0
$GC,5253,0.70,393.7,72.7,17.5,696,5262,0.15,2.15,0.00,0.000,4,0.164,0.044,3060,3209,1462,0,0,0,0,0,0
$GC,5320,0.87,459.9,63.3,11.0,707,5380,0.12,2.12,53.20,0.652,6,0.038,0.036,3154,1800,1197,0,0,0,0,0,0
$STATE,5626,end climb,SURFACE_DEPTH_REACHED
$STATE,5626,begin surface coast
$FINISH,0.7,1.021408
$STATE,5640,end surface coast,CONTROL_FINISHED_OK
$STATE,5640,begin surface
$SM_CCo,5657,154.12,0.558,1,0,455,641.95
$SM_CCo,5821,0.00,0.000,0,0,453,642.20
$SM_GC,1.38,0.00,0.00,0.00,0.000,0.000,0.000,134,1797,453,-8.46,-0.08,642.20
$IRIDIUM_FIX,2335.63,12628.65,280910,212141
$TT8_MAMPS,0.026215
$HUMID,38.42
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.20
$XPDR_PINGS,76
$24V_AH,24.4,15.535
$10V_AH,10.5,9.675
$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,20.925,55.550,540.075,154.125,0.000,28.375,26.506,135.054,19.000,0.000,15.594,1763.939,1458.697,698.591,1993.427,235.257,0.000,1464.454,0.000,1807.717,0.000,0.847,0.000
$DEVICE_MAMPS,233.325,52.785,953.190,557.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.882,780.818,1240.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43623,764
$CAP_FILE_SIZE,83593,0
$CFSIZE,260165632,175472640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090, 99.0,1
$GPS,290910,003703,2340.644,12630.103,8,1.3,27,-3.5