version: 66.08
glider: 166
mission: 3
dive: 79
start: 9 29 110 11 34 18
data:
$ID,166
$MISSION,3
$DIVE,79
$N_DIVES,90
$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,-21585.203
$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,36
$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
$GPS1,290910,112807,2335.256,12628.568,33,1.3,34,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.5
$GPS2,290910,113355,2335.285,12628.552,10,1.3,15,-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,159.5,43195,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-109.55,0.000,2,0.000,0.000,128,1789,3248,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.3,-10.1,15,162,8.93,2.12,-12.93,0.000,4,0.231,0.050,2459,373,3949,0,0,0,0,0,0
$GC,296,-0.88,-214.1,85.2,-44.2,44,305,0.32,2.17,0.00,0.000,6,0.166,0.037,2549,1803,3951,0,0,0,0,0,0
$GC,625,-0.76,-214.1,181.4,-25.9,105,632,0.15,0.00,0.00,0.000,6,0.185,0.000,2590,1806,3954,0,0,0,0,0,0
$GC,955,-0.72,-214.1,249.9,-18.5,166,963,0.00,2.12,0.00,0.000,4,0.000,0.047,2581,3202,3955,0,0,0,0,0,0
$GC,998,-0.72,-214.1,257.7,-17.3,173,1006,0.00,2.08,0.00,0.000,6,0.000,0.031,2581,1790,3955,0,0,0,0,0,0
$GC,1338,-0.69,-214.1,319.2,-18.3,225,1343,0.12,2.10,0.00,0.000,4,0.177,0.042,2615,395,3955,0,0,0,0,0,0
$GC,1382,-0.73,-214.1,327.0,-14.2,228,1390,0.00,2.12,0.00,0.000,6,0.000,0.037,2615,1804,3955,0,0,0,0,0,0
$GC,1710,-0.77,-214.1,371.7,-13.6,259,1713,0.00,2.12,0.00,0.000,4,0.000,0.048,2607,3205,3953,0,0,0,0,0,0
$GC,1771,-0.87,-214.1,379.4,-11.2,264,1776,0.12,2.05,0.00,0.000,6,0.086,0.034,2536,1796,3953,0,0,0,0,0,0
$GC,2104,-0.79,-214.1,445.4,-20.3,295,2108,0.17,2.12,0.00,0.000,4,0.171,0.045,2584,392,3952,0,0,0,0,0,0
$GC,2157,-0.81,-214.1,454.7,-15.5,299,2161,0.00,2.08,0.00,0.000,6,0.000,0.039,2580,1798,3952,0,0,0,0,0,0
$STATE,2440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2440,begin apogee
$GC,2445,-0.23,0.0,500.2,15.3,325,2622,0.52,0.00,167.57,0.957,6,0.131,0.000,2758,1798,3072,0,0,0,0,0,0
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2623,begin climb
$GC,2625,1.16,214.1,508.0,0.0,340,2807,1.27,2.35,172.45,0.926,4,0.071,0.048,3231,403,2199,0,0,0,0,0,0
$GC,2875,0.84,214.1,460.4,31.3,362,2880,0.43,2.17,0.00,0.000,6,0.195,0.039,3114,1808,2195,0,0,0,0,0,0
$GC,3200,0.66,214.1,383.6,22.2,392,3205,0.20,2.17,0.00,0.000,4,0.180,0.044,3069,399,2191,0,0,0,0,0,0
$GC,3219,0.50,214.1,379.9,21.7,393,3224,0.20,2.12,0.00,0.000,6,0.170,0.037,3005,1797,2191,0,0,0,0,0,0
$GC,3546,0.60,298.8,341.6,10.2,423,3620,0.00,2.22,68.82,0.858,4,0.000,0.047,2998,3208,1852,0,0,0,0,0,0
$GC,3661,0.71,348.9,328.0,11.7,432,3710,0.12,2.17,42.67,0.826,6,0.044,0.037,3083,1806,1648,0,0,0,0,0,0
$GC,4037,0.62,348.9,250.7,21.5,487,4044,0.15,2.15,0.00,0.000,4,0.179,0.045,3053,386,1642,0,0,0,0,0,0
$GC,4076,0.58,348.9,243.0,19.4,493,4083,0.00,2.15,0.00,0.000,6,0.000,0.036,3053,1813,1641,0,0,0,0,0,0
$GC,4415,0.55,348.9,182.1,18.7,554,4425,0.12,2.12,0.00,0.000,4,0.170,0.045,3007,3208,1639,0,0,0,0,0,0
$GC,4518,0.71,407.1,168.7,11.4,571,4573,0.15,2.10,46.45,0.741,6,0.071,0.037,3102,1799,1412,0,0,0,0,0,0
$GC,4898,0.66,407.1,93.5,22.4,639,4907,0.17,2.17,0.00,0.000,4,0.161,0.045,3062,387,1407,0,0,0,0,0,0
$GC,4953,0.75,442.1,84.9,12.4,648,4990,0.00,2.15,28.90,0.669,6,0.000,0.034,3062,1807,1267,0,0,0,0,0,0
$GC,5313,1.04,575.1,48.3,8.1,713,5426,0.28,2.30,107.07,0.632,4,0.051,0.044,3202,396,726,0,0,0,0,0,0
$GC,5458,0.96,575.1,15.3,27.6,733,5466,0.12,2.17,0.00,0.000,6,0.144,0.031,3157,1806,724,0,0,0,0,0,0
$STATE,5509,end climb,SURFACE_DEPTH_REACHED
$STATE,5509,begin surface coast
$FINISH,0.7,1.021687
$STATE,5522,end surface coast,CONTROL_FINISHED_OK
$STATE,5522,begin surface
$SM_CCo,5538,61.20,0.498,1,0,455,641.95
$SM_CCo,5608,-0.03,0.000,0,0,453,642.20
$SM_GC,1.33,0.00,0.00,-0.03,0.000,0.000,0.000,134,1811,453,-8.46,0.31,642.20
$IRIDIUM_FIX,2328.57,12631.03,290910,090955
$TT8_MAMPS,0.026964
$HUMID,39.56
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.30
$XPDR_PINGS,67
$24V_AH,24.4,16.721
$10V_AH,10.5,10.416
$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,21.375,51.650,633.950,61.200,0.000,30.826,37.913,139.330,16.750,0.000,16.694,1710.760,1349.854,653.019,2008.280,235.423,0.000,1436.651,0.000,1802.895,0.000,0.848,0.000
$DEVICE_MAMPS,231.030,49.725,957.015,498.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.670,760.358,1252.780,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43642,744
$CAP_FILE_SIZE,82679,0
$CFSIZE,260165632,175108096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,286.7,1
$GPS,290910,130858,2334.434,12628.492,13,99.0,32,-3.5