version: 66.08
glider: 166
mission: 3
dive: 83
start: 9 29 110 18 45 49
data:
$ID,166
$MISSION,3
$DIVE,83
$N_DIVES,95
$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,-21590.324
$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,42
$R_STBD_OVSHOOT,41
$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
$GPS1,290910,183920,2332.593,12628.521,13,1.5,13,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.6
$GPS2,290910,184526,2332.636,12628.500,34,1.7,34,-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,169.0,38303,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-110.03,0.000,2,0.000,0.000,142,1798,3256,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.7,-12.1,15,163,8.80,2.12,-12.55,0.000,4,0.227,0.053,2459,391,3949,0,0,0,0,0,0
$GC,365,-0.88,-214.1,114.7,-41.2,57,374,0.32,2.12,0.00,0.000,6,0.171,0.037,2550,1795,3952,0,0,0,0,0,0
$GC,695,-0.77,-214.1,203.2,-23.8,118,702,0.15,0.00,0.00,0.000,6,0.181,0.000,2590,1799,3955,0,0,0,0,0,0
$GC,1031,-0.74,-214.1,267.6,-20.9,179,1038,0.00,2.12,0.00,0.000,4,0.000,0.041,2595,386,3956,0,0,0,0,0,0
$GC,1060,-0.71,-214.1,273.6,-18.6,184,1068,0.00,2.12,0.00,0.000,6,0.000,0.035,2588,1807,3956,0,0,0,0,0,0
$GC,1391,-0.69,-214.1,331.0,-16.8,228,1396,0.10,2.15,0.00,0.000,4,0.195,0.042,2613,386,3955,0,0,0,0,0,0
$GC,1422,-0.69,-214.1,336.8,-16.7,230,1431,0.00,2.12,0.00,0.000,6,0.000,0.037,2614,1798,3955,0,0,0,0,0,0
$GC,1750,-0.73,-214.1,381.1,-13.6,261,1754,0.00,2.10,0.00,0.000,4,0.000,0.049,2607,3205,3954,0,0,0,0,0,0
$GC,1794,-0.81,-214.1,387.0,-11.7,264,1802,0.00,2.10,0.00,0.000,6,0.000,0.034,2607,1793,3953,0,0,0,0,0,0
$GC,2121,-0.86,-214.1,429.9,-12.7,295,2125,0.12,2.10,0.00,0.000,4,0.092,0.046,2547,392,3952,0,0,0,0,0,0
$GC,2151,-0.83,-214.1,434.7,-17.6,297,2155,0.12,2.08,0.00,0.000,6,0.179,0.039,2572,1803,3952,0,0,0,0,0,0
$GC,2477,-0.83,-214.1,487.8,-15.8,327,2481,0.00,2.12,0.00,0.000,4,0.000,0.046,2572,390,3950,0,0,0,0,0,0
$GC,2529,-0.83,-214.1,496.3,-15.3,331,2533,0.00,2.08,0.00,0.000,6,0.000,0.039,2566,1798,3950,0,0,0,0,0,0
$STATE,2555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2555,begin apogee
$GC,2562,-0.23,0.0,500.8,15.9,333,2738,0.57,0.00,166.80,0.961,6,0.136,0.000,2757,1798,3072,0,0,0,0,0,0
$STATE,2738,end apogee,CONTROL_FINISHED_OK
$STATE,2738,begin climb
$GC,2742,1.16,214.1,508.5,0.0,348,2928,1.27,2.25,172.48,0.931,4,0.072,0.051,3212,3205,2198,0,0,0,0,0,0
$GC,2941,0.85,214.1,475.6,31.4,366,2946,0.40,2.17,0.00,0.000,6,0.195,0.040,3120,1805,2196,0,0,0,0,0,0
$GC,3267,0.66,214.1,395.3,22.7,396,3271,0.22,2.15,0.00,0.000,4,0.176,0.044,3066,392,2192,0,0,0,0,0,0
$GC,3354,0.56,214.1,379.7,17.8,403,3359,0.15,2.12,0.00,0.000,6,0.174,0.039,3025,1812,2190,0,0,0,0,0,0
$GC,3685,0.55,239.7,335.4,12.8,434,3710,0.00,0.00,21.17,0.835,6,0.000,0.000,3025,1813,2094,0,0,0,0,0,0
$GC,4035,0.52,239.7,287.7,13.9,473,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1814,2089,0,0,0,0,0,0
$GC,4374,0.51,254.4,242.5,13.3,534,4396,0.00,2.15,12.52,0.751,4,0.000,0.047,3024,3208,2033,0,0,0,0,0,0
$GC,4404,0.50,261.1,238.4,13.6,538,4419,0.08,2.12,7.25,0.663,6,0.149,0.036,3007,1799,2006,0,0,0,0,0,0
$GC,4752,0.61,333.7,199.3,10.7,600,4819,0.00,2.22,59.38,0.770,4,0.000,0.046,2998,3208,1710,0,0,0,0,0,0
$GC,4842,0.80,433.8,190.6,9.5,613,4937,0.25,2.15,82.07,0.741,6,0.052,0.036,3132,1800,1302,0,0,0,0,0,0
$GC,5260,0.72,433.8,90.9,21.1,687,5268,0.20,2.15,0.00,0.000,4,0.161,0.044,3078,399,1297,0,0,0,0,0,0
$GC,5370,0.86,491.5,75.3,11.4,706,5424,0.10,2.10,45.97,0.661,6,0.047,0.032,3148,1803,1067,0,0,0,0,0,0
$GC,5744,0.83,491.5,6.4,22.0,773,5752,0.15,2.12,0.00,0.000,4,0.158,0.043,3092,3194,1064,0,0,0,0,0,0
$STATE,5764,end climb,SURFACE_DEPTH_REACHED
$STATE,5764,begin surface coast
$FINISH,0.6,1.009997
$STATE,5783,end surface coast,CONTROL_FINISHED_OK
$STATE,5783,begin surface
$SM_CCo,5804,131.60,0.556,1,0,455,641.95
$SM_CCo,5943,0.00,0.000,0,0,453,642.20
$SM_GC,1.39,0.00,0.00,0.00,0.000,0.000,0.000,137,1785,453,-8.45,-0.42,642.20
$IRIDIUM_FIX,2326.22,12627.74,290910,161603
$TT8_MAMPS,0.026215
$HUMID,38.30
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.40
$XPDR_PINGS,75
$24V_AH,24.4,17.402
$10V_AH,10.5,10.847
$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,20.550,51.200,567.650,131.600,0.000,29.466,42.349,137.048,18.750,0.000,36.555,1795.446,1505.688,705.243,2063.760,238.956,0.000,1479.748,0.000,1841.313,0.000,0.850,0.000
$DEVICE_MAMPS,227.205,52.785,960.840,556.155,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.826,796.085,1268.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,46885,779
$CAP_FILE_SIZE,84196,0
$CFSIZE,260165632,174895104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,  8.5,1
$GPS,290910,202606,2332.117,12628.897,35,1.1,35,-3.5