version: 66.08
glider: 166
mission: 3
dive: 84
start: 9 29 110 20 31 43
data:
$ID,166
$MISSION,3
$DIVE,84
$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,-21591.676
$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,46
$R_STBD_OVSHOOT,46
$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
$GPS1,290910,202606,2332.117,12628.897,35,1.1,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.8
$GPS2,290910,203120,2332.140,12628.932,13,1.4,13,-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,184.8,37344,-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,-109.78,0.000,2,0.000,0.000,134,1784,3251,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.5,-11.4,15,162,9.23,2.10,-12.65,0.000,4,0.243,0.052,2459,388,3950,0,0,0,0,0,0
$GC,401,-0.88,-214.1,130.3,-41.4,64,410,0.32,2.12,0.00,0.000,6,0.173,0.040,2548,1786,3953,0,0,0,0,0,0
$GC,737,-0.77,-214.1,220.5,-24.3,125,745,0.15,2.15,0.00,0.000,4,0.177,0.047,2581,3214,3955,0,0,0,0,0,0
$GC,778,-0.75,-214.1,229.8,-21.1,131,784,0.00,2.05,0.00,0.000,6,0.000,0.032,2581,1793,3956,0,0,0,0,0,0
$GC,1108,-0.71,-214.1,297.1,-19.4,192,1116,0.00,2.08,0.00,0.000,4,0.000,0.041,2581,407,3956,0,0,0,0,0,0
$GC,1150,-0.68,-214.1,305.7,-20.4,196,1158,0.12,2.10,0.00,0.000,6,0.139,0.037,2616,1803,3956,0,0,0,0,0,0
$GC,1477,-0.72,-214.1,354.8,-14.2,227,1481,0.00,2.10,0.00,0.000,4,0.000,0.050,2617,3205,3955,0,0,0,0,0,0
$GC,1523,-0.81,-214.1,361.0,-12.3,230,1532,0.08,2.08,0.00,0.000,6,0.054,0.034,2558,1802,3955,0,0,0,0,0,0
$GC,1851,-0.76,-214.1,422.1,-19.4,261,1859,0.12,0.00,0.00,0.000,6,0.183,0.000,2589,1802,3954,0,0,0,0,0,0
$GC,2177,-0.78,-214.1,472.7,-14.7,292,2181,0.00,2.10,0.00,0.000,4,0.000,0.045,2590,402,3953,0,0,0,0,0,0
$GC,2206,-0.80,-214.1,476.8,-15.2,294,2210,0.00,2.08,0.00,0.000,6,0.000,0.041,2589,1799,3953,0,0,0,0,0,0
$STATE,2371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2371,begin apogee
$GC,2377,-0.23,0.0,501.2,14.7,309,2553,0.50,0.00,166.82,0.959,6,0.129,0.000,2759,1800,3073,0,0,0,0,0,0
$STATE,2554,end apogee,CONTROL_FINISHED_OK
$STATE,2554,begin climb
$GC,2557,1.16,214.1,510.1,0.0,324,2739,1.25,0.00,172.40,0.931,6,0.070,0.000,3217,1799,2198,0,0,0,0,0,0
$GC,3058,0.86,214.1,386.5,30.5,371,3063,0.32,2.15,0.00,0.000,4,0.197,0.046,3135,402,2193,0,0,0,0,0,0
$GC,3178,0.67,214.1,357.3,21.9,381,3183,0.25,2.12,0.00,0.000,6,0.177,0.040,3063,1805,2191,0,0,0,0,0,0
$GC,3504,0.58,214.1,307.6,14.3,411,3509,0.12,2.12,0.00,0.000,4,0.181,0.047,3037,403,2188,0,0,0,0,0,0
$GC,3543,0.55,225.1,302.0,13.4,414,3557,0.00,2.10,8.80,0.737,6,0.000,0.037,3037,1811,2154,0,0,0,0,0,0
$GC,3880,0.51,225.1,255.2,14.6,474,3888,0.12,2.15,0.00,0.000,4,0.167,0.047,2997,3211,2151,0,0,0,0,0,0
$GC,3913,0.53,241.7,250.6,13.2,479,3935,0.00,2.10,15.27,0.769,6,0.000,0.037,3005,1797,2086,0,0,0,0,0,0
$GC,4261,0.63,306.1,213.5,11.1,542,4323,0.10,2.22,52.35,0.776,4,0.101,0.046,3074,394,1822,0,0,0,0,0,0
$GC,4350,0.58,306.1,199.6,17.7,555,4358,0.15,2.17,0.00,0.000,6,0.164,0.035,3033,1811,1821,0,0,0,0,0,0
$GC,4689,0.62,320.0,154.3,13.3,616,4710,0.00,2.15,12.25,0.678,4,0.000,0.046,3032,3201,1767,0,0,0,0,0,0
$GC,4777,0.71,350.2,142.4,12.6,631,4808,0.00,2.12,25.80,0.705,6,0.000,0.035,3039,1797,1644,0,0,0,0,0,0
$GC,5127,0.87,439.2,103.7,10.0,695,5210,0.22,2.22,71.78,0.684,4,0.057,0.044,3162,396,1281,0,0,0,0,0,0
$GC,5270,0.82,439.2,74.8,18.9,716,5279,0.15,2.17,0.00,0.000,6,0.139,0.034,3109,1807,1279,0,0,0,0,0,0
$GC,5599,0.84,439.2,27.4,14.9,777,5607,0.00,2.12,0.00,0.000,4,0.000,0.044,3105,3211,1276,0,0,0,0,0,0
$GC,5626,0.88,439.2,23.0,15.2,781,5634,0.00,2.12,0.00,0.000,6,0.000,0.035,3111,1794,1276,0,0,0,0,0,0
$STATE,5760,end climb,SURFACE_DEPTH_REACHED
$STATE,5762,begin surface coast
$FINISH,0.6,1.021348
$STATE,5785,end surface coast,CONTROL_FINISHED_OK
$STATE,5785,begin surface
$SM_CCo,5801,172.25,0.562,1,0,455,641.95
$SM_CCo,5982,-0.03,0.000,0,0,454,642.20
$SM_GC,1.38,0.00,0.00,-0.03,0.000,0.000,0.000,146,1791,454,-8.42,-0.25,642.20
$IRIDIUM_FIX,2323.87,12629.63,290910,181827
$TT8_MAMPS,0.026964
$HUMID,36.96
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,25.10
$XPDR_PINGS,67
$24V_AH,24.4,17.568
$10V_AH,10.5,10.954
$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,20.800,51.025,525.475,172.250,0.000,31.210,17.575,131.241,16.750,0.000,14.793,1877.672,1366.762,716.612,2096.029,242.728,0.000,1499.445,0.000,1924.214,0.000,0.847,0.000
$DEVICE_MAMPS,243.270,52.020,959.310,561.510,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.101,827.947,1364.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46839,810
$CAP_FILE_SIZE,85379,0
$CFSIZE,260165632,174845952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119, 35.8,1
$GPS,290910,221214,2331.470,12629.115,9,1.7,9,-3.5