version: 66.08
glider: 166
mission: 3
dive: 87
start: 9 30 110 2 1 29
data:
$ID,166
$MISSION,3
$DIVE,87
$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,-21595.631
$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,45
$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
$GPS1,300910,015516,2329.739,12629.670,17,99.0,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.9
$GPS2,300910,020106,2329.705,12629.630,16,1.7,26,-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,198.6,32795,-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,-214.1,0.0,0.0,0,129,0.00,0.00,-111.15,0.000,2,0.000,0.000,143,1818,3313,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.9,-12.7,15,163,8.93,2.17,-11.32,0.000,4,0.233,0.051,2459,389,3948,0,0,0,0,0,0
$GC,400,-0.91,-214.1,124.8,-37.2,64,408,0.30,2.12,0.00,0.000,6,0.171,0.036,2542,1794,3951,0,0,0,0,0,0
$GC,730,-0.80,-214.1,214.5,-25.7,125,739,0.15,2.10,0.00,0.000,4,0.180,0.038,2583,392,3954,0,0,0,0,0,0
$GC,818,-0.80,-214.1,233.7,-18.3,140,825,0.00,2.12,0.00,0.000,6,0.000,0.036,2576,1805,3955,0,0,0,0,0,0
$GC,1156,-0.76,-214.1,302.5,-18.4,201,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1805,3954,0,0,0,0,0,0
$GC,1485,-0.73,-214.1,363.9,-17.1,232,1488,0.00,2.10,0.00,0.000,4,0.000,0.042,2576,390,3953,0,0,0,0,0,0
$GC,1504,-0.71,-214.1,367.5,-17.2,233,1509,0.12,2.10,0.00,0.000,6,0.175,0.037,2607,1803,3953,0,0,0,0,0,0
$GC,1835,-0.75,-214.1,411.7,-13.2,264,1839,0.00,2.10,0.00,0.000,4,0.000,0.050,2605,3201,3952,0,0,0,0,0,0
$GC,1885,-0.86,-214.1,417.7,-10.4,268,1890,0.12,2.05,0.00,0.000,6,0.086,0.034,2537,1791,3952,0,0,0,0,0,0
$GC,2211,-0.80,-214.1,478.7,-19.4,298,2213,0.15,0.00,0.00,0.000,6,0.174,0.000,2576,1790,3950,0,0,0,0,0,0
$STATE,2347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2347,begin apogee
$GC,2354,-0.23,0.0,500.5,15.2,311,2528,0.55,0.00,167.02,0.962,6,0.134,0.000,2762,1790,3072,0,0,0,0,0,0
$STATE,2529,end apogee,CONTROL_FINISHED_OK
$STATE,2529,begin climb
$GC,2531,1.16,214.1,509.0,0.0,326,2714,1.25,2.33,172.48,0.934,4,0.067,0.050,3212,3208,2199,0,0,0,0,0,0
$GC,2720,0.85,214.1,481.2,27.7,343,2728,0.43,2.22,0.00,0.000,6,0.196,0.038,3117,1802,2197,0,0,0,0,0,0
$GC,3045,0.67,214.1,401.4,23.1,374,3047,0.22,0.00,0.00,0.000,6,0.175,0.000,3054,1802,2192,0,0,0,0,0,0
$GC,3364,0.59,214.1,347.8,15.2,404,3368,0.00,2.15,0.00,0.000,4,0.000,0.045,3063,385,2189,0,0,0,0,0,0
$GC,3394,0.49,214.1,343.4,15.5,406,3398,0.20,2.10,0.00,0.000,6,0.162,0.036,3004,1801,2188,0,0,0,0,0,0
$GC,3719,0.60,298.1,309.2,10.2,436,3792,0.00,2.28,67.57,0.853,4,0.000,0.046,3012,395,1855,0,0,0,0,0,0
$GC,3825,0.66,328.8,297.4,12.6,446,3861,0.08,2.20,26.70,0.806,6,0.054,0.035,3065,1804,1730,0,0,0,0,0,0
$GC,4195,0.60,328.8,227.1,19.3,511,4202,0.12,2.15,0.00,0.000,4,0.177,0.047,3023,3214,1724,0,0,0,0,0,0
$GC,4238,0.63,328.8,219.7,15.1,518,4247,0.00,2.15,0.00,0.000,6,0.000,0.037,3032,1797,1723,0,0,0,0,0,0
$GC,4581,0.67,350.1,169.2,13.0,579,4608,0.00,2.17,17.80,0.724,4,0.000,0.046,3043,391,1642,0,0,0,0,0,0
$GC,4656,0.73,374.2,158.9,12.8,591,4686,0.00,2.10,20.52,0.715,6,0.000,0.034,3043,1807,1545,0,0,0,0,0,0
$GC,5008,0.80,401.3,111.8,12.7,655,5039,0.15,2.17,22.88,0.688,4,0.073,0.044,3136,394,1434,0,0,0,0,0,0
$GC,5091,0.72,401.3,94.1,26.3,668,5099,0.17,2.15,0.00,0.000,6,0.135,0.034,3074,1805,1432,0,0,0,0,0,0
$GC,5423,0.88,482.7,46.4,10.4,729,5498,0.15,2.20,65.25,0.646,4,0.073,0.043,3162,390,1104,0,0,0,0,0,0
$GC,5513,0.85,482.7,31.5,17.8,741,5521,0.15,2.17,0.00,0.000,6,0.135,0.032,3114,1809,1103,0,0,0,0,0,0
$STATE,5697,end climb,SURFACE_DEPTH_REACHED
$STATE,5697,begin surface coast
$FINISH,0.7,1.011427
$STATE,5721,end surface coast,CONTROL_FINISHED_OK
$STATE,5721,begin surface
$SM_CCo,5737,135.02,0.558,1,0,454,641.95
$SM_CCo,5881,-0.43,0.000,0,0,454,642.20
$SM_GC,1.31,0.00,0.00,-0.43,0.000,0.000,0.000,140,1814,454,-8.44,0.40,642.20
$IRIDIUM_FIX,2321.52,12628.24,300910,000007
$TT8_MAMPS,0.026215
$HUMID,38.46
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.50
$XPDR_PINGS,79
$24V_AH,24.4,18.075
$10V_AH,10.5,11.278
$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,20.875,47.425,560.225,135.025,0.000,28.791,37.293,135.885,19.750,0.000,28.144,1798.023,1448.516,699.898,2045.092,242.204,0.000,1454.935,0.000,1844.569,0.000,0.847,0.000
$DEVICE_MAMPS,233.325,51.255,962.370,557.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.635,796.454,1318.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46889,779
$CAP_FILE_SIZE,82371,0
$CFSIZE,260165632,174686208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.029,188.4,1
$GPS,300910,034036,2328.653,12629.438,10,1.0,26,-3.5