version: 66.08
glider: 166
mission: 3
dive: 90
start: 9 30 110 7 23 23
data:
$ID,166
$MISSION,3
$DIVE,90
$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,-21599.494
$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,41
$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
$GPS1,300910,071652,2326.705,12628.698,10,99.0,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.8
$GPS2,300910,072300,2326.793,12628.605,39,1.1,42,-3.4
$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,146.5,27500,-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,-109.28,0.000,2,0.000,0.000,140,1817,3223,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.0,-10.0,15,161,8.77,2.15,-13.60,0.000,4,0.226,0.047,2458,386,3947,0,0,0,0,0,0
$GC,280,-0.90,-214.1,74.0,-41.6,41,289,0.30,2.12,0.00,0.000,6,0.180,0.035,2539,1791,3949,0,0,0,0,0,0
$GC,606,-0.77,-214.1,170.5,-26.1,102,614,0.17,0.00,0.00,0.000,6,0.177,0.000,2587,1793,3952,0,0,0,0,0,0
$GC,943,-0.72,-214.1,238.9,-19.3,163,949,0.00,2.10,0.00,0.000,4,0.000,0.046,2579,3214,3954,0,0,0,0,0,0
$GC,969,-0.69,-214.1,243.9,-18.5,167,978,0.12,2.08,0.00,0.000,6,0.161,0.033,2615,1782,3953,0,0,0,0,0,0
$GC,1303,-0.72,-214.1,297.9,-16.3,228,1311,0.00,2.05,0.00,0.000,4,0.000,0.041,2615,404,3952,0,0,0,0,0,0
$GC,1322,-0.74,-214.1,301.6,-15.7,230,1330,0.00,2.10,0.00,0.000,6,0.000,0.037,2614,1803,3952,0,0,0,0,0,0
$GC,1649,-0.78,-214.1,350.6,-14.9,261,1653,0.00,2.10,0.00,0.000,4,0.000,0.051,2614,3216,3952,0,0,0,0,0,0
$GC,1689,-0.86,-214.1,356.3,-13.5,264,1694,0.15,2.08,0.00,0.000,6,0.075,0.034,2534,1798,3952,0,0,0,0,0,0
$GC,2015,-0.79,-214.1,425.0,-21.3,294,2019,0.17,2.10,0.00,0.000,4,0.169,0.044,2582,394,3950,0,0,0,0,0,0
$GC,2055,-0.79,-214.1,432.2,-16.4,297,2059,0.00,2.10,0.00,0.000,6,0.000,0.039,2578,1801,3950,0,0,0,0,0,0
$GC,2382,-0.79,-214.1,483.6,-15.3,327,2386,0.00,2.12,0.00,0.000,4,0.000,0.054,2578,3204,3948,0,0,0,0,0,0
$GC,2480,-0.85,-214.1,496.0,-12.2,335,2484,0.00,2.05,0.00,0.000,6,0.000,0.036,2578,1804,3948,0,0,0,0,0,0
$STATE,2507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2507,begin apogee
$GC,2512,-0.23,0.0,500.0,12.5,337,2683,0.55,0.00,166.50,0.960,6,0.129,0.000,2763,1803,3072,0,0,0,0,0,0
$STATE,2684,end apogee,CONTROL_FINISHED_OK
$STATE,2684,begin climb
$GC,2688,1.16,214.1,508.8,0.0,351,2867,1.20,0.00,172.07,0.933,6,0.048,0.000,3221,1803,2199,0,0,0,0,0,0
$GC,3187,0.83,214.1,386.4,31.4,398,3192,0.40,2.20,0.00,0.000,4,0.197,0.047,3106,3212,2191,0,0,0,0,0,0
$GC,3215,0.60,214.1,377.1,28.1,400,3220,0.28,2.12,0.00,0.000,6,0.178,0.039,3038,1799,2190,0,0,0,0,0,0
$GC,3541,0.54,214.1,325.9,15.4,430,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1798,2188,0,0,0,0,0,0
$GC,3863,0.48,214.1,278.5,14.5,473,3871,0.15,2.12,0.00,0.000,4,0.161,0.045,3002,386,2185,0,0,0,0,0,0
$GC,3913,0.58,291.3,272.9,10.5,481,3982,0.00,2.12,61.40,0.828,6,0.000,0.036,3001,1804,1884,0,0,0,0,0,0
$GC,4308,0.72,370.9,229.9,10.4,551,4383,0.20,2.22,65.25,0.785,4,0.062,0.044,3090,3214,1559,0,0,0,0,0,0
$GC,4398,0.65,370.9,213.1,21.6,564,4406,0.15,2.22,0.00,0.000,6,0.148,0.037,3051,1794,1558,0,0,0,0,0,0
$GC,4730,0.65,370.9,154.9,16.0,625,4737,0.00,2.12,0.00,0.000,4,0.000,0.045,3056,387,1553,0,0,0,0,0,0
$GC,4818,0.65,370.9,140.5,16.4,641,4827,0.00,2.15,0.00,0.000,6,0.000,0.034,3057,1805,1552,0,0,0,0,0,0
$GC,5148,0.67,380.6,93.5,13.5,702,5163,0.00,2.10,8.27,0.600,4,0.000,0.044,3056,3211,1519,0,0,0,0,0,0
$GC,5220,0.78,429.4,83.8,11.8,714,5271,0.00,2.12,40.05,0.673,6,0.000,0.037,3061,1797,1321,0,0,0,0,0,0
$GC,5592,1.08,574.6,41.2,7.6,781,5719,0.30,2.20,116.15,0.627,4,0.047,0.041,3226,385,728,0,0,0,0,0,0
$STATE,5751,end climb,SURFACE_DEPTH_REACHED
$STATE,5751,begin surface coast
$FINISH,0.8,1.021553
$STATE,5763,end surface coast,CONTROL_FINISHED_OK
$STATE,5763,begin surface
$SM_CCo,5784,61.83,0.499,1,0,455,641.95
$SM_CCo,5854,-0.03,0.000,0,0,453,642.20
$SM_GC,1.30,0.00,0.00,-0.03,0.000,0.000,0.000,152,1802,453,-8.40,0.06,642.20
$IRIDIUM_FIX,2319.18,12628.24,300910,050551
$TT8_MAMPS,0.026215
$HUMID,39.80
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.50
$XPDR_PINGS,73
$24V_AH,24.4,18.582
$10V_AH,10.5,11.597
$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,21.025,51.075,629.700,61.825,0.000,24.507,41.506,136.435,18.250,0.000,44.714,1827.515,1352.871,672.442,2124.514,245.113,0.000,1470.956,0.000,1907.200,0.000,0.850,0.000
$DEVICE_MAMPS,226.440,54.315,960.075,498.780,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.177,824.096,1359.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46995,806
$CAP_FILE_SIZE,83848,0
$CFSIZE,260165632,174538752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185,295.5,1
$GPS,300910,090149,2326.283,12628.597,13,1.5,13,-3.4