version: 66.08
glider: 166
mission: 3
dive: 91
start: 9 30 110 9 7 55
data:
$ID,166
$MISSION,3
$DIVE,91
$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,-21600.842
$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,34
$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
$GPS1,300910,090149,2326.283,12628.597,13,1.5,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.9
$GPS2,300910,090732,2326.366,12628.535,14,1.6,14,-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,150.6,26722,-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,15,-1.16,-214.1,0.0,0.0,0,129,0.00,0.00,-110.95,0.000,2,0.000,0.000,147,1802,3231,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.1,-9.6,15,163,8.77,2.12,-13.48,0.000,4,0.227,0.050,2459,384,3949,0,0,0,0,0,0
$GC,319,-0.86,-214.1,91.8,-45.3,48,328,0.35,2.17,0.00,0.000,6,0.174,0.042,2555,1798,3951,0,0,0,0,0,0
$GC,648,-0.75,-214.1,184.7,-24.5,109,656,0.15,2.15,0.00,0.000,4,0.183,0.053,2587,3220,3955,0,0,0,0,0,0
$GC,688,-0.71,-214.1,194.2,-22.2,115,695,0.00,2.08,0.00,0.000,6,0.000,0.034,2587,1797,3956,0,0,0,0,0,0
$GC,1022,-0.66,-214.1,261.5,-18.6,176,1031,0.12,2.12,0.00,0.000,4,0.171,0.045,2621,401,3956,0,0,0,0,0,0
$GC,1068,-0.71,-214.1,268.7,-14.8,183,1075,0.00,2.08,0.00,0.000,6,0.000,0.039,2615,1804,3956,0,0,0,0,0,0
$GC,1404,-0.73,-214.1,316.0,-13.2,234,1408,0.00,2.10,0.00,0.000,4,0.000,0.053,2614,3210,3956,0,0,0,0,0,0
$GC,1445,-0.80,-214.1,321.2,-11.4,237,1449,0.00,2.08,0.00,0.000,6,0.000,0.034,2615,1790,3955,0,0,0,0,0,0
$GC,1778,-0.84,-214.1,366.4,-13.8,268,1783,0.12,2.17,0.00,0.000,4,0.091,0.054,2549,3204,3954,0,0,0,0,0,0
$GC,1819,-0.82,-214.1,373.0,-17.4,271,1823,0.00,2.05,0.00,0.000,6,0.000,0.035,2549,1800,3954,0,0,0,0,0,0
$GC,2152,-0.78,-214.1,439.1,-19.8,302,2154,0.15,0.00,0.00,0.000,6,0.167,0.000,2590,1800,3953,0,0,0,0,0,0
$GC,2469,-0.81,-214.1,485.6,-13.7,332,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1800,3952,0,0,0,0,0,0
$STATE,2585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2585,begin apogee
$GC,2591,-0.23,0.0,500.2,12.2,343,2763,0.50,0.00,166.90,0.968,6,0.123,0.000,2764,1799,3071,0,0,0,0,0,0
$STATE,2764,end apogee,CONTROL_FINISHED_OK
$STATE,2764,begin climb
$GC,2766,1.16,214.1,506.8,0.0,357,2948,1.20,0.00,172.15,0.936,6,0.050,0.000,3220,1799,2199,0,0,0,0,0,0
$GC,3266,0.84,214.1,386.1,29.9,404,3271,0.38,2.15,0.00,0.000,4,0.193,0.046,3125,395,2192,0,0,0,0,0,0
$GC,3296,0.59,214.1,377.4,25.7,406,3301,0.32,2.15,0.00,0.000,6,0.168,0.042,3037,1794,2192,0,0,0,0,0,0
$GC,3624,0.55,223.9,332.5,13.5,436,3638,0.00,2.22,7.88,0.734,4,0.000,0.048,3037,3214,2158,0,0,0,0,0,0
$GC,3707,0.50,223.9,319.9,15.6,443,3711,0.15,2.12,0.00,0.000,6,0.164,0.037,2999,1802,2158,0,0,0,0,0,0
$GC,4036,0.55,263.8,281.0,12.2,488,4078,0.00,2.22,33.62,0.829,4,0.000,0.048,3007,390,1996,0,0,0,0,0,0
$GC,4119,0.60,284.0,270.9,13.0,501,4147,0.00,2.17,17.45,0.781,6,0.000,0.037,3008,1812,1915,0,0,0,0,0,0
$GC,4476,0.67,314.8,225.2,12.6,565,4511,0.12,2.17,26.12,0.776,4,0.085,0.044,3070,3214,1788,0,0,0,0,0,0
$GC,4520,0.61,314.8,218.6,16.9,571,4529,0.15,2.17,0.00,0.000,6,0.174,0.037,3039,1791,1787,0,0,0,0,0,0
$GC,4854,0.63,331.7,172.0,13.2,632,4875,0.00,2.15,15.23,0.711,4,0.000,0.044,3042,384,1718,0,0,0,0,0,0
$GC,4900,0.64,336.5,165.8,13.7,639,4915,0.00,2.15,5.45,0.555,6,0.000,0.035,3044,1802,1699,0,0,0,0,0,0
$GC,5233,0.64,336.5,119.3,14.4,701,5241,0.00,2.15,0.00,0.000,4,0.000,0.047,3042,3214,1697,0,0,0,0,0,0
$GC,5315,0.69,357.5,108.1,13.0,715,5339,0.00,2.12,18.35,0.676,6,0.000,0.037,3050,1800,1613,0,0,0,0,0,0
$GC,5661,0.82,420.5,65.7,11.2,778,5722,0.15,2.20,50.85,0.660,4,0.073,0.045,3149,402,1357,0,0,0,0,0,0
$GC,5853,0.77,420.5,30.7,19.5,810,5862,0.15,2.12,0.00,0.000,6,0.136,0.032,3096,1813,1354,0,0,0,0,0,0
$STATE,6064,end climb,SURFACE_DEPTH_REACHED
$STATE,6064,begin surface coast
$FINISH,0.7,1.008653
$STATE,6086,end surface coast,CONTROL_FINISHED_OK
$STATE,6086,begin surface
$SM_CCo,6103,186.68,0.569,1,0,454,641.95
$SM_CCo,6300,-0.03,0.000,0,0,452,642.20
$SM_GC,1.30,0.00,0.00,-0.03,0.000,0.000,0.000,142,1818,452,-8.43,0.51,642.20
$IRIDIUM_FIX,2319.18,12630.12,300910,070754
$TT8_MAMPS,0.026215
$HUMID,37.43
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.80
$XPDR_PINGS,75
$24V_AH,24.4,18.751
$10V_AH,10.6,11.708
$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,20.300,51.425,514.000,186.675,0.000,28.837,37.923,138.972,18.750,0.000,15.114,1987.481,1480.211,723.102,2204.346,249.087,0.000,1514.455,0.000,2009.098,0.000,0.847,0.000
$DEVICE_MAMPS,227.205,53.550,968.490,569.160,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.389,871.919,1438.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50329,853
$CAP_FILE_SIZE,88198,0
$CFSIZE,260165632,174477312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.130,287.9,1
$GPS,300910,105407,2325.602,12628.588,33,1.2,33,-3.4