version: 66.08
glider: 166
mission: 3
dive: 93
start: 9 30 110 12 48 27
data:
$ID,166
$MISSION,3
$DIVE,93
$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,-21603.547
$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,40
$R_STBD_OVSHOOT,47
$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
$GPS1,300910,124228,2324.729,12628.470,11,2.4,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.2
$GPS2,300910,124804,2324.732,12628.398,13,2.4,32,-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,156.1,23737,-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,-214.1,0.0,0.0,0,129,0.00,0.00,-111.28,0.000,2,0.000,0.000,148,1815,3307,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.6,-10.5,15,164,8.85,2.17,-11.62,0.000,4,0.231,0.052,2457,384,3949,0,0,0,0,0,0
$GC,360,-0.94,-214.1,107.8,-35.0,56,369,0.25,2.15,0.00,0.000,6,0.162,0.042,2528,1782,3952,0,0,0,0,0,0
$GC,693,-0.81,-214.1,203.0,-27.2,117,701,0.17,2.10,0.00,0.000,4,0.177,0.043,2577,390,3955,0,0,0,0,0,0
$GC,743,-0.76,-214.1,214.5,-20.8,125,751,0.00,2.10,0.00,0.000,6,0.000,0.041,2575,1804,3955,0,0,0,0,0,0
$GC,1078,-0.71,-214.1,282.4,-20.1,186,1087,0.12,2.15,0.00,0.000,4,0.181,0.052,2601,3201,3956,0,0,0,0,0,0
$GC,1112,-0.71,-214.1,288.2,-17.5,191,1119,0.00,2.08,0.00,0.000,6,0.000,0.034,2601,1789,3956,0,0,0,0,0,0
$GC,1446,-0.71,-214.1,340.1,-15.4,229,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1788,3955,0,0,0,0,0,0
$GC,1767,-0.74,-214.1,387.2,-14.2,259,1771,0.00,2.15,0.00,0.000,4,0.000,0.055,2602,3204,3953,0,0,0,0,0,0
$GC,1811,-0.82,-214.1,393.4,-11.4,262,1819,0.00,2.10,0.00,0.000,6,0.000,0.036,2602,1796,3953,0,0,0,0,0,0
$GC,2138,-0.85,-214.1,436.7,-12.8,293,2140,0.10,0.00,0.00,0.000,6,0.108,0.000,2552,1796,3952,0,0,0,0,0,0
$GC,2458,-0.83,-214.1,490.6,-16.9,323,2461,0.00,2.10,0.00,0.000,4,0.000,0.048,2552,392,3949,0,0,0,0,0,0
$STATE,2511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2511,begin apogee
$GC,2518,-0.23,0.0,500.4,16.2,328,2690,0.62,0.00,166.57,0.968,6,0.132,0.000,2761,1800,3072,0,0,0,0,0,0
$STATE,2691,end apogee,CONTROL_FINISHED_OK
$STATE,2691,begin climb
$GC,2693,1.16,214.1,507.9,0.0,342,2875,1.25,2.33,171.98,0.937,4,0.067,0.050,3228,402,2198,0,0,0,0,0,0
$GC,2966,0.82,214.1,456.1,31.8,365,2971,0.45,2.17,0.00,0.000,6,0.193,0.041,3108,1811,2195,0,0,0,0,0,0
$GC,3294,0.65,214.1,387.8,19.2,395,3299,0.20,2.12,0.00,0.000,4,0.177,0.046,3042,3207,2190,0,0,0,0,0,0
$GC,3338,0.57,214.1,379.3,16.2,398,3347,0.00,2.12,0.00,0.000,6,0.000,0.037,3050,1804,2189,0,0,0,0,0,0
$GC,3665,0.49,214.1,326.6,16.9,429,3672,0.17,0.00,0.00,0.000,6,0.168,0.000,3001,1803,2187,0,0,0,0,0,0
$GC,3997,0.58,285.0,286.1,10.8,471,4056,0.00,0.00,56.55,0.842,6,0.000,0.000,3002,1803,1909,0,0,0,0,0,0
$GC,4389,0.68,338.3,239.1,11.6,540,4439,0.17,0.00,43.83,0.799,6,0.071,0.000,3088,1803,1692,0,0,0,0,0,0
$GC,4775,0.61,338.3,160.2,18.7,607,4782,0.17,2.17,0.00,0.000,4,0.168,0.044,3044,386,1687,0,0,0,0,0,0
$GC,4834,0.63,338.3,150.0,15.5,617,4843,0.00,2.15,0.00,0.000,6,0.000,0.035,3044,1796,1685,0,0,0,0,0,0
$GC,5159,0.63,338.3,101.6,13.9,678,5168,0.00,2.15,0.00,0.000,4,0.000,0.046,3045,3211,1684,0,0,0,0,0,0
$GC,5197,0.66,347.2,96.4,13.5,684,5213,0.00,2.12,7.88,0.607,6,0.000,0.037,3048,1800,1656,0,0,0,0,0,0
$GC,5532,0.81,421.8,56.9,10.6,746,5600,0.15,2.22,60.10,0.663,4,0.073,0.044,3149,395,1352,0,0,0,0,0,0
$GC,5697,0.78,421.8,30.2,16.9,772,5706,0.15,2.15,0.00,0.000,6,0.135,0.031,3096,1816,1349,0,0,0,0,0,0
$STATE,5906,end climb,SURFACE_DEPTH_REACHED
$STATE,5906,begin surface coast
$FINISH,0.6,1.012575
$STATE,5934,end surface coast,CONTROL_FINISHED_OK
$STATE,5934,begin surface
$SM_CCo,5950,182.95,0.571,1,0,454,641.95
$SM_CCo,6142,-0.38,0.000,0,0,454,642.20
$SM_GC,1.36,0.00,0.00,-0.38,0.000,0.000,0.000,146,1820,454,-8.42,0.57,642.20
$IRIDIUM_FIX,2316.83,12630.12,300910,101011
$TT8_MAMPS,0.026215
$HUMID,38.14
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.50
$XPDR_PINGS,85
$24V_AH,24.4,19.086
$10V_AH,10.5,11.926
$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,20.400,42.975,506.900,182.950,0.000,24.419,15.798,136.976,21.250,0.000,34.811,1889.782,1511.849,695.440,2145.637,239.062,0.000,1473.266,0.000,1950.258,0.000,0.847,0.000
$DEVICE_MAMPS,231.030,55.080,968.490,570.690,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.760,833.967,1394.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47098,816
$CAP_FILE_SIZE,82217,0
$CFSIZE,260165632,174387200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181,275.1,1
$GPS,300910,143138,2323.868,12628.209,10,1.7,10,-3.4