version: 66.08
glider: 166
mission: 3
dive: 94
start: 9 30 110 14 37 42
data:
$ID,166
$MISSION,3
$DIVE,94
$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,-21604.896
$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,48
$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
$GPS1,300910,143138,2323.868,12628.209,10,1.7,10,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.2
$GPS2,300910,143719,2323.865,12628.073,11,1.4,16,-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,144.3,22217,-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,-214.1,0.0,0.0,0,131,0.00,0.00,-112.75,0.000,2,0.000,0.000,144,1821,3336,0,0,0,0,0,0
$GC,134,-1.16,-214.1,6.2,-12.9,15,159,8.85,2.20,-10.85,0.000,4,0.230,0.050,2458,381,3948,0,0,0,0,0,0
$GC,346,-0.92,-214.1,102.3,-34.7,53,355,0.28,2.15,0.00,0.000,6,0.162,0.038,2536,1789,3951,0,0,0,0,0,0
$GC,679,-0.80,-214.1,194.5,-25.7,114,687,0.15,2.10,0.00,0.000,4,0.182,0.037,2579,392,3954,0,0,0,0,0,0
$GC,713,-0.73,-214.1,203.4,-24.6,119,721,0.10,2.10,0.00,0.000,6,0.186,0.036,2601,1806,3954,0,0,0,0,0,0
$GC,1043,-0.73,-214.1,258.2,-16.1,180,1051,0.00,2.12,0.00,0.000,4,0.000,0.047,2593,3205,3955,0,0,0,0,0,0
$GC,1088,-0.75,-214.1,265.2,-15.8,187,1095,0.00,2.08,0.00,0.000,6,0.000,0.032,2593,1790,3955,0,0,0,0,0,0
$GC,1423,-0.75,-214.1,321.3,-16.6,237,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1790,3954,0,0,0,0,0,0
$GC,1750,-0.75,-214.1,376.2,-16.2,268,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1789,3953,0,0,0,0,0,0
$GC,2071,-0.77,-214.1,423.6,-13.5,298,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1789,3952,0,0,0,0,0,0
$GC,2399,-0.80,-214.1,468.3,-14.5,329,2403,0.00,2.15,0.00,0.000,4,0.000,0.052,2587,3200,3949,0,0,0,0,0,0
$GC,2440,-0.87,-214.1,474.1,-12.8,332,2444,0.00,2.08,0.00,0.000,6,0.000,0.035,2587,1795,3949,0,0,0,0,0,0
$STATE,2626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2626,begin apogee
$GC,2632,-0.23,0.0,500.2,14.0,349,2803,0.50,0.00,166.52,0.969,6,0.125,0.000,2758,1794,3071,0,0,0,0,0,0
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin climb
$GC,2806,1.16,214.1,509.1,0.0,363,2987,1.27,2.20,172.12,0.940,4,0.067,0.050,3234,402,2199,0,0,0,0,0,0
$GC,3035,0.83,214.1,470.2,32.9,383,3040,0.45,2.17,0.00,0.000,6,0.192,0.041,3110,1795,2196,0,0,0,0,0,0
$GC,3362,0.67,214.1,396.5,21.2,413,3367,0.20,2.15,0.00,0.000,4,0.177,0.050,3044,3207,2192,0,0,0,0,0,0
$GC,3417,0.60,214.1,386.2,16.4,417,3425,0.00,2.12,0.00,0.000,6,0.000,0.037,3052,1795,2189,0,0,0,0,0,0
$GC,3744,0.51,214.1,335.6,14.7,448,3746,0.17,0.00,0.00,0.000,6,0.170,0.000,3004,1794,2188,0,0,0,0,0,0
$GC,4063,0.54,233.5,296.6,13.0,480,4084,0.00,0.00,15.57,0.811,6,0.000,0.000,3004,1794,2120,0,0,0,0,0,0
$GC,4409,0.63,310.1,256.2,10.6,543,4479,0.12,2.28,62.85,0.819,4,0.092,0.046,3079,392,1807,0,0,0,0,0,0
$GC,4538,0.58,310.1,234.4,18.3,563,4546,0.17,2.17,0.00,0.000,6,0.161,0.036,3029,1802,1802,0,0,0,0,0,0
$GC,4871,0.60,329.2,189.2,13.1,624,4894,0.00,2.15,16.12,0.733,4,0.000,0.046,3027,3208,1729,0,0,0,0,0,0
$GC,4922,0.64,329.2,182.0,14.0,632,4930,0.00,2.15,0.00,0.000,6,0.000,0.037,3030,1803,1729,0,0,0,0,0,0
$GC,5253,0.67,338.8,137.1,13.5,693,5269,0.00,2.12,9.30,0.651,4,0.000,0.044,3037,391,1690,0,0,0,0,0,0
$GC,5348,0.72,352.1,124.4,13.3,709,5367,0.08,2.15,12.30,0.669,6,0.056,0.041,3098,1809,1636,0,0,0,0,0,0
$GC,5686,0.68,352.1,62.6,16.1,771,5695,0.12,2.12,0.00,0.000,4,0.171,0.045,3056,3200,1634,0,0,0,0,0,0
$GC,5704,0.66,352.1,58.9,17.0,773,5713,0.00,2.10,0.00,0.000,6,0.000,0.036,3059,1800,1633,0,0,0,0,0,0
$GC,6031,0.87,459.0,27.8,9.2,834,6126,0.17,2.22,84.78,0.634,4,0.067,0.044,3167,394,1199,0,0,0,0,0,0
$STATE,6171,end climb,SURFACE_DEPTH_REACHED
$STATE,6171,begin surface coast
$FINISH,0.8,1.021923
$STATE,6183,end surface coast,CONTROL_FINISHED_OK
$STATE,6183,begin surface
$SM_CCo,6202,153.95,0.562,1,0,454,641.95
$SM_CCo,6364,-0.05,0.000,0,0,453,642.20
$SM_GC,1.35,0.00,0.00,-0.05,0.000,0.000,0.000,150,1827,453,-8.41,0.76,642.20
$IRIDIUM_FIX,2316.83,12621.67,300910,121224
$TT8_MAMPS,0.026215
$HUMID,38.42
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.20
$XPDR_PINGS,97
$24V_AH,24.4,19.255
$10V_AH,10.5,12.037
$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,20.525,47.275,539.575,153.950,0.000,24.744,40.346,136.820,24.250,0.000,17.590,1977.004,1581.877,697.701,2203.589,246.889,0.000,1507.012,0.000,2011.165,0.000,0.848,0.000
$DEVICE_MAMPS,230.265,52.020,969.255,562.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.307,876.098,1425.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50367,857
$CAP_FILE_SIZE,85838,0
$CFSIZE,260165632,174333952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.228,276.3,1
$GPS,300910,162507,2323.184,12627.917,41,1.0,41,-3.4