version: 66.08
glider: 166
mission: 3
dive: 95
start: 9 30 110 16 31 18
data:
$ID,166
$MISSION,3
$DIVE,95
$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,-21606.246
$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,44
$R_STBD_OVSHOOT,49
$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
$GPS1,300910,162507,2323.184,12627.917,41,1.0,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.2
$GPS2,300910,163055,2323.200,12627.805,12,1.9,17,-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,133.8,21076,-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,-214.1,0.0,0.0,0,133,0.00,0.00,-115.70,0.000,2,0.000,0.000,148,1827,3432,0,0,0,0,0,0
$GC,136,-1.16,-214.1,6.0,-11.2,16,161,8.88,2.20,-9.12,0.000,4,0.233,0.050,2458,383,3948,0,0,0,0,0,0
$GC,307,-0.93,-214.1,86.6,-37.3,46,316,0.28,2.15,0.00,0.000,6,0.176,0.041,2531,1781,3951,0,0,0,0,0,0
$GC,641,-0.80,-214.1,187.9,-26.7,107,647,0.17,0.00,0.00,0.000,6,0.178,0.000,2580,1783,3955,0,0,0,0,0,0
$GC,982,-0.76,-214.1,263.5,-20.5,168,990,0.00,2.20,0.00,0.000,4,0.000,0.052,2574,3216,3955,0,0,0,0,0,0
$GC,1004,-0.72,-214.1,268.4,-19.7,171,1011,0.12,2.10,0.00,0.000,6,0.165,0.035,2608,1797,3955,0,0,0,0,0,0
$GC,1341,-0.74,-214.1,321.2,-14.5,219,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1796,3955,0,0,0,0,0,0
$GC,1670,-0.77,-214.1,370.1,-14.5,250,1674,0.00,2.12,0.00,0.000,4,0.000,0.047,2608,386,3953,0,0,0,0,0,0
$GC,1702,-0.82,-214.1,375.6,-15.4,252,1710,0.00,2.15,0.00,0.000,6,0.000,0.040,2605,1803,3953,0,0,0,0,0,0
$GC,2031,-0.85,-214.1,421.5,-14.1,283,2036,0.12,2.15,0.00,0.000,4,0.095,0.046,2546,386,3952,0,0,0,0,0,0
$GC,2055,-0.85,-214.1,425.7,-15.8,285,2059,0.00,2.15,0.00,0.000,6,0.000,0.040,2537,1817,3952,0,0,0,0,0,0
$GC,2386,-0.80,-214.1,490.8,-19.4,316,2390,0.15,2.10,0.00,0.000,4,0.177,0.054,2570,3207,3950,0,0,0,0,0,0
$GC,2438,-0.84,-214.1,498.9,-14.0,320,2442,0.00,2.10,0.00,0.000,6,0.000,0.037,2570,1790,3949,0,0,0,0,0,0
$STATE,2454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2454,begin apogee
$GC,2459,-0.23,0.0,501.4,13.2,321,2632,0.57,0.00,166.98,0.967,6,0.129,0.000,2764,1790,3072,0,0,0,0,0,0
$STATE,2633,end apogee,CONTROL_FINISHED_OK
$STATE,2633,begin climb
$GC,2635,1.16,214.1,509.3,0.0,335,2815,1.23,0.00,172.40,0.939,6,0.053,0.000,3230,1789,2199,0,0,0,0,0,0
$GC,3132,0.84,214.1,388.9,29.2,382,3137,0.40,2.12,0.00,0.000,4,0.199,0.046,3129,396,2192,0,0,0,0,0,0
$GC,3187,0.65,214.1,374.8,21.3,386,3195,0.25,2.17,0.00,0.000,6,0.166,0.041,3054,1798,2192,0,0,0,0,0,0
$GC,3514,0.56,214.1,323.7,16.5,417,3516,0.12,0.00,0.00,0.000,6,0.181,0.000,3019,1799,2189,0,0,0,0,0,0
$GC,3835,0.58,247.1,282.8,12.5,459,3870,0.00,2.15,26.92,0.823,4,0.000,0.046,3011,3208,2063,0,0,0,0,0,0
$GC,3935,0.63,292.4,270.8,11.9,476,3983,0.00,2.15,37.53,0.812,6,0.000,0.037,3018,1803,1878,0,0,0,0,0,0
$GC,4311,0.69,337.6,223.2,11.9,543,4356,0.12,2.25,37.53,0.781,4,0.087,0.045,3090,393,1694,0,0,0,0,0,0
$GC,4414,0.62,337.6,204.5,21.6,559,4422,0.20,2.15,0.00,0.000,6,0.158,0.035,3036,1802,1691,0,0,0,0,0,0
$GC,4748,0.62,337.6,153.7,14.0,620,4756,0.00,2.15,0.00,0.000,4,0.000,0.047,3035,3214,1689,0,0,0,0,0,0
$GC,4817,0.68,345.0,144.4,13.6,632,4833,0.00,2.12,6.88,0.602,6,0.000,0.037,3036,1803,1664,0,0,0,0,0,0
$GC,5152,0.78,399.6,102.1,11.5,694,5205,0.15,2.17,45.03,0.692,4,0.075,0.044,3139,392,1441,0,0,0,0,0,0
$GC,5294,0.69,399.6,72.9,20.8,717,5303,0.20,2.15,0.00,0.000,6,0.144,0.033,3067,1805,1438,0,0,0,0,0,0
$GC,5622,0.90,506.3,34.1,9.3,778,5713,0.17,2.30,84.78,0.631,4,0.067,0.044,3164,391,1006,0,0,0,0,0,0
$STATE,5774,end climb,SURFACE_DEPTH_REACHED
$STATE,5774,begin surface coast
$FINISH,0.6,1.020350
$STATE,5786,end surface coast,CONTROL_FINISHED_OK
$STATE,5786,begin surface
$SM_CCo,5805,116.15,0.548,1,0,454,641.95
$SM_CCo,5929,-0.03,0.000,0,0,453,642.20
$SM_GC,1.34,0.00,0.00,-0.03,0.000,0.000,0.000,151,1820,453,-8.41,0.57,642.20
$IRIDIUM_FIX,2314.48,12626.84,300910,141439
$TT8_MAMPS,0.026215
$HUMID,38.30
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.50
$XPDR_PINGS,69
$24V_AH,24.4,19.424
$10V_AH,10.5,12.143
$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,21.000,47.500,578.025,116.150,0.000,27.948,37.823,140.868,17.250,0.000,18.710,1835.041,1424.843,686.434,2091.367,241.844,0.000,1461.746,0.000,1888.285,0.000,0.848,0.000
$DEVICE_MAMPS,232.560,53.550,966.960,547.740,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.294,820.875,1351.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,46963,803
$CAP_FILE_SIZE,82349,0
$CFSIZE,260165632,174284800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181,298.0,1
$GPS,300910,181119,2322.817,12627.979,15,1.7,32,-3.4