version: 66.08
glider: 166
mission: 3
dive: 96
start: 9 30 110 18 21 0
data:
$ID,166
$MISSION,3
$DIVE,96
$N_DIVES,105
$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,-21607.502
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,52
$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
$GPS1,300910,181119,2322.817,12627.979,15,1.7,32,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.6
$GPS2,300910,182038,2322.938,12627.865,14,1.8,14,-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,148.9,20581,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,134,0.00,0.00,-116.50,0.000,2,0.000,0.000,147,1821,3478,0,0,0,0,0,0
$GC,137,-1.16,-214.1,6.7,-14.1,16,162,8.90,2.20,-8.12,0.000,4,0.233,0.049,2458,374,3949,0,0,0,0,0,0
$GC,368,-0.90,-214.1,113.3,-38.4,58,378,0.30,2.15,0.00,0.000,6,0.179,0.041,2538,1774,3952,0,0,0,0,0,0
$GC,704,-0.77,-214.1,208.6,-24.9,119,711,0.17,2.17,0.00,0.000,4,0.183,0.053,2582,3214,3955,0,0,0,0,0,0
$GC,721,-0.65,-214.1,213.6,-25.8,121,729,0.17,2.08,0.00,0.000,6,0.163,0.034,2630,1789,3955,0,0,0,0,0,0
$GC,1064,-0.68,-214.1,268.4,-15.0,182,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1789,3955,0,0,0,0,0,0
$GC,1408,-0.74,-214.1,314.2,-12.6,234,1412,0.00,2.15,0.00,0.000,4,0.000,0.054,2628,3210,3955,0,0,0,0,0,0
$GC,1459,-0.84,-214.1,320.6,-11.6,238,1464,0.17,2.05,0.00,0.000,6,0.070,0.036,2539,1797,3954,0,0,0,0,0,0
$GC,1784,-0.76,-214.1,392.2,-22.7,268,1789,0.20,2.10,0.00,0.000,4,0.168,0.044,2595,390,3952,0,0,0,0,0,0
$GC,1826,-0.78,-214.1,399.8,-17.0,271,1830,0.00,2.12,0.00,0.000,6,0.000,0.041,2590,1813,3952,0,0,0,0,0,0
$GC,2153,-0.79,-214.1,448.8,-15.0,301,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1813,3951,0,0,0,0,0,0
$GC,2473,-0.82,-214.1,492.6,-13.3,331,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1813,3949,0,0,0,0,0,0
$STATE,2532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2532,begin apogee
$GC,2539,-0.23,0.0,501.0,13.2,337,2715,0.50,0.00,166.73,0.965,6,0.129,0.000,2761,1747,3071,0,0,0,0,0,0
$STATE,2716,end apogee,CONTROL_FINISHED_OK
$STATE,2716,begin climb
$GC,2719,1.16,214.1,508.1,0.0,352,2905,1.25,2.33,171.75,0.936,4,0.070,0.050,3225,354,2198,0,0,0,0,0,0
$GC,2934,0.83,214.1,473.6,31.3,370,2942,0.40,2.22,0.00,0.000,6,0.189,0.040,3111,1747,2196,0,0,0,0,0,0
$GC,3260,0.65,214.1,399.3,23.0,401,3265,0.20,2.12,0.00,0.000,4,0.178,0.046,3046,3157,2191,0,0,0,0,0,0
$GC,3323,0.57,214.1,387.9,16.5,406,3327,0.00,2.10,0.00,0.000,6,0.000,0.037,3051,1753,2189,0,0,0,0,0,0
$GC,3657,0.48,214.1,334.4,16.7,437,3662,0.20,2.15,0.00,0.000,4,0.168,0.045,2987,3168,2188,0,0,0,0,0,0
$GC,3691,0.48,214.5,328.9,13.9,439,3699,0.00,2.12,0.00,0.000,6,0.000,0.037,2994,1746,2187,0,0,0,0,0,0
$GC,4018,0.55,270.5,292.0,11.5,476,4066,0.00,0.00,45.05,0.838,6,0.000,0.000,2996,1747,1969,0,0,0,0,0,0
$GC,4392,0.70,363.7,250.1,9.8,543,4474,0.20,0.00,76.45,0.800,6,0.067,0.000,3090,1747,1588,0,0,0,0,0,0
$GC,4805,0.63,363.7,166.4,22.9,615,4814,0.17,2.20,0.00,0.000,4,0.165,0.045,3030,3164,1583,0,0,0,0,0,0
$GC,4832,0.63,363.7,160.5,19.7,619,4840,0.00,2.10,0.00,0.000,6,0.000,0.035,3033,1753,1582,0,0,0,0,0,0
$GC,5161,0.66,363.7,112.5,14.1,680,5168,0.00,2.15,0.00,0.000,4,0.000,0.045,3043,346,1581,0,0,0,0,0,0
$GC,5209,0.72,387.4,106.0,12.9,688,5239,0.00,2.12,19.38,0.678,6,0.000,0.034,3043,1757,1491,0,0,0,0,0,0
$GC,5562,0.92,488.6,64.3,9.5,752,5652,0.25,2.17,81.22,0.658,4,0.054,0.041,3160,3164,1078,0,0,0,0,0,0
$GC,5695,0.92,488.6,37.1,19.6,771,5704,0.00,2.17,0.00,0.000,6,0.000,0.037,3166,1757,1078,0,0,0,0,0,0
$STATE,5859,end climb,SURFACE_DEPTH_REACHED
$STATE,5859,begin surface coast
$FINISH,0.8,1.021921
$STATE,5871,end surface coast,CONTROL_FINISHED_OK
$STATE,5871,begin surface
$SM_CCo,5887,130.48,0.558,1,0,455,641.95
$SM_CCo,6026,-0.03,0.000,0,0,453,642.20
$SM_GC,1.38,0.00,0.00,-0.03,0.000,0.000,0.000,152,1752,453,-8.40,-1.33,642.20
$IRIDIUM_FIX,2312.13,12615.10,300910,181823
$TT8_MAMPS,0.026215
$HUMID,39.25
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.10
$XPDR_PINGS,73
$24V_AH,24.4,19.602
$10V_AH,10.5,12.250
$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,20.950,43.075,560.575,130.475,0.000,61.297,77.402,208.669,18.250,0.000,15.151,1840.106,1558.422,685.128,2246.051,256.541,0.000,1472.400,0.000,1909.128,0.000,1.153,0.000
$DEVICE_MAMPS,233.325,110.925,964.665,557.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.599,820.759,1341.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46967,803
$CAP_FILE_SIZE,85128,0
$CFSIZE,260165632,174235648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.198,331.9,1
$GPS,300910,200236,2322.692,12628.275,31,1.4,32,-3.4