version: 66.08
glider: 166
mission: 3
dive: 98
start: 9 30 110 21 56 29
data:
$ID,166
$MISSION,3
$DIVE,98
$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,-21610.203
$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,63
$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
$GPS1,300910,215022,2322.454,12628.601,10,2.1,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.2
$GPS2,300910,215606,2322.548,12628.619,14,1.4,30,-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,177.2,19676,-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,-214.1,0.0,0.0,0,130,0.00,0.00,-111.85,0.000,2,0.000,0.000,143,1834,3278,0,0,0,0,0,0
$GC,133,-1.16,-214.1,5.3,-10.2,15,164,8.88,2.20,-12.48,0.000,4,0.230,0.051,2459,379,3948,0,0,0,0,0,0
$GC,334,-0.90,-214.1,93.9,-39.6,51,343,0.30,2.12,0.00,0.000,6,0.177,0.036,2540,1780,3950,0,0,0,0,0,0
$GC,664,-0.76,-214.1,188.1,-25.9,112,672,0.17,2.20,0.00,0.000,4,0.178,0.049,2580,3210,3953,0,0,0,0,0,0
$GC,688,-0.64,-214.1,194.3,-26.5,115,695,0.17,2.08,0.00,0.000,6,0.158,0.031,2630,1793,3954,0,0,0,0,0,0
$GC,1022,-0.67,-214.1,247.9,-16.4,176,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1793,3954,0,0,0,0,0,0
$GC,1354,-0.70,-214.1,298.2,-14.5,237,1362,0.00,2.12,0.00,0.000,4,0.000,0.051,2628,3205,3953,0,0,0,0,0,0
$GC,1385,-0.77,-214.1,302.7,-13.0,240,1394,0.08,2.10,0.00,0.000,6,0.056,0.034,2573,1798,3954,0,0,0,0,0,0
$GC,1712,-0.73,-214.1,365.0,-19.8,271,1714,0.12,0.00,0.00,0.000,6,0.180,0.000,2605,1798,3953,0,0,0,0,0,0
$GC,2031,-0.76,-214.1,411.2,-12.9,301,2034,0.00,2.17,0.00,0.000,4,0.000,0.054,2603,3215,3952,0,0,0,0,0,0
$GC,2071,-0.83,-214.1,416.1,-11.2,304,2075,0.00,2.08,0.00,0.000,6,0.000,0.036,2602,1798,3951,0,0,0,0,0,0
$GC,2404,-0.87,-214.1,457.9,-12.7,335,2408,0.12,2.12,0.00,0.000,4,0.093,0.047,2544,384,3949,0,0,0,0,0,0
$GC,2457,-0.85,-214.1,467.2,-16.9,339,2464,0.00,2.10,0.00,0.000,6,0.000,0.041,2538,1804,3949,0,0,0,0,0,0
$STATE,2632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2632,begin apogee
$GC,2639,-0.23,0.0,500.5,19.3,356,2817,0.68,0.00,166.90,0.963,6,0.142,0.000,2758,1740,3072,0,0,0,0,0,0
$STATE,2817,end apogee,CONTROL_FINISHED_OK
$STATE,2818,begin climb
$GC,2821,1.16,214.1,509.4,0.0,371,3003,1.27,2.28,172.15,0.935,4,0.074,0.048,3225,361,2199,0,0,0,0,0,0
$GC,3060,0.84,214.1,466.6,31.9,391,3067,0.40,2.17,0.00,0.000,6,0.192,0.041,3117,1746,2196,0,0,0,0,0,0
$GC,3386,0.65,214.1,391.3,23.4,422,3388,0.22,0.00,0.00,0.000,6,0.177,0.000,3056,1751,2191,0,0,0,0,0,0
$GC,3704,0.57,214.1,336.2,17.0,452,3708,0.12,2.15,0.00,0.000,4,0.183,0.046,3013,3162,2189,0,0,0,0,0,0
$GC,3779,0.57,214.1,324.7,14.9,458,3787,0.00,2.12,0.00,0.000,6,0.000,0.036,3017,1751,2187,0,0,0,0,0,0
$GC,4111,0.60,260.0,280.7,11.9,502,4151,0.00,0.00,36.92,0.830,6,0.000,0.000,3018,1751,2011,0,0,0,0,0,0
$GC,4475,0.66,311.4,235.7,11.7,568,4523,0.10,0.00,41.65,0.793,6,0.104,0.000,3071,1751,1802,0,0,0,0,0,0
$GC,4849,0.60,311.4,168.4,17.8,635,4856,0.12,2.17,0.00,0.000,4,0.174,0.044,3028,3162,1798,0,0,0,0,0,0
$GC,4908,0.68,342.1,160.0,12.6,645,4943,0.00,2.10,25.90,0.724,6,0.000,0.036,3032,1747,1676,0,0,0,0,0,0
$GC,5263,0.76,384.9,114.5,12.0,710,5309,0.15,2.22,35.03,0.695,4,0.077,0.044,3126,343,1502,0,0,0,0,0,0
$GC,5351,0.68,384.9,98.8,21.0,723,5359,0.15,2.17,0.00,0.000,6,0.142,0.032,3068,1758,1500,0,0,0,0,0,0
$GC,5678,0.82,457.7,51.2,10.7,784,5744,0.10,2.17,58.58,0.647,4,0.097,0.040,3128,3166,1205,0,0,0,0,0,0
$GC,5812,0.82,457.7,27.3,17.1,805,5821,0.08,2.20,0.00,0.000,6,0.145,0.037,3109,1749,1205,0,0,0,0,0,0
$STATE,5961,end climb,SURFACE_DEPTH_REACHED
$STATE,5962,begin surface coast
$FINISH,0.8,1.021808
$STATE,5979,end surface coast,CONTROL_FINISHED_OK
$STATE,5979,begin surface
$SM_CCo,5996,154.77,0.562,1,0,455,641.95
$SM_CCo,6159,0.00,0.000,0,0,454,642.20
$SM_GC,1.31,0.00,0.00,0.00,0.000,0.000,0.000,150,1823,454,-8.41,0.65,642.20
$IRIDIUM_FIX,2314.48,12626.84,300910,202044
$TT8_MAMPS,0.026215
$HUMID,38.34
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.40
$XPDR_PINGS,76
$24V_AH,24.4,19.939
$10V_AH,10.5,12.466
$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,20.900,43.225,537.125,154.775,0.000,28.073,15.615,145.682,19.000,0.000,31.537,1929.262,1444.104,696.886,2181.459,254.059,0.000,1501.638,0.000,1986.982,0.000,0.849,0.000
$DEVICE_MAMPS,230.265,110.160,963.135,562.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.621,853.885,1394.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50446,835
$CAP_FILE_SIZE,85701,0
$CFSIZE,260165632,174125056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137, 34.2,1
$GPS,300910,234025,2321.936,12629.122,39,1.3,39,-3.4