version: 66.08
glider: 166
mission: 3
dive: 34
start: 9 26 110 3 24 59
data:
$ID,166
$MISSION,3
$DIVE,34
$N_DIVES,40
$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,-21525.287
$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,0.029999999
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,260910,031850,2343.762,12620.805,12,1.5,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.5
$GPS2,260910,032422,2343.745,12620.784,12,2.9,31,-3.5
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,40.0,33902,-19.7,-13.889
$D_GRID,5000
$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,-112.68,0.000,2,0.000,0.000,139,1809,3293,0,0,0,0,0,0
$GC,134,-1.16,-214.1,5.9,-12.9,16,158,8.93,0.00,-11.82,0.000,6,0.235,0.000,2457,1807,3948,0,0,0,0,0,0
$GC,474,-0.59,-214.1,154.7,-41.1,79,481,0.62,2.10,0.00,0.000,4,0.184,0.042,2645,393,3953,0,0,0,0,0,0
$GC,579,-0.73,-214.1,175.5,-13.8,97,586,0.10,2.10,0.00,0.000,6,0.107,0.037,2589,1800,3954,0,0,0,0,0,0
$GC,919,-0.64,-214.1,242.4,-21.2,158,927,0.15,0.00,0.00,0.000,6,0.174,0.000,2629,1800,3954,0,0,0,0,0,0
$GC,1262,-0.77,-214.1,289.5,-11.6,219,1269,0.12,2.15,0.00,0.000,4,0.093,0.055,2570,3205,3954,0,0,0,0,0,0
$GC,1300,-0.77,-214.1,295.0,-14.4,225,1308,0.00,2.08,0.00,0.000,6,0.000,0.035,2570,1787,3954,0,0,0,0,0,0
$GC,1628,-0.71,-214.1,355.6,-18.2,258,1630,0.15,0.00,0.00,0.000,6,0.168,0.000,2612,1786,3954,0,0,0,0,0,0
$GC,1949,-0.83,-214.1,395.4,-12.1,288,1953,0.12,2.17,0.00,0.000,4,0.093,0.054,2546,3203,3952,0,0,0,0,0,0
$GC,1991,-0.83,-214.1,401.2,-15.8,291,1995,0.00,2.05,0.00,0.000,6,0.000,0.035,2546,1799,3952,0,0,0,0,0,0
$GC,2322,-0.76,-214.1,460.4,-17.5,322,2326,0.15,2.08,0.00,0.000,4,0.170,0.046,2588,399,3950,0,0,0,0,0,0
$GC,2389,-0.86,-214.1,470.5,-13.6,327,2396,0.00,2.08,0.00,0.000,6,0.000,0.040,2586,1804,3949,0,0,0,0,0,0
$STATE,2618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2618,begin apogee
$GC,2623,-0.23,0.0,500.6,12.9,349,2795,0.50,0.00,167.55,0.942,6,0.128,0.000,2758,1804,3072,0,0,0,0,0,0
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin climb
$GC,2798,1.16,214.1,508.5,0.0,363,2980,1.23,2.33,172.85,0.916,4,0.052,0.047,3227,398,2199,0,0,0,0,0,0
$GC,2989,0.51,214.1,482.1,28.5,379,2995,0.77,2.20,0.00,0.000,6,0.192,0.038,3011,1795,2197,0,0,0,0,0,0
$GC,3316,0.39,214.1,429.2,15.4,409,3320,0.15,2.15,0.00,0.000,4,0.165,0.049,2958,3212,2192,0,0,0,0,0,0
$GC,3391,0.55,284.2,420.1,10.8,415,3455,0.15,2.10,57.92,0.882,6,0.077,0.037,3044,1799,1913,0,0,0,0,0,0
$GC,3773,0.36,284.2,344.8,19.7,450,3778,0.28,2.15,0.00,0.000,4,0.166,0.045,2950,3214,1904,0,0,0,0,0,0
$GC,3802,0.36,284.2,340.0,15.0,452,3806,0.00,2.10,0.00,0.000,6,0.000,0.037,2958,1801,1903,0,0,0,0,0,0
$GC,4127,0.62,391.2,308.7,9.2,482,4223,0.22,2.22,87.43,0.827,4,0.062,0.044,3078,387,1476,0,0,0,0,0,0
$GC,4256,0.43,391.2,281.5,25.4,497,4264,0.32,2.20,0.00,0.000,6,0.154,0.037,2981,1806,1472,0,0,0,0,0,0
$GC,4597,0.56,403.6,233.8,13.4,558,4612,0.12,0.00,10.93,0.706,6,0.085,0.000,3050,1810,1425,0,0,0,0,0,0
$GC,4947,0.46,403.6,159.3,20.1,620,4955,0.20,2.20,0.00,0.000,4,0.161,0.043,3002,388,1422,0,0,0,0,0,0
$GC,4992,0.57,403.6,151.7,14.8,627,4999,0.00,2.12,0.00,0.000,6,0.000,0.035,3000,1805,1421,0,0,0,0,0,0
$GC,5317,0.84,487.6,115.4,10.2,688,5391,0.28,2.25,67.70,0.687,4,0.054,0.045,3130,3211,1083,0,0,0,0,0,0
$GC,5444,0.69,487.6,80.4,28.5,707,5452,0.22,2.17,0.00,0.000,6,0.145,0.037,3068,1809,1083,0,0,0,0,0,0
$GC,5775,0.98,590.5,31.0,9.4,768,5866,0.25,2.28,83.12,0.609,4,0.056,0.044,3202,390,664,0,0,0,0,0,0
$STATE,5884,end climb,SURFACE_DEPTH_REACHED
$STATE,5884,begin surface coast
$FINISH,0.7,1.012246
$STATE,5892,end surface coast,CONTROL_FINISHED_OK
$STATE,5892,begin surface
$SM_CCo,5913,49.35,0.463,1,0,454,641.95
$SM_CCo,5970,-0.45,0.000,0,0,454,642.20
$SM_GC,1.35,0.00,0.00,-0.45,0.000,0.000,0.000,155,1820,454,-8.39,0.57,642.20
$IRIDIUM_FIX,2335.63,12622.06,260910,010143
$TT8_MAMPS,0.026964
$HUMID,39.13
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,23.80
$XPDR_PINGS,83
$24V_AH,24.3,9.174
$10V_AH,10.6,5.683
$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,23.125,47.475,647.500,49.350,0.000,22.608,13.621,138.464,20.750,0.000,33.580,1809.030,1561.897,643.627,2064.241,239.597,0.000,1441.322,0.000,1868.135,0.000,0.847,0.000
$DEVICE_MAMPS,234.855,55.080,942.480,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.684,801.182,1290.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,46874,784
$CAP_FILE_SIZE,83899,0
$CFSIZE,260165632,177393664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,271.9,1
$GPS,260910,050554,2344.562,12621.457,29,1.0,46,-3.5