version: 66.08
glider: 166
mission: 3
dive: 38
start: 9 26 110 10 23 6
data:
$ID,166
$MISSION,3
$DIVE,38
$N_DIVES,45
$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,-21530.688
$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,40
$R_STBD_OVSHOOT,35
$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
$GPS1,260910,101749,2347.523,12622.970,13,1.6,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.9
$GPS2,260910,102244,2347.556,12622.964,12,1.6,12,-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,28.0,25940,-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,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,-116.32,0.000,2,0.000,0.000,142,1795,3398,0,0,0,0,0,0
$GC,137,-1.16,-214.1,6.3,-12.5,16,162,8.88,2.20,-9.60,0.000,4,0.233,0.055,2446,3221,3949,0,0,0,0,0,0
$GC,175,0.05,-214.1,29.4,-58.7,21,184,1.33,2.15,0.00,0.000,6,0.185,0.034,2847,1794,3951,0,0,0,0,0,0
$GC,508,-0.61,-214.1,69.7,-10.3,82,516,0.52,2.10,0.00,0.000,4,0.070,0.043,2641,404,3954,0,0,0,0,0,0
$GC,568,-0.67,-214.1,76.9,-14.1,92,577,0.00,2.10,0.00,0.000,6,0.000,0.036,2641,1802,3954,0,0,0,0,0,0
$GC,894,-0.67,-214.1,130.7,-17.0,153,902,0.00,2.12,0.00,0.000,4,0.000,0.051,2640,3196,3956,0,0,0,0,0,0
$GC,1015,-0.87,-214.1,146.9,-11.7,175,1024,0.17,2.08,0.00,0.000,6,0.041,0.033,2543,1795,3956,0,0,0,0,0,0
$GC,1356,-0.67,-214.1,229.7,-22.1,236,1366,0.25,2.10,0.00,0.000,4,0.174,0.043,2619,394,3957,0,0,0,0,0,0
$GC,1437,-0.77,-214.1,242.4,-13.2,249,1443,0.00,2.08,0.00,0.000,6,0.000,0.037,2615,1809,3957,0,0,0,0,0,0
$GC,1777,-0.85,-214.1,286.7,-12.8,310,1785,0.15,2.15,0.00,0.000,4,0.085,0.053,2544,3207,3958,0,0,0,0,0,0
$GC,1881,-0.85,-214.1,304.2,-16.2,326,1885,0.00,2.05,0.00,0.000,6,0.000,0.034,2544,1798,3957,0,0,0,0,0,0
$GC,2206,-0.76,-214.1,367.3,-19.1,356,2211,0.17,2.10,0.00,0.000,4,0.167,0.045,2594,392,3957,0,0,0,0,0,0
$GC,2272,-0.88,-214.1,378.0,-14.2,361,2279,0.10,2.08,0.00,0.000,6,0.105,0.040,2537,1803,3956,0,0,0,0,0,0
$GC,2598,-0.81,-214.1,439.5,-18.6,392,2599,0.15,0.00,0.00,0.000,6,0.176,0.000,2577,1803,3955,0,0,0,0,0,0
$GC,2917,-0.87,-214.1,482.5,-12.9,422,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1804,3954,0,0,0,0,0,0
$STATE,3053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3053,begin apogee
$GC,3058,-0.23,0.0,501.0,13.3,435,3236,0.55,0.00,168.25,0.953,6,0.132,0.000,2764,1804,3072,0,0,0,0,0,0
$STATE,3237,end apogee,CONTROL_FINISHED_OK
$STATE,3237,begin climb
$GC,3239,1.16,214.1,509.2,0.0,450,3422,1.20,0.00,173.32,0.924,6,0.052,0.000,3215,1804,2198,0,0,0,0,0,0
$GC,3742,0.56,214.1,390.5,28.1,497,3748,0.68,0.00,0.00,0.000,6,0.200,0.000,3026,1805,2190,0,0,0,0,0,0
$GC,4067,0.44,214.1,340.2,14.2,528,4069,0.15,0.00,0.00,0.000,6,0.171,0.000,2983,1805,2187,0,0,0,0,0,0
$GC,4385,0.49,260.0,304.5,11.9,558,4426,0.00,0.00,37.03,0.832,6,0.000,0.000,2984,1806,2012,0,0,0,0,0,0
$GC,4758,0.59,306.3,260.8,11.9,622,4808,0.15,2.22,37.95,0.797,4,0.080,0.050,3051,3199,1823,0,0,0,0,0,0
$GC,4869,0.51,306.3,241.8,18.9,639,4876,0.20,2.15,0.00,0.000,6,0.168,0.037,3004,1796,1821,0,0,0,0,0,0
$GC,5207,0.54,331.1,194.3,12.8,700,5236,0.00,2.15,21.38,0.738,4,0.000,0.045,3013,397,1721,0,0,0,0,0,0
$GC,5312,0.69,382.9,181.1,11.6,717,5361,0.15,2.12,43.03,0.733,6,0.077,0.036,3083,1807,1511,0,0,0,0,0,0
$GC,5685,0.57,382.9,99.2,20.6,784,5694,0.20,2.15,0.00,0.000,4,0.163,0.045,3016,3202,1505,0,0,0,0,0,0
$GC,5750,0.80,455.1,89.7,10.8,795,5816,0.15,2.12,58.53,0.669,6,0.041,0.036,3119,1797,1215,0,0,0,0,0,0
$GC,6135,0.74,455.1,10.3,19.9,864,6144,0.15,2.17,0.00,0.000,4,0.165,0.044,3087,396,1211,0,0,0,0,0,0
$GC,6169,0.79,455.1,4.7,17.1,869,6177,0.00,2.15,0.00,0.000,6,0.000,0.036,3081,1808,1209,0,0,0,0,0,0
$STATE,6182,end climb,SURFACE_DEPTH_REACHED
$STATE,6182,begin surface coast
$FINISH,0.7,1.021878
$STATE,6205,end surface coast,CONTROL_FINISHED_OK
$STATE,6205,begin surface
$SM_CCo,6223,160.68,0.555,1,0,454,641.95
$SM_CCo,6392,-0.47,0.000,0,0,455,642.20
$SM_GC,1.37,0.00,0.00,-0.47,0.000,0.000,0.000,145,1816,455,-8.43,0.48,642.20
$IRIDIUM_FIX,2335.63,12622.06,260910,080839
$TT8_MAMPS,0.026964
$HUMID,38.02
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,23.80
$XPDR_PINGS,90
$24V_AH,24.3,9.855
$10V_AH,10.6,6.102
$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,22.800,42.550,539.475,160.675,0.000,22.850,12.919,128.265,22.500,0.000,12.979,2016.844,1497.873,720.243,2208.886,245.911,0.000,1527.616,0.000,2059.947,0.000,0.847,0.000
$DEVICE_MAMPS,233.325,55.080,953.190,555.390,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.038,894.221,1506.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50155,875
$CAP_FILE_SIZE,85937,0
$CFSIZE,260165632,177188864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,143.2,1
$GPS,260910,121106,2348.623,12623.344,36,1.1,49,-3.5