version: 66.08
glider: 166
mission: 3
dive: 54
start: 9 27 110 15 21 13
data:
$ID,166
$MISSION,3
$DIVE,54
$N_DIVES,60
$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,-21551.93
$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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,270910,151537,2356.489,12629.299,8,1.6,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.1
$GPS2,270910,152050,2356.493,12629.215,12,1.7,12,-3.6
$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,180.2,82412,-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,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,134,0.00,0.00,-115.82,0.000,2,0.000,0.000,123,1801,3386,0,0,0,0,0,0
$GC,137,-1.16,-214.1,5.6,-10.0,16,162,9.12,2.17,-10.02,0.000,4,0.238,0.050,2459,378,3948,0,0,0,0,0,0
$GC,399,-0.93,-214.1,125.9,-33.0,64,407,0.28,2.15,0.00,0.000,6,0.177,0.034,2533,1806,3951,0,0,0,0,0,0
$GC,735,-0.80,-214.1,225.5,-26.5,125,742,0.17,2.12,0.00,0.000,4,0.179,0.038,2581,390,3954,0,0,0,0,0,0
$GC,801,-0.75,-214.1,241.9,-22.0,136,809,0.00,2.12,0.00,0.000,6,0.000,0.035,2576,1801,3954,0,0,0,0,0,0
$GC,1145,-0.71,-214.1,308.1,-17.9,194,1149,0.12,2.12,0.00,0.000,4,0.183,0.041,2608,383,3954,0,0,0,0,0,0
$GC,1169,-0.68,-214.1,312.1,-17.8,196,1173,0.00,2.10,0.00,0.000,6,0.000,0.034,2602,1810,3954,0,0,0,0,0,0
$GC,1501,-0.70,-214.1,362.1,-15.7,227,1505,0.00,2.10,0.00,0.000,4,0.000,0.050,2603,3208,3954,0,0,0,0,0,0
$GC,1568,-0.79,-214.1,371.5,-12.6,232,1576,0.00,2.10,0.00,0.000,6,0.000,0.034,2603,1795,3953,0,0,0,0,0,0
$GC,1896,-0.83,-214.1,419.4,-14.4,263,1899,0.00,2.15,0.00,0.000,4,0.000,0.051,2604,3206,3952,0,0,0,0,0,0
$GC,1950,-0.93,-214.1,426.5,-12.7,267,1955,0.17,2.05,0.00,0.000,6,0.071,0.034,2516,1790,3951,0,0,0,0,0,0
$GC,2278,-0.84,-214.1,496.4,-20.7,297,2283,0.17,2.08,0.00,0.000,4,0.173,0.046,2562,393,3949,0,0,0,0,0,0
$STATE,2293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2293,begin apogee
$GC,2301,-0.23,0.0,500.6,20.3,298,2473,0.60,0.00,167.45,0.937,6,0.143,0.000,2761,1808,3072,0,0,0,0,0,0
$STATE,2474,end apogee,CONTROL_FINISHED_OK
$STATE,2474,begin climb
$GC,2476,1.16,214.1,507.7,0.0,312,2661,1.30,2.30,172.43,0.910,4,0.073,0.049,3233,402,2198,0,0,0,0,0,0
$GC,2689,0.84,214.1,470.7,31.9,330,2698,0.38,2.22,0.00,0.000,6,0.187,0.039,3121,1795,2196,0,0,0,0,0,0
$GC,3016,0.66,214.1,396.5,21.6,361,3021,0.22,2.15,0.00,0.000,4,0.180,0.046,3048,3215,2192,0,0,0,0,0,0
$GC,3124,0.58,214.1,378.1,15.7,370,3128,0.00,2.12,0.00,0.000,6,0.000,0.037,3056,1801,2189,0,0,0,0,0,0
$GC,3451,0.49,214.1,326.2,15.9,400,3453,0.20,0.00,0.00,0.000,6,0.170,0.000,3001,1802,2188,0,0,0,0,0,0
$GC,3769,0.59,297.1,290.6,10.3,438,3844,0.00,2.20,66.82,0.818,4,0.000,0.044,3009,392,1859,0,0,0,0,0,0
$GC,3871,0.73,370.8,280.1,10.7,453,3940,0.17,2.17,61.83,0.789,6,0.070,0.036,3090,1808,1559,0,0,0,0,0,0
$GC,4265,0.64,370.8,194.6,22.4,523,4273,0.15,2.15,0.00,0.000,4,0.175,0.046,3042,3215,1552,0,0,0,0,0,0
$GC,4324,0.68,370.8,183.8,14.8,533,4331,0.00,2.10,0.00,0.000,6,0.000,0.036,3050,1798,1552,0,0,0,0,0,0
$GC,4651,0.68,370.8,131.5,15.4,594,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1798,1551,0,0,0,0,0,0
$GC,4978,0.74,396.8,83.8,12.8,655,5009,0.00,2.17,20.98,0.652,4,0.000,0.045,3053,396,1452,0,0,0,0,0,0
$GC,5093,0.88,458.3,70.8,11.2,674,5154,0.15,2.15,50.10,0.646,6,0.038,0.034,3150,1813,1202,0,0,0,0,0,0
$STATE,5420,end climb,SURFACE_DEPTH_REACHED
$STATE,5420,begin surface coast
$FINISH,0.7,0.999140
$STATE,5434,end surface coast,CONTROL_FINISHED_OK
$STATE,5434,begin surface
$SM_CCo,5451,153.70,0.552,1,0,455,641.95
$SM_CCo,5613,-0.47,0.000,0,0,454,642.20
$SM_GC,1.39,0.00,0.00,-0.47,0.000,0.000,0.000,136,1817,454,-8.45,0.48,642.20
$IRIDIUM_FIX,2349.77,12629.56,270910,131333
$TT8_MAMPS,0.026215
$HUMID,38.69
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,23.90
$XPDR_PINGS,70
$24V_AH,24.4,12.539
$10V_AH,10.5,7.804
$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,20.950,47.175,539.600,153.700,0.000,28.537,14.268,136.752,17.500,0.000,13.484,1695.392,1386.596,679.169,1938.568,228.778,0.000,1418.943,0.000,1769.064,0.000,0.847,0.000
$DEVICE_MAMPS,237.915,51.255,937.125,552.330,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.081,750.233,1237.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43621,734
$CAP_FILE_SIZE,78623,0
$CFSIZE,260165632,176377856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,220.8,1
$GPS,270910,165606,2355.351,12629.193,41,1.1,41,-3.6