version: 66.08
glider: 166
mission: 3
dive: 58
start: 9 27 110 22 13 55
data:
$ID,166
$MISSION,3
$DIVE,58
$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,-21557.326
$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,40
$R_STBD_OVSHOOT,38
$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
$GPS1,270910,220814,2352.776,12628.925,11,1.3,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.6
$GPS2,270910,221332,2352.814,12628.863,12,1.2,12,-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,173.3,75612,-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,15,-1.16,-214.1,0.0,0.0,0,132,0.00,0.00,-113.60,0.000,2,0.000,0.000,147,1811,3330,0,0,0,0,0,0
$GC,135,-1.16,-214.1,5.9,-11.8,16,166,9.07,2.20,-11.05,0.000,4,0.239,0.050,2465,377,3948,0,0,0,0,0,0
$GC,353,-0.89,-214.1,102.4,-39.4,55,362,0.30,2.15,0.00,0.000,6,0.174,0.036,2542,1794,3951,0,0,0,0,0,0
$GC,687,-0.76,-214.1,200.7,-26.4,116,695,0.17,0.00,0.00,0.000,6,0.180,0.000,2590,1797,3954,0,0,0,0,0,0
$GC,1031,-0.73,-214.1,267.7,-18.5,177,1037,0.00,2.10,0.00,0.000,4,0.000,0.040,2595,390,3955,0,0,0,0,0,0
$GC,1068,-0.73,-214.1,274.3,-17.4,183,1075,0.00,2.08,0.00,0.000,6,0.000,0.034,2590,1808,3955,0,0,0,0,0,0
$GC,1401,-0.72,-214.1,331.9,-17.9,227,1405,0.00,2.10,0.00,0.000,4,0.000,0.047,2582,3214,3954,0,0,0,0,0,0
$GC,1485,-0.75,-214.1,346.1,-15.0,234,1489,0.00,2.08,0.00,0.000,6,0.000,0.034,2582,1787,3954,0,0,0,0,0,0
$GC,1810,-0.75,-214.1,401.0,-16.1,264,1814,0.00,2.05,0.00,0.000,4,0.000,0.042,2581,396,3953,0,0,0,0,0,0
$GC,1855,-0.75,-214.1,408.2,-15.1,268,1859,0.00,2.08,0.00,0.000,6,0.000,0.038,2578,1806,3953,0,0,0,0,0,0
$GC,2180,-0.75,-214.1,458.1,-14.8,298,2184,0.00,2.10,0.00,0.000,4,0.000,0.050,2570,3214,3951,0,0,0,0,0,0
$GC,2217,-0.77,-214.1,462.8,-13.2,301,2221,0.00,2.05,0.00,0.000,6,0.000,0.035,2569,1802,3951,0,0,0,0,0,0
$STATE,2480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2480,begin apogee
$GC,2485,-0.23,0.0,500.8,15.0,325,2657,0.57,0.00,167.90,0.950,6,0.132,0.000,2762,1802,3072,0,0,0,0,0,0
$STATE,2658,end apogee,CONTROL_FINISHED_OK
$STATE,2658,begin climb
$GC,2662,1.16,214.1,509.4,0.0,339,2840,1.23,0.00,172.32,0.924,6,0.054,0.000,3222,1802,2199,0,0,0,0,0,0
$GC,3159,0.87,214.1,391.8,29.7,384,3164,0.35,2.15,0.00,0.000,4,0.197,0.046,3134,390,2192,0,0,0,0,0,0
$GC,3192,0.65,214.1,382.3,25.7,386,3200,0.25,2.17,0.00,0.000,6,0.167,0.040,3055,1795,2191,0,0,0,0,0,0
$GC,3519,0.57,219.3,332.9,13.7,417,3531,0.00,2.20,4.22,0.562,4,0.000,0.048,3053,3218,2177,0,0,0,0,0,0
$GC,3599,0.50,219.3,321.2,14.3,424,3604,0.20,2.10,0.00,0.000,6,0.169,0.037,3005,1797,2175,0,0,0,0,0,0
$GC,3926,0.60,295.2,285.8,10.6,466,3994,0.00,2.30,62.62,0.824,4,0.000,0.047,2998,3213,1868,0,0,0,0,0,0
$GC,4021,0.67,334.4,275.3,12.2,480,4064,0.10,2.20,33.90,0.786,6,0.047,0.037,3073,1799,1708,0,0,0,0,0,0
$GC,4391,0.61,334.4,202.5,18.9,546,4399,0.12,2.17,0.00,0.000,4,0.182,0.046,3051,391,1701,0,0,0,0,0,0
$GC,4481,0.61,334.4,188.3,14.1,562,4488,0.00,2.15,0.00,0.000,6,0.000,0.036,3050,1799,1699,0,0,0,0,0,0
$GC,4812,0.61,334.4,135.9,14.9,623,4821,0.00,2.15,0.00,0.000,4,0.000,0.047,3043,3210,1698,0,0,0,0,0,0
$GC,4857,0.65,341.0,129.8,13.6,630,4873,0.00,2.12,5.57,0.552,6,0.000,0.036,3048,1797,1680,0,0,0,0,0,0
$GC,5192,0.71,375.5,86.4,12.4,692,5229,0.00,2.17,29.15,0.666,4,0.000,0.043,3056,364,1540,0,0,0,0,0,0
$GC,5274,0.80,392.0,75.5,13.2,705,5300,0.08,2.20,14.27,0.620,6,0.054,0.034,3120,1797,1473,0,0,0,0,0,0
$GC,5623,0.78,392.0,20.0,16.0,768,5631,0.00,2.15,0.00,0.000,4,0.000,0.045,3120,3216,1471,0,0,0,0,0,0
$GC,5666,0.78,392.0,12.6,16.7,775,5675,0.10,2.12,0.00,0.000,6,0.138,0.035,3092,1798,1471,0,0,0,0,0,0
$STATE,5739,end climb,SURFACE_DEPTH_REACHED
$STATE,5739,begin surface coast
$FINISH,0.7,1.008234
$STATE,5769,end surface coast,CONTROL_FINISHED_OK
$STATE,5769,begin surface
$SM_CCo,5786,210.50,0.561,1,0,455,641.95
$SM_CCo,6004,-0.38,0.000,0,0,454,642.20
$SM_GC,1.37,0.00,0.00,-0.38,0.000,0.000,0.000,150,1794,454,-8.41,-0.17,642.20
$IRIDIUM_FIX,2345.05,12628.15,270910,202055
$TT8_MAMPS,0.026215
$HUMID,37.16
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.50
$XPDR_PINGS,79
$24V_AH,24.4,13.202
$10V_AH,10.5,8.216
$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,20.150,51.350,489.975,210.500,0.000,31.043,13.199,137.597,19.750,0.000,13.711,1848.673,1434.911,718.799,2076.951,246.840,0.000,1491.664,0.000,1905.000,0.000,0.848,0.000
$DEVICE_MAMPS,239.445,50.490,950.130,560.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.973,811.416,1351.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46961,793
$CAP_FILE_SIZE,83406,0
$CFSIZE,260165632,176173056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038,358.2,1
$GPS,270910,235506,2352.060,12629.118,10,2.0,26,-3.6