version: 66.08
glider: 166
mission: 3
dive: 62
start: 9 28 110 5 19 14
data:
$ID,166
$MISSION,3
$DIVE,62
$N_DIVES,75
$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,-21562.633
$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,39
$R_STBD_OVSHOOT,44
$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
$GPS1,280910,051304,2349.256,12628.552,11,3.5,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.1
$GPS2,280910,051852,2349.249,12628.549,10,2.2,29,-3.5
$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,161.4,69030,-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,-214.1,0.0,0.0,0,128,0.00,0.00,-109.40,0.000,2,0.000,0.000,136,1808,3245,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.2,-9.6,15,162,9.07,2.17,-13.07,0.000,4,0.238,0.049,2454,376,3949,0,0,0,0,0,0
$GC,400,-0.89,-214.1,130.2,-42.0,64,409,0.35,2.15,0.00,0.000,6,0.180,0.037,2544,1792,3952,0,0,0,0,0,0
$GC,736,-0.78,-214.1,222.9,-24.2,125,745,0.15,2.12,0.00,0.000,4,0.184,0.038,2585,383,3955,0,0,0,0,0,0
$GC,781,-0.75,-214.1,232.2,-18.7,132,789,0.00,2.12,0.00,0.000,6,0.000,0.034,2578,1802,3955,0,0,0,0,0,0
$GC,1114,-0.71,-214.1,298.3,-19.1,193,1122,0.12,0.00,0.00,0.000,6,0.186,0.000,2610,1803,3955,0,0,0,0,0,0
$GC,1449,-0.74,-214.1,350.7,-15.9,225,1453,0.00,2.10,0.00,0.000,4,0.000,0.049,2603,3200,3954,0,0,0,0,0,0
$GC,1501,-0.82,-214.1,358.4,-13.8,229,1505,0.00,2.05,0.00,0.000,6,0.000,0.033,2603,1792,3954,0,0,0,0,0,0
$GC,1833,-0.85,-214.1,407.9,-13.8,260,1837,0.10,2.10,0.00,0.000,4,0.106,0.044,2552,392,3952,0,0,0,0,0,0
$GC,1920,-0.83,-214.1,422.7,-17.1,267,1927,0.00,2.08,0.00,0.000,6,0.000,0.040,2552,1795,3952,0,0,0,0,0,0
$GC,2246,-0.80,-214.1,481.2,-17.3,298,2250,0.00,2.12,0.00,0.000,4,0.000,0.054,2550,3214,3951,0,0,0,0,0,0
$GC,2288,-0.80,-214.1,488.1,-16.8,301,2292,0.10,2.08,0.00,0.000,6,0.174,0.037,2576,1802,3951,0,0,0,0,0,0
$STATE,2361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2361,begin apogee
$GC,2366,-0.23,0.0,500.2,15.4,308,2538,0.55,0.00,167.30,0.943,6,0.129,0.000,2764,1802,3072,0,0,0,0,0,0
$STATE,2539,end apogee,CONTROL_FINISHED_OK
$STATE,2539,begin climb
$GC,2541,1.16,214.1,509.1,0.0,322,2719,1.20,0.00,173.00,0.916,6,0.050,0.000,3222,1802,2199,0,0,0,0,0,0
$GC,3039,0.87,214.1,387.7,28.5,370,3047,0.38,0.00,0.00,0.000,6,0.195,0.000,3124,1802,2192,0,0,0,0,0,0
$GC,3366,0.69,214.1,321.4,20.2,401,3371,0.20,2.15,0.00,0.000,4,0.181,0.044,3077,390,2188,0,0,0,0,0,0
$GC,3421,0.59,214.1,311.9,15.7,405,3429,0.15,2.10,0.00,0.000,6,0.174,0.037,3036,1799,2188,0,0,0,0,0,0
$GC,3749,0.57,234.7,269.4,13.0,458,3771,0.00,2.20,16.52,0.774,4,0.000,0.047,3026,3208,2115,0,0,0,0,0,0
$GC,3805,0.57,248.7,261.6,13.3,467,3827,0.00,2.10,13.25,0.744,6,0.000,0.036,3034,1797,2056,0,0,0,0,0,0
$GC,4155,0.55,253.1,212.9,13.7,530,4164,0.00,2.17,4.45,0.529,4,0.000,0.045,3045,396,2040,0,0,0,0,0,0
$GC,4321,0.59,285.1,190.5,12.5,559,4354,0.00,2.10,27.23,0.739,6,0.000,0.034,3045,1801,1909,0,0,0,0,0,0
$GC,4681,0.60,287.4,140.8,13.8,624,4688,0.00,2.15,0.00,0.000,4,0.000,0.046,3045,3199,1903,0,0,0,0,0,0
$GC,4723,0.62,306.1,135.1,13.1,631,4747,0.00,2.10,17.62,0.681,6,0.000,0.035,3049,1800,1824,0,0,0,0,0,0
$GC,5069,0.62,306.1,87.9,14.0,694,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1800,1821,0,0,0,0,0,0
$GC,5395,0.91,481.1,57.1,6.3,755,5545,0.22,2.22,139.02,0.631,4,0.057,0.041,3160,3210,1110,0,0,0,0,0,0
$GC,5580,0.86,481.1,23.9,20.6,781,5589,0.12,2.17,0.00,0.000,6,0.149,0.034,3124,1803,1109,0,0,0,0,0,0
$STATE,5695,end climb,SURFACE_DEPTH_REACHED
$STATE,5695,begin surface coast
$FINISH,0.7,1.021673
$STATE,5713,end surface coast,CONTROL_FINISHED_OK
$STATE,5713,begin surface
$SM_CCo,5731,136.52,0.538,1,0,455,641.95
$SM_CCo,5876,-0.03,0.000,0,0,453,642.20
$SM_GC,1.38,0.00,0.00,-0.03,0.000,0.000,0.000,133,1801,453,-8.46,0.06,642.20
$IRIDIUM_FIX,2340.34,12626.75,280910,030337
$TT8_MAMPS,0.026215
$HUMID,37.75
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.90
$XPDR_PINGS,68
$24V_AH,24.4,13.859
$10V_AH,10.6,8.636
$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,20.550,42.575,558.400,136.525,0.000,23.788,35.607,131.881,17.000,0.000,32.604,1847.519,1344.734,692.387,2101.128,238.757,0.000,1460.621,0.000,1901.453,0.000,0.847,0.000
$DEVICE_MAMPS,237.915,54.315,943.245,537.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.398,823.057,1362.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47011,805
$CAP_FILE_SIZE,80742,0
$CFSIZE,260165632,175976448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,242.5,1
$GPS,280910,065802,2348.254,12628.546,13,1.5,13,-3.5