version: 66.08
glider: 166
mission: 3
dive: 20
start: 9 25 110 1 48 40
data:
$ID,166
$MISSION,3
$DIVE,20
$N_DIVES,30
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,400
$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,-21501.152
$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,46
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2789
$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
$GPS1,250910,014234,2328.537,12613.117,9,99.0,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.6
$GPS2,250910,014814,2328.581,12613.111,15,1.3,15,-3.4
$SPEED_LIMITS,0.241,0.365
$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,47.0,64825,-18.5,-13.889
$D_GRID,1000
$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,-1.14,-243.3,0.0,0.0,0,114,0.00,0.00,-96.60,0.000,2,0.000,0.000,139,1798,3254,0,0,0,0,0,0
$GC,117,-1.14,-243.3,5.5,-10.3,13,141,8.80,2.15,-9.93,0.000,4,0.230,0.054,2468,387,3783,0,0,0,0,0,0
$GC,171,-0.30,-243.3,34.7,-55.5,21,180,0.90,2.17,0.00,0.000,6,0.185,0.044,2737,1794,3784,0,0,0,0,0,0
$GC,498,-0.58,-243.3,85.8,-9.0,82,506,0.22,2.17,0.00,0.000,4,0.062,0.048,2628,3218,3786,0,0,0,0,0,0
$GC,548,-0.58,-243.3,92.7,-15.8,90,556,0.00,2.12,0.00,0.000,6,0.000,0.035,2628,1796,3787,0,0,0,0,0,0
$GC,876,-0.52,-243.3,150.9,-15.9,151,883,0.15,2.17,0.00,0.000,4,0.166,0.052,2667,3219,3788,0,0,0,0,0,0
$GC,895,-0.52,-243.3,154.0,-14.1,154,904,0.00,2.12,0.00,0.000,6,0.000,0.035,2667,1792,3788,0,0,0,0,0,0
$GC,1236,-0.65,-243.3,191.3,-10.5,215,1243,0.10,2.10,0.00,0.000,4,0.103,0.047,2613,384,3789,0,0,0,0,0,0
$GC,1267,-0.65,-243.3,195.7,-14.8,220,1276,0.00,2.15,0.00,0.000,6,0.000,0.041,2612,1810,3789,0,0,0,0,0,0
$GC,1611,-0.60,-243.3,252.3,-17.5,281,1617,0.12,0.00,0.00,0.000,6,0.178,0.000,2645,1810,3789,0,0,0,0,0,0
$GC,1950,-0.71,-243.3,295.1,-12.6,342,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1810,3789,0,0,0,0,0,0
$GC,2281,-0.84,-243.3,332.2,-10.2,376,2290,0.20,0.00,0.00,0.000,6,0.072,0.000,2558,1812,3789,0,0,0,0,0,0
$GC,2608,-0.71,-243.3,389.1,-18.2,407,2613,0.17,2.15,0.00,0.000,4,0.172,0.048,2606,388,3789,0,0,0,0,0,0
$GC,2646,-0.71,-243.3,395.3,-13.6,410,2654,0.00,2.12,0.00,0.000,6,0.000,0.041,2600,1798,3789,0,0,0,0,0,0
$GC,2974,-0.74,-243.3,434.8,-12.1,441,2978,0.00,2.12,0.00,0.000,4,0.000,0.055,2598,3213,3788,0,0,0,0,0,0
$GC,3035,-0.86,-243.3,441.8,-10.1,446,3043,0.08,2.10,0.00,0.000,6,0.060,0.037,2547,1802,3787,0,0,0,0,0,0
$GC,3362,-0.76,-243.3,493.7,-16.3,477,3367,0.17,2.10,0.00,0.000,4,0.169,0.050,2595,390,3786,0,0,0,0,0,0
$STATE,3404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3404,begin apogee
$GC,3411,-0.23,0.0,500.7,13.5,480,3607,0.50,0.00,190.98,0.952,6,0.132,0.000,2758,1805,2788,0,0,0,0,0,0
$STATE,3608,end apogee,CONTROL_FINISHED_OK
$STATE,3608,begin climb
$GC,3610,1.14,243.3,507.9,0.0,497,3820,1.27,2.35,200.93,0.918,4,0.083,0.055,3198,3212,1796,0,0,0,0,0,0
$GC,3899,0.54,243.3,430.5,36.2,522,3904,0.70,2.17,0.00,0.000,6,0.195,0.041,3017,1802,1793,0,0,0,0,0,0
$GC,4224,0.43,243.3,371.2,16.7,552,4229,0.12,2.17,0.00,0.000,4,0.168,0.050,2972,3214,1788,0,0,0,0,0,0
$GC,4269,0.54,282.2,364.9,12.4,556,4308,0.10,2.15,32.97,0.848,6,0.102,0.041,3037,1793,1638,0,0,0,0,0,0
$GC,4625,0.39,282.2,294.9,20.3,591,4632,0.22,2.20,0.00,0.000,4,0.160,0.048,2962,3221,1632,0,0,0,0,0,0
$GC,4663,0.46,282.2,288.7,14.1,597,4670,0.00,2.15,0.00,0.000,6,0.000,0.040,2971,1797,1631,0,0,0,0,0,0
$GC,5004,0.67,369.9,250.8,10.5,658,5086,0.22,2.25,71.97,0.793,4,0.065,0.048,3086,396,1279,0,0,0,0,0,0
$GC,5130,0.51,369.9,222.1,26.2,677,5137,0.28,2.17,0.00,0.000,6,0.151,0.039,3003,1801,1276,0,0,0,0,0,0
$GC,5469,0.51,369.9,165.7,16.0,738,5477,0.00,2.15,0.00,0.000,4,0.000,0.050,3003,3199,1274,0,0,0,0,0,0
$GC,5536,0.72,404.3,156.6,12.6,749,5571,0.17,2.10,28.45,0.713,6,0.067,0.037,3106,1797,1139,0,0,0,0,0,0
$GC,5892,0.55,404.3,55.0,24.0,814,5900,0.28,2.15,0.00,0.000,4,0.152,0.045,3027,394,1136,0,0,0,0,0,0
$GC,5925,0.78,471.3,50.2,11.3,819,5986,0.12,2.12,54.08,0.643,6,0.045,0.035,3111,1802,867,0,0,0,0,0,0
$STATE,6198,end climb,SURFACE_DEPTH_REACHED
$STATE,6199,begin surface coast
$FINISH,0.7,1.021845
$STATE,6214,end surface coast,CONTROL_FINISHED_OK
$STATE,6214,begin surface
$SM_CCo,6291,0.00,0.000,0,0,860,473.18
$SM_GC,1.45,7.70,0.00,0.00,0.043,0.000,0.000,155,1807,860,-8.34,0.17,473.18
$IRIDIUM_FIX,2319.18,12614.60,240910,232337
$TT8_MAMPS,0.026215
$HUMID,41.41
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,23.50
$XPDR_PINGS,106
$24V_AH,24.3,6.904
$10V_AH,10.5,4.166
$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,22.625,56.075,579.375,0.000,0.000,29.593,37.942,134.685,26.500,0.000,16.294,2007.966,1555.931,558.402,2266.677,246.255,0.000,1400.422,0.000,2064.122,0.000,0.847,0.000
$DEVICE_MAMPS,230.265,55.080,951.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.804,888.674,1440.780,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330508
$DATA_FILE_SIZE,50256,869
$CAP_FILE_SIZE,88675,0
$CFSIZE,260165632,178114560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,350.0,1
$GPS,250910,033420,2329.954,12613.909,12,1.1,13,-3.5