version: 66.08
glider: 166
mission: 3
dive: 21
start: 9 25 110 3 40 32
data:
$ID,166
$MISSION,3
$DIVE,21
$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,-21502.504
$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,43
$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
$GPS1,250910,033420,2329.954,12613.909,12,1.1,13,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.5
$GPS2,250910,034008,2330.004,12613.877,13,1.2,13,-3.5
$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,41.1,61889,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.14,-243.3,0.0,0.0,0,112,0.00,0.00,-93.75,0.000,2,0.000,0.000,139,1809,3250,0,0,0,0,0,0
$GC,115,-1.14,-243.3,5.4,-10.1,13,140,8.90,2.17,-10.07,0.000,4,0.234,0.054,2463,380,3784,0,0,0,0,0,0
$GC,196,-0.41,-243.3,49.1,-54.2,26,205,0.82,2.17,0.00,0.000,6,0.198,0.042,2697,1798,3786,0,0,0,0,0,0
$GC,524,-0.54,-243.3,100.2,-12.0,87,532,0.00,2.12,0.00,0.000,4,0.000,0.045,2697,396,3788,0,0,0,0,0,0
$GC,552,-0.69,-243.3,103.5,-10.8,91,562,0.17,2.12,0.00,0.000,6,0.046,0.039,2599,1801,3788,0,0,0,0,0,0
$GC,882,-0.54,-243.3,168.0,-20.1,152,890,0.22,2.15,0.00,0.000,4,0.164,0.050,2655,3208,3789,0,0,0,0,0,0
$GC,942,-0.71,-243.3,176.6,-10.3,162,950,0.10,2.10,0.00,0.000,6,0.050,0.035,2585,1795,3789,0,0,0,0,0,0
$GC,1273,-0.57,-243.3,239.8,-19.0,223,1280,0.25,0.00,0.00,0.000,6,0.161,0.000,2664,1794,3789,0,0,0,0,0,0
$GC,1606,-0.74,-243.3,273.9,-9.0,284,1615,0.17,2.12,0.00,0.000,4,0.075,0.049,2580,397,3790,0,0,0,0,0,0
$GC,1645,-0.65,-243.3,279.4,-17.3,290,1653,0.15,2.12,0.00,0.000,6,0.145,0.041,2622,1801,3790,0,0,0,0,0,0
$GC,1982,-0.68,-243.3,326.1,-14.1,334,1986,0.00,2.12,0.00,0.000,4,0.000,0.054,2622,3209,3790,0,0,0,0,0,0
$GC,2037,-0.85,-243.3,333.0,-11.3,338,2046,0.12,2.10,0.00,0.000,6,0.047,0.037,2549,1802,3790,0,0,0,0,0,0
$GC,2365,-0.69,-243.3,395.3,-19.5,369,2370,0.22,2.10,0.00,0.000,4,0.167,0.045,2613,392,3790,0,0,0,0,0,0
$GC,2453,-0.76,-243.3,409.0,-13.7,376,2461,0.00,2.12,0.00,0.000,6,0.000,0.041,2612,1802,3789,0,0,0,0,0,0
$GC,2780,-0.83,-243.3,449.7,-11.8,407,2784,0.12,2.12,0.00,0.000,4,0.095,0.056,2555,3213,3789,0,0,0,0,0,0
$GC,2809,-0.83,-243.3,453.9,-14.8,409,2813,0.00,2.08,0.00,0.000,6,0.000,0.037,2555,1787,3788,0,0,0,0,0,0
$STATE,3104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3104,begin apogee
$GC,3109,-0.23,0.0,500.1,15.2,436,3309,0.62,0.00,191.38,0.949,6,0.143,0.000,2761,1786,2787,0,0,0,0,0,0
$STATE,3310,end apogee,CONTROL_FINISHED_OK
$STATE,3310,begin climb
$GC,3313,1.14,243.3,507.6,0.0,453,3526,1.27,2.35,200.55,0.916,4,0.084,0.054,3198,3195,1796,0,0,0,0,0,0
$GC,3595,0.58,243.3,432.6,35.4,477,3601,0.65,2.15,0.00,0.000,6,0.189,0.041,3028,1802,1794,0,0,0,0,0,0
$GC,3922,0.43,243.3,364.0,19.7,507,3927,0.15,2.15,0.00,0.000,4,0.160,0.050,2974,3205,1788,0,0,0,0,0,0
$GC,3955,0.43,243.3,357.8,15.3,509,3962,0.00,2.10,0.00,0.000,6,0.000,0.038,2982,1797,1787,0,0,0,0,0,0
$GC,4280,0.43,243.3,311.7,14.0,540,4284,0.00,2.12,0.00,0.000,4,0.000,0.049,2993,390,1785,0,0,0,0,0,0
$GC,4314,0.43,243.3,306.6,14.3,542,4322,0.00,2.15,0.00,0.000,6,0.000,0.039,2993,1794,1784,0,0,0,0,0,0
$GC,4650,0.44,246.6,260.6,13.8,598,4658,0.00,2.15,0.00,0.000,4,0.000,0.050,2993,3203,1783,0,0,0,0,0,0
$GC,4700,0.50,267.3,254.1,13.1,606,4729,0.00,2.12,19.83,0.783,6,0.000,0.039,3003,1793,1699,0,0,0,0,0,0
$GC,5062,0.50,267.3,205.2,14.0,670,5070,0.00,2.15,0.00,0.000,4,0.000,0.048,3014,396,1694,0,0,0,0,0,0
$GC,5088,0.51,271.3,201.1,13.7,674,5097,0.00,2.15,4.40,0.529,6,0.000,0.037,3013,1807,1682,0,0,0,0,0,0
$GC,5432,0.51,271.3,150.3,14.6,735,5439,0.00,2.12,0.00,0.000,4,0.000,0.049,3013,3220,1681,0,0,0,0,0,0
$GC,5517,0.63,331.6,139.8,11.6,750,5576,0.00,2.12,49.92,0.721,6,0.000,0.037,3022,1802,1437,0,0,0,0,0,0
$GC,5894,0.67,331.6,87.6,14.4,818,5903,0.10,2.17,0.00,0.000,4,0.107,0.047,3064,3205,1433,0,0,0,0,0,0
$GC,5932,0.61,331.6,81.1,18.6,824,5942,0.10,2.12,0.00,0.000,6,0.148,0.037,3040,1797,1433,0,0,0,0,0,0
$GC,6266,1.05,506.9,42.5,7.2,885,6416,0.32,2.25,139.43,0.621,4,0.052,0.043,3205,390,721,0,0,0,0,0,0
$STATE,6422,end climb,SURFACE_DEPTH_REACHED
$STATE,6422,begin surface coast
$FINISH,0.7,1.021676
$STATE,6429,end surface coast,CONTROL_FINISHED_OK
$STATE,6429,begin surface
$SM_CCo,6508,0.00,0.000,0,0,717,508.26
$SM_GC,1.52,8.02,0.00,0.00,0.034,0.000,0.000,149,1820,717,-8.35,0.57,508.26
$IRIDIUM_FIX,2321.52,12614.60,250910,010132
$TT8_MAMPS,0.026215
$HUMID,38.54
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.10
$XPDR_PINGS,97
$24V_AH,24.3,7.060
$10V_AH,10.5,4.284
$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,22.525,64.375,605.500,0.000,0.000,31.232,35.508,143.045,24.250,0.000,14.683,2092.992,1550.792,577.245,2382.697,252.594,0.000,1475.110,0.000,2175.197,0.000,0.847,0.000
$DEVICE_MAMPS,234.090,55.845,949.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.022,927.222,1539.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330500
$DATA_FILE_SIZE,53590,907
$CAP_FILE_SIZE,92680,0
$CFSIZE,260165632,178053120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 33.1,1
$GPS,250910,053007,2331.193,12614.783,30,1.0,31,-3.5