version: 66.08
glider: 166
mission: 3
dive: 23
start: 9 25 110 7 21 16
data:
$ID,166
$MISSION,3
$DIVE,23
$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,-21506.414
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,250910,071513,2332.289,12615.412,15,1.7,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.1
$GPS2,250910,072052,2332.294,12615.390,12,2.4,31,-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,21.5,56955,-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,-243.3,0.0,0.0,0,122,0.00,0.00,-104.45,0.000,2,0.000,0.000,140,1818,3251,0,0,0,0,0,0
$GC,125,-1.14,-243.3,5.5,-10.8,14,150,8.75,2.20,-9.98,0.000,4,0.229,0.053,2468,373,3784,0,0,0,0,0,0
$GC,232,-0.47,-243.3,60.3,-41.7,32,241,0.70,2.17,0.00,0.000,6,0.178,0.041,2682,1791,3786,0,0,0,0,0,0
$GC,559,-0.54,-243.3,109.8,-12.6,93,567,0.00,2.17,0.00,0.000,4,0.000,0.051,2680,3216,3788,0,0,0,0,0,0
$GC,666,-0.79,-243.3,121.6,-10.2,112,675,0.22,2.12,0.00,0.000,6,0.037,0.034,2561,1789,3788,0,0,0,0,0,0
$GC,1007,-0.54,-243.3,202.0,-23.3,173,1015,0.30,2.05,0.00,0.000,4,0.168,0.042,2655,385,3789,0,0,0,0,0,0
$GC,1037,-0.44,-243.3,208.5,-21.8,177,1044,0.15,2.12,0.00,0.000,6,0.154,0.041,2700,1809,3789,0,0,0,0,0,0
$GC,1378,-0.74,-243.3,233.3,-5.5,238,1387,0.25,2.12,0.00,0.000,4,0.056,0.050,2573,3202,3789,0,0,0,0,0,0
$GC,1424,-0.67,-243.3,238.2,-13.3,245,1432,0.17,2.05,0.00,0.000,6,0.164,0.034,2622,1789,3789,0,0,0,0,0,0
$GC,1763,-0.67,-243.3,282.5,-13.0,306,1771,0.00,2.08,0.00,0.000,4,0.000,0.045,2622,396,3789,0,0,0,0,0,0
$GC,1818,-0.72,-243.3,289.7,-13.3,315,1825,0.00,2.10,0.00,0.000,6,0.000,0.041,2622,1806,3789,0,0,0,0,0,0
$GC,2156,-0.76,-243.3,330.9,-12.1,353,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1807,3788,0,0,0,0,0,0
$GC,2485,-0.84,-243.3,369.5,-11.2,384,2493,0.15,0.00,0.00,0.000,6,0.085,0.000,2556,1807,3788,0,0,0,0,0,0
$GC,2811,-0.72,-243.3,423.9,-16.0,415,2816,0.17,2.10,0.00,0.000,4,0.170,0.047,2604,403,3787,0,0,0,0,0,0
$GC,2888,-0.77,-243.3,433.8,-11.6,421,2892,0.00,2.08,0.00,0.000,6,0.000,0.041,2599,1810,3787,0,0,0,0,0,0
$GC,3215,-0.81,-243.3,473.5,-13.0,451,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1810,3785,0,0,0,0,0,0
$STATE,3433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3433,begin apogee
$GC,3440,-0.23,0.0,500.2,11.6,472,3638,0.47,0.00,190.43,0.955,6,0.135,0.000,2760,1810,2788,0,0,0,0,0,0
$STATE,3638,end apogee,CONTROL_FINISHED_OK
$STATE,3638,begin climb
$GC,3642,1.14,243.3,506.5,0.0,489,3855,1.27,2.30,200.60,0.916,4,0.083,0.053,3198,3200,1795,0,0,0,0,0,0
$GC,3904,0.55,243.3,438.3,38.4,511,3909,0.68,2.15,0.00,0.000,6,0.190,0.039,3023,1811,1792,0,0,0,0,0,0
$GC,4231,0.41,243.3,374.3,18.7,541,4238,0.17,0.00,0.00,0.000,6,0.160,0.000,2972,1811,1787,0,0,0,0,0,0
$GC,4557,0.51,286.6,330.7,12.2,572,4598,0.00,2.20,35.95,0.838,4,0.000,0.046,2981,389,1619,0,0,0,0,0,0
$GC,4637,0.65,319.6,321.4,12.6,578,4675,0.20,2.15,28.35,0.812,6,0.067,0.039,3072,1795,1485,0,0,0,0,0,0
$GC,5001,0.41,319.6,229.4,25.1,635,5009,0.30,2.15,0.00,0.000,4,0.163,0.047,2969,3220,1479,0,0,0,0,0,0
$GC,5066,0.72,406.3,219.2,10.6,646,5147,0.22,2.15,71.53,0.767,6,0.036,0.037,3104,1801,1131,0,0,0,0,0,0
$GC,5473,0.49,406.3,103.3,26.7,718,5481,0.32,0.00,0.00,0.000,6,0.161,0.000,3002,1801,1125,0,0,0,0,0,0
$GC,5804,1.02,592.0,66.0,6.8,779,5949,0.40,2.28,134.43,0.640,4,0.044,0.044,3206,390,452,0,0,0,0,0,0
$GC,6024,0.84,592.0,7.0,29.8,812,6033,0.25,2.20,0.00,0.000,6,0.141,0.037,3119,1810,448,0,0,0,0,0,0
$STATE,6039,end climb,SURFACE_DEPTH_REACHED
$STATE,6040,begin surface coast
$FINISH,0.7,1.021839
$STATE,6053,end surface coast,CONTROL_FINISHED_OK
$STATE,6053,begin surface
$SM_CCo,6131,0.00,0.000,0,0,447,574.74
$SM_GC,1.28,7.75,0.00,0.00,0.039,0.000,0.000,157,1814,447,-8.33,0.42,574.74
$IRIDIUM_FIX,2319.18,12614.60,250910,050509
$TT8_MAMPS,0.026215
$HUMID,39.88
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,23.30
$XPDR_PINGS,85
$24V_AH,24.3,7.393
$10V_AH,10.5,4.493
$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,22.925,42.950,661.275,0.000,0.000,28.697,13.715,143.773,21.250,0.000,34.272,1852.816,1618.042,612.787,2149.197,238.454,0.000,1435.829,0.000,1948.019,0.000,0.847,0.000
$DEVICE_MAMPS,228.735,52.785,954.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.661,834.234,1372.256,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330504
$DATA_FILE_SIZE,46994,816
$CAP_FILE_SIZE,83326,0
$CFSIZE,260165632,177967104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029, 98.0,1
$GPS,250910,090437,2333.350,12615.945,35,1.1,35,-3.5