version: 66.08
glider: 166
mission: 3
dive: 27
start: 9 25 110 14 44 43
data:
$ID,166
$MISSION,3
$DIVE,27
$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,-21514.465
$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,41
$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
$GPS1,250910,143837,2336.756,12617.208,11,1.9,22,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.8
$GPS2,250910,144419,2336.801,12617.212,9,1.9,26,-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,36.6,48105,-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,13,begin dive
$GC,15,-1.14,-243.3,0.0,0.0,0,122,0.00,0.00,-104.38,0.000,2,0.000,0.000,139,1791,3181,0,0,0,0,0,0
$GC,125,-1.14,-243.3,5.2,-10.5,14,156,8.93,2.12,-11.62,0.000,4,0.235,0.055,2468,384,3784,0,0,0,0,0,0
$GC,239,-0.56,-243.3,62.2,-43.7,33,248,0.62,2.17,0.00,0.000,6,0.170,0.045,2649,1789,3786,0,0,0,0,0,0
$GC,564,-0.56,-243.3,122.2,-15.3,94,572,0.00,2.17,0.00,0.000,4,0.000,0.052,2649,3211,3788,0,0,0,0,0,0
$GC,746,-0.70,-243.3,145.0,-11.1,127,754,0.08,2.10,0.00,0.000,6,0.055,0.034,2591,1796,3788,0,0,0,0,0,0
$GC,1085,-0.56,-243.3,207.7,-18.4,188,1095,0.22,2.10,0.00,0.000,4,0.164,0.042,2655,394,3789,0,0,0,0,0,0
$GC,1169,-0.71,-243.3,219.3,-11.4,202,1178,0.10,2.12,0.00,0.000,6,0.054,0.039,2587,1804,3789,0,0,0,0,0,0
$GC,1514,-0.62,-243.3,278.1,-15.9,263,1521,0.17,2.12,0.00,0.000,4,0.165,0.044,2636,388,3789,0,0,0,0,0,0
$GC,1575,-0.72,-243.3,286.6,-12.5,273,1581,0.00,2.10,0.00,0.000,6,0.000,0.040,2636,1800,3789,0,0,0,0,0,0
$GC,1914,-0.83,-243.3,322.7,-10.6,315,1918,0.17,2.12,0.00,0.000,4,0.078,0.053,2556,3218,3789,0,0,0,0,0,0
$GC,1966,-0.78,-243.3,330.2,-15.1,319,1971,0.12,2.08,0.00,0.000,6,0.174,0.035,2589,1791,3789,0,0,0,0,0,0
$GC,2296,-0.78,-243.3,380.1,-14.6,350,2300,0.00,2.05,0.00,0.000,4,0.000,0.045,2589,388,3789,0,0,0,0,0,0
$GC,2384,-0.78,-243.3,393.6,-14.5,357,2391,0.00,2.12,0.00,0.000,6,0.000,0.040,2585,1798,3789,0,0,0,0,0,0
$GC,2711,-0.78,-243.3,440.2,-14.2,388,2715,0.00,2.12,0.00,0.000,4,0.000,0.055,2585,3205,3788,0,0,0,0,0,0
$GC,2755,-0.83,-243.3,446.4,-13.0,391,2761,0.00,2.08,0.00,0.000,6,0.000,0.035,2585,1789,3787,0,0,0,0,0,0
$GC,3080,-0.83,-243.3,491.5,-14.1,422,3083,0.00,2.05,0.00,0.000,4,0.000,0.047,2585,389,3786,0,0,0,0,0,0
$STATE,3141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3141,begin apogee
$GC,3148,-0.23,0.0,500.3,13.5,427,3348,0.52,0.00,191.52,0.952,6,0.135,0.000,2759,1804,2788,0,0,0,0,0,0
$STATE,3348,end apogee,CONTROL_FINISHED_OK
$STATE,3349,begin climb
$GC,3351,1.14,243.3,506.5,0.0,444,3563,1.27,2.28,201.07,0.914,4,0.084,0.054,3198,3212,1796,0,0,0,0,0,0
$GC,3579,0.49,243.3,449.5,39.9,463,3585,0.77,2.20,0.00,0.000,6,0.196,0.038,3001,1806,1794,0,0,0,0,0,0
$GC,3906,0.41,243.3,385.8,18.0,493,3910,0.00,2.12,0.00,0.000,4,0.000,0.048,2995,3206,1788,0,0,0,0,0,0
$GC,3958,0.41,243.3,376.6,15.9,497,3963,0.12,2.12,0.00,0.000,6,0.168,0.038,2971,1794,1787,0,0,0,0,0,0
$GC,4285,0.52,292.4,334.4,12.0,527,4334,0.12,2.17,41.05,0.842,4,0.093,0.047,3044,389,1595,0,0,0,0,0,0
$GC,4395,0.43,292.4,313.8,19.3,536,4404,0.17,2.20,0.00,0.000,6,0.137,0.038,2985,1804,1591,0,0,0,0,0,0
$GC,4728,0.49,315.2,267.5,13.0,588,4756,0.00,2.20,19.30,0.781,4,0.000,0.049,2983,3204,1503,0,0,0,0,0,0
$GC,4776,0.56,318.1,261.1,13.8,595,4791,0.00,2.12,4.28,0.529,6,0.000,0.037,2991,1800,1491,0,0,0,0,0,0
$GC,5126,0.62,318.1,213.2,14.4,657,5133,0.12,2.12,0.00,0.000,4,0.086,0.047,3068,390,1488,0,0,0,0,0,0
$GC,5191,0.50,318.1,199.9,22.3,668,5200,0.17,2.15,0.00,0.000,6,0.140,0.037,3005,1809,1487,0,0,0,0,0,0
$GC,5538,0.60,348.0,147.5,12.7,729,5570,0.00,2.17,25.10,0.714,4,0.000,0.047,3004,3201,1369,0,0,0,0,0,0
$GC,5639,0.92,452.2,135.6,9.9,745,5734,0.28,2.12,85.78,0.698,6,0.034,0.036,3154,1797,944,0,0,0,0,0,0
$GC,6055,0.72,452.2,16.5,24.4,818,6064,0.25,2.15,0.00,0.000,4,0.158,0.044,3084,394,937,0,0,0,0,0,0
$GC,6085,0.63,452.2,10.2,22.6,822,6094,0.08,2.12,0.00,0.000,6,0.136,0.034,3048,1799,937,0,0,0,0,0,0
$STATE,6138,end climb,SURFACE_DEPTH_REACHED
$STATE,6138,begin surface coast
$FINISH,0.7,1.015761
$STATE,6171,end surface coast,CONTROL_FINISHED_OK
$STATE,6171,begin surface
$SM_CCo,6248,0.00,0.000,0,0,934,455.03
$SM_GC,1.48,7.47,0.00,0.00,0.041,0.000,0.000,155,1804,934,-8.34,0.08,455.03
$IRIDIUM_FIX,2326.22,12615.99,250910,121233
$TT8_MAMPS,0.026215
$HUMID,40.51
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,23.50
$XPDR_PINGS,108
$24V_AH,24.3,8.021
$10V_AH,10.5,4.937
$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,21.800,64.075,568.100,0.000,0.000,29.383,23.912,138.590,27.000,0.000,28.820,1945.063,1621.597,563.047,2212.625,246.810,0.000,1402.695,0.000,2005.512,0.000,0.848,0.000
$DEVICE_MAMPS,234.855,55.080,951.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.451,855.260,1372.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330488
$DATA_FILE_SIZE,50172,837
$CAP_FILE_SIZE,89191,0
$CFSIZE,260165632,177745920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,241.5,1
$GPS,250910,163007,2337.653,12617.707,39,0.9,40,-3.5