version: 66.08
glider: 166
mission: 3
dive: 30
start: 9 25 110 20 8 56
data:
$ID,166
$MISSION,3
$DIVE,30
$N_DIVES,40
$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,-21519.887
$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,42
$R_STBD_OVSHOOT,37
$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
$GPS1,250910,200255,2339.357,12618.497,9,1.8,15,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.4
$GPS2,250910,200832,2339.392,12618.478,12,1.9,12,-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,38.3,42856,-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,16,-1.14,-243.3,0.0,0.0,0,114,0.00,0.00,-96.05,0.000,2,0.000,0.000,145,1797,3419,0,0,0,0,0,0
$GC,117,-1.14,-243.3,6.0,-10.7,13,141,8.88,2.10,-6.57,0.000,4,0.234,0.048,2462,374,3783,0,0,0,0,0,0
$GC,187,-0.37,-243.3,46.7,-54.0,24,196,0.82,2.17,0.00,0.000,6,0.184,0.038,2710,1797,3784,0,0,0,0,0,0
$GC,513,-0.55,-243.3,94.8,-9.7,85,521,0.15,2.17,0.00,0.000,4,0.082,0.050,2638,3211,3786,0,0,0,0,0,0
$GC,636,-0.62,-243.3,111.5,-13.4,107,646,0.00,2.10,0.00,0.000,6,0.000,0.034,2638,1802,3787,0,0,0,0,0,0
$GC,964,-0.62,-243.3,161.7,-14.6,168,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1802,3788,0,0,0,0,0,0
$GC,1299,-0.62,-243.3,206.8,-13.7,229,1305,0.00,2.08,0.00,0.000,4,0.000,0.044,2638,384,3788,0,0,0,0,0,0
$GC,1416,-0.68,-243.3,222.3,-12.2,250,1424,0.00,2.12,0.00,0.000,6,0.000,0.039,2638,1801,3788,0,0,0,0,0,0
$GC,1751,-0.75,-243.3,262.9,-11.3,311,1759,0.12,2.12,0.00,0.000,4,0.092,0.052,2573,3205,3788,0,0,0,0,0,0
$GC,1799,-0.71,-243.3,269.9,-15.4,319,1807,0.12,2.05,0.00,0.000,6,0.169,0.034,2606,1799,3788,0,0,0,0,0,0
$GC,2131,-0.71,-243.3,318.2,-14.2,368,2135,0.00,2.05,0.00,0.000,4,0.000,0.045,2606,396,3788,0,0,0,0,0,0
$GC,2168,-0.71,-243.3,324.2,-14.0,371,2176,0.00,2.10,0.00,0.000,6,0.000,0.037,2599,1800,3788,0,0,0,0,0,0
$GC,2496,-0.71,-243.3,370.1,-13.8,402,2500,0.00,2.12,0.00,0.000,4,0.000,0.045,2599,388,3788,0,0,0,0,0,0
$GC,2546,-0.71,-243.3,377.6,-14.6,406,2550,0.00,2.10,0.00,0.000,6,0.000,0.041,2599,1800,3788,0,0,0,0,0,0
$GC,2873,-0.71,-243.3,419.5,-12.5,436,2877,0.00,2.12,0.00,0.000,4,0.000,0.054,2598,3211,3788,0,0,0,0,0,0
$GC,2906,-0.77,-243.3,423.8,-11.9,438,2914,0.00,2.10,0.00,0.000,6,0.000,0.035,2598,1797,3787,0,0,0,0,0,0
$GC,3235,-0.81,-243.3,462.5,-12.1,469,3239,0.00,2.08,0.00,0.000,4,0.000,0.047,2598,389,3785,0,0,0,0,0,0
$GC,3304,-0.86,-243.3,471.6,-13.3,475,3309,0.10,2.10,0.00,0.000,6,0.106,0.042,2540,1811,3785,0,0,0,0,0,0
$STATE,3467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3467,begin apogee
$GC,3473,-0.23,0.0,500.4,17.6,490,3673,0.68,0.00,191.07,0.952,6,0.146,0.000,2760,1812,2788,0,0,0,0,0,0
$STATE,3673,end apogee,CONTROL_FINISHED_OK
$STATE,3673,begin climb
$GC,3676,1.14,243.3,508.4,0.0,507,3890,1.27,2.28,200.70,0.914,4,0.083,0.053,3198,3198,1796,0,0,0,0,0,0
$GC,3927,0.58,243.3,445.2,36.9,528,3932,0.65,2.17,0.00,0.000,6,0.186,0.040,3029,1806,1794,0,0,0,0,0,0
$GC,4252,0.42,243.3,375.2,19.7,558,4257,0.17,2.17,0.00,0.000,4,0.155,0.049,2967,3213,1789,0,0,0,0,0,0
$GC,4280,0.42,243.3,370.4,15.7,560,4285,0.00,2.12,0.00,0.000,6,0.000,0.038,2976,1787,1788,0,0,0,0,0,0
$GC,4606,0.47,257.0,328.0,13.4,590,4622,0.00,2.15,11.60,0.776,4,0.000,0.048,2986,392,1740,0,0,0,0,0,0
$GC,4698,0.60,295.5,316.2,12.4,598,4739,0.12,2.10,33.72,0.824,6,0.088,0.037,3048,1799,1584,0,0,0,0,0,0
$GC,5067,0.41,295.5,235.7,22.2,657,5075,0.25,2.15,0.00,0.000,4,0.157,0.046,2959,3212,1578,0,0,0,0,0,0
$GC,5159,0.77,403.2,223.5,9.8,673,5259,0.32,2.12,88.60,0.768,6,0.048,0.037,3125,1789,1144,0,0,0,0,0,0
$GC,5584,0.51,403.2,89.5,26.5,748,5593,0.38,2.15,0.00,0.000,4,0.161,0.042,3016,390,1138,0,0,0,0,0,0
$GC,5638,0.68,415.0,78.4,13.4,757,5655,0.08,2.15,10.23,0.611,6,0.054,0.034,3077,1808,1096,0,0,0,0,0,0
$GC,5976,0.77,427.7,28.1,13.4,819,5993,0.00,2.17,11.70,0.584,4,0.000,0.046,3076,3211,1044,0,0,0,0,0,0
$GC,6023,0.94,464.6,21.5,12.5,826,6061,0.12,2.12,30.50,0.607,6,0.041,0.036,3168,1806,895,0,0,0,0,0,0
$STATE,6110,end climb,SURFACE_DEPTH_REACHED
$STATE,6110,begin surface coast
$FINISH,0.9,1.021866
$STATE,6125,end surface coast,CONTROL_FINISHED_OK
$STATE,6125,begin surface
$SM_CCo,6202,0.00,0.000,0,0,890,465.82
$SM_GC,1.41,7.82,0.00,0.00,0.036,0.000,0.000,150,1805,890,-8.35,0.14,465.82
$IRIDIUM_FIX,2328.57,12617.38,250910,181848
$TT8_MAMPS,0.026215
$HUMID,40.58
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,23.60
$XPDR_PINGS,88
$24V_AH,24.3,8.491
$10V_AH,10.5,5.258
$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,22.075,59.575,578.125,0.000,0.000,30.910,37.378,136.305,22.000,0.000,13.453,1962.060,1540.552,552.237,2234.299,249.831,0.000,1387.320,0.000,2038.000,0.000,0.847,0.000
$DEVICE_MAMPS,234.090,54.315,951.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.739,860.766,1430.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50186,842
$CAP_FILE_SIZE,89043,0
$CFSIZE,260165632,177590272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,292.6,1
$GPS,250910,215336,2340.444,12618.869,36,1.0,42,-3.5