version: 66.08
glider: 166
mission: 3
dive: 49
start: 9 27 110 6 18 29
data:
$ID,166
$MISSION,3
$DIVE,49
$N_DIVES,60
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$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,642
$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,-21545.357
$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,0.015
$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,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3072
$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
$GPS1,270910,061228,2357.396,12627.965,14,2.4,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.0
$GPS2,270910,061808,2357.446,12627.950,16,1.4,16,-3.6
$SPEED_LIMITS,0.241,0.344
$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,46.4,5865,-19.7,-13.889
$D_GRID,5000
$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,-1.16,-214.1,0.0,0.0,0,136,0.00,0.00,-117.78,0.000,2,0.000,0.000,155,1799,3523,0,0,0,0,0,0
$GC,139,-1.16,-214.1,6.6,-13.7,16,163,8.77,2.12,-7.30,0.000,4,0.230,0.051,2448,3215,3948,0,0,0,0,0,0
$GC,257,-0.89,-214.1,70.6,-44.8,36,265,0.32,2.12,0.00,0.000,6,0.174,0.034,2546,1795,3950,0,0,0,0,0,0
$GC,586,-0.76,-214.1,174.8,-28.8,97,593,0.15,2.05,0.00,0.000,4,0.181,0.038,2591,390,3953,0,0,0,0,0,0
$GC,640,-0.73,-214.1,188.6,-21.3,106,649,0.00,2.12,0.00,0.000,6,0.000,0.036,2586,1803,3953,0,0,0,0,0,0
$GC,984,-0.70,-214.1,257.5,-18.8,167,991,0.00,2.08,0.00,0.000,4,0.000,0.047,2576,3204,3954,0,0,0,0,0,0
$GC,1044,-0.71,-214.1,268.3,-16.1,177,1052,0.12,2.05,0.00,0.000,6,0.161,0.032,2611,1793,3954,0,0,0,0,0,0
$GC,1389,-0.74,-214.1,317.9,-12.6,227,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1793,3954,0,0,0,0,0,0
$GC,1717,-0.79,-214.1,360.4,-12.8,258,1721,0.00,2.12,0.00,0.000,4,0.000,0.051,2611,3208,3952,0,0,0,0,0,0
$GC,1773,-0.90,-214.1,367.9,-11.3,262,1783,0.15,2.10,0.00,0.000,6,0.045,0.034,2526,1796,3952,0,0,0,0,0,0
$GC,2099,-0.83,-214.1,438.1,-22.4,293,2101,0.17,0.00,0.00,0.000,6,0.174,0.000,2572,1794,3950,0,0,0,0,0,0
$GC,2417,-0.83,-214.1,489.5,-14.8,323,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1794,3949,0,0,0,0,0,0
$STATE,2488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2488,begin apogee
$GC,2493,-0.23,0.0,500.4,14.5,330,2671,0.55,0.00,167.20,0.940,6,0.137,0.000,2759,1794,3072,0,0,0,0,0,0
$STATE,2672,end apogee,CONTROL_FINISHED_OK
$STATE,2672,begin climb
$GC,2675,1.16,214.1,508.1,0.0,345,2864,1.23,2.38,172.77,0.916,4,0.050,0.050,3218,3211,2197,0,0,0,0,0,0
$GC,2871,0.83,214.1,476.8,30.7,363,2879,0.45,2.22,0.00,0.000,6,0.200,0.039,3113,1806,2196,0,0,0,0,0,0
$GC,3197,0.64,214.1,397.5,22.9,394,3202,0.22,2.15,0.00,0.000,4,0.182,0.044,3041,3215,2192,0,0,0,0,0,0
$GC,3240,0.54,214.1,389.3,19.2,397,3245,0.12,2.15,0.00,0.000,6,0.187,0.037,3016,1792,2190,0,0,0,0,0,0
$GC,3567,0.49,214.1,342.3,13.9,427,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1792,2189,0,0,0,0,0,0
$GC,3887,0.47,228.7,299.3,13.3,457,3908,0.00,2.20,11.70,0.767,4,0.000,0.045,3009,3206,2139,0,0,0,0,0,0
$GC,3964,0.49,243.7,288.5,13.2,470,3986,0.00,2.12,14.10,0.775,6,0.000,0.035,3014,1797,2077,0,0,0,0,0,0
$GC,4321,0.48,251.8,241.0,13.5,533,4336,0.00,0.00,7.72,0.681,6,0.000,0.000,3017,1797,2045,0,0,0,0,0,0
$GC,4670,0.55,308.5,199.2,11.4,595,4725,0.00,2.15,46.58,0.758,4,0.000,0.044,3024,399,1812,0,0,0,0,0,0
$GC,4766,0.56,321.8,187.0,13.3,610,4788,0.00,2.15,12.35,0.680,6,0.000,0.033,3017,1793,1758,0,0,0,0,0,0
$GC,5121,0.63,361.4,143.2,12.2,673,5159,0.00,2.22,32.92,0.702,4,0.000,0.044,3017,3211,1598,0,0,0,0,0,0
$GC,5200,0.74,396.2,133.1,12.4,685,5238,0.12,2.15,29.23,0.682,6,0.044,0.036,3104,1806,1457,0,0,0,0,0,0
$GC,5558,0.70,396.2,59.0,18.2,750,5568,0.15,2.17,0.00,0.000,4,0.164,0.044,3071,387,1451,0,0,0,0,0,0
$GC,5647,0.82,452.0,46.6,11.5,765,5700,0.08,2.12,44.83,0.629,6,0.053,0.031,3128,1806,1228,0,0,0,0,0,0
$STATE,5884,end climb,SURFACE_DEPTH_REACHED
$STATE,5884,begin surface coast
$FINISH,0.6,1.020767
$STATE,5902,end surface coast,CONTROL_FINISHED_OK
$STATE,5902,begin surface
$SM_CCo,5920,159.38,0.550,1,0,454,641.95
$SM_CCo,6088,-0.38,0.000,0,0,454,642.20
$SM_GC,1.36,0.00,0.00,-0.38,0.000,0.000,0.000,147,1811,454,-8.42,0.31,642.20
$IRIDIUM_FIX,2345.05,12628.15,270910,040427
$TT8_MAMPS,0.026215
$HUMID,38.18
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.30
$XPDR_PINGS,82
$24V_AH,24.4,11.702
$10V_AH,10.6,7.274
$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,20.250,42.975,539.400,159.375,0.000,23.412,17.697,147.535,20.500,0.000,17.551,1846.198,1555.456,719.930,2059.095,247.186,0.000,1485.454,0.000,1876.190,0.000,0.848,0.000
$DEVICE_MAMPS,230.265,51.255,940.185,550.035,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.314,828.438,1321.436,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,46880,810
$CAP_FILE_SIZE,82087,0
$CFSIZE,260165632,176627712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,325.4,1
$GPS,270910,080104,2358.375,12628.652,7,99.0,26,-3.6