version: 66.08
glider: 166
mission: 3
dive: 59
start: 9 28 110 0 1 8
data:
$ID,166
$MISSION,3
$DIVE,59
$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,-21558.678
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,270910,235506,2352.060,12629.118,10,2.0,26,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.2
$GPS2,280910,000046,2352.138,12629.076,14,99.0,33,-3.6
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2312.000,12630.000
$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,182.4,74353,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,132,0.00,0.00,-114.25,0.000,2,0.000,0.000,154,1795,3445,0,0,0,0,0,0
$GC,135,-1.16,-214.1,6.8,-14.1,16,159,9.07,2.15,-8.62,0.000,4,0.240,0.050,2463,384,3949,0,0,0,0,0,0
$GC,388,-0.90,-214.1,123.9,-38.5,62,397,0.30,2.15,0.00,0.000,6,0.176,0.036,2542,1804,3953,0,0,0,0,0,0
$GC,727,-0.78,-214.1,219.7,-24.2,123,734,0.15,2.15,0.00,0.000,4,0.185,0.040,2583,383,3955,0,0,0,0,0,0
$GC,755,-0.68,-214.1,226.4,-23.5,127,763,0.15,2.10,0.00,0.000,6,0.174,0.034,2615,1814,3955,0,0,0,0,0,0
$GC,1097,-0.70,-214.1,282.1,-14.8,188,1105,0.00,2.10,0.00,0.000,4,0.000,0.048,2615,3201,3956,0,0,0,0,0,0
$GC,1154,-0.77,-214.1,289.2,-12.3,197,1160,0.00,2.08,0.00,0.000,6,0.000,0.032,2615,1786,3955,0,0,0,0,0,0
$GC,1492,-0.80,-214.1,338.7,-15.3,235,1496,0.00,2.15,0.00,0.000,4,0.000,0.048,2606,3202,3954,0,0,0,0,0,0
$GC,1536,-0.87,-214.1,345.8,-13.5,238,1545,0.10,2.08,0.00,0.000,6,0.050,0.034,2540,1802,3954,0,0,0,0,0,0
$GC,1863,-0.81,-214.1,414.5,-20.1,269,1868,0.12,2.10,0.00,0.000,4,0.181,0.044,2572,386,3953,0,0,0,0,0,0
$GC,1925,-0.83,-214.1,426.0,-16.4,274,1929,0.00,2.10,0.00,0.000,6,0.000,0.041,2575,1806,3953,0,0,0,0,0,0
$GC,2258,-0.83,-214.1,478.9,-15.4,305,2262,0.00,2.10,0.00,0.000,4,0.000,0.053,2575,3202,3951,0,0,0,0,0,0
$GC,2289,-0.86,-214.1,483.6,-15.2,307,2293,0.00,2.05,0.00,0.000,6,0.000,0.036,2575,1794,3951,0,0,0,0,0,0
$STATE,2401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2401,begin apogee
$GC,2406,-0.23,0.0,501.2,15.5,317,2583,0.55,0.00,167.30,0.951,6,0.130,0.000,2762,1794,3071,0,0,0,0,0,0
$STATE,2584,end apogee,CONTROL_FINISHED_OK
$STATE,2584,begin climb
$GC,2586,1.16,214.1,509.1,0.0,332,2766,1.25,0.00,172.82,0.922,6,0.067,0.000,3217,1793,2198,0,0,0,0,0,0
$GC,3085,0.87,214.1,389.4,28.1,379,3090,0.32,2.12,0.00,0.000,4,0.195,0.047,3136,398,2191,0,0,0,0,0,0
$GC,3148,0.69,214.1,374.0,21.5,384,3153,0.25,2.12,0.00,0.000,6,0.175,0.040,3064,1803,2191,0,0,0,0,0,0
$GC,3473,0.60,214.1,318.8,18.2,414,3477,0.00,2.10,0.00,0.000,4,0.000,0.048,3053,3213,2187,0,0,0,0,0,0
$GC,3518,0.53,214.1,310.5,17.9,417,3526,0.17,2.10,0.00,0.000,6,0.172,0.037,3014,1789,2185,0,0,0,0,0,0
$GC,3855,0.60,276.5,269.5,11.2,471,3910,0.00,2.30,49.88,0.809,4,0.000,0.047,3011,3211,1943,0,0,0,0,0,0
$GC,3987,0.68,320.1,253.3,12.0,492,4037,0.08,2.17,36.50,0.779,6,0.055,0.037,3075,1797,1765,0,0,0,0,0,0
$GC,4373,0.62,320.1,181.5,18.8,559,4381,0.12,2.15,0.00,0.000,4,0.181,0.045,3052,388,1760,0,0,0,0,0,0
$GC,4468,0.62,320.1,166.0,14.3,575,4475,0.00,2.12,0.00,0.000,6,0.000,0.035,3052,1814,1758,0,0,0,0,0,0
$GC,4798,0.62,320.1,117.7,14.5,636,4806,0.00,2.10,0.00,0.000,4,0.000,0.046,3052,3201,1757,0,0,0,0,0,0
$GC,4820,0.62,320.1,114.4,15.1,639,4828,0.00,2.10,0.00,0.000,6,0.000,0.035,3059,1798,1756,0,0,0,0,0,0
$GC,5147,0.83,451.1,69.5,8.2,700,5259,0.12,2.25,103.70,0.653,4,0.086,0.044,3145,394,1231,0,0,0,0,0,0
$GC,5348,0.83,451.1,34.4,20.6,731,5356,0.10,2.17,0.00,0.000,6,0.135,0.033,3111,1812,1228,0,0,0,0,0,0
$STATE,5551,end climb,SURFACE_DEPTH_REACHED
$STATE,5551,begin surface coast
$FINISH,0.7,1.011659
$STATE,5569,end surface coast,CONTROL_FINISHED_OK
$STATE,5569,begin surface
$SM_CCo,5587,159.65,0.550,1,0,455,641.95
$SM_CCo,5755,-0.03,0.000,0,0,453,642.20
$SM_GC,1.39,0.00,0.00,-0.03,0.000,0.000,0.000,149,1817,453,-8.41,0.48,642.20
$IRIDIUM_FIX,2345.05,12628.15,270910,222217
$TT8_MAMPS,0.026964
$HUMID,37.99
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.40
$XPDR_PINGS,82
$24V_AH,24.4,13.366
$10V_AH,10.6,8.319
$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,20.550,51.125,530.200,159.650,0.000,31.191,14.163,135.535,20.500,0.000,35.689,1778.025,1357.041,701.936,2027.406,232.694,0.000,1449.828,0.000,1831.438,0.000,0.847,0.000
$DEVICE_MAMPS,240.210,52.785,950.895,550.035,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.664,789.036,1303.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,46946,772
$CAP_FILE_SIZE,80828,0
$CFSIZE,260165632,176128000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,307.8,1
$GPS,280910,013807,2351.329,12628.937,26,1.4,26,-3.6