version: 66.08
glider: 166
mission: 3
dive: 74
start: 9 29 110 2 34 24
data:
$ID,166
$MISSION,3
$DIVE,74
$N_DIVES,85
$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,-21578.555
$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,37
$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
$GPS1,290910,022802,2339.608,12629.833,13,1.9,13,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.2
$GPS2,290910,023401,2339.625,12629.761,16,1.6,34,-3.5
$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,187.8,51164,-19.7,-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,-1.16,-214.1,0.0,0.0,0,127,0.00,0.00,-109.07,0.000,2,0.000,0.000,145,1798,3241,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.6,-12.5,15,161,8.90,2.15,-12.95,0.000,4,0.233,0.051,2461,377,3948,0,0,0,0,0,0
$GC,338,-0.91,-214.1,94.3,-38.3,52,346,0.30,2.15,0.00,0.000,6,0.168,0.037,2542,1792,3951,0,0,0,0,0,0
$GC,668,-0.77,-214.1,191.7,-26.9,113,677,0.17,2.08,0.00,0.000,4,0.181,0.037,2595,390,3954,0,0,0,0,0,0
$GC,708,-0.71,-214.1,201.1,-22.5,119,715,0.00,2.08,0.00,0.000,6,0.000,0.034,2589,1804,3954,0,0,0,0,0,0
$GC,1039,-0.66,-214.1,267.3,-19.7,180,1048,0.12,2.12,0.00,0.000,4,0.179,0.047,2616,3197,3955,0,0,0,0,0,0
$GC,1057,-0.63,-214.1,270.3,-19.1,182,1065,0.00,2.08,0.00,0.000,6,0.000,0.031,2616,1787,3955,0,0,0,0,0,0
$GC,1395,-0.65,-214.1,319.4,-13.5,231,1399,0.00,2.15,0.00,0.000,4,0.000,0.049,2617,3202,3954,0,0,0,0,0,0
$GC,1438,-0.72,-214.1,325.4,-12.0,234,1446,0.00,2.08,0.00,0.000,6,0.000,0.032,2617,1801,3954,0,0,0,0,0,0
$GC,1766,-0.76,-214.1,367.1,-12.0,265,1770,0.00,2.10,0.00,0.000,4,0.000,0.042,2617,399,3952,0,0,0,0,0,0
$GC,1793,-0.80,-214.1,371.2,-14.6,267,1800,0.00,2.08,0.00,0.000,6,0.000,0.037,2617,1806,3952,0,0,0,0,0,0
$GC,2119,-0.85,-214.1,415.4,-14.2,298,2124,0.15,2.12,0.00,0.000,4,0.083,0.050,2539,3210,3951,0,0,0,0,0,0
$GC,2174,-0.83,-214.1,425.4,-19.0,302,2183,0.10,2.10,0.00,0.000,6,0.146,0.035,2571,1801,3950,0,0,0,0,0,0
$GC,2502,-0.81,-214.1,483.9,-16.9,333,2506,0.00,2.08,0.00,0.000,4,0.000,0.046,2571,397,3949,0,0,0,0,0,0
$GC,2536,-0.81,-214.1,489.9,-17.0,336,2539,0.00,2.08,0.00,0.000,6,0.000,0.039,2567,1801,3949,0,0,0,0,0,0
$STATE,2604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2604,begin apogee
$GC,2610,-0.23,0.0,500.5,15.4,342,2787,0.57,0.00,167.00,0.959,6,0.138,0.000,2759,1802,3071,0,0,0,0,0,0
$STATE,2788,end apogee,CONTROL_FINISHED_OK
$STATE,2788,begin climb
$GC,2790,1.16,214.1,506.3,0.0,357,2973,1.27,2.33,172.32,0.926,4,0.073,0.048,3229,395,2199,0,0,0,0,0,0
$GC,3059,0.84,214.1,447.9,34.5,380,3064,0.43,2.17,0.00,0.000,6,0.193,0.040,3113,1806,2195,0,0,0,0,0,0
$GC,3385,0.66,214.1,376.7,19.2,410,3390,0.20,2.12,0.00,0.000,4,0.179,0.048,3048,3210,2191,0,0,0,0,0,0
$GC,3413,0.53,214.1,371.3,18.5,412,3418,0.15,2.10,0.00,0.000,6,0.178,0.037,3017,1794,2189,0,0,0,0,0,0
$GC,3739,0.54,247.6,331.7,12.4,442,3776,0.00,2.17,27.80,0.841,4,0.000,0.045,3025,400,2060,0,0,0,0,0,0
$GC,3801,0.52,247.6,323.4,14.2,447,3805,0.00,2.12,0.00,0.000,6,0.000,0.034,3024,1809,2059,0,0,0,0,0,0
$GC,4129,0.49,247.6,274.4,14.6,492,4137,0.00,2.15,0.00,0.000,4,0.000,0.047,3023,3203,2055,0,0,0,0,0,0
$GC,4187,0.49,247.6,265.5,14.7,502,4196,0.08,2.12,0.00,0.000,6,0.153,0.037,3006,1796,2054,0,0,0,0,0,0
$GC,4524,0.57,309.3,223.3,11.2,563,4578,0.00,2.22,49.67,0.786,4,0.000,0.045,3013,396,1810,0,0,0,0,0,0
$GC,4605,0.67,360.9,214.2,11.6,575,4660,0.12,2.12,43.55,0.757,6,0.085,0.034,3074,1804,1599,0,0,0,0,0,0
$GC,4986,0.61,360.9,141.4,18.7,643,4995,0.15,2.17,0.00,0.000,4,0.170,0.044,3040,400,1593,0,0,0,0,0,0
$GC,5009,0.57,360.9,137.4,18.0,646,5017,0.00,2.12,0.00,0.000,6,0.000,0.032,3033,1801,1593,0,0,0,0,0,0
$GC,5336,0.66,406.2,94.0,11.9,707,5382,0.00,2.20,35.78,0.680,4,0.000,0.046,3032,3209,1416,0,0,0,0,0,0
$GC,5402,0.81,468.3,86.2,11.2,716,5462,0.12,2.15,51.40,0.663,6,0.041,0.035,3126,1800,1161,0,0,0,0,0,0
$GC,5781,0.81,468.3,16.3,15.8,784,5789,0.00,2.17,0.00,0.000,4,0.000,0.044,3134,393,1157,0,0,0,0,0,0
$STATE,5862,end climb,SURFACE_DEPTH_REACHED
$STATE,5862,begin surface coast
$FINISH,0.7,1.009826
$STATE,5880,end surface coast,CONTROL_FINISHED_OK
$STATE,5880,begin surface
$SM_CCo,5900,149.50,0.560,1,0,455,641.95
$SM_CCo,6058,-0.43,0.000,0,0,454,642.20
$SM_GC,1.32,0.00,0.00,-0.43,0.000,0.000,0.000,146,1844,454,-8.42,1.24,642.20
$IRIDIUM_FIX,2330.93,12625.85,290910,000009
$TT8_MAMPS,0.026215
$HUMID,38.85
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.20
$XPDR_PINGS,84
$24V_AH,24.4,15.873
$10V_AH,10.5,9.892
$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,20.550,64.050,547.525,149.500,0.000,24.726,35.570,140.134,21.000,0.000,35.975,1863.474,1462.943,705.413,2141.121,245.546,0.000,1514.450,0.000,1926.107,0.000,0.849,0.000
$DEVICE_MAMPS,232.560,51.255,959.310,559.980,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.265,819.820,1341.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46834,802
$CAP_FILE_SIZE,88894,0
$CFSIZE,260165632,175357952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,226.6,1
$GPS,290910,041614,2338.571,12629.377,12,1.8,12,-3.5