version: 66.08
glider: 166
mission: 3
dive: 77
start: 9 29 110 7 56 12
data:
$ID,166
$MISSION,3
$DIVE,77
$N_DIVES,90
$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,-21582.508
$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,46
$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
$GPS1,290910,075036,2336.717,12628.502,14,1.1,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.8
$GPS2,290910,075549,2336.772,12628.421,10,1.4,15,-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,150.1,45956,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,129,0.00,0.00,-110.93,0.000,2,0.000,0.000,131,1816,3289,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.6,-10.6,15,163,8.85,2.17,-12.00,0.000,4,0.228,0.050,2460,376,3949,0,0,0,0,0,0
$GC,252,-0.98,-214.1,62.3,-37.4,35,261,0.22,2.15,0.00,0.000,6,0.184,0.034,2517,1792,3951,0,0,0,0,0,0
$GC,580,-0.79,-214.1,178.3,-34.2,96,589,0.22,2.12,0.00,0.000,4,0.181,0.034,2580,382,3954,0,0,0,0,0,0
$GC,670,-0.76,-214.1,199.4,-19.5,111,677,0.00,2.10,0.00,0.000,6,0.000,0.034,2576,1806,3955,0,0,0,0,0,0
$GC,1005,-0.71,-214.1,271.1,-19.6,172,1013,0.12,0.00,0.00,0.000,6,0.184,0.000,2608,1806,3956,0,0,0,0,0,0
$GC,1344,-0.71,-214.1,326.6,-16.4,219,1347,0.00,2.08,0.00,0.000,4,0.000,0.047,2603,3204,3956,0,0,0,0,0,0
$GC,1397,-0.76,-214.1,334.8,-14.3,223,1401,0.00,2.05,0.00,0.000,6,0.000,0.031,2603,1789,3955,0,0,0,0,0,0
$GC,1723,-0.76,-214.1,389.8,-17.1,253,1727,0.00,2.15,0.00,0.000,4,0.000,0.050,2603,3211,3954,0,0,0,0,0,0
$GC,1753,-0.80,-214.1,394.7,-16.5,255,1757,0.00,2.05,0.00,0.000,6,0.000,0.033,2604,1798,3954,0,0,0,0,0,0
$GC,2080,-0.83,-214.1,443.4,-12.9,285,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1797,3953,0,0,0,0,0,0
$GC,2401,-0.88,-214.1,480.5,-10.9,315,2405,0.12,2.10,0.00,0.000,4,0.092,0.045,2542,402,3951,0,0,0,0,0,0
$GC,2438,-0.84,-214.1,486.6,-16.7,318,2446,0.00,2.12,0.00,0.000,6,0.000,0.041,2540,1800,3951,0,0,0,0,0,0
$STATE,2518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2518,begin apogee
$GC,2523,-0.23,0.0,500.8,18.3,326,2700,0.68,0.00,167.60,0.951,6,0.142,0.000,2760,1800,3071,0,0,0,0,0,0
$STATE,2700,end apogee,CONTROL_FINISHED_OK
$STATE,2700,begin climb
$GC,2703,1.16,214.1,506.8,0.0,341,2885,1.25,0.00,172.52,0.923,6,0.070,0.000,3217,1800,2199,0,0,0,0,0,0
$GC,3203,0.86,214.1,385.3,29.8,387,3208,0.35,2.15,0.00,0.000,4,0.201,0.046,3131,404,2192,0,0,0,0,0,0
$GC,3256,0.66,214.1,371.7,23.5,391,3261,0.28,2.15,0.00,0.000,6,0.175,0.041,3054,1802,2191,0,0,0,0,0,0
$GC,3583,0.58,214.1,316.2,16.9,421,3586,0.00,2.12,0.00,0.000,4,0.000,0.048,3053,3212,2188,0,0,0,0,0,0
$GC,3638,0.51,214.1,306.3,17.4,425,3647,0.20,2.10,0.00,0.000,6,0.168,0.038,3005,1796,2186,0,0,0,0,0,0
$GC,3967,0.59,276.5,265.5,11.2,482,4024,0.00,2.30,50.17,0.809,4,0.000,0.047,2998,3220,1943,0,0,0,0,0,0
$GC,4065,0.71,337.6,254.2,11.2,497,4127,0.17,2.15,51.30,0.783,6,0.066,0.036,3093,1794,1693,0,0,0,0,0,0
$GC,4454,0.63,337.6,176.7,19.7,566,4462,0.17,2.12,0.00,0.000,4,0.168,0.046,3053,403,1688,0,0,0,0,0,0
$GC,4541,0.65,352.5,163.6,13.2,581,4563,0.00,2.12,12.75,0.681,6,0.000,0.034,3052,1817,1633,0,0,0,0,0,0
$GC,4884,0.68,358.5,119.1,13.6,644,4892,0.00,0.00,5.88,0.549,6,0.000,0.000,3053,1817,1610,0,0,0,0,0,0
$GC,5210,0.84,433.2,78.7,10.6,705,5280,0.17,2.12,60.45,0.659,4,0.067,0.042,3138,3208,1305,0,0,0,0,0,0
$GC,5353,0.84,433.2,55.8,15.5,727,5361,0.00,2.15,0.00,0.000,6,0.000,0.036,3139,1802,1305,0,0,0,0,0,0
$STATE,5660,end climb,SURFACE_DEPTH_REACHED
$STATE,5661,begin surface coast
$FINISH,0.5,1.011274
$STATE,5681,end surface coast,CONTROL_FINISHED_OK
$STATE,5681,begin surface
$SM_CCo,5697,177.27,0.558,1,0,454,641.95
$SM_CCo,5883,-0.03,0.000,0,0,453,642.20
$SM_GC,1.30,0.00,0.00,-0.03,0.000,0.000,0.000,151,1798,453,-8.41,-0.03,642.20
$IRIDIUM_FIX,2326.22,12627.74,290910,060608
$TT8_MAMPS,0.026964
$HUMID,38.10
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.90
$XPDR_PINGS,72
$24V_AH,24.4,16.379
$10V_AH,10.6,10.205
$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,20.500,42.600,520.675,177.275,0.000,29.135,14.508,132.854,18.000,0.000,16.278,1824.717,1388.292,694.419,2053.420,238.696,0.000,1462.320,0.000,1884.693,0.000,0.850,0.000
$DEVICE_MAMPS,227.970,50.490,950.895,557.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.592,805.976,1341.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46882,788
$CAP_FILE_SIZE,80863,0
$CFSIZE,260165632,175210496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,275.4,1
$GPS,290910,093502,2336.056,12628.611,9,1.5,9,-3.5