version: 66.08
glider: 166
mission: 3
dive: 80
start: 9 29 110 13 15 29
data:
$ID,166
$MISSION,3
$DIVE,80
$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,-21586.461
$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,42
$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
$GPS1,290910,130858,2334.434,12628.492,13,99.0,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.8
$GPS2,290910,131506,2334.444,12628.516,11,1.6,28,-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,161.6,41642,-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,-214.1,0.0,0.0,0,128,0.00,0.00,-110.22,0.000,2,0.000,0.000,129,1811,3219,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.4,-11.3,15,163,8.93,2.12,-13.35,0.000,4,0.231,0.045,2460,384,3948,0,0,0,0,0,0
$GC,276,-0.84,-214.1,77.6,-45.5,40,284,0.38,2.15,0.00,0.000,6,0.184,0.036,2560,1799,3950,0,0,0,0,0,0
$GC,606,-0.73,-214.1,172.5,-26.0,101,615,0.15,2.10,0.00,0.000,4,0.179,0.038,2604,388,3953,0,0,0,0,0,0
$GC,625,-0.63,-214.1,177.5,-23.8,103,632,0.12,2.10,0.00,0.000,6,0.175,0.034,2635,1816,3953,0,0,0,0,0,0
$GC,956,-0.67,-214.1,228.4,-15.9,164,964,0.00,2.10,0.00,0.000,4,0.000,0.047,2629,3202,3954,0,0,0,0,0,0
$GC,1018,-0.76,-214.1,236.5,-12.1,174,1027,0.08,2.10,0.00,0.000,6,0.053,0.032,2568,1787,3954,0,0,0,0,0,0
$GC,1351,-0.71,-214.1,306.3,-19.3,232,1355,0.15,2.08,0.00,0.000,4,0.174,0.042,2608,398,3954,0,0,0,0,0,0
$GC,1410,-0.75,-214.1,317.2,-16.0,237,1417,0.00,2.08,0.00,0.000,6,0.000,0.036,2604,1799,3953,0,0,0,0,0,0
$GC,1737,-0.77,-214.1,366.7,-14.1,268,1740,0.00,2.15,0.00,0.000,4,0.000,0.051,2604,3210,3953,0,0,0,0,0,0
$GC,1800,-0.86,-214.1,374.2,-10.5,273,1805,0.12,2.08,0.00,0.000,6,0.086,0.034,2536,1791,3952,0,0,0,0,0,0
$GC,2131,-0.79,-214.1,439.1,-19.7,304,2135,0.17,2.10,0.00,0.000,4,0.171,0.045,2583,395,3951,0,0,0,0,0,0
$GC,2207,-0.81,-214.1,452.4,-14.9,310,2215,0.00,2.12,0.00,0.000,6,0.000,0.041,2581,1795,3951,0,0,0,0,0,0
$STATE,2531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2531,begin apogee
$GC,2536,-0.23,0.0,500.6,13.9,341,2712,0.52,0.00,167.43,0.965,6,0.131,0.000,2758,1794,3072,0,0,0,0,0,0
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2712,begin climb
$GC,2716,1.16,214.1,507.6,0.0,356,2898,1.27,2.30,172.60,0.933,4,0.070,0.049,3233,406,2199,0,0,0,0,0,0
$GC,3011,0.84,214.1,443.9,30.6,382,3019,0.38,2.20,0.00,0.000,6,0.187,0.041,3119,1801,2194,0,0,0,0,0,0
$GC,3338,0.66,214.1,367.7,22.2,413,3342,0.22,2.12,0.00,0.000,4,0.175,0.044,3065,402,2189,0,0,0,0,0,0
$GC,3360,0.51,214.1,362.6,20.3,414,3369,0.17,2.15,0.00,0.000,6,0.151,0.038,3009,1798,2189,0,0,0,0,0,0
$GC,3687,0.56,260.3,323.8,11.9,445,3735,0.00,2.22,37.70,0.854,4,0.000,0.049,2998,3202,2009,0,0,0,0,0,0
$GC,3762,0.62,291.8,314.9,12.5,451,3797,0.00,2.12,26.75,0.825,6,0.000,0.037,3007,1804,1880,0,0,0,0,0,0
$GC,4121,0.64,291.8,266.8,14.5,506,4130,0.10,2.17,0.00,0.000,4,0.103,0.047,3072,394,1875,0,0,0,0,0,0
$GC,4208,0.57,291.8,251.1,18.7,521,4216,0.15,2.12,0.00,0.000,6,0.168,0.036,3026,1804,1873,0,0,0,0,0,0
$GC,4543,0.58,298.8,202.5,13.6,582,4557,0.00,2.15,5.53,0.601,4,0.000,0.047,3024,3206,1854,0,0,0,0,0,0
$GC,4577,0.58,298.8,197.9,13.9,587,4584,0.00,2.08,0.00,0.000,6,0.000,0.037,3032,1800,1854,0,0,0,0,0,0
$GC,4904,0.62,338.8,152.0,12.2,648,4949,0.00,2.20,33.95,0.737,4,0.000,0.046,3042,393,1690,0,0,0,0,0,0
$GC,4968,0.65,342.2,143.7,13.7,657,4978,0.00,2.17,4.43,0.492,6,0.000,0.034,3042,1807,1676,0,0,0,0,0,0
$GC,5300,0.70,367.8,100.8,12.8,718,5330,0.00,2.17,22.05,0.682,4,0.000,0.043,3050,396,1571,0,0,0,0,0,0
$GC,5371,0.78,390.2,91.3,12.9,729,5396,0.08,2.15,19.30,0.660,6,0.054,0.034,3116,1804,1481,0,0,0,0,0,0
$GC,5720,0.82,421.5,35.0,12.5,792,5751,0.00,2.20,25.92,0.630,4,0.000,0.044,3114,3206,1352,0,0,0,0,0,0
$GC,5765,0.88,458.0,29.3,12.3,798,5803,0.00,2.15,30.52,0.616,6,0.000,0.034,3117,1797,1204,0,0,0,0,0,0
$STATE,5947,end climb,SURFACE_DEPTH_REACHED
$STATE,5947,begin surface coast
$FINISH,0.7,1.007037
$STATE,5965,end surface coast,CONTROL_FINISHED_OK
$STATE,5965,begin surface
$SM_CCo,5982,153.95,0.561,1,0,455,641.95
$SM_CCo,6144,-0.38,0.000,0,0,454,642.20
$SM_GC,1.36,0.00,0.00,-0.38,0.000,0.000,0.000,151,1795,454,-8.41,-0.14,642.20
$IRIDIUM_FIX,2326.22,12631.03,290910,111112
$TT8_MAMPS,0.026215
$HUMID,37.79
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.40
$XPDR_PINGS,86
$24V_AH,24.4,16.891
$10V_AH,10.5,10.527
$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,20.650,59.975,546.175,153.950,0.000,31.387,44.766,139.114,21.500,0.000,29.781,1944.564,1376.203,715.749,2222.007,254.682,0.000,1539.506,0.000,2002.127,0.000,0.849,0.000
$DEVICE_MAMPS,231.030,51.255,964.665,560.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.464,851.883,1397.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50208,833
$CAP_FILE_SIZE,90111,0
$CFSIZE,260165632,175042560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,297.2,1
$GPS,290910,145904,2333.662,12628.385,12,2.7,31,-3.5