version: 66.08
glider: 166
mission: 3
dive: 82
start: 9 29 110 16 56 24
data:
$ID,166
$MISSION,3
$DIVE,82
$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,-21589.068
$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,43
$R_STBD_OVSHOOT,45
$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
$GPS1,290910,165002,2333.028,12628.284,12,1.3,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.5
$GPS2,290910,165601,2333.043,12628.266,14,1.8,31,-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,157.2,39084,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,133,0.00,0.00,-114.62,0.000,2,0.000,0.000,130,1805,3449,0,0,0,0,0,0
$GC,135,-1.16,-214.1,6.9,-14.5,16,160,9.00,2.17,-8.55,0.000,4,0.233,0.050,2461,381,3948,0,0,0,0,0,0
$GC,383,-0.88,-214.1,121.9,-38.3,61,392,0.32,2.12,0.00,0.000,6,0.179,0.034,2549,1791,3952,0,0,0,0,0,0
$GC,719,-0.76,-214.1,214.4,-26.8,122,729,0.15,2.15,0.00,0.000,4,0.180,0.046,2581,3200,3955,0,0,0,0,0,0
$GC,766,-0.75,-214.1,224.7,-19.6,129,773,0.00,2.05,0.00,0.000,6,0.000,0.031,2581,1787,3955,0,0,0,0,0,0
$GC,1106,-0.71,-214.1,291.2,-19.6,190,1115,0.10,2.10,0.00,0.000,4,0.187,0.041,2609,394,3954,0,0,0,0,0,0
$GC,1182,-0.75,-214.1,303.7,-14.5,201,1189,0.00,2.08,0.00,0.000,6,0.000,0.035,2604,1809,3954,0,0,0,0,0,0
$GC,1509,-0.75,-214.1,358.2,-17.4,232,1513,0.00,2.10,0.00,0.000,4,0.000,0.041,2604,398,3953,0,0,0,0,0,0
$GC,1552,-0.78,-214.1,365.3,-16.9,235,1556,0.00,2.08,0.00,0.000,6,0.000,0.037,2604,1800,3953,0,0,0,0,0,0
$GC,1883,-0.80,-214.1,414.5,-14.0,266,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1800,3952,0,0,0,0,0,0
$GC,2205,-0.84,-214.1,457.4,-13.0,296,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1800,3951,0,0,0,0,0,0
$STATE,2520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2520,begin apogee
$GC,2525,-0.23,0.0,500.8,13.7,326,2696,0.45,0.00,166.65,0.964,6,0.122,0.000,2761,1800,3072,0,0,0,0,0,0
$STATE,2697,end apogee,CONTROL_FINISHED_OK
$STATE,2697,begin climb
$GC,2699,1.16,214.1,509.5,0.0,340,2880,1.25,2.28,172.35,0.932,4,0.067,0.054,3214,3198,2198,0,0,0,0,0,0
$GC,2902,0.85,214.1,478.1,30.8,358,2911,0.38,2.20,0.00,0.000,6,0.188,0.039,3120,1812,2196,0,0,0,0,0,0
$GC,3227,0.67,214.1,403.9,20.2,389,3232,0.22,2.17,0.00,0.000,4,0.179,0.045,3067,389,2193,0,0,0,0,0,0
$GC,3324,0.57,214.1,385.9,17.6,397,3329,0.15,2.12,0.00,0.000,6,0.174,0.039,3025,1796,2191,0,0,0,0,0,0
$GC,3655,0.55,228.3,340.9,13.3,428,3672,0.00,2.15,11.70,0.793,4,0.000,0.054,3024,3213,2141,0,0,0,0,0,0
$GC,3694,0.51,229.0,336.0,13.9,431,3698,0.00,2.10,0.00,0.000,6,0.000,0.037,3032,1793,2140,0,0,0,0,0,0
$GC,4023,0.47,229.0,287.0,14.6,468,4032,0.15,2.15,0.00,0.000,4,0.170,0.047,3000,399,2138,0,0,0,0,0,0
$GC,4092,0.57,288.2,279.0,11.3,479,4147,0.00,2.10,49.20,0.825,6,0.000,0.035,3000,1811,1897,0,0,0,0,0,0
$GC,4480,0.65,324.7,232.6,12.3,547,4521,0.15,2.25,30.48,0.779,4,0.073,0.044,3089,393,1748,0,0,0,0,0,0
$GC,4536,0.57,324.7,222.8,19.2,555,4544,0.22,2.15,0.00,0.000,6,0.158,0.034,3025,1801,1745,0,0,0,0,0,0
$GC,4875,0.60,334.5,176.1,13.5,616,4890,0.00,2.20,9.30,0.667,4,0.000,0.047,3024,3218,1708,0,0,0,0,0,0
$GC,4955,0.70,373.8,166.0,12.2,629,4997,0.10,2.10,32.97,0.731,6,0.096,0.036,3092,1795,1547,0,0,0,0,0,0
$GC,5319,0.65,373.8,99.4,18.1,695,5327,0.15,2.15,0.00,0.000,4,0.166,0.045,3058,391,1543,0,0,0,0,0,0
$GC,5411,0.73,417.8,87.2,12.0,711,5456,0.00,2.12,35.75,0.675,6,0.000,0.034,3054,1805,1367,0,0,0,0,0,0
$GC,5777,1.05,566.1,56.4,7.5,777,5911,0.30,2.22,118.78,0.636,4,0.048,0.042,3194,3204,763,0,0,0,0,0,0
$GC,5919,0.97,566.1,24.4,26.6,796,5928,0.12,2.17,0.00,0.000,6,0.145,0.035,3159,1801,763,0,0,0,0,0,0
$STATE,6016,end climb,SURFACE_DEPTH_REACHED
$STATE,6016,begin surface coast
$FINISH,0.6,1.021750
$STATE,6031,end surface coast,CONTROL_FINISHED_OK
$STATE,6031,begin surface
$SM_CCo,6048,68.05,0.506,1,0,455,641.95
$SM_CCo,6124,0.00,0.000,0,0,453,642.20
$SM_GC,1.25,0.00,0.00,0.00,0.000,0.000,0.000,146,1798,453,-8.42,-0.06,642.20
$IRIDIUM_FIX,2323.87,12629.63,290910,151510
$TT8_MAMPS,0.026215
$HUMID,38.89
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.70
$XPDR_PINGS,80
$24V_AH,24.4,17.231
$10V_AH,10.5,10.745
$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,21.125,51.500,627.175,68.050,0.000,28.942,39.078,137.585,20.000,0.000,33.679,1856.525,1574.120,665.226,2141.640,246.421,0.000,1484.384,0.000,1931.148,0.000,0.849,0.000
$DEVICE_MAMPS,232.560,54.315,963.900,506.430,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.210,834.467,1357.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46962,816
$CAP_FILE_SIZE,85618,0
$CFSIZE,260165632,174948352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145,329.9,1
$GPS,290910,183920,2332.593,12628.521,13,1.5,13,-3.5