version: 66.08
glider: 166
mission: 3
dive: 85
start: 9 29 110 22 18 24
data:
$ID,166
$MISSION,3
$DIVE,85
$N_DIVES,95
$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,-21593.023
$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,45
$R_STBD_OVSHOOT,36
$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
$GPS1,290910,221214,2331.470,12629.115,9,1.7,9,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.5
$GPS2,290910,221801,2331.464,12629.126,11,1.7,16,-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,193.4,36077,-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,-214.1,0.0,0.0,0,132,0.00,0.00,-113.32,0.000,2,0.000,0.000,145,1791,3402,0,0,0,0,0,0
$GC,135,-1.16,-214.1,6.4,-13.2,15,160,8.93,2.15,-9.45,0.000,4,0.233,0.050,2459,377,3949,0,0,0,0,0,0
$GC,397,-0.86,-214.1,131.2,-41.4,63,405,0.35,2.15,0.00,0.000,6,0.172,0.035,2555,1801,3952,0,0,0,0,0,0
$GC,728,-0.78,-214.1,219.5,-24.3,124,736,0.12,2.15,0.00,0.000,4,0.184,0.039,2593,388,3955,0,0,0,0,0,0
$GC,763,-0.73,-214.1,226.7,-21.5,129,771,0.00,2.10,0.00,0.000,6,0.000,0.036,2588,1801,3955,0,0,0,0,0,0
$GC,1093,-0.70,-214.1,289.9,-18.7,190,1101,0.00,2.12,0.00,0.000,4,0.000,0.049,2578,3203,3955,0,0,0,0,0,0
$GC,1121,-0.68,-214.1,294.7,-18.3,194,1129,0.10,2.08,0.00,0.000,6,0.136,0.034,2614,1805,3955,0,0,0,0,0,0
$GC,1452,-0.71,-214.1,345.0,-14.6,227,1456,0.00,2.08,0.00,0.000,4,0.000,0.044,2614,398,3954,0,0,0,0,0,0
$GC,1519,-0.77,-214.1,355.3,-14.2,232,1527,0.00,2.12,0.00,0.000,6,0.000,0.040,2615,1801,3955,0,0,0,0,0,0
$GC,1846,-0.81,-214.1,398.7,-12.8,263,1851,0.12,2.15,0.00,0.000,4,0.093,0.052,2552,3213,3953,0,0,0,0,0,0
$GC,1890,-0.81,-214.1,405.5,-15.4,266,1897,0.00,2.10,0.00,0.000,6,0.000,0.036,2552,1807,3952,0,0,0,0,0,0
$GC,2216,-0.77,-214.1,465.5,-18.4,297,2221,0.15,2.12,0.00,0.000,4,0.170,0.047,2593,396,3951,0,0,0,0,0,0
$GC,2271,-0.80,-214.1,474.5,-14.0,301,2279,0.00,2.10,0.00,0.000,6,0.000,0.041,2592,1810,3951,0,0,0,0,0,0
$STATE,2457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2457,begin apogee
$GC,2463,-0.23,0.0,500.8,13.9,319,2635,0.50,0.00,167.07,0.961,6,0.128,0.000,2762,1810,3071,0,0,0,0,0,0
$STATE,2635,end apogee,CONTROL_FINISHED_OK
$STATE,2636,begin climb
$GC,2638,1.16,214.1,508.2,0.0,333,2818,1.23,2.25,172.07,0.929,4,0.052,0.052,3227,3208,2199,0,0,0,0,0,0
$GC,2844,0.83,214.1,474.4,33.0,351,2849,0.47,2.20,0.00,0.000,6,0.196,0.040,3113,1804,2196,0,0,0,0,0,0
$GC,3171,0.65,214.1,395.8,22.8,381,3175,0.22,2.15,0.00,0.000,4,0.175,0.044,3059,387,2191,0,0,0,0,0,0
$GC,3231,0.56,214.1,382.9,19.4,386,3240,0.08,2.15,0.00,0.000,6,0.155,0.038,3026,1795,2191,0,0,0,0,0,0
$GC,3557,0.53,227.0,336.4,13.3,417,3577,0.00,0.00,10.70,0.780,6,0.000,0.000,3026,1795,2146,0,0,0,0,0,0
$GC,3898,0.56,274.7,292.8,11.8,454,3946,0.00,2.22,39.55,0.833,4,0.000,0.045,3024,3212,1951,0,0,0,0,0,0
$GC,3961,0.53,274.9,284.5,13.9,463,3968,0.00,2.17,0.00,0.000,6,0.000,0.037,3032,1787,1951,0,0,0,0,0,0
$GC,4301,0.51,279.4,237.0,13.7,524,4310,0.00,2.17,4.53,0.549,4,0.000,0.045,3043,386,1933,0,0,0,0,0,0
$GC,4339,0.48,279.4,231.2,14.9,530,4349,0.12,2.15,0.00,0.000,6,0.132,0.034,2996,1805,1932,0,0,0,0,0,0
$GC,4688,0.64,368.6,195.4,10.0,591,4771,0.15,2.17,72.93,0.763,4,0.073,0.044,3082,3204,1570,0,0,0,0,0,0
$GC,4799,0.59,368.6,175.6,20.0,607,4807,0.20,2.15,0.00,0.000,6,0.161,0.036,3036,1799,1570,0,0,0,0,0,0
$GC,5134,0.62,368.6,125.7,15.5,668,5142,0.00,2.12,0.00,0.000,4,0.000,0.045,3039,401,1564,0,0,0,0,0,0
$GC,5213,0.69,389.2,114.2,13.0,682,5237,0.00,2.10,17.62,0.675,6,0.000,0.033,3037,1798,1484,0,0,0,0,0,0
$GC,5561,0.91,494.0,75.4,9.3,745,5652,0.25,2.28,84.03,0.661,4,0.051,0.043,3172,388,1056,0,0,0,0,0,0
$GC,5662,0.81,494.0,54.9,22.4,758,5671,0.20,2.17,0.00,0.000,6,0.140,0.031,3101,1796,1055,0,0,0,0,0,0
$GC,5992,0.88,507.6,8.7,13.3,819,6007,0.00,0.00,11.88,0.559,6,0.000,0.000,3100,1801,1001,0,0,0,0,0,0
$STATE,6033,end climb,SURFACE_DEPTH_REACHED
$STATE,6034,begin surface coast
$FINISH,0.7,1.021691
$STATE,6058,end surface coast,CONTROL_FINISHED_OK
$STATE,6058,begin surface
$SM_CCo,6076,115.00,0.545,1,0,454,641.95
$SM_CCo,6199,-0.43,0.000,0,0,454,642.20
$SM_GC,1.36,0.00,0.00,-0.43,0.000,0.000,0.000,148,1802,454,-8.41,0.06,642.20
$IRIDIUM_FIX,2323.87,12639.50,290910,202011
$TT8_MAMPS,0.026215
$HUMID,38.22
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.90
$XPDR_PINGS,77
$24V_AH,24.4,17.738
$10V_AH,10.5,11.063
$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,20.750,55.900,580.375,115.000,0.000,29.532,40.882,135.596,19.250,0.000,17.844,1913.414,1512.180,694.392,2175.776,251.596,0.000,1514.261,0.000,1973.668,0.000,0.848,0.000
$DEVICE_MAMPS,232.560,52.020,960.840,545.445,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.409,848.342,1395.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50351,830
$CAP_FILE_SIZE,88644,0
$CFSIZE,260165632,174780416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.150, 73.0,1
$GPS,300910,000306,2330.651,12629.542,39,1.1,44,-3.5