version: 66.08
glider: 166
mission: 3
dive: 88
start: 9 30 110 3 46 14
data:
$ID,166
$MISSION,3
$DIVE,88
$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,-21596.977
$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,40
$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
$GPS1,300910,034036,2328.653,12629.438,10,1.0,26,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.9
$GPS2,300910,034550,2328.633,12629.349,14,1.5,14,-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,180.6,30823,-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,-214.1,0.0,0.0,0,125,0.00,0.00,-107.15,0.000,2,0.000,0.000,136,1815,3177,0,0,0,0,0,0
$GC,128,-1.16,-214.1,5.1,-10.7,15,159,8.85,2.15,-14.55,0.000,4,0.228,0.049,2460,376,3946,0,0,0,0,0,0
$GC,392,-0.88,-214.1,119.1,-38.9,63,401,0.32,2.15,0.00,0.000,6,0.174,0.037,2548,1791,3949,0,0,0,0,0,0
$GC,724,-0.77,-214.1,214.1,-25.9,124,733,0.15,2.12,0.00,0.000,4,0.181,0.038,2593,392,3952,0,0,0,0,0,0
$GC,781,-0.77,-214.1,226.1,-19.0,133,789,0.00,2.10,0.00,0.000,6,0.000,0.037,2589,1813,3953,0,0,0,0,0,0
$GC,1114,-0.74,-214.1,290.3,-19.1,194,1122,0.00,2.12,0.00,0.000,4,0.000,0.048,2579,3204,3952,0,0,0,0,0,0
$GC,1169,-0.76,-214.1,299.7,-16.3,203,1176,0.00,2.05,0.00,0.000,6,0.000,0.033,2579,1787,3953,0,0,0,0,0,0
$GC,1497,-0.75,-214.1,356.9,-16.8,234,1501,0.00,2.08,0.00,0.000,4,0.000,0.042,2579,388,3951,0,0,0,0,0,0
$GC,1560,-0.75,-214.1,367.4,-16.1,239,1564,0.00,2.10,0.00,0.000,6,0.000,0.038,2577,1798,3951,0,0,0,0,0,0
$GC,1886,-0.75,-214.1,419.4,-15.2,269,1890,0.00,2.12,0.00,0.000,4,0.000,0.053,2574,3210,3951,0,0,0,0,0,0
$GC,1928,-0.77,-214.1,425.3,-13.6,272,1932,0.00,2.05,0.00,0.000,6,0.000,0.036,2574,1800,3950,0,0,0,0,0,0
$GC,2254,-0.77,-214.1,474.8,-14.7,302,2258,0.00,2.12,0.00,0.000,4,0.000,0.052,2566,3205,3948,0,0,0,0,0,0
$GC,2274,-0.77,-214.1,477.4,-14.2,303,2278,0.00,2.05,0.00,0.000,6,0.000,0.037,2565,1802,3948,0,0,0,0,0,0
$STATE,2416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2416,begin apogee
$GC,2421,-0.23,0.0,500.0,15.7,316,2599,0.57,0.00,166.57,0.968,6,0.128,0.000,2760,1802,3071,0,0,0,0,0,0
$STATE,2599,end apogee,CONTROL_FINISHED_OK
$STATE,2599,begin climb
$GC,2602,1.16,214.1,507.3,0.0,331,2784,1.25,2.33,171.85,0.936,4,0.069,0.053,3214,3193,2198,0,0,0,0,0,0
$GC,2803,0.85,214.1,475.2,29.7,348,2808,0.40,2.17,0.00,0.000,6,0.196,0.041,3122,1803,2196,0,0,0,0,0,0
$GC,3133,0.67,214.1,398.0,22.9,378,3138,0.22,2.15,0.00,0.000,4,0.181,0.047,3050,3208,2192,0,0,0,0,0,0
$GC,3174,0.57,214.1,389.4,16.8,381,3179,0.12,2.12,0.00,0.000,6,0.188,0.037,3027,1785,2190,0,0,0,0,0,0
$GC,3506,0.52,214.1,341.4,13.9,412,3510,0.00,2.10,0.00,0.000,4,0.000,0.047,3036,393,2188,0,0,0,0,0,0
$GC,3560,0.48,214.1,333.2,14.4,416,3569,0.10,2.12,0.00,0.000,6,0.145,0.037,3001,1795,2187,0,0,0,0,0,0
$GC,3888,0.56,284.8,295.6,10.8,450,3950,0.00,2.28,56.47,0.847,4,0.000,0.046,3011,392,1910,0,0,0,0,0,0
$GC,3976,0.66,344.8,286.0,11.3,463,4037,0.12,2.15,50.47,0.817,6,0.083,0.037,3076,1801,1665,0,0,0,0,0,0
$GC,4360,0.59,344.8,211.2,19.6,532,4369,0.15,2.17,0.00,0.000,4,0.172,0.047,3026,3200,1659,0,0,0,0,0,0
$GC,4399,0.61,344.8,204.9,15.3,538,4407,0.00,2.12,0.00,0.000,6,0.000,0.037,3034,1801,1658,0,0,0,0,0,0
$GC,4734,0.64,344.8,157.2,14.0,599,4741,0.00,2.12,0.00,0.000,4,0.000,0.046,3040,393,1657,0,0,0,0,0,0
$GC,4829,0.65,344.8,143.1,14.5,616,4837,0.00,2.12,0.00,0.000,6,0.000,0.034,3040,1801,1656,0,0,0,0,0,0
$GC,5156,0.68,344.8,96.2,15.5,677,5164,0.00,2.12,0.00,0.000,4,0.000,0.047,3038,3201,1655,0,0,0,0,0,0
$GC,5193,0.73,344.8,90.7,14.3,683,5202,0.08,2.10,0.00,0.000,6,0.051,0.036,3108,1797,1655,0,0,0,0,0,0
$GC,5520,0.78,386.0,39.0,12.1,744,5557,0.00,2.20,32.50,0.646,4,0.000,0.045,3118,386,1497,0,0,0,0,0,0
$GC,5624,0.80,403.1,25.8,13.1,761,5649,0.00,2.15,15.02,0.596,6,0.000,0.033,3116,1809,1427,0,0,0,0,0,0
$STATE,5782,end climb,SURFACE_DEPTH_REACHED
$STATE,5783,begin surface coast
$FINISH,0.6,1.019660
$STATE,5805,end surface coast,CONTROL_FINISHED_OK
$STATE,5805,begin surface
$SM_CCo,5823,198.02,0.571,1,0,455,641.95
$SM_CCo,6029,-0.05,0.000,0,0,453,642.20
$SM_GC,1.24,0.00,0.00,-0.05,0.000,0.000,0.000,145,1813,453,-8.43,0.40,642.20
$IRIDIUM_FIX,2321.52,12626.35,300910,010117
$TT8_MAMPS,0.026215
$HUMID,37.91
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.60
$XPDR_PINGS,83
$24V_AH,24.4,18.242
$10V_AH,10.5,11.383
$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,19.975,59.775,492.900,198.025,0.000,26.651,18.413,134.166,20.750,0.000,15.226,1853.607,1469.077,706.665,2072.323,246.186,0.000,1486.475,0.000,1902.174,0.000,0.848,0.000
$DEVICE_MAMPS,227.970,52.785,967.725,570.690,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.001,810.872,1346.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46923,793
$CAP_FILE_SIZE,85380,0
$CFSIZE,260165632,174632960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.158,261.5,1
$GPS,300910,052752,2327.547,12628.929,8,99.0,28,-3.4