version: 66.08
glider: 166
mission: 3
dive: 89
start: 9 30 110 5 34 10
data:
$ID,166
$MISSION,3
$DIVE,89
$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,-21598.236
$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,42
$R_STBD_OVSHOOT,43
$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
$GPS1,300910,052752,2327.547,12628.929,8,99.0,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.3
$GPS2,300910,053347,2327.563,12628.799,18,99.0,37,-3.4
$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,152.1,28895,-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,-214.1,0.0,0.0,0,128,0.00,0.00,-109.62,0.000,2,0.000,0.000,142,1814,3247,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.4,-10.9,15,162,8.77,2.17,-13.00,0.000,4,0.226,0.051,2459,383,3948,0,0,0,0,0,0
$GC,328,-0.85,-214.1,94.7,-44.1,50,337,0.35,2.15,0.00,0.000,6,0.163,0.038,2558,1794,3951,0,0,0,0,0,0
$GC,658,-0.73,-214.1,180.1,-25.5,111,665,0.15,2.12,0.00,0.000,4,0.181,0.038,2599,383,3955,0,0,0,0,0,0
$GC,696,-0.68,-214.1,189.7,-21.5,117,704,0.00,2.12,0.00,0.000,6,0.000,0.038,2599,1816,3954,0,0,0,0,0,0
$GC,1032,-0.65,-214.1,255.5,-19.4,178,1040,0.10,0.00,0.00,0.000,6,0.190,0.000,2626,1816,3955,0,0,0,0,0,0
$GC,1372,-0.69,-214.1,304.5,-13.2,237,1376,0.00,2.08,0.00,0.000,4,0.000,0.050,2627,3213,3954,0,0,0,0,0,0
$GC,1404,-0.77,-214.1,307.9,-10.6,239,1408,0.00,2.08,0.00,0.000,6,0.000,0.034,2627,1796,3954,0,0,0,0,0,0
$GC,1736,-0.83,-214.1,347.1,-11.9,270,1738,0.15,0.00,0.00,0.000,6,0.079,0.000,2556,1796,3953,0,0,0,0,0,0
$GC,2053,-0.78,-214.1,406.8,-19.1,300,2058,0.12,2.15,0.00,0.000,4,0.181,0.052,2580,3214,3952,0,0,0,0,0,0
$GC,2072,-0.74,-214.1,410.0,-19.1,301,2076,0.00,2.05,0.00,0.000,6,0.000,0.036,2580,1802,3952,0,0,0,0,0,0
$GC,2398,-0.74,-214.1,462.8,-16.7,331,2402,0.00,2.10,0.00,0.000,4,0.000,0.047,2580,399,3950,0,0,0,0,0,0
$GC,2430,-0.74,-214.1,468.9,-17.9,333,2438,0.00,2.12,0.00,0.000,6,0.000,0.042,2577,1801,3950,0,0,0,0,0,0
$STATE,2626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2626,begin apogee
$GC,2632,-0.23,0.0,501.7,16.8,352,2810,0.55,0.00,166.57,0.969,6,0.133,0.000,2762,1801,3071,0,0,0,0,0,0
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin climb
$GC,2813,1.16,214.1,512.7,0.0,367,2996,1.25,2.28,172.52,0.939,4,0.067,0.050,3231,399,2199,0,0,0,0,0,0
$GC,3010,0.84,214.1,484.5,29.1,385,3015,0.43,2.22,0.00,0.000,6,0.192,0.042,3117,1809,2197,0,0,0,0,0,0
$GC,3338,0.66,214.1,408.2,23.0,415,3342,0.22,2.12,0.00,0.000,4,0.176,0.047,3045,3213,2192,0,0,0,0,0,0
$GC,3399,0.58,214.1,396.6,15.9,420,3404,0.00,2.10,0.00,0.000,6,0.000,0.038,3053,1802,2190,0,0,0,0,0,0
$GC,3732,0.49,214.1,339.7,15.6,451,3737,0.20,2.12,0.00,0.000,4,0.168,0.044,3004,392,2188,0,0,0,0,0,0
$GC,3772,0.53,243.8,334.0,12.6,454,3801,0.00,2.12,24.12,0.848,6,0.000,0.037,3006,1805,2078,0,0,0,0,0,0
$GC,4123,0.68,362.8,298.7,8.7,487,4224,0.15,0.00,97.82,0.838,6,0.075,0.000,3080,1805,1591,0,0,0,0,0,0
$GC,4556,0.62,362.8,213.2,20.7,562,4564,0.15,0.00,0.00,0.000,6,0.174,0.000,3041,1809,1585,0,0,0,0,0,0
$GC,4897,0.63,362.8,155.9,16.2,623,4904,0.00,2.12,0.00,0.000,4,0.000,0.046,3042,395,1583,0,0,0,0,0,0
$GC,4936,0.63,362.8,149.9,16.1,629,4944,0.00,2.12,0.00,0.000,6,0.000,0.034,3043,1804,1581,0,0,0,0,0,0
$GC,5262,0.65,367.3,102.3,13.7,690,5271,0.00,2.12,0.00,0.000,4,0.000,0.046,3043,3210,1580,0,0,0,0,0,0
$GC,5348,0.79,433.0,91.7,11.0,705,5410,0.10,2.12,55.38,0.687,6,0.045,0.037,3132,1793,1305,0,0,0,0,0,0
$GC,5730,0.79,433.0,24.3,15.2,773,5738,0.12,2.15,0.00,0.000,4,0.163,0.045,3103,392,1301,0,0,0,0,0,0
$GC,5821,0.87,459.8,12.4,12.7,789,5851,0.00,2.12,22.10,0.601,6,0.000,0.033,3103,1814,1197,0,0,0,0,0,0
$STATE,5889,end climb,SURFACE_DEPTH_REACHED
$STATE,5889,begin surface coast
$FINISH,0.6,1.021316
$STATE,5914,end surface coast,CONTROL_FINISHED_OK
$STATE,5914,begin surface
$SM_CCo,5931,152.65,0.560,1,0,455,641.95
$SM_CCo,6091,-0.03,0.000,0,0,453,642.20
$SM_GC,1.26,0.00,0.00,-0.03,0.000,0.000,0.000,144,1817,453,-8.43,0.48,642.20
$IRIDIUM_FIX,2319.18,12628.24,300910,030338
$TT8_MAMPS,0.026964
$HUMID,37.95
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.50
$XPDR_PINGS,80
$24V_AH,24.4,18.413
$10V_AH,10.5,11.490
$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,20.425,46.900,538.525,152.650,0.000,25.492,36.833,132.676,20.000,0.000,39.996,1860.762,1536.269,698.558,2111.347,241.568,0.000,1467.468,0.000,1906.774,0.000,0.850,0.000
$DEVICE_MAMPS,226.440,52.020,969.255,559.980,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.283,821.806,1357.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47015,804
$CAP_FILE_SIZE,83398,0
$CFSIZE,260165632,174587904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.188,279.8,1
$GPS,300910,071652,2326.705,12628.698,10,99.0,29,-3.4