version: 66.08
glider: 166
mission: 3
dive: 99
start: 9 30 110 23 46 24
data:
$ID,166
$MISSION,3
$DIVE,99
$N_DIVES,105
$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,-21611.553
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,58
$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
$GPS1,300910,234025,2321.936,12629.122,39,1.3,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.7
$GPS2,300910,234601,2321.990,12629.114,10,1.0,15,-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,193.2,18563,-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,15,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-109.95,0.000,2,0.000,0.000,146,1824,3235,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.3,-11.1,15,162,8.90,2.15,-13.40,0.000,4,0.233,0.045,2458,380,3947,0,0,0,0,0,0
$GC,286,-0.91,-214.1,74.7,-35.9,42,294,0.30,2.15,0.00,0.000,6,0.169,0.041,2541,1782,3949,0,0,0,0,0,0
$GC,612,-0.77,-214.1,173.6,-29.0,103,619,0.17,0.00,0.00,0.000,6,0.177,0.000,2590,1785,3951,0,0,0,0,0,0
$GC,942,-0.73,-214.1,245.5,-19.8,164,950,0.00,2.17,0.00,0.000,4,0.000,0.053,2587,3200,3953,0,0,0,0,0,0
$GC,975,-0.70,-214.1,251.6,-18.6,169,982,0.00,2.08,0.00,0.000,6,0.000,0.034,2587,1786,3953,0,0,0,0,0,0
$GC,1312,-0.67,-214.1,313.5,-18.5,224,1316,0.12,2.08,0.00,0.000,4,0.169,0.044,2621,396,3952,0,0,0,0,0,0
$GC,1340,-0.67,-214.1,318.4,-15.8,226,1344,0.00,2.10,0.00,0.000,6,0.000,0.038,2616,1806,3952,0,0,0,0,0,0
$GC,1666,-0.71,-214.1,366.6,-14.5,256,1670,0.00,2.10,0.00,0.000,4,0.000,0.053,2616,3208,3952,0,0,0,0,0,0
$GC,1774,-0.81,-214.1,378.6,-10.0,265,1779,0.10,2.05,0.00,0.000,6,0.099,0.034,2558,1801,3951,0,0,0,0,0,0
$GC,2101,-0.78,-214.1,435.1,-17.7,295,2105,0.12,2.12,0.00,0.000,4,0.178,0.046,2592,391,3949,0,0,0,0,0,0
$GC,2176,-0.81,-214.1,446.2,-13.6,301,2180,0.00,2.10,0.00,0.000,6,0.000,0.040,2590,1808,3949,0,0,0,0,0,0
$GC,2504,-0.83,-214.1,491.4,-13.5,331,2507,0.00,2.12,0.00,0.000,4,0.000,0.054,2588,3211,3947,0,0,0,0,0,0
$GC,2557,-0.91,-214.1,497.8,-11.1,335,2562,0.12,2.08,0.00,0.000,6,0.086,0.036,2522,1792,3946,0,0,0,0,0,0
$STATE,2572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2572,begin apogee
$GC,2577,-0.23,0.0,500.3,11.7,336,2748,0.73,0.00,166.38,0.966,6,0.144,0.000,2757,1791,3072,0,0,0,0,0,0
$STATE,2749,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2752,1.16,214.1,507.8,0.0,350,2934,1.27,2.38,172.57,0.935,4,0.072,0.049,3230,357,2198,0,0,0,0,0,0
$GC,3023,0.85,214.1,454.7,31.5,373,3028,0.40,2.15,0.00,0.000,6,0.194,0.037,3119,1752,2195,0,0,0,0,0,0
$GC,3350,0.66,214.1,379.6,21.3,403,3354,0.22,2.17,0.00,0.000,4,0.175,0.044,3065,349,2190,0,0,0,0,0,0
$GC,3380,0.53,214.1,374.0,18.4,405,3385,0.17,2.12,0.00,0.000,6,0.166,0.036,3016,1759,2190,0,0,0,0,0,0
$GC,3707,0.54,245.1,335.1,12.5,435,3742,0.00,2.20,25.38,0.848,4,0.000,0.047,3010,3162,2071,0,0,0,0,0,0
$GC,3792,0.58,276.9,323.4,12.5,442,3826,0.00,2.15,27.50,0.834,6,0.000,0.036,3019,1747,1941,0,0,0,0,0,0
$GC,4151,0.62,312.4,274.4,12.4,493,4186,0.00,2.28,28.98,0.810,4,0.000,0.045,3019,3171,1798,0,0,0,0,0,0
$GC,4211,0.65,331.9,266.8,13.0,502,4239,0.00,2.17,17.80,0.770,6,0.000,0.036,3028,1758,1718,0,0,0,0,0,0
$GC,4565,0.73,384.9,223.6,11.6,566,4620,0.12,2.22,43.83,0.782,4,0.086,0.044,3104,356,1502,0,0,0,0,0,0
$GC,4641,0.66,384.9,210.2,21.4,577,4649,0.17,2.12,0.00,0.000,6,0.159,0.032,3056,1761,1500,0,0,0,0,0,0
$GC,4974,0.66,384.9,149.9,16.9,638,4983,0.00,2.10,0.00,0.000,4,0.000,0.044,3053,3149,1499,0,0,0,0,0,0
$GC,5034,0.70,384.9,140.6,15.8,648,5042,0.00,2.12,0.00,0.000,6,0.000,0.036,3054,1743,1498,0,0,0,0,0,0
$GC,5361,0.72,384.9,93.2,14.1,709,5370,0.00,2.12,0.00,0.000,4,0.000,0.045,3062,347,1496,0,0,0,0,0,0
$GC,5410,0.76,384.9,85.8,14.3,717,5419,0.00,2.10,0.00,0.000,6,0.000,0.032,3062,1751,1495,0,0,0,0,0,0
$GC,5740,0.93,467.3,46.8,10.3,778,5814,0.20,2.15,65.50,0.646,4,0.062,0.041,3156,3157,1166,0,0,0,0,0,0
$GC,5867,0.90,467.3,22.7,20.2,797,5876,0.00,2.15,0.00,0.000,6,0.000,0.035,3161,1752,1166,0,0,0,0,0,0
$STATE,5959,end climb,SURFACE_DEPTH_REACHED
$STATE,5959,begin surface coast
$FINISH,0.7,1.021741
$STATE,5972,end surface coast,CONTROL_FINISHED_OK
$STATE,5975,begin surface
$SM_CCo,5991,147.68,0.561,1,0,453,641.95
$SM_CCo,6147,-0.40,0.000,0,0,454,642.20
$SM_GC,1.36,0.00,0.00,-0.40,0.000,0.000,0.000,142,1749,454,-8.44,-1.44,642.20
$IRIDIUM_FIX,2316.83,12628.24,300910,212122
$TT8_MAMPS,0.026215
$HUMID,38.62
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.40
$XPDR_PINGS,91
$24V_AH,24.4,20.110
$10V_AH,10.5,12.575
$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,20.975,60.025,547.925,147.675,0.000,27.411,36.291,133.671,22.750,0.000,16.557,1911.287,1446.608,701.318,2175.674,251.057,0.000,1520.025,0.000,1983.621,0.000,0.848,0.000
$DEVICE_MAMPS,233.325,53.550,966.195,560.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.081,834.113,1374.623,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46908,816
$CAP_FILE_SIZE,90598,0
$CFSIZE,260165632,174063616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071, 67.7,1
$GPS,011010,013001,2321.115,12629.205,12,1.9,29,-3.4