version: 66.08
glider: 166
mission: 3
dive: 26
start: 9 25 110 12 52 48
data:
$ID,166
$MISSION,3
$DIVE,26
$N_DIVES,30
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,400
$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,-21511.74
$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,0.029999999
$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,38
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2789
$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
$GPS1,250910,124625,2335.678,12616.662,39,1.8,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.4
$GPS2,250910,125225,2335.721,12616.634,12,1.4,17,-3.5
$SPEED_LIMITS,0.241,0.365
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,39.9,50330,-18.5,-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,-1.14,-243.3,0.0,0.0,0,115,0.00,0.00,-97.60,0.000,2,0.000,0.000,139,1799,3356,0,0,0,0,0,0
$GC,118,-1.14,-243.3,6.2,-12.8,13,143,8.82,2.12,-7.70,0.000,4,0.232,0.050,2468,370,3782,0,0,0,0,0,0
$GC,230,-0.68,-243.3,63.1,-34.8,32,239,0.50,2.20,0.00,0.000,6,0.166,0.044,2612,1791,3784,0,0,0,0,0,0
$GC,557,-0.56,-243.3,135.2,-21.0,93,565,0.15,2.20,0.00,0.000,4,0.175,0.053,2651,3212,3786,0,0,0,0,0,0
$GC,648,-0.70,-243.3,147.9,-11.2,109,656,0.08,2.12,0.00,0.000,6,0.055,0.034,2593,1794,3787,0,0,0,0,0,0
$GC,981,-0.59,-243.3,207.2,-17.0,170,991,0.20,2.10,0.00,0.000,4,0.163,0.043,2649,396,3787,0,0,0,0,0,0
$GC,1010,-0.59,-243.3,211.3,-14.6,174,1018,0.00,2.12,0.00,0.000,6,0.000,0.039,2649,1808,3788,0,0,0,0,0,0
$GC,1344,-0.71,-243.3,247.3,-10.9,235,1352,0.12,2.12,0.00,0.000,4,0.093,0.044,2588,387,3788,0,0,0,0,0,0
$GC,1393,-0.65,-243.3,254.5,-15.5,243,1401,0.15,2.12,0.00,0.000,6,0.169,0.041,2627,1810,3787,0,0,0,0,0,0
$GC,1729,-0.71,-243.3,296.2,-12.0,304,1736,0.00,2.12,0.00,0.000,4,0.000,0.053,2625,3210,3787,0,0,0,0,0,0
$GC,1770,-0.85,-243.3,301.2,-10.6,310,1778,0.12,2.10,0.00,0.000,6,0.047,0.035,2549,1794,3787,0,0,0,0,0,0
$GC,2096,-0.70,-243.3,360.9,-19.1,341,2101,0.22,2.05,0.00,0.000,4,0.168,0.044,2613,393,3788,0,0,0,0,0,0
$GC,2195,-0.77,-243.3,375.6,-13.0,349,2201,0.00,2.08,0.00,0.000,6,0.000,0.040,2611,1804,3787,0,0,0,0,0,0
$GC,2521,-0.83,-243.3,413.7,-10.9,380,2523,0.12,0.00,0.00,0.000,6,0.096,0.000,2555,1804,3786,0,0,0,0,0,0
$GC,2838,-0.74,-243.3,462.7,-15.7,410,2840,0.17,0.00,0.00,0.000,6,0.171,0.000,2603,1805,3784,0,0,0,0,0,0
$GC,3159,-0.81,-243.3,498.9,-11.0,440,3163,0.00,2.10,0.00,0.000,4,0.000,0.048,2603,398,3783,0,0,0,0,0,0
$STATE,3167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3167,begin apogee
$GC,3176,-0.23,0.0,500.5,10.6,440,3372,0.47,0.00,190.73,0.957,6,0.132,0.000,2760,1810,2789,0,0,0,0,0,0
$STATE,3373,end apogee,CONTROL_FINISHED_OK
$STATE,3373,begin climb
$GC,3376,1.14,243.3,506.3,0.0,457,3589,1.27,2.28,201.40,0.918,4,0.083,0.053,3198,3203,1795,0,0,0,0,0,0
$GC,3658,0.53,243.3,427.8,38.5,481,3664,0.70,2.17,0.00,0.000,6,0.197,0.038,3019,1806,1792,0,0,0,0,0,0
$GC,3985,0.40,243.3,359.1,18.3,511,3990,0.17,2.12,0.00,0.000,4,0.161,0.048,2958,3210,1788,0,0,0,0,0,0
$GC,4017,0.40,243.3,354.2,14.9,513,4021,0.00,2.12,0.00,0.000,6,0.000,0.038,2966,1787,1787,0,0,0,0,0,0
$GC,4348,0.54,311.1,314.3,11.3,544,4410,0.15,2.25,56.22,0.838,4,0.081,0.047,3051,389,1519,0,0,0,0,0,0
$GC,4462,0.44,311.1,292.1,20.8,555,4469,0.22,2.17,0.00,0.000,6,0.149,0.039,2983,1799,1516,0,0,0,0,0,0
$GC,4801,0.49,311.1,243.1,14.1,616,4810,0.00,2.17,0.00,0.000,4,0.000,0.050,2981,3198,1513,0,0,0,0,0,0
$GC,4827,0.56,311.1,239.1,14.1,620,4836,0.00,2.12,0.00,0.000,6,0.000,0.037,2990,1800,1512,0,0,0,0,0,0
$GC,5170,0.70,378.9,196.3,11.3,681,5231,0.20,2.25,55.53,0.760,4,0.067,0.045,3097,390,1243,0,0,0,0,0,0
$GC,5276,0.49,378.9,172.1,27.3,697,5283,0.30,2.17,0.00,0.000,6,0.154,0.037,3003,1808,1240,0,0,0,0,0,0
$GC,5606,0.65,428.4,126.5,12.0,758,5651,0.12,0.00,40.40,0.700,6,0.086,0.000,3072,1813,1041,0,0,0,0,0,0
$GC,5972,0.65,428.4,54.1,17.1,824,5981,0.00,2.12,0.00,0.000,4,0.000,0.047,3069,3202,1038,0,0,0,0,0,0
$GC,6048,1.01,530.4,43.9,10.0,837,6137,0.20,2.12,82.75,0.630,6,0.036,0.037,3194,1796,626,0,0,0,0,0,0
$STATE,6208,end climb,SURFACE_DEPTH_REACHED
$STATE,6208,begin surface coast
$FINISH,0.7,1.021788
$STATE,6214,end surface coast,CONTROL_FINISHED_OK
$STATE,6214,begin surface
$SM_CCo,6291,0.00,0.000,0,0,619,532.06
$SM_GC,1.49,7.90,0.00,0.00,0.033,0.000,0.000,151,1795,619,-8.34,-0.14,532.06
$IRIDIUM_FIX,2326.22,12614.09,250910,101001
$TT8_MAMPS,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,23.50
$XPDR_PINGS,111
$24V_AH,24.3,7.868
$10V_AH,10.5,4.828
$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,22.400,55.825,627.025,0.000,0.000,23.480,41.790,149.912,27.750,0.000,17.927,1989.861,1557.797,585.107,2255.950,259.529,0.000,1435.430,0.000,2047.703,0.000,0.846,0.000
$DEVICE_MAMPS,231.795,52.785,957.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,581.101,882.141,1417.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330480
$DATA_FILE_SIZE,50317,863
$CAP_FILE_SIZE,89219,0
$CFSIZE,260165632,177799168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,299.8,1
$GPS,250910,143837,2336.756,12617.208,11,1.9,22,-3.5