version: 66.08
glider: 166
mission: 3
dive: 60
start: 9 28 110 1 44 7
data:
$ID,166
$MISSION,3
$DIVE,60
$N_DIVES,70
$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,-21560.027
$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,43
$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,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
$GPS1,280910,013807,2351.329,12628.937,26,1.4,26,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.9
$GPS2,280910,014344,2351.372,12628.928,13,2.0,13,-3.6
$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,176.9,72940,-19.7,-13.889
$D_GRID,5000
$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,-214.1,0.0,0.0,0,132,0.00,0.00,-114.40,0.000,2,0.000,0.000,145,1817,3425,0,0,0,0,0,0
$GC,135,-1.16,-214.1,6.6,-13.3,16,160,8.98,2.20,-9.05,0.000,4,0.235,0.050,2460,378,3949,0,0,0,0,0,0
$GC,367,-0.91,-214.1,114.7,-37.2,58,377,0.30,2.15,0.00,0.000,6,0.174,0.035,2541,1800,3952,0,0,0,0,0,0
$GC,703,-0.79,-214.1,210.0,-25.0,119,710,0.15,0.00,0.00,0.000,6,0.183,0.000,2581,1803,3955,0,0,0,0,0,0
$GC,1042,-0.75,-214.1,275.3,-18.7,180,1050,0.00,2.12,0.00,0.000,4,0.000,0.041,2581,395,3955,0,0,0,0,0,0
$GC,1064,-0.71,-214.1,279.3,-19.1,183,1072,0.12,2.08,0.00,0.000,6,0.177,0.036,2610,1809,3955,0,0,0,0,0,0
$GC,1401,-0.74,-214.1,331.4,-15.6,226,1405,0.00,2.10,0.00,0.000,4,0.000,0.048,2604,3211,3955,0,0,0,0,0,0
$GC,1503,-0.82,-214.1,344.5,-11.2,234,1512,0.00,2.10,0.00,0.000,6,0.000,0.034,2604,1802,3954,0,0,0,0,0,0
$GC,1830,-0.85,-214.1,388.5,-12.0,265,1835,0.12,2.10,0.00,0.000,4,0.093,0.044,2544,396,3953,0,0,0,0,0,0
$GC,1898,-0.82,-214.1,400.2,-18.0,270,1907,0.10,2.12,0.00,0.000,6,0.147,0.040,2572,1796,3953,0,0,0,0,0,0
$GC,2223,-0.82,-214.1,454.9,-17.0,301,2227,0.00,2.10,0.00,0.000,4,0.000,0.051,2566,3209,3951,0,0,0,0,0,0
$GC,2265,-0.84,-214.1,461.5,-15.9,304,2269,0.00,2.05,0.00,0.000,6,0.000,0.036,2566,1799,3951,0,0,0,0,0,0
$STATE,2503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2503,begin apogee
$GC,2510,-0.23,0.0,500.7,16.9,326,2688,0.57,0.00,167.18,0.951,6,0.134,0.000,2759,1799,3071,0,0,0,0,0,0
$STATE,2689,end apogee,CONTROL_FINISHED_OK
$STATE,2689,begin climb
$GC,2692,1.16,214.1,510.6,0.0,341,2872,1.27,2.30,172.40,0.924,4,0.073,0.050,3229,402,2198,0,0,0,0,0,0
$GC,2913,0.84,214.1,474.3,33.5,360,2918,0.43,2.17,0.00,0.000,6,0.191,0.039,3113,1804,2196,0,0,0,0,0,0
$GC,3238,0.67,214.1,399.8,21.3,390,3243,0.20,2.12,0.00,0.000,4,0.179,0.047,3049,3212,2191,0,0,0,0,0,0
$GC,3267,0.55,214.1,394.1,19.7,392,3271,0.15,2.12,0.00,0.000,6,0.180,0.037,3017,1795,2190,0,0,0,0,0,0
$GC,3592,0.56,245.0,351.9,12.5,422,3629,0.00,2.17,25.38,0.845,4,0.000,0.047,3026,403,2072,0,0,0,0,0,0
$GC,3668,0.55,257.8,342.0,13.3,428,3688,0.00,2.15,12.27,0.781,6,0.000,0.036,3024,1796,2019,0,0,0,0,0,0
$GC,4007,0.53,257.8,295.9,13.9,462,4015,0.00,2.17,0.00,0.000,4,0.000,0.048,3023,3202,2014,0,0,0,0,0,0
$GC,4044,0.54,267.2,290.6,13.5,468,4059,0.00,2.12,8.35,0.718,6,0.000,0.037,3032,1794,1982,0,0,0,0,0,0
$GC,4395,0.52,267.2,239.3,14.9,530,4402,0.00,2.20,0.00,0.000,4,0.000,0.047,3023,3211,1978,0,0,0,0,0,0
$GC,4433,0.52,267.2,233.6,14.9,536,4441,0.00,2.12,0.00,0.000,6,0.000,0.037,3032,1801,1977,0,0,0,0,0,0
$GC,4777,0.58,310.5,189.6,12.0,597,4818,0.00,2.22,35.42,0.752,4,0.000,0.045,3042,389,1806,0,0,0,0,0,0
$GC,4922,0.60,310.5,170.4,14.0,621,4929,0.00,2.15,0.00,0.000,6,0.000,0.034,3043,1809,1802,0,0,0,0,0,0
$GC,5254,0.60,310.5,124.2,14.3,682,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1809,1800,0,0,0,0,0,0
$GC,5579,0.64,321.5,79.1,13.4,743,5596,0.00,2.15,9.80,0.604,4,0.000,0.044,3043,3207,1761,0,0,0,0,0,0
$GC,5696,0.87,438.3,67.0,8.8,763,5801,0.15,2.12,93.93,0.647,6,0.039,0.036,3148,1793,1284,0,0,0,0,0,0
$STATE,6040,end climb,SURFACE_DEPTH_REACHED
$STATE,6040,begin surface coast
$FINISH,0.8,1.007672
$STATE,6058,end surface coast,CONTROL_FINISHED_OK
$STATE,6058,begin surface
$SM_CCo,6074,170.55,0.553,1,0,455,641.95
$SM_CCo,6253,-0.40,0.000,0,0,454,642.20
$SM_GC,1.46,0.00,0.00,-0.40,0.000,0.000,0.000,135,1790,454,-8.46,-0.28,642.20
$IRIDIUM_FIX,2345.05,12630.05,270910,232307
$TT8_MAMPS,0.026215
$HUMID,37.95
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.20
$XPDR_PINGS,93
$24V_AH,24.4,13.532
$10V_AH,10.5,8.427
$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,20.300,51.450,524.725,170.550,0.000,28.421,36.029,134.720,23.250,0.000,14.297,1915.966,1560.626,702.315,2169.161,246.170,0.000,1513.192,0.000,1974.159,0.000,0.849,0.000
$DEVICE_MAMPS,234.855,51.255,950.895,553.095,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.738,843.604,1372.072,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,50261,825
$CAP_FILE_SIZE,85794,0
$CFSIZE,260165632,176070656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082,231.5,1
$GPS,280910,032934,2350.295,12628.728,14,99.0,33,-3.6