version: 66.08
glider: 166
mission: 3
dive: 137
start: 10 3 110 20 41 50
data:
$ID,166
$MISSION,3
$DIVE,137
$N_DIVES,145
$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,-21661.26
$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,44
$R_STBD_OVSHOOT,44
$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
$GPS1,031010,203607,2305.346,12629.671,37,1.2,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.8
$GPS2,031010,204126,2305.365,12629.676,12,1.1,12,-3.4
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2300.000,12630.000
$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,167.8,9950,-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,-214.1,0.0,0.0,0,129,0.00,0.00,-111.35,0.000,2,0.000,0.000,146,1765,3314,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.8,-11.9,15,163,8.95,2.12,-11.30,0.000,4,0.233,0.051,2458,380,3949,0,0,0,0,0,0
$GC,395,-0.92,-214.1,128.6,-34.9,63,404,0.28,2.15,0.00,0.000,6,0.163,0.039,2535,1789,3952,0,0,0,0,0,0
$GC,730,-0.79,-214.1,227.7,-25.5,124,738,0.17,2.17,0.00,0.000,4,0.174,0.045,2585,390,3955,0,0,0,0,0,0
$GC,766,-0.71,-214.1,235.6,-22.3,129,774,0.00,2.12,0.00,0.000,6,0.000,0.038,2584,1809,3955,0,0,0,0,0,0
$GC,1097,-0.68,-214.1,296.9,-17.1,190,1105,0.12,2.20,0.00,0.000,4,0.176,0.047,2618,397,3955,0,0,0,0,0,0
$GC,1159,-0.73,-214.1,306.1,-13.7,197,1163,0.00,2.08,0.00,0.000,6,0.000,0.037,2616,1801,3955,0,0,0,0,0,0
$GC,1488,-0.77,-214.1,350.8,-13.5,227,1492,0.00,2.12,0.00,0.000,4,0.000,0.051,2614,3213,3954,0,0,0,0,0,0
$GC,1515,-0.82,-214.1,354.9,-13.8,229,1523,0.12,2.08,0.00,0.000,6,0.086,0.036,2546,1801,3953,0,0,0,0,0,0
$GC,1842,-0.77,-214.1,418.8,-19.9,260,1846,0.15,2.12,0.00,0.000,4,0.170,0.047,2586,400,3952,0,0,0,0,0,0
$GC,1873,-0.77,-214.1,425.4,-18.1,262,1882,0.00,2.12,0.00,0.000,6,0.000,0.040,2587,1800,3952,0,0,0,0,0,0
$GC,2201,-0.80,-214.1,474.3,-14.2,293,2205,0.00,2.10,0.00,0.000,4,0.000,0.047,2587,401,3950,0,0,0,0,0,0
$GC,2246,-0.84,-214.1,481.2,-14.7,296,2254,0.00,2.12,0.00,0.000,6,0.000,0.040,2586,1797,3949,0,0,0,0,0,0
$STATE,2379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2379,begin apogee
$GC,2384,-0.23,0.0,500.0,14.1,309,2556,0.52,0.00,166.57,0.964,6,0.125,0.000,2764,1797,3071,0,0,0,0,0,0
$STATE,2557,end apogee,CONTROL_FINISHED_OK
$STATE,2557,begin climb
$GC,2560,1.16,214.1,507.3,0.0,323,2744,1.20,2.35,171.65,0.934,4,0.047,0.047,3235,355,2198,0,0,0,0,0,0
$GC,2750,0.84,214.1,477.3,31.1,340,2758,0.40,2.25,0.00,0.000,6,0.187,0.039,3122,1748,2197,0,0,0,0,0,0
$GC,3078,0.67,214.1,401.3,23.0,371,3085,0.22,0.00,0.00,0.000,6,0.174,0.000,3058,1752,2191,0,0,0,0,0,0
$GC,3404,0.59,214.1,344.5,16.3,402,3408,0.00,2.15,0.00,0.000,4,0.000,0.045,3049,3169,2189,0,0,0,0,0,0
$GC,3457,0.53,214.1,335.9,16.6,406,3462,0.15,2.12,0.00,0.000,6,0.175,0.037,3014,1742,2187,0,0,0,0,0,0
$GC,3785,0.57,242.8,291.7,12.6,442,3813,0.00,2.20,22.88,0.819,4,0.000,0.047,3020,353,2082,0,0,0,0,0,0
$GC,3848,0.58,251.2,283.7,13.5,452,3864,0.00,2.17,8.70,0.706,6,0.000,0.035,3022,1765,2047,0,0,0,0,0,0
$GC,4188,0.63,294.4,240.6,12.0,514,4229,0.00,2.22,35.22,0.796,4,0.000,0.046,3023,3167,1871,0,0,0,0,0,0
$GC,4264,0.69,324.2,230.8,12.6,526,4299,0.00,2.17,25.75,0.763,6,0.000,0.037,3029,1758,1749,0,0,0,0,0,0
$GC,4625,0.74,345.1,180.5,13.0,591,4655,0.12,2.22,17.98,0.720,4,0.086,0.045,3117,339,1664,0,0,0,0,0,0
$GC,4682,0.65,345.1,170.5,20.3,599,4689,0.22,2.15,0.00,0.000,6,0.155,0.033,3051,1754,1663,0,0,0,0,0,0
$GC,5011,0.68,350.9,123.2,13.6,660,5027,0.00,2.15,5.88,0.551,4,0.000,0.045,3048,3154,1641,0,0,0,0,0,0
$GC,5057,0.75,378.4,116.8,12.7,667,5088,0.00,2.12,23.58,0.684,6,0.000,0.034,3054,1743,1528,0,0,0,0,0,0
$GC,5408,0.91,455.0,73.7,10.6,731,5476,0.20,0.00,61.67,0.663,6,0.060,0.000,3164,1742,1217,0,0,0,0,0,0
$STATE,5778,end climb,SURFACE_DEPTH_REACHED
$STATE,5778,begin surface coast
$FINISH,0.7,1.021672
$STATE,5795,end surface coast,CONTROL_FINISHED_OK
$STATE,5795,begin surface
$SM_CCo,5814,160.35,0.562,1,0,454,641.95
$SM_CCo,5983,-0.43,0.000,0,0,454,642.20
$SM_GC,1.35,0.00,0.00,-0.43,0.000,0.000,0.000,148,1825,454,-8.41,0.74,642.20
$IRIDIUM_FIX,2258.07,12627.83,031010,181808
$TT8_MAMPS,0.026215
$HUMID,39.01
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.40
$XPDR_PINGS,74
$24V_AH,24.4,26.550
$10V_AH,10.5,16.670
$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,20.575,51.900,539.875,160.350,0.000,31.011,15.682,136.991,18.500,0.000,13.527,1844.911,1434.755,712.390,2064.487,249.049,0.000,1493.153,0.000,1892.629,0.000,0.847,0.000
$DEVICE_MAMPS,233.325,108.630,963.900,562.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.542,818.235,1336.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46957,800
$CAP_FILE_SIZE,84793,0
$CFSIZE,260165632,172085248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.224,352.8,1
$GPS,031010,222225,2305.154,12629.975,6,1.5,12,-3.3