version: 66.08
glider: 166
mission: 3
dive: 149
start: 10 4 110 18 48 13
data:
$ID,166
$MISSION,3
$DIVE,149
$N_DIVES,160
$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,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,-21676.805
$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,51
$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
$GPS1,041010,184201,2307.122,12629.090,37,1.5,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.1
$GPS2,041010,184750,2307.165,12629.023,13,1.1,13,-3.4
$SPEED_LIMITS,0.241,0.344
$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,31.8,97864,-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,-214.1,0.0,0.0,0,131,0.00,0.00,-113.57,0.000,2,0.000,0.000,144,1767,3392,0,0,0,0,0,0
$GC,134,-1.16,-214.1,6.3,-12.7,15,159,8.70,2.25,-9.80,0.000,4,0.222,0.059,2448,3203,3948,0,0,0,0,0,0
$GC,215,-0.86,-214.1,48.6,-49.9,28,223,0.35,2.12,0.00,0.000,6,0.163,0.034,2554,1802,3950,0,0,0,0,0,0
$GC,539,-0.74,-214.1,146.7,-23.8,89,549,0.15,2.17,0.00,0.000,4,0.174,0.044,2596,388,3953,0,0,0,0,0,0
$GC,606,-0.72,-214.1,161.7,-20.1,100,614,0.00,2.12,0.00,0.000,6,0.000,0.037,2588,1787,3953,0,0,0,0,0,0
$GC,941,-0.68,-214.1,230.9,-18.8,161,949,0.12,0.00,0.00,0.000,6,0.178,0.000,2622,1788,3955,0,0,0,0,0,0
$GC,1273,-0.71,-214.1,282.1,-14.1,222,1281,0.00,2.17,0.00,0.000,4,0.000,0.051,2614,3207,3954,0,0,0,0,0,0
$GC,1311,-0.76,-214.1,287.5,-14.1,228,1319,0.00,2.12,0.00,0.000,6,0.000,0.035,2614,1793,3953,0,0,0,0,0,0
$GC,1641,-0.79,-214.1,333.9,-14.4,267,1645,0.00,2.15,0.00,0.000,4,0.000,0.052,2613,3216,3953,0,0,0,0,0,0
$GC,1674,-0.85,-214.1,338.6,-12.7,269,1682,0.12,2.10,0.00,0.000,6,0.085,0.035,2544,1796,3953,0,0,0,0,0,0
$GC,1999,-0.79,-214.1,404.9,-20.6,300,2004,0.15,2.12,0.00,0.000,4,0.172,0.046,2585,389,3951,0,0,0,0,0,0
$GC,2073,-0.82,-214.1,417.0,-14.4,306,2077,0.00,2.10,0.00,0.000,6,0.000,0.040,2585,1806,3951,0,0,0,0,0,0
$GC,2399,-0.84,-214.1,464.1,-14.8,336,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1806,3949,0,0,0,0,0,0
$STATE,2651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2651,begin apogee
$GC,2658,-0.23,0.0,500.2,13.9,360,2829,0.52,0.00,166.52,0.966,6,0.126,0.000,2763,1746,3072,0,0,0,0,0,0
$STATE,2830,end apogee,CONTROL_FINISHED_OK
$STATE,2830,begin climb
$GC,2834,1.16,214.1,507.5,0.0,374,3015,1.20,2.25,171.80,0.935,4,0.052,0.047,3229,349,2198,0,0,0,0,0,0
$GC,3050,0.85,214.1,471.6,33.5,392,3056,0.40,2.20,0.00,0.000,6,0.190,0.040,3119,1755,2196,0,0,0,0,0,0
$GC,3376,0.68,214.1,399.2,20.3,422,3378,0.22,0.00,0.00,0.000,6,0.172,0.000,3059,1760,2191,0,0,0,0,0,0
$GC,3694,0.60,214.1,349.9,15.1,452,3698,0.00,2.15,0.00,0.000,4,0.000,0.046,3062,338,2188,0,0,0,0,0,0
$GC,3723,0.51,214.1,345.1,17.1,454,3728,0.20,2.12,0.00,0.000,6,0.161,0.035,3004,1767,2188,0,0,0,0,0,0
$GC,4048,0.59,275.9,307.5,11.2,484,4108,0.00,2.20,49.55,0.847,4,0.000,0.046,3003,3157,1946,0,0,0,0,0,0
$GC,4171,0.65,296.7,292.7,13.0,499,4200,0.12,2.12,18.10,0.786,6,0.081,0.035,3077,1741,1861,0,0,0,0,0,0
$GC,4529,0.57,296.7,219.4,20.2,563,4536,0.20,0.00,0.00,0.000,6,0.161,0.000,3022,1741,1856,0,0,0,0,0,0
$GC,4862,0.67,355.3,176.1,11.3,624,4916,0.10,0.00,47.80,0.750,6,0.103,0.000,3074,1741,1623,0,0,0,0,0,0
$GC,5237,0.64,355.3,113.8,16.8,692,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1741,1618,0,0,0,0,0,0
$GC,5562,0.68,378.5,66.4,12.9,753,5584,0.00,0.00,19.20,0.641,6,0.000,0.000,3073,1741,1527,0,0,0,0,0,0
$GC,5903,0.82,446.0,24.4,11.0,816,5963,0.00,2.22,53.88,0.624,4,0.000,0.044,3077,352,1252,0,0,0,0,0,0
$GC,6002,0.96,486.6,14.0,12.1,830,6047,0.15,2.15,33.67,0.597,6,0.037,0.031,3176,1759,1086,0,0,0,0,0,0
$STATE,6064,end climb,SURFACE_DEPTH_REACHED
$STATE,6064,begin surface coast
$FINISH,0.7,1.021835
$STATE,6077,end surface coast,CONTROL_FINISHED_OK
$STATE,6077,begin surface
$SM_CCo,6155,0.00,0.000,0,0,1081,488.39
$SM_GC,1.50,7.97,0.00,0.00,0.039,0.000,0.000,140,1764,1081,-8.36,-1.02,488.39
$IRIDIUM_FIX,2258.07,12631.10,041010,161629
$TT8_MAMPS,0.026215
$HUMID,40.47
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.60
$XPDR_PINGS,52
$24V_AH,24.4,28.559
$10V_AH,10.5,17.987
$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,20.700,38.950,560.525,0.000,0.000,30.644,27.206,150.763,13.000,0.000,14.769,1933.478,1575.460,541.122,2207.926,245.746,0.000,1348.939,0.000,2005.519,0.000,0.848,0.000
$DEVICE_MAMPS,221.850,112.455,966.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.049,859.516,1425.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50233,841
$CAP_FILE_SIZE,83066,0
$CFSIZE,260165632,171450368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,320.6,1
$GPS,041010,203152,2308.674,12629.146,9,99.0,28,-3.4