version: 66.08
glider: 166
mission: 3
dive: 157
start: 10 5 110 9 29 13
data:
$ID,166
$MISSION,3
$DIVE,157
$N_DIVES,165
$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,-21687.414
$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,40
$R_STBD_OVSHOOT,42
$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
$GPS1,051010,092331,2318.070,12628.510,39,1.2,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.8
$GPS2,051010,092850,2318.095,12628.405,11,1.1,11,-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,31.1,77654,-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,-214.1,0.0,0.0,0,104,0.00,0.00,-86.68,0.000,2,0.000,0.000,145,1749,3482,0,0,0,0,0,0
$GC,107,-1.16,-214.1,6.8,-13.9,12,131,8.85,0.00,-7.93,0.000,6,0.229,0.000,2458,1746,3947,0,0,0,0,0,0
$GC,448,-0.89,-214.1,159.9,-38.0,75,456,0.28,2.03,0.00,0.000,4,0.181,0.040,2544,389,3953,0,0,0,0,0,0
$GC,477,-0.67,-214.1,169.4,-35.2,79,485,0.30,2.12,0.00,0.000,6,0.164,0.040,2622,1805,3953,0,0,0,0,0,0
$GC,818,-0.67,-214.1,232.9,-17.0,140,826,0.00,2.15,0.00,0.000,4,0.000,0.050,2614,3210,3955,0,0,0,0,0,0
$GC,885,-0.73,-214.1,242.6,-13.7,151,892,0.00,2.08,0.00,0.000,6,0.000,0.034,2613,1795,3955,0,0,0,0,0,0
$GC,1223,-0.73,-214.1,298.9,-17.3,212,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1795,3955,0,0,0,0,0,0
$GC,1552,-0.75,-214.1,351.1,-14.4,243,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1795,3954,0,0,0,0,0,0
$GC,1881,-0.79,-214.1,394.6,-13.0,274,1885,0.00,2.20,0.00,0.000,4,0.000,0.053,2613,3212,3953,0,0,0,0,0,0
$GC,1949,-0.90,-214.1,402.3,-10.2,279,1953,0.17,2.08,0.00,0.000,6,0.068,0.036,2522,1799,3952,0,0,0,0,0,0
$GC,2276,-0.82,-214.1,472.4,-21.8,309,2280,0.20,2.10,0.00,0.000,4,0.167,0.044,2578,396,3952,0,0,0,0,0,0
$GC,2351,-0.84,-214.1,485.7,-15.2,315,2355,0.00,2.10,0.00,0.000,6,0.000,0.039,2575,1811,3951,0,0,0,0,0,0
$STATE,2442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2442,begin apogee
$GC,2449,-0.23,0.0,500.9,16.6,323,2623,0.55,0.00,167.30,0.969,6,0.129,0.000,2759,1739,3072,0,0,0,0,0,0
$STATE,2624,end apogee,CONTROL_FINISHED_OK
$STATE,2624,begin climb
$GC,2628,1.16,214.1,509.3,0.0,338,2808,1.25,0.00,171.48,0.942,6,0.064,0.000,3215,1739,2198,0,0,0,0,0,0
$GC,3126,0.86,214.1,386.3,29.3,385,3131,0.32,2.15,0.00,0.000,4,0.191,0.047,3135,350,2192,0,0,0,0,0,0
$GC,3159,0.64,214.1,376.0,26.5,387,3166,0.32,2.15,0.00,0.000,6,0.171,0.039,3047,1752,2192,0,0,0,0,0,0
$GC,3484,0.57,214.1,323.3,15.5,418,3488,0.00,2.10,0.00,0.000,4,0.000,0.047,3049,3161,2189,0,0,0,0,0,0
$GC,3562,0.50,214.1,311.2,14.9,424,3570,0.15,2.12,0.00,0.000,6,0.146,0.037,3004,1757,2187,0,0,0,0,0,0
$GC,3895,0.59,281.0,274.2,11.0,476,3955,0.00,0.00,53.67,0.834,6,0.000,0.000,3002,1757,1924,0,0,0,0,0,0
$GC,4290,0.66,327.1,229.6,11.9,545,4335,0.15,2.28,38.22,0.789,4,0.078,0.044,3089,340,1738,0,0,0,0,0,0
$GC,4362,0.57,327.1,217.5,20.2,555,4369,0.25,2.17,0.00,0.000,6,0.156,0.033,3022,1760,1736,0,0,0,0,0,0
$GC,4701,0.59,330.2,169.2,13.8,616,4709,0.00,2.12,0.00,0.000,4,0.000,0.044,3017,3153,1733,0,0,0,0,0,0
$GC,4750,0.69,373.5,162.5,12.0,624,4799,0.10,2.12,38.67,0.737,6,0.049,0.035,3092,1748,1548,0,0,0,0,0,0
$GC,5118,0.65,373.5,94.6,17.6,691,5127,0.15,2.17,0.00,0.000,4,0.164,0.044,3057,355,1544,0,0,0,0,0,0
$GC,5183,0.73,397.6,85.9,12.8,702,5214,0.00,2.12,20.15,0.659,6,0.000,0.031,3057,1761,1451,0,0,0,0,0,0
$GC,5537,0.85,449.3,44.2,11.6,766,5586,0.15,2.17,42.38,0.637,4,0.072,0.041,3140,3153,1240,0,0,0,0,0,0
$GC,5683,0.83,449.3,19.0,15.7,790,5693,0.12,2.15,0.00,0.000,6,0.142,0.033,3110,1739,1240,0,0,0,0,0,0
$STATE,5776,end climb,SURFACE_DEPTH_REACHED
$STATE,5776,begin surface coast
$FINISH,0.9,1.021814
$STATE,5797,end surface coast,CONTROL_FINISHED_OK
$STATE,5798,begin surface
$SM_CCo,5875,0.00,0.000,0,0,1234,450.86
$SM_GC,1.43,7.60,0.00,0.00,0.034,0.000,0.000,149,1831,1234,-8.35,0.88,450.86
$IRIDIUM_FIX,2309.79,12628.73,051010,070711
$TT8_MAMPS,0.026215
$HUMID,41.06
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.60
$XPDR_PINGS,77
$24V_AH,24.4,29.734
$10V_AH,10.5,18.855
$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,20.925,42.850,531.875,0.000,0.000,31.161,15.617,138.066,19.250,0.000,12.435,1867.542,1485.422,518.768,2080.494,240.797,0.000,1285.210,0.000,1908.528,0.000,0.847,0.000
$DEVICE_MAMPS,228.735,108.630,969.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.841,828.011,1341.622,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46907,810
$CAP_FILE_SIZE,81204,0
$CFSIZE,260165632,171044864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,290.3,1
$GPS,051010,110755,2319.165,12628.453,7,1.2,12,-3.4