version: 66.08
glider: 166
mission: 3
dive: 163
start: 10 5 110 20 35 11
data:
$ID,166
$MISSION,3
$DIVE,163
$N_DIVES,175
$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,-21695.041
$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,41
$R_STBD_OVSHOOT,59
$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
$GPS1,051010,202907,2325.712,12628.387,40,0.9,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.8
$GPS2,051010,203450,2325.735,12628.327,11,1.1,11,-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,30.9,63522,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,104,0.00,0.00,-86.47,0.000,2,0.000,0.000,145,1825,3211,0,0,0,0,0,0
$GC,107,-1.16,-214.1,5.1,-9.7,12,139,8.85,2.17,-14.05,0.000,4,0.227,0.049,2457,378,3948,0,0,0,0,0,0
$GC,179,-0.80,-214.1,41.8,-50.4,23,188,0.43,2.15,0.00,0.000,6,0.186,0.040,2572,1772,3949,0,0,0,0,0,0
$GC,505,-0.68,-214.1,147.9,-27.6,84,513,0.17,2.22,0.00,0.000,4,0.174,0.051,2613,3203,3953,0,0,0,0,0,0
$GC,565,-0.70,-214.1,162.3,-17.7,94,575,0.00,2.12,0.00,0.000,6,0.000,0.034,2613,1793,3954,0,0,0,0,0,0
$GC,909,-0.68,-214.1,228.4,-17.8,155,916,0.00,2.20,0.00,0.000,4,0.000,0.054,2613,3216,3955,0,0,0,0,0,0
$GC,946,-0.70,-214.1,234.8,-16.5,161,953,0.00,2.10,0.00,0.000,6,0.000,0.036,2613,1787,3955,0,0,0,0,0,0
$GC,1286,-0.70,-214.1,290.9,-15.0,222,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1787,3955,0,0,0,0,0,0
$GC,1618,-0.71,-214.1,341.3,-15.1,258,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1787,3954,0,0,0,0,0,0
$GC,1938,-0.74,-214.1,385.8,-13.4,288,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1787,3953,0,0,0,0,0,0
$GC,2258,-0.78,-214.1,424.3,-12.0,318,2262,0.00,2.17,0.00,0.000,4,0.000,0.054,2612,3216,3952,0,0,0,0,0,0
$GC,2336,-0.90,-214.1,432.9,-9.1,324,2344,0.12,2.15,0.00,0.000,6,0.044,0.037,2531,1793,3951,0,0,0,0,0,0
$GC,2663,-0.83,-214.1,497.2,-19.3,355,2665,0.15,0.00,0.00,0.000,6,0.172,0.000,2570,1793,3949,0,0,0,0,0,0
$STATE,2681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2681,begin apogee
$GC,2687,-0.23,0.0,501.1,19.0,357,2859,0.57,0.00,167.75,0.981,6,0.131,0.000,2763,1793,3072,0,0,0,0,0,0
$STATE,2860,end apogee,CONTROL_FINISHED_OK
$STATE,2860,begin climb
$GC,2862,1.16,214.1,510.2,0.0,371,3043,1.20,2.40,171.60,0.949,4,0.050,0.050,3233,353,2199,0,0,0,0,0,0
$GC,3076,0.84,214.1,475.0,29.9,389,3084,0.43,2.22,0.00,0.000,6,0.187,0.039,3117,1764,2197,0,0,0,0,0,0
$GC,3402,0.66,214.1,403.9,21.9,420,3406,0.20,2.12,0.00,0.000,4,0.172,0.045,3050,3156,2192,0,0,0,0,0,0
$GC,3525,0.58,214.1,381.6,15.6,430,3534,0.00,2.12,0.00,0.000,6,0.000,0.035,3058,1753,2190,0,0,0,0,0,0
$GC,3852,0.49,214.1,329.0,15.4,461,3857,0.20,2.12,0.00,0.000,4,0.167,0.044,3009,336,2187,0,0,0,0,0,0
$GC,3892,0.50,251.1,323.8,12.3,464,3930,0.00,2.12,29.98,0.859,6,0.000,0.034,3002,1755,2048,0,0,0,0,0,0
$GC,4248,0.52,267.0,281.3,13.2,510,4270,0.00,2.17,14.12,0.789,4,0.000,0.044,3001,3155,1982,0,0,0,0,0,0
$GC,4297,0.54,276.4,275.1,13.5,517,4312,0.00,2.12,9.43,0.731,6,0.000,0.034,3009,1747,1945,0,0,0,0,0,0
$GC,4649,0.57,305.9,228.6,12.6,579,4676,0.00,0.00,25.00,0.789,6,0.000,0.000,3009,1747,1824,0,0,0,0,0,0
$GC,5012,0.64,342.0,184.8,12.3,643,5053,0.10,2.20,30.83,0.757,4,0.096,0.045,3083,352,1677,0,0,0,0,0,0
$GC,5068,0.58,342.0,175.0,19.2,651,5075,0.20,2.12,0.00,0.000,6,0.153,0.032,3028,1761,1676,0,0,0,0,0,0
$GC,5403,0.62,351.0,130.4,13.5,712,5418,0.00,0.00,8.70,0.630,6,0.000,0.000,3027,1764,1640,0,0,0,0,0,0
$GC,5737,0.85,475.6,94.3,8.5,774,5846,0.22,0.00,101.22,0.682,6,0.058,0.000,3140,1765,1132,0,0,0,0,0,0
$GC,6164,0.80,475.6,5.2,20.9,849,6172,0.15,2.20,0.00,0.000,4,0.160,0.041,3105,355,1128,0,0,0,0,0,0
$STATE,6179,end climb,SURFACE_DEPTH_REACHED
$STATE,6179,begin surface coast
$FINISH,0.7,1.015334
$STATE,6191,end surface coast,CONTROL_FINISHED_OK
$STATE,6191,begin surface
$SM_CCo,6271,0.00,0.000,0,0,1124,477.84
$SM_GC,1.52,7.57,0.00,0.00,0.034,0.000,0.000,145,1804,1124,-8.36,0.11,477.84
$IRIDIUM_FIX,2316.83,12630.12,051010,181832
$TT8_MAMPS,0.026215
$HUMID,41.77
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.40
$XPDR_PINGS,93
$24V_AH,24.3,30.610
$10V_AH,10.4,19.528
$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,20.575,43.475,558.625,0.000,0.000,30.074,38.104,137.287,23.250,0.000,14.170,1965.496,1650.164,527.965,2216.469,248.891,0.000,1345.675,0.000,2020.641,0.000,0.846,0.000
$DEVICE_MAMPS,227.205,54.315,980.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.603,871.898,1407.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50326,853
$CAP_FILE_SIZE,84419,0
$CFSIZE,260165632,170721280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,331.4,1
$GPS,051010,222032,2327.426,12628.580,13,1.6,14,-3.4