version: 66.08
glider: 166
mission: 3
dive: 170
start: 10 6 110 9 25 48
data:
$ID,166
$MISSION,3
$DIVE,170
$N_DIVES,185
$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,-21704.4
$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,46
$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
$GPS1,061010,091944,2334.571,12628.928,12,1.5,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.1
$GPS2,061010,092525,2334.556,12628.861,14,1.3,31,-3.5
$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,20.6,47162,-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,15,-1.16,-214.1,0.0,0.0,0,98,0.00,0.00,-79.75,0.000,2,0.000,0.000,134,1761,3231,0,0,0,0,0,0
$GC,101,-1.16,-214.1,5.3,-10.4,11,132,8.85,2.20,-13.32,0.000,4,0.225,0.054,2450,3200,3948,0,0,0,0,0,0
$GC,194,-0.88,-214.1,49.9,-44.3,26,203,0.32,2.10,0.00,0.000,6,0.165,0.033,2548,1792,3950,0,0,0,0,0,0
$GC,523,-0.72,-214.1,154.6,-28.9,87,530,0.20,2.08,0.00,0.000,4,0.171,0.034,2606,393,3952,0,0,0,0,0,0
$GC,604,-0.72,-214.1,173.3,-18.3,101,612,0.00,2.08,0.00,0.000,6,0.000,0.033,2600,1796,3953,0,0,0,0,0,0
$GC,936,-0.67,-214.1,241.8,-20.7,162,944,0.00,2.12,0.00,0.000,4,0.000,0.045,2591,3201,3955,0,0,0,0,0,0
$GC,969,-0.65,-214.1,247.6,-17.8,167,978,0.12,2.03,0.00,0.000,6,0.158,0.031,2628,1802,3955,0,0,0,0,0,0
$GC,1303,-0.69,-214.1,295.1,-13.6,228,1311,0.00,2.15,0.00,0.000,4,0.000,0.046,2626,3204,3955,0,0,0,0,0,0
$GC,1331,-0.75,-214.1,298.8,-13.0,232,1339,0.00,2.08,0.00,0.000,6,0.000,0.031,2626,1802,3955,0,0,0,0,0,0
$GC,1665,-0.80,-214.1,337.8,-10.9,264,1667,0.12,0.00,0.00,0.000,6,0.089,0.000,2561,1802,3953,0,0,0,0,0,0
$GC,1983,-0.76,-214.1,394.5,-17.3,294,1985,0.12,0.00,0.00,0.000,6,0.175,0.000,2593,1802,3953,0,0,0,0,0,0
$GC,2304,-0.78,-214.1,437.9,-12.9,324,2308,0.00,2.10,0.00,0.000,4,0.000,0.044,2593,392,3952,0,0,0,0,0,0
$GC,2336,-0.80,-214.1,443.0,-13.8,326,2344,0.00,2.12,0.00,0.000,6,0.000,0.037,2590,1793,3952,0,0,0,0,0,0
$GC,2665,-0.83,-214.1,486.5,-13.1,357,2669,0.00,2.15,0.00,0.000,4,0.000,0.053,2589,3216,3950,0,0,0,0,0,0
$GC,2712,-0.90,-214.1,492.8,-11.8,361,2717,0.12,2.08,0.00,0.000,6,0.086,0.036,2522,1802,3950,0,0,0,0,0,0
$STATE,2761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2761,begin apogee
$GC,2766,-0.23,0.0,501.2,18.0,365,2943,0.75,0.03,167.70,0.973,6,0.143,0.089,2761,1761,3071,0,0,0,0,0,0
$STATE,2944,end apogee,CONTROL_FINISHED_OK
$STATE,2944,begin climb
$GC,2946,1.16,214.1,510.3,0.0,380,3129,1.25,2.28,171.35,0.946,4,0.067,0.049,3213,3162,2198,0,0,0,0,0,0
$GC,3251,0.87,214.1,449.4,31.4,406,3256,0.38,2.17,0.00,0.000,6,0.197,0.041,3125,1740,2194,0,0,0,0,0,0
$GC,3576,0.70,214.1,376.5,21.0,436,3581,0.20,2.12,0.00,0.000,4,0.177,0.045,3077,343,2192,0,0,0,0,0,0
$GC,3660,0.59,214.1,360.8,18.5,443,3665,0.17,2.12,0.00,0.000,6,0.167,0.036,3031,1757,2190,0,0,0,0,0,0
$GC,3987,0.56,217.8,315.6,13.7,473,3991,0.00,2.10,0.00,0.000,4,0.000,0.046,3026,3167,2188,0,0,0,0,0,0
$GC,4042,0.54,228.5,308.2,13.4,477,4058,0.00,2.10,11.62,0.792,6,0.000,0.037,3034,1743,2140,0,0,0,0,0,0
$GC,4385,0.52,240.7,262.4,13.4,534,4399,0.00,0.00,11.73,0.767,6,0.000,0.000,3034,1744,2090,0,0,0,0,0,0
$GC,4727,0.57,297.5,218.6,11.4,596,4777,0.00,0.00,46.53,0.796,6,0.000,0.000,3034,1744,1859,0,0,0,0,0,0
$GC,5104,0.60,317.3,171.0,13.0,663,5132,0.00,2.17,17.38,0.721,4,0.000,0.044,3035,356,1777,0,0,0,0,0,0
$GC,5146,0.63,342.1,165.2,12.8,669,5174,0.00,2.10,21.98,0.718,6,0.000,0.031,3036,1764,1676,0,0,0,0,0,0
$GC,5496,0.68,363.9,118.4,12.9,733,5520,0.00,2.17,19.15,0.680,4,0.000,0.043,3035,3159,1587,0,0,0,0,0,0
$GC,5551,0.77,399.6,111.3,12.3,741,5591,0.10,2.15,30.23,0.681,6,0.044,0.034,3124,1753,1443,0,0,0,0,0,0
$GC,5912,0.73,399.6,38.1,16.9,806,5920,0.17,2.17,0.00,0.000,4,0.151,0.044,3080,353,1438,0,0,0,0,0,0
$GC,5981,0.91,479.6,28.9,10.4,818,6057,0.12,2.10,64.62,0.627,6,0.039,0.031,3162,1755,1115,0,0,0,0,0,0
$STATE,6118,end climb,SURFACE_DEPTH_REACHED
$STATE,6119,begin surface coast
$FINISH,1.0,1.021873
$STATE,6130,end surface coast,CONTROL_FINISHED_OK
$STATE,6131,begin surface
$SM_CCo,6207,0.00,0.000,0,0,1110,481.28
$SM_GC,1.56,7.78,0.00,0.00,0.031,0.000,0.000,150,1758,1110,-8.34,-1.19,481.28
$IRIDIUM_FIX,2326.22,12627.74,061010,070702
$TT8_MAMPS,0.026215
$HUMID,41.77
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.00
$XPDR_PINGS,90
$24V_AH,24.3,31.628
$10V_AH,10.5,20.297
$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,20.800,51.075,562.275,0.000,0.000,29.730,17.845,138.438,22.500,0.000,32.219,1959.168,1616.485,521.034,2190.796,258.770,0.000,1346.142,0.000,1993.575,0.000,0.848,0.000
$DEVICE_MAMPS,224.910,88.740,973.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.596,859.611,1369.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,50265,841
$CAP_FILE_SIZE,88307,0
$CFSIZE,260165632,170344448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,290.3,1
$GPS,061010,111031,2335.737,12628.928,40,1.0,40,-3.5