version: 66.08
glider: 166
mission: 3
dive: 177
start: 10 6 110 22 19 57
data:
$ID,166
$MISSION,3
$DIVE,177
$N_DIVES,195
$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,-21713.568
$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,39
$R_STBD_OVSHOOT,43
$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
$GPS1,061010,221343,2343.472,12628.999,12,1.5,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.4
$GPS2,061010,221934,2343.568,12628.914,12,99.0,31,-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,21.0,30488,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,99,0.00,0.00,-80.93,0.000,2,0.000,0.000,144,1752,3335,0,0,0,0,0,0
$GC,102,-1.16,-214.1,5.6,-11.3,11,127,8.75,2.30,-11.30,0.000,4,0.223,0.057,2446,3214,3948,0,0,0,0,0,0
$GC,146,-0.66,-214.1,29.3,-53.1,17,156,0.60,2.15,0.00,0.000,6,0.184,0.032,2618,1790,3950,0,0,0,0,0,0
$GC,477,-0.61,-214.1,117.4,-21.0,78,484,0.00,2.17,0.00,0.000,4,0.000,0.050,2613,3195,3954,0,0,0,0,0,0
$GC,547,-0.63,-214.1,130.4,-15.8,90,555,0.00,2.10,0.00,0.000,6,0.000,0.034,2613,1802,3955,0,0,0,0,0,0
$GC,882,-0.61,-214.1,193.3,-18.0,151,889,0.00,2.10,0.00,0.000,4,0.000,0.046,2613,390,3956,0,0,0,0,0,0
$GC,951,-0.63,-214.1,206.0,-16.1,163,957,0.00,2.12,0.00,0.000,6,0.000,0.040,2613,1803,3956,0,0,0,0,0,0
$GC,1281,-0.63,-214.1,265.9,-18.6,224,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1803,3956,0,0,0,0,0,0
$GC,1621,-0.65,-214.1,321.5,-14.6,273,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1803,3956,0,0,0,0,0,0
$GC,1942,-0.68,-214.1,368.6,-15.6,303,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1804,3955,0,0,0,0,0,0
$GC,2271,-0.72,-214.1,418.8,-14.0,334,2275,0.00,2.15,0.00,0.000,4,0.000,0.052,2604,3213,3954,0,0,0,0,0,0
$GC,2325,-0.83,-214.1,426.6,-12.2,338,2334,0.00,2.15,0.00,0.000,6,0.000,0.036,2604,1792,3954,0,0,0,0,0,0
$GC,2653,-0.87,-214.1,470.0,-13.2,369,2657,0.12,2.12,0.00,0.000,4,0.091,0.047,2542,396,3952,0,0,0,0,0,0
$GC,2690,-0.83,-214.1,476.9,-19.0,372,2699,0.10,2.12,0.00,0.000,6,0.145,0.040,2567,1793,3951,0,0,0,0,0,0
$STATE,2833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2833,begin apogee
$GC,2840,-0.23,0.0,500.7,15.9,386,3012,0.57,0.00,167.70,0.978,6,0.130,0.000,2761,1793,3072,0,0,0,0,0,0
$STATE,3013,end apogee,CONTROL_FINISHED_OK
$STATE,3013,begin climb
$GC,3016,1.16,214.1,510.4,0.0,400,3201,1.20,2.40,171.85,0.947,4,0.049,0.049,3228,356,2198,0,0,0,0,0,0
$GC,3252,0.84,214.1,469.5,31.4,420,3261,0.38,2.22,0.00,0.000,6,0.185,0.037,3116,1752,2196,0,0,0,0,0,0
$GC,3579,0.66,214.1,391.6,21.9,451,3584,0.22,2.15,0.00,0.000,4,0.174,0.045,3045,3175,2192,0,0,0,0,0,0
$GC,3624,0.57,214.1,382.6,17.5,454,3633,0.00,2.17,0.00,0.000,6,0.000,0.036,3054,1744,2191,0,0,0,0,0,0
$GC,3951,0.48,214.1,330.3,16.6,485,3955,0.20,2.15,0.00,0.000,4,0.168,0.042,2986,3174,2189,0,0,0,0,0,0
$GC,4040,0.55,270.4,318.7,11.4,492,4097,0.00,2.15,45.92,0.861,6,0.000,0.036,2995,1751,1969,0,0,0,0,0,0
$GC,4426,0.64,327.3,272.1,11.4,547,4481,0.15,0.00,47.78,0.825,6,0.076,0.000,3076,1751,1736,0,0,0,0,0,0
$GC,4816,0.56,327.3,195.6,20.0,615,4823,0.20,0.00,0.00,0.000,6,0.161,0.000,3020,1751,1731,0,0,0,0,0,0
$GC,5156,0.65,370.3,151.9,12.0,676,5200,0.00,2.20,35.50,0.736,4,0.000,0.044,3024,341,1560,0,0,0,0,0,0
$GC,5214,0.74,412.1,144.7,12.1,684,5259,0.10,2.20,35.47,0.715,6,0.044,0.032,3101,1768,1391,0,0,0,0,0,0
$GC,5580,0.70,412.1,71.0,16.9,750,5590,0.12,2.12,0.00,0.000,4,0.163,0.043,3056,3153,1388,0,0,0,0,0,0
$GC,5614,0.75,412.1,65.7,15.1,755,5622,0.00,2.12,0.00,0.000,6,0.000,0.034,3063,1749,1388,0,0,0,0,0,0
$GC,5941,0.88,466.5,29.1,11.5,816,5994,0.17,2.15,44.38,0.630,4,0.065,0.039,3156,3157,1169,0,0,0,0,0,0
$GC,6055,0.85,466.5,8.4,18.1,833,6064,0.12,2.15,0.00,0.000,6,0.145,0.035,3123,1759,1169,0,0,0,0,0,0
$STATE,6080,end climb,SURFACE_DEPTH_REACHED
$STATE,6080,begin surface coast
$FINISH,0.9,1.016022
$STATE,6095,end surface coast,CONTROL_FINISHED_OK
$STATE,6095,begin surface
$SM_CCo,6172,0.00,0.000,0,0,1165,467.79
$SM_GC,1.48,7.55,0.00,0.00,0.027,0.000,0.000,150,1756,1165,-8.33,-1.24,467.79
$IRIDIUM_FIX,2333.28,12630.54,061010,202007
$TT8_MAMPS,0.026215
$HUMID,42.04
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.40
$XPDR_PINGS,69
$24V_AH,24.3,32.641
$10V_AH,10.4,21.066
$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,20.575,47.700,548.600,0.000,0.000,30.009,22.996,140.042,17.250,0.000,33.514,1944.317,1590.889,529.517,2205.786,251.466,0.000,1345.466,0.000,2002.693,0.000,0.846,0.000
$DEVICE_MAMPS,223.380,56.610,977.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.786,858.016,1407.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,50292,839
$CAP_FILE_SIZE,84656,0
$CFSIZE,260165632,169979904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,349.0,1
$GPS,071010,000338,2345.118,12629.149,13,2.0,13,-3.5