version: 66.08
glider: 166
mission: 3
dive: 181
start: 10 7 110 5 45 17
data:
$ID,166
$MISSION,3
$DIVE,181
$N_DIVES,200
$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,-21718.594
$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
$GPS1,071010,053401,2348.719,12629.407,60,0.9,61,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.7
$GPS2,071010,054456,2348.782,12629.307,15,1.0,15,-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,2.5,20808,-19.7,-13.889
$D_GRID,5000
$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,-214.1,0.0,0.0,0,90,0.00,0.00,-73.10,0.000,2,0.000,0.000,144,1822,3274,0,0,0,0,0,0
$GC,93,-1.16,-214.1,5.1,-9.9,10,125,8.80,2.12,-12.88,0.000,4,0.223,0.057,2449,3198,3948,0,0,0,0,0,0
$GC,249,-0.83,-214.1,79.4,-50.7,37,257,0.40,2.12,0.00,0.000,6,0.176,0.033,2566,1789,3950,0,0,0,0,0,0
$GC,576,-0.72,-214.1,169.9,-25.7,98,585,0.15,2.12,0.00,0.000,4,0.177,0.044,2608,404,3952,0,0,0,0,0,0
$GC,624,-0.69,-214.1,180.2,-20.7,105,631,0.00,2.05,0.00,0.000,6,0.000,0.037,2602,1789,3953,0,0,0,0,0,0
$GC,963,-0.66,-214.1,246.6,-18.0,166,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1790,3953,0,0,0,0,0,0
$GC,1303,-0.66,-214.1,303.5,-15.5,225,1307,0.00,2.12,0.00,0.000,4,0.000,0.052,2600,3202,3953,0,0,0,0,0,0
$GC,1342,-0.70,-214.1,309.6,-13.3,228,1346,0.00,2.08,0.00,0.000,6,0.000,0.036,2600,1804,3952,0,0,0,0,0,0
$GC,1669,-0.70,-214.1,356.3,-14.5,258,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1804,3952,0,0,0,0,0,0
$GC,1988,-0.72,-214.1,400.1,-13.7,288,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1804,3951,0,0,0,0,0,0
$GC,2309,-0.75,-214.1,439.2,-11.8,318,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1804,3949,0,0,0,0,0,0
$GC,2638,-0.79,-214.1,480.7,-12.7,349,2642,0.00,2.12,0.00,0.000,4,0.000,0.048,2600,398,3947,0,0,0,0,0,0
$GC,2678,-0.84,-214.1,486.3,-13.2,352,2687,0.00,2.15,0.00,0.000,6,0.000,0.042,2601,1798,3947,0,0,0,0,0,0
$STATE,2790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2790,begin apogee
$GC,2796,-0.23,0.0,500.5,13.1,363,2967,0.47,0.00,166.77,0.978,6,0.122,0.000,2763,1798,3072,0,0,0,0,0,0
$STATE,2968,end apogee,CONTROL_FINISHED_OK
$STATE,2968,begin climb
$GC,2970,1.16,214.1,509.2,0.0,377,3152,1.20,2.38,171.75,0.947,4,0.050,0.048,3231,354,2198,0,0,0,0,0,0
$GC,3255,0.83,214.1,450.0,33.3,401,3263,0.43,2.15,0.00,0.000,6,0.192,0.037,3110,1753,2195,0,0,0,0,0,0
$GC,3582,0.66,214.1,374.1,21.1,432,3587,0.20,2.15,0.00,0.000,4,0.170,0.045,3045,3175,2191,0,0,0,0,0,0
$GC,3611,0.55,214.1,368.3,18.7,434,3616,0.12,2.15,0.00,0.000,6,0.183,0.037,3020,1752,2189,0,0,0,0,0,0
$GC,3938,0.52,215.9,324.1,13.8,464,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1752,2188,0,0,0,0,0,0
$GC,4257,0.51,238.1,280.5,12.9,507,4285,0.00,2.20,19.55,0.820,4,0.000,0.044,3010,3159,2100,0,0,0,0,0,0
$GC,4343,0.58,294.4,270.2,11.4,521,4398,0.00,2.12,47.15,0.827,6,0.000,0.036,3016,1738,1870,0,0,0,0,0,0
$GC,4725,0.59,305.1,223.1,13.4,589,4741,0.00,2.20,9.55,0.708,4,0.000,0.044,3026,352,1828,0,0,0,0,0,0
$GC,4776,0.61,305.1,216.2,14.3,597,4784,0.00,2.12,0.00,0.000,6,0.000,0.034,3026,1766,1826,0,0,0,0,0,0
$GC,5110,0.62,312.1,169.3,13.6,658,5125,0.00,2.08,7.62,0.643,4,0.000,0.042,3026,3156,1798,0,0,0,0,0,0
$GC,5166,0.66,326.7,162.3,13.3,667,5187,0.00,2.10,13.70,0.704,6,0.000,0.034,3035,1739,1740,0,0,0,0,0,0
$GC,5512,0.67,338.1,114.5,13.4,730,5528,0.00,2.20,11.05,0.652,4,0.000,0.044,3045,338,1692,0,0,0,0,0,0
$GC,5567,0.70,338.1,106.1,14.0,739,5575,0.00,2.15,0.00,0.000,6,0.000,0.034,3045,1750,1691,0,0,0,0,0,0
$GC,5893,0.89,441.0,67.3,9.4,800,5989,0.22,2.22,83.80,0.670,4,0.056,0.042,3152,3156,1273,0,0,0,0,0,0
$GC,6011,0.82,441.0,47.2,20.9,816,6019,0.15,2.17,0.00,0.000,6,0.143,0.032,3111,1753,1273,0,0,0,0,0,0
$STATE,6270,end climb,SURFACE_DEPTH_REACHED
$STATE,6270,begin surface coast
$FINISH,0.9,1.022081
$STATE,6288,end surface coast,CONTROL_FINISHED_OK
$STATE,6288,begin surface
$SM_CCo,6366,0.00,0.000,0,0,1266,442.52
$SM_GC,1.51,7.53,0.00,0.00,0.029,0.000,0.000,148,1748,1266,-8.35,-1.47,442.52
$IRIDIUM_FIX,2337.99,12628.65,071010,050505
$TT8_MAMPS,0.026215
$HUMID,41.37
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.50
$XPDR_PINGS,79
$24V_AH,24.4,33.223
$10V_AH,10.5,21.508
$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,19.675,47.300,530.950,0.000,0.000,56.972,62.978,297.383,19.750,0.000,16.385,2013.392,1748.442,504.323,2472.127,277.894,0.000,1316.327,0.000,2050.089,0.000,1.155,0.000
$DEVICE_MAMPS,223.380,57.375,977.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.210,888.173,1445.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50268,868
$CAP_FILE_SIZE,87781,0
$CFSIZE,260165632,169771008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,275.8,1
$GPS,071010,073228,2349.946,12629.234,9,5.2,28,-3.5