version: 66.08
glider: 166
mission: 3
dive: 195
start: 10 8 110 7 0 41
data:
$ID,166
$MISSION,3
$DIVE,195
$N_DIVES,205
$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,-21736.746
$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,41
$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
$GPS1,081010,065425,2355.436,12630.529,9,1.4,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.8
$GPS2,081010,070020,2355.456,12630.486,10,1.4,10,-3.6
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2300.000,12630.000
$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,193.6,102707,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,98,0.00,0.00,-79.90,0.000,2,0.000,0.000,142,1757,3388,0,0,0,0,0,0
$GC,101,-1.16,-214.1,6.0,-12.0,11,126,8.73,2.12,-10.15,0.000,4,0.220,0.051,2457,380,3949,0,0,0,0,0,0
$GC,250,-0.93,-214.1,78.9,-37.1,37,259,0.28,2.17,0.00,0.000,6,0.161,0.038,2533,1798,3951,0,0,0,0,0,0
$GC,579,-0.75,-214.1,181.3,-30.9,98,587,0.22,2.15,0.00,0.000,4,0.172,0.036,2597,383,3954,0,0,0,0,0,0
$GC,607,-0.62,-214.1,190.0,-29.1,102,615,0.15,2.15,0.00,0.000,6,0.141,0.035,2637,1807,3955,0,0,0,0,0,0
$GC,940,-0.66,-214.1,240.8,-14.2,163,946,0.00,2.10,0.00,0.000,4,0.000,0.048,2637,3204,3956,0,0,0,0,0,0
$GC,1034,-0.77,-214.1,250.9,-9.6,179,1042,0.15,2.08,0.00,0.000,6,0.072,0.031,2556,1789,3957,0,0,0,0,0,0
$GC,1372,-0.70,-214.1,317.6,-20.0,233,1376,0.20,2.08,0.00,0.000,4,0.164,0.040,2613,402,3956,0,0,0,0,0,0
$GC,1437,-0.77,-214.1,328.4,-12.5,238,1445,0.00,2.10,0.00,0.000,6,0.000,0.037,2613,1791,3956,0,0,0,0,0,0
$GC,1764,-0.81,-214.1,371.7,-14.3,269,1768,0.00,2.15,0.00,0.000,4,0.000,0.052,2613,3207,3956,0,0,0,0,0,0
$GC,1847,-0.91,-214.1,382.0,-11.1,276,1852,0.17,2.08,0.00,0.000,6,0.069,0.035,2522,1807,3955,0,0,0,0,0,0
$GC,2174,-0.83,-214.1,454.3,-20.2,306,2178,0.17,2.12,0.00,0.000,4,0.169,0.046,2570,397,3954,0,0,0,0,0,0
$GC,2218,-0.83,-214.1,462.1,-15.4,310,2222,0.00,2.10,0.00,0.000,6,0.000,0.041,2570,1804,3954,0,0,0,0,0,0
$STATE,2482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2482,begin apogee
$GC,2488,-0.23,0.0,501.2,15.2,334,2668,0.57,0.00,169.18,0.984,6,0.131,0.000,2762,1743,3072,0,0,0,0,0,0
$STATE,2668,end apogee,CONTROL_FINISHED_OK
$STATE,2669,begin climb
$GC,2672,1.16,214.1,510.9,0.0,349,2851,1.20,0.00,172.40,0.957,6,0.047,0.000,3223,1742,2198,0,0,0,0,0,0
$GC,3168,0.85,214.1,392.9,28.9,395,3173,0.38,2.12,0.00,0.000,4,0.193,0.045,3127,354,2192,0,0,0,0,0,0
$GC,3190,0.60,214.1,386.2,27.1,396,3199,0.30,2.15,0.00,0.000,6,0.164,0.039,3034,1743,2192,0,0,0,0,0,0
$GC,3517,0.54,214.1,335.5,14.8,427,3521,0.00,2.12,0.00,0.000,4,0.000,0.046,3031,3169,2190,0,0,0,0,0,0
$GC,3692,0.49,214.1,308.3,14.6,442,3697,0.15,2.12,0.00,0.000,6,0.169,0.037,2997,1747,2188,0,0,0,0,0,0
$GC,4027,0.63,328.0,272.9,8.9,496,4129,0.12,2.22,93.47,0.839,4,0.087,0.046,3078,347,1733,0,0,0,0,0,0
$GC,4190,0.57,328.0,247.3,18.4,521,4197,0.17,2.15,0.00,0.000,6,0.159,0.035,3023,1751,1731,0,0,0,0,0,0
$GC,4529,0.57,328.0,197.4,14.2,582,4538,0.00,2.15,0.00,0.000,4,0.000,0.045,3020,3160,1728,0,0,0,0,0,0
$GC,4607,0.63,343.0,186.8,13.2,595,4629,0.00,2.12,13.25,0.721,6,0.000,0.036,3028,1737,1672,0,0,0,0,0,0
$GC,4959,0.73,399.5,140.6,11.4,658,5014,0.12,2.22,47.30,0.734,4,0.083,0.045,3118,344,1442,0,0,0,0,0,0
$GC,5034,0.63,399.5,127.2,21.3,668,5043,0.20,2.17,0.00,0.000,6,0.144,0.031,3049,1756,1441,0,0,0,0,0,0
$GC,5363,0.74,449.6,81.3,11.7,729,5408,0.00,0.00,41.67,0.681,6,0.000,0.000,3049,1759,1238,0,0,0,0,0,0
$GC,5730,1.01,574.8,45.6,8.5,795,5841,0.28,2.30,100.28,0.643,4,0.050,0.044,3196,346,726,0,0,0,0,0,0
$GC,5879,0.90,574.8,8.5,29.1,816,5887,0.17,2.17,0.00,0.000,6,0.132,0.034,3132,1746,724,0,0,0,0,0,0
$STATE,5899,end climb,SURFACE_DEPTH_REACHED
$STATE,5899,begin surface coast
$FINISH,0.7,1.021619
$STATE,5911,end surface coast,CONTROL_FINISHED_OK
$STATE,5911,begin surface
$SM_CCo,5988,0.00,0.000,0,0,722,576.70
$SM_GC,1.53,7.88,0.00,0.00,0.044,0.000,0.000,149,1752,722,-8.34,-1.36,576.70
$IRIDIUM_FIX,2347.41,12629.56,081010,050506
$TT8_MAMPS,0.026215
$HUMID,41.21
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.60
$XPDR_PINGS,69
$24V_AH,24.3,35.291
$10V_AH,10.4,23.008
$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,21.625,51.525,637.550,0.000,0.000,29.743,37.494,146.435,17.250,0.000,12.452,1887.962,1453.785,576.495,2170.890,248.909,0.000,1397.806,0.000,1963.598,0.000,0.848,0.000
$DEVICE_MAMPS,220.320,112.455,983.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.884,839.231,1369.459,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46940,821
$CAP_FILE_SIZE,85641,0
$CFSIZE,260165632,169058304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035, 45.1,1
$GPS,081010,084137,2354.654,12630.381,32,1.0,32,-3.6