version: 66.08
glider: 166
mission: 3
dive: 499
start: 11 12 110 16 39 50
data:
$ID,166
$MISSION,3
$DIVE,499
$N_DIVES,510
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,1090
$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,180
$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,-22212.707
$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,40
$R_STBD_OVSHOOT,57
$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
$GPS1,121110,163337,2120.993,12601.759,30,1.1,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.7
$GPS2,121110,163920,2120.969,12601.792,15,1.3,15,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,325.8,1552,-25.6,-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,12,begin dive
$GC,15,-1.32,-125.7,0.0,0.0,0,94,0.00,0.00,-76.95,0.000,2,0.000,0.000,144,1820,3412,0,0,0,0,0,0
$GC,97,-1.39,-187.4,5.6,-9.3,11,122,8.85,2.08,-8.27,0.000,4,0.219,0.053,2371,3200,3837,0,0,0,0,0,0
$GC,323,-1.18,-187.4,94.8,-36.8,52,331,0.28,2.12,0.00,0.000,6,0.178,0.033,2454,1789,3839,0,0,0,0,0,0
$GC,655,-1.07,-187.4,192.0,-24.8,113,664,0.15,2.15,0.00,0.000,4,0.185,0.044,2494,390,3841,0,0,0,0,0,0
$GC,787,-1.00,-187.4,223.1,-23.1,136,796,0.08,2.12,0.00,0.000,6,0.170,0.040,2508,1776,3842,0,0,0,0,0,0
$GC,1124,-0.98,-187.4,291.8,-19.5,197,1131,0.00,2.12,0.00,0.000,4,0.000,0.044,2508,390,3843,0,0,0,0,0,0
$GC,1151,-0.96,-187.4,297.6,-20.7,201,1159,0.10,2.12,0.00,0.000,6,0.188,0.040,2524,1807,3844,0,0,0,0,0,0
$GC,1488,-0.96,-187.4,354.9,-16.4,233,1491,0.00,2.10,0.00,0.000,4,0.000,0.043,2518,3209,3844,0,0,0,0,0,0
$GC,1522,-1.00,-187.4,360.9,-15.7,236,1526,0.00,2.10,0.00,0.000,6,0.000,0.031,2517,1798,3843,0,0,0,0,0,0
$GC,1848,-1.02,-187.4,416.1,-16.4,266,1852,0.00,2.12,0.00,0.000,4,0.000,0.046,2517,392,3842,0,0,0,0,0,0
$GC,1914,-1.05,-187.4,427.7,-17.3,271,1921,0.00,2.15,0.00,0.000,6,0.000,0.041,2510,1802,3842,0,0,0,0,0,0
$GC,2240,-1.06,-187.4,482.5,-16.6,302,2244,0.00,2.12,0.00,0.000,4,0.000,0.047,2511,3206,3841,0,0,0,0,0,0
$GC,2271,-1.09,-187.4,487.2,-16.3,304,2275,0.00,2.12,0.00,0.000,6,0.000,0.033,2511,1795,3841,0,0,0,0,0,0
$STATE,2351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2351,begin apogee
$GC,2357,-0.23,0.0,501.3,17.3,311,2514,0.80,0.00,151.98,0.983,6,0.142,0.000,2759,1794,3072,0,0,0,0,0,0
$STATE,2515,end apogee,CONTROL_FINISHED_OK
$STATE,2515,begin climb
$GC,2517,1.39,187.4,509.4,0.0,325,2678,1.48,2.40,151.45,0.960,4,0.076,0.051,3292,340,2308,0,0,0,0,0,0
$GC,2752,1.09,187.4,468.5,29.9,345,2760,0.35,2.17,0.00,0.000,6,0.210,0.043,3195,1745,2305,0,0,0,0,0,0
$GC,3079,0.93,187.4,395.2,21.3,376,3084,0.20,2.17,0.00,0.000,4,0.198,0.043,3134,3174,2300,0,0,0,0,0,0
$GC,3159,0.83,187.4,379.5,18.4,382,3168,0.10,2.17,0.00,0.000,6,0.174,0.036,3113,1751,2298,0,0,0,0,0,0
$GC,3485,0.77,187.4,329.7,14.2,413,3489,0.00,2.17,0.00,0.000,4,0.000,0.044,3102,3175,2297,0,0,0,0,0,0
$GC,3529,0.73,187.4,323.1,14.1,416,3537,0.10,2.17,0.00,0.000,6,0.163,0.035,3080,1740,2295,0,0,0,0,0,0
$GC,3863,0.76,213.1,283.4,12.0,459,3891,0.00,2.20,20.92,0.835,4,0.000,0.042,3071,3164,2202,0,0,0,0,0,0
$GC,3932,0.78,218.0,274.5,13.5,470,3947,0.00,2.17,5.65,0.639,6,0.000,0.035,3079,1743,2183,0,0,0,0,0,0
$GC,4280,0.84,248.7,230.1,11.6,532,4315,0.00,2.17,27.35,0.805,4,0.000,0.047,3090,346,2058,0,0,0,0,0,0
$GC,4400,0.89,270.6,215.9,12.3,551,4429,0.12,2.15,20.12,0.770,6,0.091,0.036,3143,1761,1968,0,0,0,0,0,0
$GC,4764,0.85,270.6,154.4,16.9,615,4771,0.00,2.20,0.00,0.000,4,0.000,0.047,3154,341,1963,0,0,0,0,0,0
$GC,4840,0.84,273.3,143.5,13.7,628,4848,0.10,2.15,0.00,0.000,6,0.158,0.037,3113,1751,1962,0,0,0,0,0,0
$GC,5167,1.00,356.5,108.0,7.7,689,5248,0.12,2.25,72.70,0.712,4,0.085,0.047,3191,343,1617,0,0,0,0,0,0
$GC,5384,1.00,356.5,74.4,16.9,725,5392,0.00,2.15,0.00,0.000,6,0.000,0.037,3182,1745,1613,0,0,0,0,0,0
$GC,5712,1.00,356.5,19.1,16.1,786,5721,0.00,2.15,0.00,0.000,4,0.000,0.040,3170,3162,1612,0,0,0,0,0,0
$GC,5752,1.02,356.5,12.0,18.4,792,5760,0.00,2.15,0.00,0.000,6,0.000,0.034,3173,1747,1612,0,0,0,0,0,0
$STATE,5808,end climb,SURFACE_DEPTH_REACHED
$STATE,5808,begin surface coast
$FINISH,0.9,1.010160
$STATE,5830,end surface coast,CONTROL_FINISHED_OK
$STATE,5830,begin surface
$SM_CCo,5848,42.55,0.474,1,0,1440,400.08
$SM_GC,1.95,0.00,0.00,42.55,0.000,0.000,0.474,138,1811,1440,-8.45,0.31,400.08
$IRIDIUM_FIX,2113.32,12601.30,121110,141402
$TT8_MAMPS,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.60
$XPDR_PINGS,70
$24V_AH,24.0,96.411
$10V_AH,10.2,60.545
$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,20.650,60.525,450.175,42.550,0.000,26.367,19.732,140.272,17.500,0.000,16.391,1901.482,1447.211,521.082,2100.587,273.471,0.000,1276.073,0.000,1920.880,0.000,0.847,0.000
$DEVICE_MAMPS,218.790,144.585,983.025,473.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.188,810.584,1336.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46965,806
$CAP_FILE_SIZE,85873,0
$CFSIZE,260165632,148721664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.156,133.5,1
$GPS,121110,181856,2121.280,12601.702,11,1.3,11,-2.9