version: 66.08
glider: 166
mission: 3
dive: 117
start: 10 2 110 8 35 56
data:
$ID,166
$MISSION,3
$DIVE,117
$N_DIVES,130
$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,642
$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,-21635.291
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,021010,083007,2312.205,12629.078,29,1.4,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.6
$GPS2,021010,083532,2312.299,12629.100,14,1.4,14,-3.4
$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,139.4,22830,-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,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,127,0.00,0.00,-109.47,0.000,2,0.000,0.000,144,1794,3260,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.8,-12.6,15,161,8.65,2.12,-12.45,0.000,4,0.220,0.049,2459,377,3950,0,0,0,0,0,0
$GC,260,-0.87,-214.1,68.2,-41.2,37,270,0.35,2.17,0.00,0.000,6,0.185,0.035,2552,1812,3951,0,0,0,0,0,0
$GC,587,-0.71,-214.1,170.8,-29.0,98,595,0.20,2.12,0.00,0.000,4,0.174,0.045,2601,3205,3955,0,0,0,0,0,0
$GC,730,-0.73,-214.1,197.3,-16.1,123,737,0.00,2.08,0.00,0.000,6,0.000,0.032,2601,1798,3956,0,0,0,0,0,0
$GC,1061,-0.70,-214.1,260.7,-17.7,184,1069,0.00,2.12,0.00,0.000,4,0.000,0.043,2601,390,3956,0,0,0,0,0,0
$GC,1095,-0.67,-214.1,266.1,-16.9,189,1103,0.00,2.10,0.00,0.000,6,0.000,0.039,2601,1804,3956,0,0,0,0,0,0
$GC,1433,-0.67,-214.1,321.2,-16.3,239,1436,0.00,2.12,0.00,0.000,4,0.000,0.052,2602,3211,3956,0,0,0,0,0,0
$GC,1487,-0.72,-214.1,329.5,-12.6,243,1494,0.00,2.08,0.00,0.000,6,0.000,0.035,2601,1794,3956,0,0,0,0,0,0
$GC,1813,-0.72,-214.1,378.7,-15.3,274,1817,0.00,2.10,0.00,0.000,4,0.000,0.047,2601,396,3954,0,0,0,0,0,0
$GC,1866,-0.77,-214.1,386.8,-14.1,278,1870,0.00,2.08,0.00,0.000,6,0.000,0.039,2601,1798,3954,0,0,0,0,0,0
$GC,2191,-0.80,-214.1,434.7,-14.0,308,2195,0.00,2.12,0.00,0.000,4,0.000,0.054,2603,3205,3953,0,0,0,0,0,0
$GC,2259,-0.89,-214.1,442.6,-10.1,313,2267,0.15,2.08,0.00,0.000,6,0.077,0.036,2523,1798,3952,0,0,0,0,0,0
$STATE,2561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2561,begin apogee
$GC,2567,-0.23,0.0,501.1,19.0,342,2742,0.73,0.00,167.20,0.963,6,0.146,0.000,2757,1796,3072,0,0,0,0,0,0
$STATE,2743,end apogee,CONTROL_FINISHED_OK
$STATE,2743,begin climb
$GC,2745,1.16,214.1,507.5,0.0,357,2926,1.27,2.40,172.02,0.932,4,0.073,0.050,3227,353,2198,0,0,0,0,0,0
$GC,2952,0.85,214.1,470.4,31.3,375,2957,0.40,2.20,0.00,0.000,6,0.194,0.038,3118,1744,2197,0,0,0,0,0,0
$GC,3279,0.67,214.1,393.1,21.7,405,3281,0.20,0.00,0.00,0.000,6,0.179,0.000,3064,1749,2192,0,0,0,0,0,0
$GC,3598,0.58,214.1,339.1,17.1,435,3603,0.12,2.15,0.00,0.000,4,0.189,0.045,3035,344,2188,0,0,0,0,0,0
$GC,3623,0.50,214.1,334.9,16.6,437,3627,0.12,2.15,0.00,0.000,6,0.167,0.036,3002,1769,2187,0,0,0,0,0,0
$GC,3950,0.56,261.7,295.9,11.8,470,3997,0.00,2.17,38.35,0.839,4,0.000,0.047,2995,3153,2003,0,0,0,0,0,0
$GC,4022,0.65,319.2,287.5,11.4,481,4079,0.15,2.15,47.80,0.818,6,0.073,0.036,3078,1739,1770,0,0,0,0,0,0
$GC,4407,0.57,319.2,206.5,19.7,549,4415,0.20,0.00,0.00,0.000,6,0.169,0.000,3024,1739,1764,0,0,0,0,0,0
$GC,4741,0.62,349.2,158.8,12.6,610,4776,0.00,2.22,24.55,0.724,4,0.000,0.045,3013,3154,1647,0,0,0,0,0,0
$GC,4785,0.70,387.8,153.3,12.2,616,4828,0.10,2.15,32.67,0.715,6,0.044,0.035,3090,1748,1489,0,0,0,0,0,0
$GC,5146,0.64,387.8,80.0,20.8,682,5155,0.15,2.20,0.00,0.000,4,0.165,0.044,3038,3163,1485,0,0,0,0,0,0
$GC,5168,0.63,387.8,76.3,16.5,685,5178,0.00,2.12,0.00,0.000,6,0.000,0.035,3045,1754,1485,0,0,0,0,0,0
$GC,5497,0.79,465.8,36.9,10.5,746,5564,0.12,2.25,61.72,0.635,4,0.083,0.043,3139,340,1173,0,0,0,0,0,0
$GC,5614,0.76,465.8,15.3,20.8,763,5623,0.15,2.17,0.00,0.000,6,0.128,0.031,3089,1761,1170,0,0,0,0,0,0
$STATE,5691,end climb,SURFACE_DEPTH_REACHED
$STATE,5692,begin surface coast
$FINISH,0.8,1.021672
$STATE,5717,end surface coast,CONTROL_FINISHED_OK
$STATE,5717,begin surface
$SM_CCo,5734,148.20,0.559,1,0,453,641.95
$SM_CCo,5890,-0.38,0.000,0,0,454,642.20
$SM_GC,1.36,0.00,0.00,-0.38,0.000,0.000,0.000,152,1769,454,-8.40,-0.88,642.20
$IRIDIUM_FIX,2302.75,12625.94,021010,060646
$TT8_MAMPS,0.026964
$HUMID,39.32
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.20
$XPDR_PINGS,61
$24V_AH,24.4,23.154
$10V_AH,10.5,14.531
$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,20.675,51.650,544.325,148.200,0.000,31.352,19.762,135.366,15.250,0.000,15.249,1804.312,1445.082,697.313,2034.227,238.073,0.000,1470.641,0.000,1854.651,0.000,0.847,0.000
$DEVICE_MAMPS,220.320,54.315,963.135,559.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.419,798.174,1303.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46871,781
$CAP_FILE_SIZE,83507,0
$CFSIZE,260165632,173125632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.209,298.2,1
$GPS,021010,101502,2311.869,12629.046,15,1.8,15,-3.4