version: 66.08
glider: 166
mission: 3
dive: 124
start: 10 2 110 21 17 54
data:
$ID,166
$MISSION,3
$DIVE,124
$N_DIVES,135
$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,-21644.359
$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,39
$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
$GPS1,021010,211007,2310.603,12629.444,26,1.3,27,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.3
$GPS2,021010,211732,2310.688,12629.465,14,1.6,14,-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,175.4,19816,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-109.07,0.000,2,0.000,0.000,147,1750,3239,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.4,-11.4,15,163,8.88,2.08,-13.10,0.000,4,0.231,0.054,2457,390,3949,0,0,0,0,0,0
$GC,402,-0.89,-214.1,130.9,-37.4,64,411,0.30,2.15,0.00,0.000,6,0.167,0.041,2542,1789,3952,0,0,0,0,0,0
$GC,734,-0.76,-214.1,218.6,-27.2,125,742,0.17,2.15,0.00,0.000,4,0.177,0.044,2591,383,3955,0,0,0,0,0,0
$GC,806,-0.76,-214.1,233.9,-18.1,137,814,0.00,2.12,0.00,0.000,6,0.000,0.040,2588,1811,3955,0,0,0,0,0,0
$GC,1140,-0.72,-214.1,293.6,-18.7,198,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1812,3955,0,0,0,0,0,0
$GC,1473,-0.70,-214.1,354.1,-17.3,232,1477,0.00,2.12,0.00,0.000,4,0.000,0.052,2584,3218,3953,0,0,0,0,0,0
$GC,1539,-0.74,-214.1,364.2,-13.9,237,1547,0.00,2.10,0.00,0.000,6,0.000,0.035,2584,1790,3953,0,0,0,0,0,0
$GC,1864,-0.74,-214.1,416.3,-16.3,268,1868,0.00,2.08,0.00,0.000,4,0.000,0.047,2584,398,3952,0,0,0,0,0,0
$GC,1950,-0.76,-214.1,428.2,-14.5,275,1954,0.00,2.10,0.00,0.000,6,0.000,0.040,2584,1813,3951,0,0,0,0,0,0
$GC,2277,-0.76,-214.1,473.6,-13.6,305,2281,0.00,2.12,0.00,0.000,4,0.000,0.053,2584,3220,3949,0,0,0,0,0,0
$GC,2344,-0.83,-214.1,481.7,-10.8,310,2352,0.00,2.12,0.00,0.000,6,0.000,0.036,2583,1802,3948,0,0,0,0,0,0
$STATE,2486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2486,begin apogee
$GC,2492,-0.23,0.0,500.6,13.5,324,2669,0.52,0.00,166.32,0.964,6,0.128,0.000,2762,1749,3071,0,0,0,0,0,0
$STATE,2670,end apogee,CONTROL_FINISHED_OK
$STATE,2670,begin climb
$GC,2672,1.16,214.1,506.7,0.0,339,2853,1.25,2.25,171.73,0.933,4,0.067,0.050,3220,3157,2198,0,0,0,0,0,0
$GC,2935,0.87,214.1,453.3,31.6,362,2944,0.38,2.20,0.00,0.000,6,0.194,0.039,3128,1753,2195,0,0,0,0,0,0
$GC,3262,0.68,214.1,378.5,20.8,393,3267,0.22,2.12,0.00,0.000,4,0.180,0.044,3055,3159,2191,0,0,0,0,0,0
$GC,3272,0.51,214.1,375.7,20.8,393,3281,0.20,2.10,0.00,0.000,6,0.174,0.037,3007,1744,2190,0,0,0,0,0,0
$GC,3598,0.56,255.7,334.9,12.1,424,3638,0.00,2.20,33.78,0.854,4,0.000,0.047,3013,353,2029,0,0,0,0,0,0
$GC,3694,0.61,291.9,322.8,12.3,432,3730,0.00,2.17,30.60,0.829,6,0.000,0.036,3017,1755,1880,0,0,0,0,0,0
$GC,4057,0.61,291.9,270.8,15.7,483,4064,0.00,2.10,0.00,0.000,4,0.000,0.046,3013,3162,1874,0,0,0,0,0,0
$GC,4139,0.63,291.9,258.7,14.2,497,4147,0.00,2.10,0.00,0.000,6,0.000,0.037,3019,1748,1873,0,0,0,0,0,0
$GC,4471,0.66,321.2,211.0,12.6,558,4501,0.10,2.20,23.92,0.766,4,0.103,0.046,3086,347,1762,0,0,0,0,0,0
$GC,4535,0.59,321.2,199.1,20.9,568,4543,0.17,2.15,0.00,0.000,6,0.146,0.034,3032,1751,1760,0,0,0,0,0,0
$GC,4868,0.59,321.2,144.5,16.9,629,4876,0.00,2.12,0.00,0.000,4,0.000,0.045,3021,3153,1757,0,0,0,0,0,0
$GC,4922,0.63,323.0,136.5,13.8,638,4929,0.00,2.12,0.00,0.000,6,0.000,0.037,3026,1744,1756,0,0,0,0,0,0
$GC,5247,0.71,366.1,93.7,12.0,699,5292,0.12,2.15,36.85,0.690,4,0.087,0.044,3114,338,1578,0,0,0,0,0,0
$GC,5369,0.66,366.1,71.2,18.4,718,5377,0.17,2.15,0.00,0.000,6,0.133,0.033,3054,1753,1575,0,0,0,0,0,0
$GC,5696,0.86,466.1,40.8,9.5,779,5785,0.17,2.15,79.65,0.638,4,0.066,0.041,3145,3152,1170,0,0,0,0,0,0
$GC,5814,0.82,466.1,21.5,20.2,795,5822,0.15,2.15,0.00,0.000,6,0.139,0.034,3106,1758,1170,0,0,0,0,0,0
$STATE,5927,end climb,SURFACE_DEPTH_REACHED
$STATE,5929,begin surface coast
$FINISH,0.7,1.021714
$STATE,5946,end surface coast,CONTROL_FINISHED_OK
$STATE,5947,begin surface
$SM_CCo,5963,147.38,0.558,1,0,455,641.95
$SM_CCo,6119,-0.35,0.000,0,0,454,642.20
$SM_GC,1.43,0.00,0.00,-0.35,0.000,0.000,0.000,144,1755,454,-8.43,-1.24,642.20
$IRIDIUM_FIX,2305.10,12629.22,021010,212113
$TT8_MAMPS,0.026215
$HUMID,38.34
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.70
$XPDR_PINGS,82
$24V_AH,24.4,24.351
$10V_AH,10.4,15.287
$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,20.425,55.650,542.850,147.375,0.000,59.057,48.003,137.051,20.500,0.000,15.036,1901.049,1498.592,701.013,2210.795,252.917,0.000,1514.260,0.000,1975.121,0.000,0.850,0.000
$DEVICE_MAMPS,231.030,158.355,963.900,557.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.905,837.534,1387.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46971,819
$CAP_FILE_SIZE,87350,0
$CFSIZE,260165632,172752896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.186, 16.2,1
$GPS,021010,230107,2310.427,12629.843,33,0.8,33,-3.4