version: 66.08
glider: 166
mission: 3
dive: 132
start: 10 3 110 11 47 5
data:
$ID,166
$MISSION,3
$DIVE,132
$N_DIVES,140
$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,-21654.689
$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,43
$R_STBD_OVSHOOT,59
$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
$GPS1,031010,114107,2306.374,12629.503,36,0.8,36,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.5
$GPS2,031010,114643,2306.370,12629.502,10,1.4,15,-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,148.6,11828,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-110.10,0.000,2,0.000,0.000,148,1821,3266,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.5,-10.4,15,162,8.90,2.17,-12.48,0.000,4,0.232,0.050,2458,387,3949,0,0,0,0,0,0
$GC,402,-0.90,-214.1,126.8,-35.9,64,410,0.30,2.10,0.00,0.000,6,0.171,0.037,2541,1772,3953,0,0,0,0,0,0
$GC,735,-0.77,-214.1,218.8,-24.8,125,743,0.17,2.10,0.00,0.000,4,0.171,0.042,2591,387,3956,0,0,0,0,0,0
$GC,842,-0.75,-214.1,241.0,-19.2,144,850,0.00,2.15,0.00,0.000,6,0.000,0.040,2588,1805,3956,0,0,0,0,0,0
$GC,1177,-0.72,-214.1,309.4,-19.6,201,1181,0.00,2.12,0.00,0.000,4,0.000,0.052,2585,3213,3955,0,0,0,0,0,0
$GC,1239,-0.75,-214.1,320.5,-15.1,206,1243,0.00,2.10,0.00,0.000,6,0.000,0.035,2584,1789,3955,0,0,0,0,0,0
$GC,1572,-0.75,-214.1,373.1,-14.1,237,1576,0.00,2.15,0.00,0.000,4,0.000,0.053,2585,3209,3954,0,0,0,0,0,0
$GC,1605,-0.77,-214.1,377.8,-12.4,239,1612,0.00,2.08,0.00,0.000,6,0.000,0.036,2584,1789,3953,0,0,0,0,0,0
$GC,1931,-0.77,-214.1,422.1,-14.2,270,1934,0.00,2.05,0.00,0.000,4,0.000,0.047,2584,398,3952,0,0,0,0,0,0
$GC,1997,-0.80,-214.1,432.2,-14.7,275,2006,0.00,2.10,0.00,0.000,6,0.000,0.040,2585,1812,3952,0,0,0,0,0,0
$GC,2323,-0.81,-214.1,479.2,-14.8,306,2327,0.00,2.10,0.00,0.000,4,0.000,0.054,2585,3216,3950,0,0,0,0,0,0
$GC,2366,-0.87,-214.1,484.8,-13.2,309,2370,0.00,2.08,0.00,0.000,6,0.000,0.035,2585,1797,3949,0,0,0,0,0,0
$STATE,2472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2473,begin apogee
$GC,2478,-0.23,0.0,500.2,14.8,319,2649,0.52,0.00,167.30,0.971,6,0.122,0.000,2765,1796,3072,0,0,0,0,0,0
$STATE,2650,end apogee,CONTROL_FINISHED_OK
$STATE,2650,begin climb
$GC,2653,1.16,214.1,509.3,0.0,333,2833,1.20,0.00,172.82,0.939,6,0.050,0.000,3223,1796,2199,0,0,0,0,0,0
$GC,3151,0.86,214.1,390.3,28.5,380,3156,0.38,2.25,0.00,0.000,4,0.191,0.046,3129,343,2193,0,0,0,0,0,0
$GC,3238,0.67,214.1,368.3,24.4,387,3243,0.25,2.12,0.00,0.000,6,0.171,0.040,3058,1744,2191,0,0,0,0,0,0
$GC,3565,0.58,214.1,311.8,17.1,417,3569,0.00,2.12,0.00,0.000,4,0.000,0.046,3052,3174,2188,0,0,0,0,0,0
$GC,3708,0.51,214.1,289.0,16.0,435,3715,0.17,2.10,0.00,0.000,6,0.171,0.037,3010,1748,2185,0,0,0,0,0,0
$GC,4050,0.59,278.1,249.6,11.1,496,4111,0.00,2.22,50.83,0.812,4,0.000,0.047,3016,355,1937,0,0,0,0,0,0
$GC,4126,0.62,305.4,240.6,12.7,507,4154,0.00,2.17,23.25,0.762,6,0.000,0.034,3017,1768,1826,0,0,0,0,0,0
$GC,4491,0.65,312.6,190.1,13.6,571,4506,0.10,2.10,7.10,0.625,4,0.095,0.044,3071,3166,1796,0,0,0,0,0,0
$GC,4544,0.61,312.6,181.2,17.4,579,4552,0.15,2.10,0.00,0.000,6,0.175,0.035,3037,1748,1796,0,0,0,0,0,0
$GC,4880,0.64,336.1,132.3,12.9,640,4911,0.00,2.17,20.42,0.698,4,0.000,0.045,3041,353,1701,0,0,0,0,0,0
$GC,4924,0.67,359.8,126.1,12.9,646,4955,0.00,2.12,20.55,0.682,6,0.000,0.033,3034,1751,1604,0,0,0,0,0,0
$GC,5273,0.74,388.4,80.0,12.6,710,5305,0.12,0.00,24.08,0.660,6,0.083,0.000,3107,1754,1487,0,0,0,0,0,0
$GC,5630,0.77,413.9,22.2,12.8,774,5653,0.00,0.00,20.90,0.610,6,0.000,0.000,3107,1755,1384,0,0,0,0,0,0
$STATE,5767,end climb,SURFACE_DEPTH_REACHED
$STATE,5770,begin surface coast
$FINISH,0.6,1.021718
$STATE,5794,end surface coast,CONTROL_FINISHED_OK
$STATE,5794,begin surface
$SM_CCo,5810,189.30,0.570,1,0,455,641.95
$SM_CCo,6008,-0.03,0.000,0,0,453,642.20
$SM_GC,1.41,0.00,0.00,-0.03,0.000,0.000,0.000,139,1756,453,-8.45,-1.24,642.20
$IRIDIUM_FIX,2255.72,12627.83,031010,090935
$TT8_MAMPS,0.026215
$HUMID,39.32
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.30
$XPDR_PINGS,90
$24V_AH,24.4,25.709
$10V_AH,10.5,16.137
$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,19.850,46.800,507.250,189.300,0.000,25.103,36.661,131.949,22.500,0.000,18.126,1872.218,1415.465,708.021,2106.596,244.413,0.000,1473.452,0.000,1916.810,0.000,0.850,0.000
$DEVICE_MAMPS,231.795,53.550,970.785,569.925,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.885,820.925,1354.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47000,803
$CAP_FILE_SIZE,82608,0
$CFSIZE,260165632,172343296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185,295.6,1
$GPS,031010,132828,2306.059,12629.589,14,99.0,33,-3.4