version: 66.08
glider: 166
mission: 3
dive: 139
start: 10 4 110 0 19 53
data:
$ID,166
$MISSION,3
$DIVE,139
$N_DIVES,145
$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,-21663.77
$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,45
$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
$GPS1,041010,001337,2304.857,12630.470,40,0.9,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.5
$GPS2,041010,001932,2304.848,12630.469,12,1.4,12,-3.3
$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,194.0,9014,-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,-214.1,0.0,0.0,0,126,0.00,0.00,-107.78,0.000,2,0.000,0.000,147,1799,3188,0,0,0,0,0,0
$GC,129,-1.16,-214.1,5.1,-11.2,15,160,8.88,2.12,-14.25,0.000,4,0.230,0.050,2459,379,3948,0,0,0,0,0,0
$GC,397,-0.92,-214.1,125.9,-37.5,64,405,0.30,2.12,0.00,0.000,6,0.171,0.032,2541,1801,3951,0,0,0,0,0,0
$GC,729,-0.79,-214.1,218.0,-26.7,125,737,0.15,2.12,0.00,0.000,4,0.179,0.040,2583,390,3954,0,0,0,0,0,0
$GC,792,-0.76,-214.1,232.1,-20.5,135,799,0.00,2.08,0.00,0.000,6,0.000,0.033,2575,1801,3954,0,0,0,0,0,0
$GC,1131,-0.73,-214.1,302.3,-20.1,196,1135,0.10,2.12,0.00,0.000,4,0.189,0.042,2601,381,3954,0,0,0,0,0,0
$GC,1162,-0.71,-214.1,309.1,-19.8,198,1170,0.00,2.12,0.00,0.000,6,0.000,0.036,2601,1795,3954,0,0,0,0,0,0
$GC,1491,-0.73,-214.1,357.0,-13.7,229,1495,0.00,2.10,0.00,0.000,4,0.000,0.043,2601,383,3953,0,0,0,0,0,0
$GC,1522,-0.75,-214.1,361.5,-13.7,231,1525,0.00,2.10,0.00,0.000,6,0.000,0.037,2601,1807,3953,0,0,0,0,0,0
$GC,1848,-0.79,-214.1,406.6,-14.3,261,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1807,3952,0,0,0,0,0,0
$GC,2170,-0.84,-214.1,449.6,-12.6,291,2174,0.00,2.12,0.00,0.000,4,0.000,0.046,2601,395,3950,0,0,0,0,0,0
$GC,2217,-0.91,-214.1,456.0,-12.4,295,2222,0.15,2.12,0.00,0.000,6,0.076,0.040,2518,1812,3950,0,0,0,0,0,0
$STATE,2448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2448,begin apogee
$GC,2453,-0.23,0.0,500.4,19.5,316,2631,0.75,0.00,167.12,0.967,6,0.144,0.000,2759,1731,3072,0,0,0,0,0,0
$STATE,2632,end apogee,CONTROL_FINISHED_OK
$STATE,2632,begin climb
$GC,2634,1.16,214.1,508.0,0.0,331,2816,1.25,2.28,171.93,0.937,4,0.071,0.050,3219,360,2199,0,0,0,0,0,0
$GC,2897,0.86,214.1,457.9,31.7,353,2905,0.38,2.17,0.00,0.000,6,0.190,0.041,3122,1741,2195,0,0,0,0,0,0
$GC,3224,0.69,214.1,385.7,20.3,384,3228,0.20,2.15,0.00,0.000,4,0.174,0.046,3059,3166,2190,0,0,0,0,0,0
$GC,3264,0.61,214.1,378.3,16.9,387,3268,0.00,2.12,0.00,0.000,6,0.000,0.037,3064,1752,2189,0,0,0,0,0,0
$GC,3591,0.52,214.1,325.1,17.1,417,3595,0.20,2.12,0.00,0.000,4,0.164,0.044,3014,346,2187,0,0,0,0,0,0
$GC,3621,0.49,214.1,320.5,14.5,419,3625,0.00,2.10,0.00,0.000,6,0.000,0.036,3018,1759,2187,0,0,0,0,0,0
$GC,3948,0.54,257.0,278.3,12.0,464,3990,0.00,2.15,34.25,0.829,4,0.000,0.045,3019,3165,2024,0,0,0,0,0,0
$GC,4010,0.54,257.0,270.3,13.9,473,4017,0.00,2.15,0.00,0.000,6,0.000,0.036,3025,1747,2022,0,0,0,0,0,0
$GC,4343,0.55,265.4,226.8,13.5,534,4358,0.00,2.12,8.02,0.680,4,0.000,0.044,3033,345,1988,0,0,0,0,0,0
$GC,4393,0.55,265.4,220.0,14.7,542,4401,0.00,2.15,0.00,0.000,6,0.000,0.034,3034,1755,1987,0,0,0,0,0,0
$GC,4724,0.59,299.2,176.6,12.4,603,4759,0.00,2.20,27.80,0.747,4,0.000,0.045,3032,3159,1852,0,0,0,0,0,0
$GC,4788,0.65,328.7,168.4,12.6,613,4823,0.00,2.12,25.58,0.728,6,0.000,0.034,3040,1744,1731,0,0,0,0,0,0
$GC,5143,0.67,328.7,117.7,14.8,678,5151,0.00,2.12,0.00,0.000,4,0.000,0.044,3047,357,1727,0,0,0,0,0,0
$GC,5196,0.70,328.7,110.1,14.3,687,5204,0.00,2.10,0.00,0.000,6,0.000,0.031,3048,1750,1726,0,0,0,0,0,0
$GC,5521,0.89,441.6,70.7,9.0,748,5617,0.20,2.25,90.05,0.664,4,0.061,0.042,3144,3166,1271,0,0,0,0,0,0
$GC,5629,0.84,441.6,52.8,19.7,762,5638,0.12,2.20,0.00,0.000,6,0.139,0.034,3111,1745,1270,0,0,0,0,0,0
$GC,5961,0.88,441.6,4.4,13.9,823,5968,0.00,2.12,0.00,0.000,4,0.000,0.044,3120,353,1266,0,0,0,0,0,0
$STATE,5974,end climb,SURFACE_DEPTH_REACHED
$STATE,5974,begin surface coast
$FINISH,0.6,1.010159
$STATE,5987,end surface coast,CONTROL_FINISHED_OK
$STATE,5987,begin surface
$SM_CCo,6006,170.55,0.564,1,0,454,641.95
$SM_CCo,6186,-0.30,0.000,0,0,453,642.20
$SM_GC,1.39,0.00,0.00,-0.30,0.000,0.000,0.000,138,1815,453,-8.45,0.45,642.20
$IRIDIUM_FIX,2258.07,12632.99,031010,222208
$TT8_MAMPS,0.026215
$HUMID,38.34
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.50
$XPDR_PINGS,90
$24V_AH,24.4,26.889
$10V_AH,10.5,16.888
$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,20.275,60.100,524.750,170.550,0.000,25.075,53.119,139.242,22.500,0.000,14.374,1925.562,1477.694,701.772,2179.403,254.528,0.000,1505.780,0.000,1975.263,0.000,0.848,0.000
$DEVICE_MAMPS,230.265,91.800,966.960,563.805,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.712,845.749,1392.399,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50269,827
$CAP_FILE_SIZE,88089,0
$CFSIZE,260165632,171966464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.191, 56.6,1
$GPS,041010,020350,2304.262,12630.841,11,1.6,11,-3.3