version: 66.08
glider: 166
mission: 3
dive: 173
start: 10 6 110 14 57 21
data:
$ID,166
$MISSION,3
$DIVE,173
$N_DIVES,185
$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,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,-21708.354
$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,42
$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
$GPS1,061010,145116,2338.228,12629.206,13,2.2,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.3
$GPS2,061010,145658,2338.243,12629.202,11,2.2,30,-3.5
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,8.9,40317,-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,-214.1,0.0,0.0,0,95,0.00,0.00,-77.93,0.000,2,0.000,0.000,144,1772,3364,0,0,0,0,0,0
$GC,98,-1.16,-214.1,5.7,-11.0,11,123,8.85,2.22,-10.62,0.000,4,0.227,0.055,2448,3207,3948,0,0,0,0,0,0
$GC,183,-0.87,-214.1,50.6,-48.7,25,193,0.35,2.12,0.00,0.000,6,0.174,0.035,2552,1794,3951,0,0,0,0,0,0
$GC,510,-0.72,-214.1,159.8,-28.1,86,518,0.20,2.12,0.00,0.000,4,0.170,0.041,2609,399,3954,0,0,0,0,0,0
$GC,555,-0.67,-214.1,171.0,-21.5,93,563,0.00,2.10,0.00,0.000,6,0.000,0.037,2602,1797,3955,0,0,0,0,0,0
$GC,887,-0.63,-214.1,234.8,-18.9,154,895,0.12,2.17,0.00,0.000,4,0.175,0.051,2627,3203,3956,0,0,0,0,0,0
$GC,921,-0.65,-214.1,240.5,-16.8,159,927,0.00,2.05,0.00,0.000,6,0.000,0.035,2627,1802,3956,0,0,0,0,0,0
$GC,1248,-0.68,-214.1,289.0,-13.8,220,1256,0.00,2.12,0.00,0.000,4,0.000,0.046,2627,401,3956,0,0,0,0,0,0
$GC,1288,-0.73,-214.1,294.5,-13.1,226,1296,0.00,2.12,0.00,0.000,6,0.000,0.038,2627,1802,3957,0,0,0,0,0,0
$GC,1617,-0.77,-214.1,340.6,-14.8,260,1621,0.10,2.15,0.00,0.000,4,0.104,0.054,2571,3205,3956,0,0,0,0,0,0
$GC,1660,-0.79,-214.1,348.0,-17.2,263,1667,0.00,2.08,0.00,0.000,6,0.000,0.036,2571,1791,3956,0,0,0,0,0,0
$GC,1986,-0.76,-214.1,408.4,-17.1,294,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1791,3955,0,0,0,0,0,0
$GC,2307,-0.74,-214.1,459.0,-14.9,324,2316,0.10,0.00,0.00,0.000,6,0.181,0.000,2596,1790,3954,0,0,0,0,0,0
$STATE,2612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2612,begin apogee
$GC,2619,-0.23,0.0,500.2,13.1,353,2792,0.47,0.00,168.48,0.965,6,0.126,0.000,2761,1790,3072,0,0,0,0,0,0
$STATE,2793,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin climb
$GC,2795,1.16,214.1,509.7,0.0,367,2979,1.23,2.33,171.68,0.942,4,0.050,0.051,3223,3156,2197,0,0,0,0,0,0
$GC,2999,0.85,214.1,479.9,29.1,385,3004,0.43,2.20,0.00,0.000,6,0.194,0.039,3121,1756,2196,0,0,0,0,0,0
$GC,3326,0.67,214.1,405.5,21.1,415,3328,0.22,0.00,0.00,0.000,6,0.174,0.000,3058,1755,2193,0,0,0,0,0,0
$GC,3644,0.58,214.1,349.6,17.7,445,3649,0.12,2.15,0.00,0.000,4,0.180,0.044,3014,3163,2191,0,0,0,0,0,0
$GC,3704,0.56,214.1,340.0,14.3,450,3712,0.00,2.15,0.00,0.000,6,0.000,0.036,3022,1745,2189,0,0,0,0,0,0
$GC,4032,0.57,257.0,297.9,12.0,482,4073,0.00,2.22,34.83,0.843,4,0.000,0.047,3031,349,2024,0,0,0,0,0,0
$GC,4105,0.56,264.0,288.6,13.6,493,4120,0.00,2.12,7.53,0.693,6,0.000,0.034,3033,1755,1995,0,0,0,0,0,0
$GC,4448,0.53,264.0,238.2,15.8,555,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1755,1992,0,0,0,0,0,0
$GC,4780,0.60,313.3,192.2,11.7,616,4829,0.00,2.20,40.50,0.772,4,0.000,0.045,3031,3157,1793,0,0,0,0,0,0
$GC,4864,0.61,323.1,181.7,13.5,629,4880,0.00,2.15,9.88,0.669,6,0.000,0.035,3038,1744,1753,0,0,0,0,0,0
$GC,5203,0.64,350.7,132.8,12.7,691,5233,0.00,2.12,23.85,0.704,4,0.000,0.043,3047,350,1641,0,0,0,0,0,0
$GC,5263,0.66,350.7,124.3,14.5,700,5271,0.00,2.15,0.00,0.000,6,0.000,0.033,3047,1750,1640,0,0,0,0,0,0
$GC,5592,0.80,425.1,83.1,10.7,761,5661,0.15,2.15,60.80,0.675,4,0.071,0.041,3125,3156,1338,0,0,0,0,0,0
$GC,5722,0.80,425.1,58.9,16.9,781,5732,0.10,2.15,0.00,0.000,6,0.137,0.034,3099,1756,1339,0,0,0,0,0,0
$GC,6050,0.81,431.4,11.4,13.6,842,6065,0.00,2.20,6.43,0.494,4,0.000,0.044,3108,338,1313,0,0,0,0,0,0
$GC,6106,0.85,431.4,3.4,14.9,851,6114,0.00,2.15,0.00,0.000,6,0.000,0.031,3105,1756,1312,0,0,0,0,0,0
$STATE,6120,end climb,SURFACE_DEPTH_REACHED
$STATE,6120,begin surface coast
$FINISH,0.8,1.021834
$STATE,6143,end surface coast,CONTROL_FINISHED_OK
$STATE,6143,begin surface
$SM_CCo,6220,0.00,0.000,0,0,1307,432.22
$SM_GC,1.51,7.55,0.00,0.00,0.035,0.000,0.000,153,1762,1307,-8.33,-1.07,432.22
$IRIDIUM_FIX,2326.22,12631.03,061010,131339
$TT8_MAMPS,0.026215
$HUMID,40.51
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,25.00
$XPDR_PINGS,70
$24V_AH,24.3,32.052
$10V_AH,10.4,20.625
$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,20.000,51.725,523.950,0.000,0.000,26.185,20.752,137.514,17.500,0.000,32.806,1980.444,1610.600,517.273,2190.827,261.224,0.000,1317.067,0.000,2006.767,0.000,0.848,0.000
$DEVICE_MAMPS,227.205,55.080,965.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.910,877.765,1430.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50250,857
$CAP_FILE_SIZE,85362,0
$CFSIZE,260165632,170192896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013,345.3,1
$GPS,061010,164207,2339.443,12629.319,30,1.4,30,-3.5