version: 66.08
glider: 166
mission: 3
dive: 493
start: 11 12 110 5 28 12
data:
$ID,166
$MISSION,3
$DIVE,493
$N_DIVES,510
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,1090
$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,180
$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,-22204.797
$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,38
$R_STBD_OVSHOOT,38
$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
$GPS1,121110,052125,2121.159,12559.916,38,1.3,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.3
$GPS2,121110,052750,2121.091,12559.867,13,1.3,13,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,59.5,2485,-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,-214.1,0.0,0.0,0,119,0.00,0.00,-101.88,0.000,2,0.000,0.000,138,1824,3439,0,0,0,0,0,0
$GC,123,-1.16,-214.1,6.2,-11.9,14,147,9.43,2.28,-9.40,0.000,4,0.226,0.055,2468,390,3948,0,0,0,0,0,0
$GC,230,-0.91,-214.1,51.5,-38.0,32,240,0.28,2.17,0.00,0.000,6,0.169,0.043,2540,1789,3952,0,0,0,0,0,0
$GC,559,-0.80,-214.1,143.3,-21.7,93,567,0.15,2.22,0.00,0.000,4,0.179,0.046,2580,388,3953,0,0,0,0,0,0
$GC,679,-0.80,-214.1,167.6,-17.8,114,689,0.00,2.20,0.00,0.000,6,0.000,0.042,2570,1809,3954,0,0,0,0,0,0
$GC,1022,-0.77,-214.1,222.0,-15.6,175,1029,0.00,2.15,0.00,0.000,4,0.000,0.048,2565,3213,3956,0,0,0,0,0,0
$GC,1049,-0.77,-214.1,226.1,-15.1,179,1056,0.00,2.15,0.00,0.000,6,0.000,0.034,2565,1789,3956,0,0,0,0,0,0
$GC,1390,-0.76,-214.1,278.9,-15.2,240,1399,0.12,0.00,0.00,0.000,6,0.171,0.000,2597,1789,3956,0,0,0,0,0,0
$GC,1726,-0.81,-214.1,321.7,-12.7,285,1730,0.00,2.15,0.00,0.000,4,0.000,0.050,2598,398,3956,0,0,0,0,0,0
$GC,1802,-0.87,-214.1,331.5,-12.9,291,1807,0.12,2.15,0.00,0.000,6,0.087,0.043,2525,1810,3956,0,0,0,0,0,0
$GC,2130,-0.82,-214.1,387.7,-16.9,321,2135,0.17,2.15,0.00,0.000,4,0.164,0.050,2572,3209,3955,0,0,0,0,0,0
$GC,2185,-0.89,-214.1,394.6,-10.9,325,2189,0.00,2.12,0.00,0.000,6,0.000,0.036,2571,1790,3955,0,0,0,0,0,0
$GC,2512,-0.91,-214.1,435.9,-12.7,355,2516,0.00,2.17,0.00,0.000,4,0.000,0.050,2571,390,3954,0,0,0,0,0,0
$GC,2576,-0.95,-214.1,444.2,-12.6,360,2581,0.12,2.17,0.00,0.000,6,0.087,0.045,2510,1804,3954,0,0,0,0,0,0
$STATE,2907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2907,begin apogee
$GC,2914,-0.23,0.0,501.4,17.6,391,3094,0.80,0.00,174.40,0.999,6,0.145,0.000,2760,1745,3070,0,0,0,0,0,0
$STATE,3094,end apogee,CONTROL_FINISHED_OK
$STATE,3094,begin climb
$GC,3098,1.16,214.1,512.4,0.0,407,3283,1.25,2.25,174.35,0.975,4,0.077,0.053,3213,353,2199,0,0,0,0,0,0
$GC,3455,0.87,214.1,446.2,25.2,439,3460,0.32,2.15,0.00,0.000,6,0.196,0.044,3125,1750,2194,0,0,0,0,0,0
$GC,3781,0.71,214.1,384.7,18.1,469,3786,0.20,2.17,0.00,0.000,4,0.177,0.048,3079,349,2190,0,0,0,0,0,0
$GC,3845,0.62,214.1,375.0,14.5,474,3850,0.12,2.17,0.00,0.000,6,0.178,0.041,3041,1767,2189,0,0,0,0,0,0
$GC,4179,0.66,280.9,337.1,11.0,505,4240,0.00,2.17,56.17,0.912,4,0.000,0.047,3038,3169,1927,0,0,0,0,0,0
$GC,4301,0.73,323.9,323.3,12.0,515,4350,0.00,2.12,38.08,0.877,6,0.000,0.037,3046,1752,1750,0,0,0,0,0,0
$GC,4673,0.79,372.3,280.5,11.8,564,4722,0.15,2.28,42.00,0.854,4,0.076,0.051,3145,344,1554,0,0,0,0,0,0
$GC,4839,0.69,372.3,248.6,20.4,591,4846,0.28,2.15,0.00,0.000,6,0.158,0.040,3063,1751,1550,0,0,0,0,0,0
$GC,5178,0.69,372.3,198.2,14.5,652,5186,0.00,2.17,0.00,0.000,4,0.000,0.045,3054,3159,1548,0,0,0,0,0,0
$GC,5216,0.72,372.3,192.5,14.0,658,5225,0.00,2.15,0.00,0.000,6,0.000,0.037,3061,1751,1548,0,0,0,0,0,0
$GC,5560,0.91,485.6,153.5,9.0,719,5665,0.20,2.25,96.05,0.759,4,0.060,0.050,3179,356,1091,0,0,0,0,0,0
$GC,5739,0.82,485.6,119.3,22.8,747,5748,0.22,2.15,0.00,0.000,6,0.133,0.038,3105,1745,1088,0,0,0,0,0,0
$GC,6069,0.95,530.8,79.4,11.9,808,6114,0.12,2.15,37.92,0.679,4,0.082,0.040,3179,3167,907,0,0,0,0,0,0
$GC,6149,0.93,530.8,64.4,21.3,820,6157,0.12,2.17,0.00,0.000,6,0.138,0.037,3147,1752,907,0,0,0,0,0,0
$GC,6477,0.93,530.8,10.7,15.9,881,6485,0.00,2.20,0.00,0.000,4,0.000,0.050,3149,350,906,0,0,0,0,0,0
$STATE,6519,end climb,SURFACE_DEPTH_REACHED
$STATE,6519,begin surface coast
$FINISH,0.9,1.014557
$STATE,6536,end surface coast,CONTROL_FINISHED_OK
$STATE,6536,begin surface
$SM_CCo,6617,0.00,0.000,0,0,904,531.81
$SM_GC,1.75,7.68,0.00,0.00,0.029,0.000,0.000,137,1805,904,-8.35,0.14,531.81
$IRIDIUM_FIX,2113.32,12601.30,121110,030311
$TT8_MAMPS,0.026215
$HUMID,43.62
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.60
$XPDR_PINGS,107
$24V_AH,24.0,95.598
$10V_AH,10.1,59.900
$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,21.875,61.125,618.975,0.000,0.000,27.507,41.873,156.462,26.750,0.000,14.572,2059.043,1700.472,598.769,2344.898,292.495,0.000,1465.360,0.000,2129.606,0.000,0.847,0.000
$DEVICE_MAMPS,226.440,113.220,999.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.733,895.403,1427.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,53560,891
$CAP_FILE_SIZE,92569,0
$CFSIZE,260165632,149024768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,251.4,1
$GPS,121110,071919,2121.192,12600.047,7,1.3,13,-2.9