version: 66.08
glider: 166
mission: 3
dive: 115
start: 10 2 110 4 58 28
data:
$ID,166
$MISSION,3
$DIVE,115
$N_DIVES,125
$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,-21632.684
$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
$GPS1,021010,045207,2313.102,12629.150,28,1.4,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.3
$GPS2,021010,045806,2313.234,12629.107,15,1.1,31,-3.4
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2312.000,12630.000
$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,137.8,2745,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,129,0.00,0.00,-110.78,0.000,2,0.000,0.000,145,1753,3299,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.7,-12.1,15,164,8.82,2.05,-11.80,0.000,4,0.230,0.051,2454,387,3949,0,0,0,0,0,0
$GC,204,-0.88,-214.1,41.8,-43.5,26,213,0.32,2.15,0.00,0.000,6,0.177,0.038,2547,1793,3951,0,0,0,0,0,0
$GC,530,-0.73,-214.1,150.3,-28.0,87,537,0.20,2.17,0.00,0.000,4,0.173,0.051,2594,3220,3954,0,0,0,0,0,0
$GC,634,-0.73,-214.1,172.4,-17.0,105,641,0.00,2.12,0.00,0.000,6,0.000,0.035,2594,1784,3956,0,0,0,0,0,0
$GC,964,-0.70,-214.1,238.0,-18.3,166,972,0.00,2.10,0.00,0.000,4,0.000,0.045,2593,393,3955,0,0,0,0,0,0
$GC,1020,-0.70,-214.1,248.0,-17.1,176,1029,0.00,2.12,0.00,0.000,6,0.000,0.039,2588,1801,3955,0,0,0,0,0,0
$GC,1359,-0.66,-214.1,309.9,-18.0,233,1363,0.12,2.15,0.00,0.000,4,0.177,0.052,2614,3216,3955,0,0,0,0,0,0
$GC,1400,-0.71,-214.1,316.5,-13.6,236,1404,0.00,2.10,0.00,0.000,6,0.000,0.036,2614,1796,3955,0,0,0,0,0,0
$GC,1726,-0.74,-214.1,363.0,-14.6,266,1730,0.00,2.08,0.00,0.000,4,0.000,0.046,2614,389,3954,0,0,0,0,0,0
$GC,1803,-0.80,-214.1,374.3,-14.3,272,1811,0.00,2.12,0.00,0.000,6,0.000,0.041,2614,1793,3953,0,0,0,0,0,0
$GC,2130,-0.84,-214.1,420.3,-14.3,303,2135,0.12,2.12,0.00,0.000,4,0.091,0.053,2551,3204,3952,0,0,0,0,0,0
$GC,2206,-0.84,-214.1,433.3,-16.1,309,2214,0.00,2.08,0.00,0.000,6,0.000,0.037,2550,1798,3951,0,0,0,0,0,0
$GC,2535,-0.80,-214.1,492.4,-17.2,340,2539,0.12,2.10,0.00,0.000,4,0.174,0.047,2583,398,3949,0,0,0,0,0,0
$STATE,2582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2582,begin apogee
$GC,2590,-0.23,0.0,500.5,13.5,344,2761,0.50,0.00,166.95,0.966,6,0.124,0.000,2758,1754,3072,0,0,0,0,0,0
$STATE,2762,end apogee,CONTROL_FINISHED_OK
$STATE,2762,begin climb
$GC,2764,1.16,214.1,506.9,0.0,358,2947,1.27,0.00,172.55,0.932,6,0.070,0.000,3217,1755,2198,0,0,0,0,0,0
$GC,3266,0.86,214.1,387.7,30.0,405,3271,0.35,2.20,0.00,0.000,4,0.198,0.047,3130,340,2191,0,0,0,0,0,0
$GC,3284,0.59,214.1,381.2,30.1,406,3289,0.35,2.15,0.00,0.000,6,0.174,0.041,3034,1752,2191,0,0,0,0,0,0
$GC,3611,0.55,214.1,331.4,14.8,436,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1752,2188,0,0,0,0,0,0
$GC,3935,0.52,224.3,285.0,13.4,475,3949,0.00,2.15,7.82,0.711,4,0.000,0.045,3030,3166,2157,0,0,0,0,0,0
$GC,3986,0.52,254.0,278.0,12.6,483,4022,0.00,2.12,26.12,0.811,6,0.000,0.038,3034,1751,2036,0,0,0,0,0,0
$GC,4356,0.49,254.0,222.6,14.7,548,4365,0.12,2.17,0.00,0.000,4,0.173,0.047,3005,352,2030,0,0,0,0,0,0
$GC,4414,0.56,282.8,214.7,12.6,557,4442,0.00,2.12,23.83,0.768,6,0.000,0.036,3005,1764,1919,0,0,0,0,0,0
$GC,4779,0.70,364.2,173.9,10.4,621,4853,0.17,2.17,66.65,0.750,4,0.066,0.043,3090,3160,1586,0,0,0,0,0,0
$GC,4894,0.65,364.2,152.5,18.6,639,4902,0.15,2.17,0.00,0.000,6,0.174,0.037,3055,1751,1585,0,0,0,0,0,0
$GC,5219,0.65,364.2,100.5,14.9,700,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1751,1581,0,0,0,0,0,0
$GC,5546,0.70,365.5,58.9,13.8,761,5553,0.00,2.15,0.00,0.000,4,0.000,0.044,3047,3159,1581,0,0,0,0,0,0
$GC,5573,0.77,371.1,55.2,13.6,765,5591,0.00,2.12,6.03,0.517,6,0.000,0.036,3054,1746,1558,0,0,0,0,0,0
$GC,5912,0.97,466.8,18.3,9.7,827,6001,0.25,2.25,76.55,0.617,4,0.053,0.045,3179,3156,1167,0,0,0,0,0,0
$STATE,6008,end climb,SURFACE_DEPTH_REACHED
$STATE,6008,begin surface coast
$FINISH,0.8,1.021517
$STATE,6026,end surface coast,CONTROL_FINISHED_OK
$STATE,6026,begin surface
$SM_CCo,6045,147.32,0.554,1,0,454,641.95
$SM_CCo,6201,-0.03,0.000,0,0,453,642.20
$SM_GC,1.28,0.00,0.00,-0.03,0.000,0.000,0.000,148,1787,453,-8.41,-0.37,642.20
$IRIDIUM_FIX,2302.75,12629.22,021010,030336
$TT8_MAMPS,0.026964
$HUMID,37.83
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.80
$XPDR_PINGS,73
$24V_AH,24.4,22.818
$10V_AH,10.5,14.321
$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,20.850,55.450,546.500,147.325,0.000,24.996,41.164,137.807,18.250,0.000,33.438,1949.662,1430.683,713.063,2213.237,253.092,0.000,1518.203,0.000,2006.287,0.000,0.848,0.000
$DEVICE_MAMPS,229.500,52.785,966.195,553.860,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.614,862.161,1438.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50268,843
$CAP_FILE_SIZE,87419,0
$CFSIZE,260165632,173215744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.163,276.5,1
$GPS,021010,064243,2312.682,12629.322,8,1.7,13,-3.4