version: 66.08
glider: 166
mission: 3
dive: 12
start: 9 24 110 10 30 1
data:
$ID,166
$MISSION,3
$DIVE,12
$N_DIVES,15
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,572.53021
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-21490.625
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2789
$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,100
$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,2
$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
$GPS1,240910,101938,2320.031,12609.804,11,1.3,11,-3.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.2
$GPS2,240910,102938,2320.089,12609.736,14,1.3,14,-3.4
$SPEED_LIMITS,0.241,0.365
$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,47.8,81479,-18.5,-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,-1.14,-243.3,0.0,0.0,0,129,0.00,0.00,-111.85,0.000,2,0.000,0.000,140,1820,3295,0,0,0,0,0,0
$GC,132,-1.14,-243.3,5.2,-8.9,15,157,8.77,2.17,-9.02,0.000,4,0.233,0.050,2467,373,3784,0,0,0,0,0,0
$GC,262,-0.52,-243.3,70.5,-42.5,37,271,0.68,2.17,0.00,0.000,6,0.174,0.044,2663,1789,3786,0,0,0,0,0,0
$GC,588,-0.57,-243.3,123.3,-13.1,98,596,0.00,2.15,0.00,0.000,4,0.000,0.050,2654,3205,3787,0,0,0,0,0,0
$GC,624,-0.67,-243.3,128.0,-13.6,103,632,0.00,2.10,0.00,0.000,6,0.000,0.036,2654,1795,3787,0,0,0,0,0,0
$GC,962,-0.73,-243.3,173.7,-12.3,164,969,0.15,2.08,0.00,0.000,4,0.084,0.046,2582,386,3787,0,0,0,0,0,0
$GC,1061,-0.64,-243.3,192.7,-20.3,181,1069,0.17,2.12,0.00,0.000,6,0.168,0.042,2631,1809,3787,0,0,0,0,0,0
$GC,1414,-0.69,-243.3,240.6,-11.5,242,1421,0.00,2.10,0.00,0.000,4,0.000,0.044,2631,396,3787,0,0,0,0,0,0
$GC,1451,-0.74,-243.3,245.9,-12.3,248,1458,0.00,2.10,0.00,0.000,6,0.000,0.040,2626,1812,3787,0,0,0,0,0,0
$GC,1797,-0.79,-243.3,287.5,-12.4,309,1805,0.12,2.10,0.00,0.000,4,0.094,0.053,2567,3206,3787,0,0,0,0,0,0
$GC,1835,-0.75,-243.3,293.2,-15.8,315,1842,0.10,2.05,0.00,0.000,6,0.186,0.037,2592,1792,3786,0,0,0,0,0,0
$GC,2180,-0.75,-243.3,349.6,-15.8,376,2186,0.00,2.05,0.00,0.000,4,0.000,0.047,2592,388,3786,0,0,0,0,0,0
$GC,2278,-0.75,-243.3,365.0,-14.9,393,2285,0.00,2.10,0.00,0.000,6,0.000,0.042,2592,1798,3786,0,0,0,0,0,0
$GC,2624,-0.75,-243.3,413.7,-13.9,454,2631,0.00,2.10,0.00,0.000,4,0.000,0.047,2592,388,3784,0,0,0,0,0,0
$GC,2649,-0.75,-243.3,417.6,-14.1,458,2656,0.00,2.12,0.00,0.000,6,0.000,0.042,2585,1813,3784,0,0,0,0,0,0
$GC,2994,-0.75,-243.3,463.8,-12.8,519,3001,0.00,2.12,0.00,0.000,4,0.000,0.048,2585,392,3783,0,0,0,0,0,0
$GC,3052,-0.75,-243.3,471.4,-12.6,529,3060,0.00,2.10,0.00,0.000,6,0.000,0.043,2585,1799,3782,0,0,0,0,0,0
$STATE,3307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3307,begin apogee
$GC,3313,-0.23,0.0,500.4,11.4,574,3512,0.52,0.00,189.10,0.953,6,0.138,0.000,2761,1799,2788,0,0,0,0,0,0
$STATE,3512,end apogee,CONTROL_FINISHED_OK
$STATE,3513,begin climb
$GC,3515,1.14,243.3,505.2,0.0,592,3725,1.27,2.33,200.48,0.916,4,0.088,0.051,3210,402,1796,0,0,0,0,0,0
$GC,3809,0.58,243.3,423.9,37.4,637,3817,0.62,2.17,0.00,0.000,6,0.187,0.042,3028,1805,1791,0,0,0,0,0,0
$GC,4157,0.45,243.3,353.6,18.2,698,4164,0.15,2.12,0.00,0.000,4,0.165,0.052,2980,3218,1787,0,0,0,0,0,0
$GC,4211,0.53,274.6,345.5,12.7,707,4243,0.00,2.12,26.23,0.833,6,0.000,0.041,2988,1803,1668,0,0,0,0,0,0
$GC,4580,0.53,274.6,293.8,14.8,772,4587,0.00,2.12,0.00,0.000,4,0.000,0.050,2999,387,1664,0,0,0,0,0,0
$GC,4655,0.62,296.9,283.4,13.0,785,4681,0.12,2.15,19.25,0.794,6,0.094,0.041,3058,1813,1577,0,0,0,0,0,0
$GC,5021,0.45,296.9,202.9,22.5,849,5029,0.25,2.12,0.00,0.000,4,0.163,0.049,2970,3214,1572,0,0,0,0,0,0
$GC,5139,0.78,416.3,188.7,9.3,869,5244,0.30,2.10,96.93,0.748,6,0.057,0.041,3113,1794,1090,0,0,0,0,0,0
$GC,5569,0.56,416.3,71.5,24.1,946,5577,0.28,2.15,0.00,0.000,4,0.162,0.047,3035,397,1085,0,0,0,0,0,0
$GC,5591,0.43,416.3,66.8,21.8,949,5601,0.15,2.15,0.00,0.000,6,0.118,0.037,2981,1814,1084,0,0,0,0,0,0
$GC,5919,1.14,461.6,38.4,12.2,1010,5965,0.60,2.25,36.08,0.627,4,0.086,0.049,3215,389,906,0,0,0,0,0,0
$GC,6014,0.91,461.6,23.8,23.9,1024,6023,0.22,2.15,0.00,0.000,6,0.161,0.037,3136,1802,905,0,0,0,0,0,0
$STATE,6097,end climb,SURFACE_DEPTH_REACHED
$STATE,6097,begin surface coast
$FINISH,0.6,1.020805
$STATE,6111,end surface coast,CONTROL_FINISHED_OK
$STATE,6111,begin surface
$SM_CCo,6129,97.12,0.533,1,0,455,572.53
$SM_GC,1.39,0.00,0.00,97.12,0.000,0.000,0.533,152,1809,455,-8.40,0.23,572.53
$IRIDIUM_FIX,2309.79,12608.54,240910,060642
$TT8_MAMPS,0.026964
$HUMID,39.48
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,23.40
$XPDR_PINGS,109
$24V_AH,24.3,5.627
$10V_AH,10.6,3.257
$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,22.300,59.700,568.050,97.125,0.000,134.114,86.611,0.000,27.250,0.000,15.159,2343.193,1424.059,727.622,2107.778,230.608,0.000,1602.725,0.000,1872.231,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,52.785,953.190,533.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.548,1063.792,708.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330544
$DATA_FILE_SIZE,56866,1041
$CAP_FILE_SIZE,96035,0
$CFSIZE,260165632,178470912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.162,265.4,1
$GPS,240910,121507,2320.890,12610.018,35,1.1,36,-3.4