version: 66.08
glider: 166
mission: 3
dive: 107
start: 10 1 110 14 5 30
data:
$ID,166
$MISSION,3
$DIVE,107
$N_DIVES,115
$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,-21622.16
$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,39
$R_STBD_OVSHOOT,62
$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
$GPS1,011010,135930,2316.559,12628.243,33,1.6,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.5
$GPS2,011010,140507,2316.553,12628.083,11,1.0,17,-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,134.0,9042,-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,-111.18,0.000,2,0.000,0.000,150,1829,3298,0,0,0,0,0,0
$GC,133,-1.16,-214.1,5.4,-9.9,15,164,8.93,2.20,-11.77,0.000,4,0.234,0.049,2459,377,3948,0,0,0,0,0,0
$GC,308,-0.89,-214.1,86.3,-35.8,46,317,0.30,2.12,0.00,0.000,6,0.173,0.038,2541,1766,3951,0,0,0,0,0,0
$GC,637,-0.75,-214.1,182.7,-27.2,107,645,0.20,2.10,0.00,0.000,4,0.173,0.041,2597,382,3955,0,0,0,0,0,0
$GC,696,-0.75,-214.1,196.9,-19.2,117,704,0.00,2.15,0.00,0.000,6,0.000,0.040,2598,1810,3955,0,0,0,0,0,0
$GC,1026,-0.73,-214.1,260.5,-17.8,178,1034,0.00,2.12,0.00,0.000,4,0.000,0.052,2590,3201,3955,0,0,0,0,0,0
$GC,1064,-0.73,-214.1,267.3,-17.9,184,1072,0.00,2.10,0.00,0.000,6,0.000,0.035,2590,1797,3955,0,0,0,0,0,0
$GC,1399,-0.71,-214.1,330.2,-17.6,231,1403,0.00,2.12,0.00,0.000,4,0.000,0.047,2590,385,3954,0,0,0,0,0,0
$GC,1441,-0.71,-214.1,337.3,-16.4,234,1445,0.00,2.12,0.00,0.000,6,0.000,0.041,2589,1804,3954,0,0,0,0,0,0
$GC,1772,-0.71,-214.1,392.6,-15.8,265,1776,0.00,2.12,0.00,0.000,4,0.000,0.053,2580,3206,3953,0,0,0,0,0,0
$GC,1804,-0.71,-214.1,397.4,-15.9,267,1808,0.10,2.08,0.00,0.000,6,0.167,0.036,2607,1794,3953,0,0,0,0,0,0
$GC,2131,-0.75,-214.1,439.3,-11.3,297,2135,0.00,2.17,0.00,0.000,4,0.000,0.054,2603,3212,3952,0,0,0,0,0,0
$GC,2184,-0.85,-214.1,444.2,-8.6,301,2189,0.12,2.10,0.00,0.000,6,0.086,0.037,2536,1801,3951,0,0,0,0,0,0
$STATE,2509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2509,begin apogee
$GC,2515,-0.23,0.0,500.4,18.3,331,2691,0.70,0.00,167.20,0.977,6,0.146,0.000,2761,1758,3071,0,0,0,0,0,0
$STATE,2692,end apogee,CONTROL_FINISHED_OK
$STATE,2692,begin climb
$GC,2694,1.16,214.1,509.4,0.0,346,2875,1.25,2.35,172.05,0.946,4,0.070,0.053,3207,3153,2198,0,0,0,0,0,0
$GC,2989,0.86,214.1,453.1,29.6,371,2994,0.38,2.17,0.00,0.000,6,0.197,0.041,3119,1744,2195,0,0,0,0,0,0
$GC,3316,0.68,214.1,374.9,22.3,401,3321,0.22,2.20,0.00,0.000,4,0.174,0.047,3053,3170,2191,0,0,0,0,0,0
$GC,3337,0.53,214.1,369.7,21.2,402,3346,0.12,2.17,0.00,0.000,6,0.154,0.039,3019,1744,2189,0,0,0,0,0,0
$GC,3666,0.52,234.9,325.2,13.0,433,3685,0.00,0.00,17.17,0.836,6,0.000,0.000,3020,1744,2114,0,0,0,0,0,0
$GC,4005,0.54,270.6,280.8,12.3,479,4038,0.00,0.00,29.85,0.836,6,0.000,0.000,3020,1744,1968,0,0,0,0,0,0
$GC,4362,0.54,270.6,232.4,14.0,544,4370,0.00,2.15,0.00,0.000,4,0.000,0.046,3022,355,1963,0,0,0,0,0,0
$GC,4387,0.54,271.5,228.6,13.9,548,4395,0.00,2.12,0.00,0.000,6,0.000,0.035,3019,1748,1962,0,0,0,0,0,0
$GC,4723,0.58,298.8,185.2,12.7,609,4751,0.00,2.22,23.02,0.760,4,0.000,0.047,3020,3163,1853,0,0,0,0,0,0
$GC,4765,0.59,310.2,179.4,13.4,615,4786,0.00,2.15,10.95,0.687,6,0.000,0.037,3025,1741,1806,0,0,0,0,0,0
$GC,5112,0.61,329.0,128.4,13.1,678,5135,0.00,2.17,16.75,0.695,4,0.000,0.044,3025,3163,1729,0,0,0,0,0,0
$GC,5165,0.66,346.3,121.0,13.1,686,5188,0.00,2.15,15.35,0.676,6,0.000,0.036,3033,1754,1660,0,0,0,0,0,0
$GC,5508,0.68,346.3,76.9,13.9,749,5516,0.00,2.15,0.00,0.000,4,0.000,0.044,3044,346,1656,0,0,0,0,0,0
$GC,5604,0.74,351.6,62.9,13.7,766,5621,0.00,2.12,5.68,0.523,6,0.000,0.032,3044,1757,1638,0,0,0,0,0,0
$GC,5943,1.00,485.9,30.4,8.1,828,6060,0.28,2.28,106.95,0.634,4,0.051,0.044,3192,343,1090,0,0,0,0,0,0
$STATE,6083,end climb,SURFACE_DEPTH_REACHED
$STATE,6083,begin surface coast
$FINISH,1.1,1.021715
$STATE,6096,end surface coast,CONTROL_FINISHED_OK
$STATE,6096,begin surface
$SM_CCo,6116,132.73,0.558,1,0,454,641.95
$SM_CCo,6259,-0.35,0.000,0,0,455,642.20
$SM_GC,1.41,0.00,0.00,-0.35,0.000,0.000,0.000,146,1816,455,-8.42,0.45,642.20
$IRIDIUM_FIX,2307.44,12627.33,011010,121205
$TT8_MAMPS,0.026215
$HUMID,38.77
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.10
$XPDR_PINGS,107
$24V_AH,24.3,21.465
$10V_AH,10.5,13.433
$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,20.650,56.250,564.975,132.725,0.000,27.534,30.798,137.250,26.750,0.000,17.983,1967.348,1467.607,688.741,2220.481,252.482,0.000,1520.074,0.000,2028.605,0.000,0.846,0.000
$DEVICE_MAMPS,234.090,224.145,976.905,557.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.357,868.942,1440.697,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50316,850
$CAP_FILE_SIZE,87822,0
$CFSIZE,260165632,173641728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.221,277.0,1
$GPS,011010,155043,2315.959,12628.080,10,1.1,15,-3.4