version: 66.08
glider: 166
mission: 3
dive: 110
start: 10 1 110 19 39 21
data:
$ID,166
$MISSION,3
$DIVE,110
$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,-21626.025
$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,42
$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,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
$GPS1,011010,193243,2315.594,12628.233,8,1.7,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.4
$GPS2,011010,193858,2315.702,12628.101,12,2.1,31,-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,147.7,7580,-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,15,-1.16,-214.1,0.0,0.0,0,127,0.00,0.00,-108.55,0.000,2,0.000,0.000,141,1773,3197,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.1,-10.8,15,161,9.02,2.08,-14.00,0.000,4,0.236,0.050,2459,386,3947,0,0,0,0,0,0
$GC,316,-0.92,-214.1,88.9,-35.4,48,325,0.28,2.12,0.00,0.000,6,0.179,0.037,2533,1785,3950,0,0,0,0,0,0
$GC,647,-0.76,-214.1,189.3,-27.3,109,655,0.20,2.12,0.00,0.000,4,0.176,0.044,2580,3220,3953,0,0,0,0,0,0
$GC,677,-0.65,-214.1,196.3,-24.3,113,686,0.17,2.10,0.00,0.000,6,0.155,0.032,2631,1786,3953,0,0,0,0,0,0
$GC,1012,-0.65,-214.1,246.1,-15.2,174,1020,0.00,2.08,0.00,0.000,4,0.000,0.040,2631,402,3953,0,0,0,0,0,0
$GC,1035,-0.67,-214.1,249.2,-15.0,177,1043,0.00,2.05,0.00,0.000,6,0.000,0.034,2629,1803,3953,0,0,0,0,0,0
$GC,1370,-0.70,-214.1,302.2,-15.0,237,1374,0.00,2.08,0.00,0.000,4,0.000,0.049,2629,3200,3953,0,0,0,0,0,0
$GC,1414,-0.79,-214.1,309.4,-12.6,240,1422,0.10,2.08,0.00,0.000,6,0.047,0.032,2559,1799,3953,0,0,0,0,0,0
$GC,1742,-0.72,-214.1,378.3,-21.1,271,1747,0.17,2.10,0.00,0.000,4,0.173,0.042,2608,398,3952,0,0,0,0,0,0
$GC,1763,-0.68,-214.1,383.2,-19.3,272,1771,0.00,2.10,0.00,0.000,6,0.000,0.037,2603,1795,3952,0,0,0,0,0,0
$GC,2092,-0.70,-214.1,429.3,-13.7,303,2096,0.00,2.15,0.00,0.000,4,0.000,0.052,2604,3202,3950,0,0,0,0,0,0
$GC,2171,-0.80,-214.1,438.8,-10.3,310,2175,0.00,2.05,0.00,0.000,6,0.000,0.034,2603,1799,3950,0,0,0,0,0,0
$GC,2505,-0.83,-214.1,480.9,-13.3,341,2509,0.00,2.17,0.00,0.000,4,0.000,0.054,2604,3213,3948,0,0,0,0,0,0
$GC,2536,-0.89,-214.1,484.9,-12.2,343,2541,0.15,2.08,0.00,0.000,6,0.078,0.036,2527,1802,3948,0,0,0,0,0,0
$STATE,2627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2627,begin apogee
$GC,2632,-0.23,0.0,501.9,20.9,351,2809,0.73,0.00,166.95,0.964,6,0.152,0.000,2757,1802,3071,0,0,0,0,0,0
$STATE,2810,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin climb
$GC,2812,1.16,214.1,510.6,0.0,366,2994,1.27,2.40,172.32,0.936,4,0.075,0.048,3220,352,2198,0,0,0,0,0,0
$GC,3065,0.85,214.1,462.9,31.3,387,3074,0.38,2.20,0.00,0.000,6,0.194,0.041,3120,1752,2195,0,0,0,0,0,0
$GC,3391,0.66,214.1,384.4,23.2,418,3396,0.25,2.15,0.00,0.000,4,0.177,0.047,3039,3169,2191,0,0,0,0,0,0
$GC,3445,0.59,214.1,373.5,17.1,422,3453,0.00,2.15,0.00,0.000,6,0.000,0.038,3043,1756,2189,0,0,0,0,0,0
$GC,3772,0.52,214.1,318.3,15.7,453,3777,0.12,2.15,0.00,0.000,4,0.181,0.046,3001,3171,2188,0,0,0,0,0,0
$GC,3802,0.48,214.1,313.9,14.3,455,3806,0.00,2.10,0.00,0.000,6,0.000,0.037,3009,1744,2186,0,0,0,0,0,0
$GC,4134,0.59,315.8,278.4,9.5,504,4222,0.00,2.25,81.68,0.828,4,0.000,0.047,3019,355,1784,0,0,0,0,0,0
$GC,4270,0.62,326.0,262.6,13.4,525,4286,0.00,2.15,9.88,0.702,6,0.000,0.035,3021,1762,1743,0,0,0,0,0,0
$GC,4614,0.62,326.0,210.6,16.5,587,4621,0.00,2.08,0.00,0.000,4,0.000,0.046,3021,3159,1737,0,0,0,0,0,0
$GC,4652,0.63,326.0,204.2,15.7,593,4660,0.00,2.10,0.00,0.000,6,0.000,0.037,3027,1752,1737,0,0,0,0,0,0
$GC,4986,0.63,326.0,152.1,15.0,654,4994,0.00,2.15,0.00,0.000,4,0.000,0.046,3028,3158,1736,0,0,0,0,0,0
$GC,5000,0.63,326.0,149.7,15.1,656,5009,0.00,2.10,0.00,0.000,6,0.000,0.035,3037,1749,1736,0,0,0,0,0,0
$GC,5326,0.63,326.0,101.0,17.0,717,5335,0.00,2.12,0.00,0.000,4,0.000,0.044,3048,343,1736,0,0,0,0,0,0
$GC,5354,0.63,326.0,97.0,14.9,721,5363,0.00,2.12,0.00,0.000,6,0.000,0.033,3048,1759,1734,0,0,0,0,0,0
$GC,5680,0.82,435.5,56.1,9.1,782,5776,0.15,2.17,86.57,0.656,4,0.074,0.041,3124,3162,1295,0,0,0,0,0,0
$GC,5801,0.78,435.5,36.4,18.4,799,5810,0.10,2.17,0.00,0.000,6,0.144,0.034,3098,1751,1295,0,0,0,0,0,0
$STATE,6023,end climb,SURFACE_DEPTH_REACHED
$STATE,6023,begin surface coast
$FINISH,0.6,0.997776
$STATE,6046,end surface coast,CONTROL_FINISHED_OK
$STATE,6046,begin surface
$SM_CCo,6063,171.60,0.567,1,0,454,641.95
$SM_CCo,6243,-0.40,0.000,0,0,455,642.20
$SM_GC,1.50,0.00,0.00,-0.40,0.000,0.000,0.000,149,1825,455,-8.41,0.71,642.20
$IRIDIUM_FIX,2305.10,12630.61,011010,171732
$TT8_MAMPS,0.026215
$HUMID,38.50
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.60
$XPDR_PINGS,71
$24V_AH,24.4,21.977
$10V_AH,10.5,13.762
$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,20.700,64.000,517.400,171.600,0.000,23.897,41.777,151.663,17.750,0.000,34.718,1968.599,1434.481,709.290,2246.747,260.401,0.000,1538.603,0.000,2022.454,0.000,0.849,0.000
$DEVICE_MAMPS,236.385,110.160,963.900,566.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.130,862.942,1417.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50395,844
$CAP_FILE_SIZE,91189,0
$CFSIZE,260165632,173477888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.221,347.3,1
$GPS,011010,212437,2315.525,12628.491,32,1.0,32,-3.4