version: 66.08
glider: 166
mission: 3
dive: 111
start: 10 1 110 21 30 38
data:
$ID,166
$MISSION,3
$DIVE,111
$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,-21627.373
$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,41
$R_STBD_OVSHOOT,55
$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
$GPS1,011010,212437,2315.525,12628.491,32,1.0,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.5
$GPS2,011010,213014,2315.677,12628.439,13,1.4,13,-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,167.6,7309,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,127,0.00,0.00,-108.62,0.000,2,0.000,0.000,147,1825,3212,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.2,-11.2,15,161,9.00,2.15,-13.80,0.000,4,0.236,0.047,2458,383,3948,0,0,0,0,0,0
$GC,332,-0.91,-214.1,95.3,-37.9,51,340,0.30,2.15,0.00,0.000,6,0.171,0.040,2540,1782,3951,0,0,0,0,0,0
$GC,661,-0.76,-214.1,194.3,-26.5,112,670,0.17,2.20,0.00,0.000,4,0.181,0.051,2582,3208,3954,0,0,0,0,0,0
$GC,685,-0.64,-214.1,200.4,-25.8,115,693,0.17,2.08,0.00,0.000,6,0.160,0.034,2631,1792,3954,0,0,0,0,0,0
$GC,1018,-0.66,-214.1,254.1,-15.9,176,1026,0.00,2.10,0.00,0.000,4,0.000,0.046,2631,402,3954,0,0,0,0,0,0
$GC,1052,-0.70,-214.1,258.9,-14.8,181,1060,0.00,2.10,0.00,0.000,6,0.000,0.038,2630,1815,3954,0,0,0,0,0,0
$GC,1390,-0.73,-214.1,304.7,-12.7,240,1393,0.00,2.08,0.00,0.000,4,0.000,0.052,2629,3207,3953,0,0,0,0,0,0
$GC,1419,-0.79,-214.1,308.4,-12.3,242,1424,0.12,2.05,0.00,0.000,6,0.086,0.034,2562,1795,3953,0,0,0,0,0,0
$GC,1746,-0.73,-214.1,369.0,-17.9,272,1751,0.15,2.17,0.00,0.000,4,0.173,0.052,2602,3215,3952,0,0,0,0,0,0
$GC,1782,-0.75,-214.1,374.6,-14.1,275,1786,0.00,2.08,0.00,0.000,6,0.000,0.035,2603,1791,3952,0,0,0,0,0,0
$GC,2109,-0.78,-214.1,421.4,-14.5,305,2112,0.00,2.08,0.00,0.000,4,0.000,0.046,2602,399,3950,0,0,0,0,0,0
$GC,2155,-0.83,-214.1,428.4,-14.7,309,2159,0.00,2.08,0.00,0.000,6,0.000,0.039,2603,1801,3950,0,0,0,0,0,0
$GC,2484,-0.86,-214.1,473.4,-12.5,339,2489,0.12,2.12,0.00,0.000,4,0.094,0.052,2536,3206,3948,0,0,0,0,0,0
$GC,2551,-0.86,-214.1,483.7,-14.9,345,2555,0.00,2.05,0.00,0.000,6,0.000,0.036,2536,1799,3947,0,0,0,0,0,0
$STATE,2642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2642,begin apogee
$GC,2647,-0.23,0.0,501.2,20.9,353,2823,0.70,0.00,166.52,0.968,6,0.148,0.000,2761,1799,3071,0,0,0,0,0,0
$STATE,2824,end apogee,CONTROL_FINISHED_OK
$STATE,2824,begin climb
$GC,2826,1.16,214.1,509.4,0.0,368,3007,1.25,2.28,171.77,0.939,4,0.071,0.050,3205,3162,2199,0,0,0,0,0,0
$GC,3036,0.86,214.1,474.4,30.8,385,3043,0.35,2.17,0.00,0.000,6,0.198,0.040,3125,1756,2195,0,0,0,0,0,0
$GC,3361,0.67,214.1,393.0,24.0,416,3366,0.22,2.15,0.00,0.000,4,0.177,0.044,3069,336,2191,0,0,0,0,0,0
$GC,3382,0.50,214.1,387.7,23.2,417,3390,0.22,2.12,0.00,0.000,6,0.168,0.034,3004,1761,2191,0,0,0,0,0,0
$GC,3708,0.52,244.7,342.8,12.6,448,3745,0.00,2.20,25.17,0.851,4,0.000,0.046,3002,3161,2073,0,0,0,0,0,0
$GC,3870,0.52,244.7,321.0,14.0,462,3874,0.00,2.12,0.00,0.000,6,0.000,0.037,3008,1733,2071,0,0,0,0,0,0
$GC,4202,0.52,244.7,274.4,14.1,508,4210,0.00,2.12,0.00,0.000,4,0.000,0.045,3018,340,2068,0,0,0,0,0,0
$GC,4241,0.50,244.7,269.4,14.0,514,4249,0.00,2.12,0.00,0.000,6,0.000,0.033,3020,1749,2067,0,0,0,0,0,0
$GC,4586,0.50,258.6,224.4,13.3,575,4606,0.00,2.15,12.00,0.738,4,0.000,0.046,3020,3161,2017,0,0,0,0,0,0
$GC,4640,0.50,260.4,216.4,13.8,584,4648,0.00,2.12,0.00,0.000,6,0.000,0.036,3027,1754,2015,0,0,0,0,0,0
$GC,4985,0.49,267.8,168.3,13.6,645,5000,0.00,2.12,8.80,0.666,4,0.000,0.042,3038,347,1979,0,0,0,0,0,0
$GC,5062,0.51,288.8,157.3,13.0,658,5090,0.08,2.12,18.12,0.720,6,0.144,0.033,3011,1757,1893,0,0,0,0,0,0
$GC,5413,0.62,347.0,118.5,11.4,722,5465,0.00,0.00,47.50,0.712,6,0.000,0.000,3012,1760,1657,0,0,0,0,0,0
$GC,5786,0.75,395.5,77.3,11.8,789,5833,0.20,2.22,39.60,0.668,4,0.060,0.044,3110,3156,1459,0,0,0,0,0,0
$GC,5948,0.75,395.5,46.1,15.7,816,5956,0.10,2.15,0.00,0.000,6,0.143,0.034,3085,1748,1458,0,0,0,0,0,0
$GC,6275,0.84,432.6,3.7,12.3,877,6284,0.00,0.00,6.88,0.507,2,0.000,0.000,3085,1748,1428,0,0,0,0,0,0
$STATE,6285,end climb,SURFACE_DEPTH_REACHED
$STATE,6285,begin surface coast
$FINISH,0.7,1.009883
$STATE,6314,end surface coast,CONTROL_FINISHED_OK
$STATE,6314,begin surface
$SM_CCo,6332,197.57,0.573,1,0,454,641.95
$SM_CCo,6538,-0.03,0.000,0,0,453,642.20
$SM_GC,1.35,0.00,0.00,-0.03,0.000,0.000,0.000,144,1819,453,-8.43,0.54,642.20
$IRIDIUM_FIX,2305.10,12627.33,011010,191945
$TT8_MAMPS,0.026215
$HUMID,37.91
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.60
$XPDR_PINGS,96
$24V_AH,24.4,22.145
$10V_AH,10.5,13.879
$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,20.650,59.725,496.375,197.575,0.000,23.307,36.678,135.986,24.000,0.000,14.379,2079.827,1509.942,712.131,2314.827,261.123,0.000,1557.881,0.000,2122.347,0.000,0.849,0.000
$DEVICE_MAMPS,236.385,146.115,968.490,572.985,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.702,902.441,1499.174,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,50282,883
$CAP_FILE_SIZE,93576,0
$CFSIZE,260165632,173424640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.157,  7.9,1
$GPS,011010,232026,2315.287,12628.945,10,2.0,10,-3.4