version: 66.08
glider: 166
mission: 3
dive: 126
start: 10 3 110 0 52 25
data:
$ID,166
$MISSION,3
$DIVE,126
$N_DIVES,135
$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,-21647.061
$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,44
$R_STBD_OVSHOOT,46
$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
$GPS1,031010,004631,2310.067,12630.254,10,1.8,15,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.7
$GPS2,031010,005202,2310.129,12630.272,15,1.8,15,-3.4
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2300.000,12630.000
$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,207.7,18765,-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,-214.1,0.0,0.0,0,131,0.00,0.00,-113.03,0.000,2,0.000,0.000,138,1764,3364,0,0,0,0,0,0
$GC,134,-1.16,-214.1,6.1,-12.0,16,159,8.80,2.12,-10.35,0.000,4,0.226,0.050,2458,379,3949,0,0,0,0,0,0
$GC,400,-0.90,-214.1,126.0,-34.2,64,408,0.30,2.15,0.00,0.000,6,0.168,0.036,2542,1798,3953,0,0,0,0,0,0
$GC,738,-0.75,-214.1,221.9,-29.0,125,746,0.20,2.10,0.00,0.000,4,0.171,0.037,2598,388,3956,0,0,0,0,0,0
$GC,803,-0.73,-214.1,236.7,-20.7,135,809,0.00,2.12,0.00,0.000,6,0.000,0.037,2598,1810,3956,0,0,0,0,0,0
$GC,1143,-0.73,-214.1,297.5,-18.2,196,1151,0.00,2.12,0.00,0.000,4,0.000,0.049,2599,3209,3956,0,0,0,0,0,0
$GC,1207,-0.79,-214.1,307.7,-14.5,202,1216,0.00,2.10,0.00,0.000,6,0.000,0.034,2599,1799,3956,0,0,0,0,0,0
$GC,1534,-0.79,-214.1,360.6,-16.1,233,1537,0.00,2.08,0.00,0.000,4,0.000,0.043,2599,396,3955,0,0,0,0,0,0
$GC,1590,-0.82,-214.1,370.2,-15.8,237,1597,0.00,2.10,0.00,0.000,6,0.000,0.038,2599,1806,3955,0,0,0,0,0,0
$GC,1916,-0.85,-214.1,419.5,-13.8,268,1920,0.00,2.12,0.00,0.000,4,0.000,0.050,2594,3217,3953,0,0,0,0,0,0
$GC,1969,-0.91,-214.1,425.9,-11.6,272,1973,0.12,2.08,0.00,0.000,6,0.086,0.035,2526,1796,3953,0,0,0,0,0,0
$GC,2296,-0.83,-214.1,491.2,-20.7,302,2300,0.17,2.17,0.00,0.000,4,0.169,0.053,2565,3207,3951,0,0,0,0,0,0
$GC,2324,-0.81,-214.1,496.5,-16.9,304,2328,0.00,2.05,0.00,0.000,6,0.000,0.037,2565,1802,3951,0,0,0,0,0,0
$STATE,2350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2350,begin apogee
$GC,2356,-0.23,0.0,500.6,14.4,306,2534,0.57,0.00,167.50,0.966,6,0.133,0.000,2757,1751,3071,0,0,0,0,0,0
$STATE,2535,end apogee,CONTROL_FINISHED_OK
$STATE,2535,begin climb
$GC,2537,1.16,214.1,508.2,0.0,321,2718,1.27,2.33,171.85,0.936,4,0.070,0.049,3229,346,2199,0,0,0,0,0,0
$GC,2780,0.85,214.1,462.4,30.4,341,2788,0.43,2.17,0.00,0.000,6,0.193,0.041,3114,1744,2196,0,0,0,0,0,0
$GC,3106,0.68,214.1,389.9,20.3,372,3111,0.20,2.17,0.00,0.000,4,0.178,0.046,3048,3176,2191,0,0,0,0,0,0
$GC,3203,0.60,214.1,374.4,14.7,380,3207,0.00,2.15,0.00,0.000,6,0.000,0.037,3053,1742,2189,0,0,0,0,0,0
$GC,3528,0.51,214.1,324.9,15.2,410,3533,0.17,2.08,0.00,0.000,4,0.174,0.046,3014,347,2187,0,0,0,0,0,0
$GC,3601,0.55,260.2,315.8,11.9,416,3649,0.00,2.10,37.30,0.851,6,0.000,0.035,3008,1764,2011,0,0,0,0,0,0
$GC,3970,0.57,279.0,271.0,13.1,471,3992,0.00,2.17,16.25,0.783,4,0.000,0.046,3009,3156,1932,0,0,0,0,0,0
$GC,4059,0.60,279.0,258.7,14.2,486,4069,0.00,2.15,0.00,0.000,6,0.000,0.036,3013,1741,1929,0,0,0,0,0,0
$GC,4393,0.60,281.2,211.7,13.8,547,4401,0.00,2.10,0.00,0.000,4,0.000,0.044,3023,344,1927,0,0,0,0,0,0
$GC,4421,0.61,290.3,207.8,13.5,551,4436,0.00,2.12,9.85,0.698,6,0.000,0.034,3025,1761,1888,0,0,0,0,0,0
$GC,4764,0.62,302.0,163.0,13.4,613,4784,0.00,2.15,11.10,0.682,4,0.000,0.045,3024,3158,1839,0,0,0,0,0,0
$GC,4816,0.67,326.4,155.8,12.8,621,4844,0.00,2.10,21.17,0.717,6,0.000,0.035,3029,1738,1741,0,0,0,0,0,0
$GC,5164,0.71,338.0,108.7,13.4,685,5181,0.10,2.17,11.20,0.641,4,0.100,0.044,3102,340,1692,0,0,0,0,0,0
$GC,5231,0.63,338.0,97.0,18.3,696,5240,0.17,2.15,0.00,0.000,6,0.142,0.033,3045,1767,1689,0,0,0,0,0,0
$GC,5559,0.83,452.9,55.0,8.9,757,5657,0.17,0.00,91.35,0.653,6,0.067,0.000,3141,1771,1224,0,0,0,0,0,0
$STATE,5848,end climb,SURFACE_DEPTH_REACHED
$STATE,5848,begin surface coast
$FINISH,0.7,1.007843
$STATE,5867,end surface coast,CONTROL_FINISHED_OK
$STATE,5867,begin surface
$SM_CCo,5884,158.45,0.561,1,0,455,641.95
$SM_CCo,6051,-0.45,0.000,0,0,455,642.20
$SM_GC,1.36,0.00,0.00,-0.45,0.000,0.000,0.000,146,1771,455,-8.42,-0.82,642.20
$IRIDIUM_FIX,2302.75,12627.83,021010,232312
$TT8_MAMPS,0.026215
$HUMID,38.38
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.50
$XPDR_PINGS,86
$24V_AH,24.4,24.687
$10V_AH,10.5,15.499
$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,20.425,55.475,537.575,158.450,0.000,28.316,15.869,148.759,21.500,0.000,16.374,1889.539,1405.865,694.962,2146.266,248.432,0.000,1502.361,0.000,1956.175,0.000,0.847,0.000
$DEVICE_MAMPS,225.675,227.970,966.195,560.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.515,826.954,1356.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47059,809
$CAP_FILE_SIZE,87404,0
$CFSIZE,260165632,172646400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.171, 73.2,1
$GPS,031010,023437,2309.451,12630.543,40,0.9,40,-3.4