version: 66.08
glider: 166
mission: 3
dive: 127
start: 10 3 110 2 42 30
data:
$ID,166
$MISSION,3
$DIVE,127
$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,-21648.316
$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,45
$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
$GPS1,031010,023437,2309.451,12630.543,40,0.9,40,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.1
$GPS2,031010,024208,2309.535,12630.548,12,1.1,12,-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,214.2,17684,-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,14,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,133,0.00,0.00,-113.93,0.000,2,0.000,0.000,143,1772,3436,0,0,0,0,0,0
$GC,136,-1.16,-214.1,6.8,-14.3,16,160,8.73,2.10,-8.85,0.000,4,0.223,0.050,2459,384,3948,0,0,0,0,0,0
$GC,400,-0.89,-214.1,125.7,-37.6,64,408,0.30,2.12,0.00,0.000,6,0.170,0.036,2543,1789,3951,0,0,0,0,0,0
$GC,738,-0.76,-214.1,220.5,-28.6,125,744,0.17,0.00,0.00,0.000,6,0.174,0.000,2592,1791,3954,0,0,0,0,0,0
$GC,1079,-0.73,-214.1,291.0,-19.5,186,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1792,3954,0,0,0,0,0,0
$GC,1414,-0.73,-214.1,348.3,-15.3,221,1418,0.00,2.12,0.00,0.000,4,0.000,0.047,2588,3210,3953,0,0,0,0,0,0
$GC,1441,-0.73,-214.1,352.9,-15.8,223,1448,0.00,2.08,0.00,0.000,6,0.000,0.033,2588,1798,3953,0,0,0,0,0,0
$GC,1766,-0.73,-214.1,402.0,-15.1,254,1770,0.00,2.10,0.00,0.000,4,0.000,0.042,2588,390,3952,0,0,0,0,0,0
$GC,1844,-0.76,-214.1,414.0,-14.0,260,1852,0.00,2.12,0.00,0.000,6,0.000,0.038,2585,1797,3951,0,0,0,0,0,0
$GC,2171,-0.76,-214.1,462.0,-15.2,291,2175,0.00,2.10,0.00,0.000,4,0.000,0.050,2577,3203,3949,0,0,0,0,0,0
$GC,2249,-0.81,-214.1,473.2,-14.0,298,2253,0.00,2.05,0.00,0.000,6,0.000,0.034,2577,1802,3948,0,0,0,0,0,0
$STATE,2430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2430,begin apogee
$GC,2437,-0.23,0.0,501.2,15.4,315,2611,0.55,0.00,166.68,0.966,6,0.129,0.000,2762,1803,3072,0,0,0,0,0,0
$STATE,2612,end apogee,CONTROL_FINISHED_OK
$STATE,2612,begin climb
$GC,2614,1.16,214.1,510.7,0.0,330,2796,1.25,2.40,172.25,0.936,4,0.066,0.049,3226,356,2199,0,0,0,0,0,0
$GC,2835,0.83,214.1,473.4,32.5,348,2843,0.40,2.22,0.00,0.000,6,0.185,0.041,3116,1749,2196,0,0,0,0,0,0
$GC,3162,0.65,214.1,397.9,22.2,379,3167,0.22,2.15,0.00,0.000,4,0.177,0.045,3047,3162,2191,0,0,0,0,0,0
$GC,3240,0.58,214.1,383.4,16.4,385,3247,0.00,2.12,0.00,0.000,6,0.000,0.037,3053,1747,2189,0,0,0,0,0,0
$GC,3567,0.49,214.1,331.4,15.9,416,3571,0.20,2.12,0.00,0.000,4,0.164,0.046,3005,349,2188,0,0,0,0,0,0
$GC,3667,0.54,253.8,318.8,12.2,424,3709,0.00,2.12,32.28,0.845,6,0.000,0.035,3008,1751,2036,0,0,0,0,0,0
$GC,4035,0.55,264.7,271.6,13.4,477,4050,0.00,2.20,9.55,0.727,4,0.000,0.047,3006,3160,1992,0,0,0,0,0,0
$GC,4109,0.58,277.2,261.3,13.3,489,4130,0.00,2.12,11.70,0.742,6,0.000,0.036,3012,1739,1943,0,0,0,0,0,0
$GC,4465,0.60,286.8,214.9,13.5,552,4479,0.00,2.17,9.18,0.689,4,0.000,0.046,3021,349,1902,0,0,0,0,0,0
$GC,4502,0.60,286.8,209.1,13.9,558,4511,0.00,2.15,0.00,0.000,6,0.000,0.034,3021,1756,1900,0,0,0,0,0,0
$GC,4846,0.64,323.9,162.8,12.3,619,4887,0.00,2.17,30.88,0.737,4,0.000,0.046,3021,3150,1750,0,0,0,0,0,0
$GC,4976,0.75,379.0,147.5,11.5,640,5031,0.12,2.12,45.90,0.720,6,0.041,0.037,3111,1758,1526,0,0,0,0,0,0
$GC,5350,0.69,379.0,69.4,19.2,707,5359,0.17,2.17,0.00,0.000,4,0.161,0.044,3070,346,1520,0,0,0,0,0,0
$GC,5374,0.66,379.0,65.5,17.5,710,5383,0.00,2.12,0.00,0.000,6,0.000,0.033,3066,1751,1519,0,0,0,0,0,0
$GC,5702,0.89,497.9,32.1,8.7,771,5805,0.17,2.20,93.75,0.626,4,0.065,0.042,3169,344,1041,0,0,0,0,0,0
$STATE,5859,end climb,SURFACE_DEPTH_REACHED
$STATE,5859,begin surface coast
$FINISH,0.7,1.021541
$STATE,5871,end surface coast,CONTROL_FINISHED_OK
$STATE,5871,begin surface
$SM_CCo,5890,123.57,0.545,1,0,454,641.95
$SM_CCo,6023,-0.40,0.000,0,0,454,642.20
$SM_GC,1.27,0.00,0.00,-0.40,0.000,0.000,0.000,151,1810,454,-8.41,0.28,642.20
$IRIDIUM_FIX,2305.10,12627.33,031010,000033
$TT8_MAMPS,0.025466
$HUMID,38.77
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.70
$XPDR_PINGS,94
$24V_AH,24.4,24.858
$10V_AH,10.4,15.605
$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,20.150,51.650,572.150,123.575,0.000,49.240,52.619,143.649,23.500,0.000,13.080,1834.323,1550.150,682.428,2158.744,247.732,0.000,1488.828,0.000,1914.894,0.000,0.848,0.000
$DEVICE_MAMPS,223.380,49.725,966.195,545.445,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.358,815.201,1316.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46892,797
$CAP_FILE_SIZE,83707,0
$CFSIZE,260165632,172601344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,124.5,1
$GPS,031010,042344,2308.658,12630.300,12,1.4,12,-3.4