version: 66.08
glider: 166
mission: 3
dive: 199
start: 10 8 110 14 6 30
data:
$ID,166
$MISSION,3
$DIVE,199
$N_DIVES,205
$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,400
$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,-21742.143
$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,36
$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
$GPS1,081010,140032,2352.150,12630.493,14,1.5,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.5
$GPS2,081010,140607,2352.170,12630.505,12,1.3,17,-3.6
$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,190.1,96623,-19.7,-13.889
$D_GRID,5000
$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,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,100,0.00,0.00,-82.65,0.000,2,0.000,0.000,132,1769,3302,0,0,0,0,0,0
$GC,103,-1.16,-214.1,5.8,-11.7,11,135,8.73,2.10,-11.82,0.000,4,0.217,0.049,2457,383,3949,0,0,0,0,0,0
$GC,149,-0.67,-214.1,30.1,-52.9,17,158,0.57,2.17,0.00,0.000,6,0.178,0.038,2616,1797,3950,0,0,0,0,0,0
$GC,477,-0.62,-214.1,114.4,-18.6,78,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1799,3954,0,0,0,0,0,0
$GC,807,-0.60,-214.1,182.1,-20.5,139,814,0.10,2.15,0.00,0.000,4,0.183,0.047,2639,3210,3955,0,0,0,0,0,0
$GC,834,-0.60,-214.1,187.5,-19.3,143,841,0.00,2.10,0.00,0.000,6,0.000,0.032,2639,1788,3956,0,0,0,0,0,0
$GC,1166,-0.64,-214.1,238.3,-15.0,204,1174,0.00,2.10,0.00,0.000,4,0.000,0.040,2639,393,3956,0,0,0,0,0,0
$GC,1202,-0.70,-214.1,243.9,-14.7,210,1210,0.00,2.12,0.00,0.000,6,0.000,0.035,2639,1807,3956,0,0,0,0,0,0
$GC,1538,-0.76,-214.1,287.1,-12.4,271,1545,0.12,2.12,0.00,0.000,4,0.089,0.047,2570,3209,3956,0,0,0,0,0,0
$GC,1565,-0.78,-214.1,290.8,-13.4,275,1571,0.00,2.08,0.00,0.000,6,0.000,0.032,2570,1794,3956,0,0,0,0,0,0
$GC,1898,-0.75,-214.1,352.9,-18.6,311,1903,0.10,2.08,0.00,0.000,4,0.184,0.041,2594,393,3955,0,0,0,0,0,0
$GC,1908,-0.71,-214.1,355.4,-18.3,311,1915,0.00,2.08,0.00,0.000,6,0.000,0.033,2587,1814,3956,0,0,0,0,0,0
$GC,2234,-0.71,-214.1,409.0,-15.0,342,2238,0.00,2.08,0.00,0.000,4,0.000,0.048,2578,3207,3955,0,0,0,0,0,0
$GC,2356,-0.76,-214.1,425.2,-13.0,352,2365,0.00,2.10,0.00,0.000,6,0.000,0.034,2578,1807,3954,0,0,0,0,0,0
$GC,2683,-0.76,-214.1,475.1,-15.0,383,2687,0.00,2.12,0.00,0.000,4,0.000,0.044,2578,397,3954,0,0,0,0,0,0
$GC,2758,-0.81,-214.1,486.5,-16.0,389,2762,0.00,2.10,0.00,0.000,6,0.000,0.040,2575,1797,3954,0,0,0,0,0,0
$STATE,2844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2844,begin apogee
$GC,2849,-0.23,0.0,500.5,16.2,397,3027,0.55,0.00,169.27,0.983,6,0.125,0.000,2760,1797,3071,0,0,0,0,0,0
$STATE,3028,end apogee,CONTROL_FINISHED_OK
$STATE,3028,begin climb
$GC,3031,1.16,214.1,509.8,0.0,412,3214,1.25,2.28,172.45,0.959,4,0.064,0.051,3222,3159,2198,0,0,0,0,0,0
$GC,3246,0.85,214.1,475.0,31.4,431,3251,0.45,2.20,0.00,0.000,6,0.188,0.040,3115,1751,2196,0,0,0,0,0,0
$GC,3572,0.68,214.1,403.0,19.7,461,3577,0.20,2.17,0.00,0.000,4,0.173,0.045,3065,337,2193,0,0,0,0,0,0
$GC,3613,0.58,214.1,395.8,17.3,464,3617,0.15,2.12,0.00,0.000,6,0.169,0.037,3027,1751,2193,0,0,0,0,0,0
$GC,3945,0.58,244.4,353.7,12.6,495,3980,0.00,2.22,25.20,0.875,4,0.000,0.047,3022,3159,2074,0,0,0,0,0,0
$GC,4073,0.59,253.7,337.1,13.5,506,4087,0.00,2.12,9.48,0.773,6,0.000,0.037,3027,1736,2036,0,0,0,0,0,0
$GC,4405,0.57,253.7,291.5,14.6,542,4413,0.00,2.20,0.00,0.000,4,0.000,0.046,3020,3163,2033,0,0,0,0,0,0
$GC,4431,0.57,253.7,287.6,14.2,546,4441,0.00,2.15,0.00,0.000,6,0.000,0.037,3026,1741,2033,0,0,0,0,0,0
$GC,4767,0.60,282.0,242.6,12.7,607,4795,0.00,2.20,23.83,0.813,4,0.000,0.046,3033,344,1921,0,0,0,0,0,0
$GC,4852,0.61,287.7,230.6,13.6,621,4868,0.00,2.15,5.88,0.623,6,0.000,0.035,3036,1760,1898,0,0,0,0,0,0
$GC,5195,0.66,328.2,183.7,12.1,683,5236,0.00,2.25,34.90,0.774,4,0.000,0.045,3042,354,1732,0,0,0,0,0,0
$GC,5251,0.67,338.1,176.1,13.5,691,5266,0.00,2.12,10.12,0.675,6,0.000,0.034,3043,1756,1692,0,0,0,0,0,0
$GC,5591,0.70,362.8,127.0,12.8,753,5622,0.00,2.17,21.25,0.710,4,0.000,0.047,3042,3155,1593,0,0,0,0,0,0
$GC,5657,0.76,384.1,117.8,13.0,763,5682,0.08,2.15,19.17,0.690,6,0.050,0.034,3115,1750,1505,0,0,0,0,0,0
$GC,6005,0.73,384.1,53.7,15.9,826,6014,0.15,2.17,0.00,0.000,4,0.157,0.044,3081,341,1502,0,0,0,0,0,0
$GC,6098,0.84,418.0,41.5,12.4,842,6135,0.00,2.12,28.08,0.653,6,0.000,0.033,3081,1749,1367,0,0,0,0,0,0
$STATE,6425,end climb,SURFACE_DEPTH_REACHED
$STATE,6425,begin surface coast
$FINISH,0.8,1.010940
$STATE,6456,end surface coast,CONTROL_FINISHED_OK
$STATE,6456,begin surface
$SM_CCo,6533,0.00,0.000,0,0,1361,419.46
$SM_GC,1.58,7.50,0.00,0.00,0.036,0.000,0.000,148,1753,1361,-8.34,-1.33,419.46
$IRIDIUM_FIX,2342.70,12630.05,081010,121256
$TT8_MAMPS,0.026215
$HUMID,41.73
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.80
$XPDR_PINGS,76
$24V_AH,24.3,35.895
$10V_AH,10.4,23.441
$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,19.950,64.325,519.625,0.000,0.000,29.735,15.354,140.950,19.000,0.000,18.809,2132.740,1577.339,528.754,2355.231,273.097,0.000,1383.652,0.000,2170.273,0.000,0.848,0.000
$DEVICE_MAMPS,217.260,51.255,983.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.408,926.946,1529.582,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,53486,907
$CAP_FILE_SIZE,93530,0
$CFSIZE,260165632,168833024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,114.0,1
$GPS,081010,155608,2351.071,12630.555,9,1.8,9,-3.6