version: 66.08
glider: 166
mission: 3
dive: 223
start: 10 10 110 10 39 49
data:
$ID,166
$MISSION,3
$DIVE,223
$N_DIVES,234
$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,-21800.666
$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,68
$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
$GPS1,101010,103401,2332.090,12631.055,36,1.6,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.5
$GPS2,101010,103926,2332.053,12631.035,13,1.6,13,-3.5
$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,179.6,59388,-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,-214.1,0.0,0.0,0,90,0.00,0.00,-71.90,0.000,2,0.000,0.000,138,1839,3247,0,0,0,0,0,0
$GC,93,-1.16,-214.1,5.7,-11.4,10,124,8.75,2.22,-12.93,0.000,4,0.217,0.050,2460,383,3948,0,0,0,0,0,0
$GC,133,-0.55,-214.1,26.8,-53.3,15,141,0.70,2.10,0.00,0.000,6,0.182,0.031,2654,1770,3949,0,0,0,0,0,0
$GC,458,-0.55,-214.1,106.1,-17.7,76,466,0.00,2.17,0.00,0.000,4,0.000,0.047,2652,3197,3954,0,0,0,0,0,0
$GC,518,-0.64,-214.1,114.8,-12.0,86,526,0.00,2.10,0.00,0.000,6,0.000,0.031,2652,1788,3954,0,0,0,0,0,0
$GC,849,-0.68,-214.1,160.6,-13.4,147,856,0.00,2.05,0.00,0.000,4,0.000,0.039,2652,386,3955,0,0,0,0,0,0
$GC,876,-0.73,-214.1,164.6,-14.4,151,883,0.12,2.10,0.00,0.000,6,0.085,0.033,2578,1806,3955,0,0,0,0,0,0
$GC,1220,-0.68,-214.1,233.3,-18.4,212,1230,0.15,2.12,0.00,0.000,4,0.172,0.047,2614,3191,3955,0,0,0,0,0,0
$GC,1290,-0.75,-214.1,243.3,-12.1,223,1297,0.00,2.03,0.00,0.000,6,0.000,0.031,2614,1798,3956,0,0,0,0,0,0
$GC,1629,-0.77,-214.1,291.0,-14.2,284,1637,0.00,2.12,0.00,0.000,4,0.000,0.041,2613,392,3956,0,0,0,0,0,0
$GC,1665,-0.80,-214.1,295.9,-14.7,289,1671,0.00,2.08,0.00,0.000,6,0.000,0.037,2613,1794,3956,0,0,0,0,0,0
$GC,1994,-0.83,-214.1,343.4,-14.2,322,1999,0.12,2.15,0.00,0.000,4,0.090,0.049,2548,3204,3955,0,0,0,0,0,0
$GC,2082,-0.83,-214.1,358.7,-16.9,329,2089,0.00,2.10,0.00,0.000,6,0.000,0.034,2548,1798,3954,0,0,0,0,0,0
$GC,2408,-0.78,-214.1,421.9,-19.5,360,2413,0.15,2.15,0.00,0.000,4,0.166,0.046,2589,397,3954,0,0,0,0,0,0
$GC,2451,-0.81,-214.1,429.2,-14.8,363,2458,0.00,2.12,0.00,0.000,6,0.000,0.040,2588,1803,3954,0,0,0,0,0,0
$GC,2777,-0.83,-214.1,471.4,-12.2,394,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1803,3952,0,0,0,0,0,0
$STATE,3008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3008,begin apogee
$GC,3013,-0.23,0.0,501.1,12.5,416,3194,0.52,0.05,169.35,0.994,6,0.124,0.070,2766,1759,3071,0,0,0,0,0,0
$STATE,3195,end apogee,CONTROL_FINISHED_OK
$STATE,3195,begin climb
$GC,3197,1.16,214.1,509.5,0.0,431,3382,1.17,2.30,173.07,0.966,4,0.043,0.048,3232,341,2198,0,0,0,0,0,0
$GC,3401,0.83,214.1,475.9,31.6,449,3408,0.43,2.22,0.00,0.000,6,0.189,0.038,3113,1752,2197,0,0,0,0,0,0
$GC,3728,0.66,214.1,403.9,19.7,480,3732,0.20,2.17,0.00,0.000,4,0.175,0.044,3066,333,2191,0,0,0,0,0,0
$GC,3756,0.53,214.1,398.3,18.2,482,3761,0.17,2.17,0.00,0.000,6,0.165,0.035,3016,1764,2191,0,0,0,0,0,0
$GC,4084,0.54,251.1,356.0,12.3,512,4121,0.00,2.15,30.67,0.894,4,0.000,0.044,3012,3156,2047,0,0,0,0,0,0
$GC,4171,0.57,274.2,344.3,12.9,519,4201,0.00,2.17,20.65,0.856,6,0.000,0.036,3019,1732,1953,0,0,0,0,0,0
$GC,4522,0.55,274.2,295.8,14.6,554,4530,0.00,2.20,0.00,0.000,4,0.000,0.043,3017,3156,1948,0,0,0,0,0,0
$GC,4558,0.55,274.2,290.4,14.0,560,4568,0.00,2.15,0.00,0.000,6,0.000,0.036,3025,1741,1948,0,0,0,0,0,0
$GC,4900,0.53,274.2,240.7,14.8,621,4906,0.00,2.12,0.00,0.000,4,0.000,0.045,3036,340,1946,0,0,0,0,0,0
$GC,4951,0.53,274.2,233.0,14.0,630,4959,0.00,2.12,0.00,0.000,6,0.000,0.032,3037,1746,1945,0,0,0,0,0,0
$GC,5292,0.56,311.0,187.4,12.3,691,5333,0.00,2.17,30.08,0.783,4,0.000,0.044,3037,3148,1804,0,0,0,0,0,0
$GC,5364,0.58,331.0,177.8,13.0,702,5392,0.00,2.12,18.65,0.741,6,0.000,0.034,3045,1754,1721,0,0,0,0,0,0
$GC,5716,0.58,331.0,124.6,14.7,766,5724,0.00,2.15,0.00,0.000,4,0.000,0.044,3055,353,1718,0,0,0,0,0,0
$GC,5791,0.62,364.6,114.4,12.4,779,5829,0.00,2.12,28.75,0.718,6,0.000,0.031,3055,1762,1584,0,0,0,0,0,0
$GC,6151,0.76,444.9,70.4,10.4,844,6227,0.00,2.28,66.10,0.689,4,0.000,0.044,3064,347,1258,0,0,0,0,0,0
$GC,6243,0.95,527.6,60.6,10.3,856,6318,0.17,2.17,67.82,0.662,6,0.034,0.031,3165,1751,919,0,0,0,0,0,0
$STATE,6488,end climb,SURFACE_DEPTH_REACHED
$STATE,6488,begin surface coast
$FINISH,0.8,1.021750
$STATE,6500,end surface coast,CONTROL_FINISHED_OK
$STATE,6500,begin surface
$SM_CCo,6578,0.00,0.000,0,0,912,529.85
$SM_GC,1.58,7.80,0.00,0.00,0.034,0.000,0.000,146,1754,912,-8.35,-1.30,529.85
$IRIDIUM_FIX,2323.87,12632.92,101010,080850
$TT8_MAMPS,0.026215
$HUMID,43.06
$INTERNAL_PRESSURE,8.76469
$TCM_TEMP,24.20
$XPDR_PINGS,99
$24V_AH,24.3,39.594
$10V_AH,10.4,26.071
$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,20.475,64.500,605.150,0.000,0.000,29.905,14.794,142.255,24.750,0.000,13.948,2074.423,1654.074,594.886,2310.941,266.247,0.000,1461.258,0.000,2133.594,0.000,0.846,0.000
$DEVICE_MAMPS,217.260,69.615,993.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.428,920.223,1524.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53636,900
$CAP_FILE_SIZE,92842,0
$CFSIZE,260165632,167563264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,302.7,1
$GPS,101010,123031,2331.144,12630.648,10,1.8,28,-3.5