version: 66.08
glider: 166
mission: 3
dive: 224
start: 10 10 110 12 37 5
data:
$ID,166
$MISSION,3
$DIVE,224
$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,-21801.926
$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,40
$R_STBD_OVSHOOT,42
$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
$GPS1,101010,123031,2331.144,12630.648,10,1.8,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.9
$GPS2,101010,123643,2331.158,12630.590,10,1.2,15,-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,169.9,57713,-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,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,111,0.00,0.00,-92.97,0.000,2,0.000,0.000,144,1755,3270,0,0,0,0,0,0
$GC,114,-1.16,-214.1,5.0,-8.1,13,145,8.62,2.10,-12.65,0.000,4,0.214,0.050,2456,386,3949,0,0,0,0,0,0
$GC,342,-0.91,-214.1,111.8,-37.1,54,351,0.30,2.15,0.00,0.000,6,0.174,0.036,2538,1798,3952,0,0,0,0,0,0
$GC,674,-0.77,-214.1,202.8,-25.1,115,682,0.17,2.15,0.00,0.000,4,0.177,0.048,2578,3204,3956,0,0,0,0,0,0
$GC,718,-0.73,-214.1,212.6,-18.8,122,726,0.00,2.12,0.00,0.000,6,0.000,0.034,2578,1795,3956,0,0,0,0,0,0
$GC,1052,-0.69,-214.1,278.0,-19.2,183,1060,0.12,2.12,0.00,0.000,4,0.173,0.044,2613,396,3957,0,0,0,0,0,0
$GC,1114,-0.73,-214.1,287.9,-14.5,193,1121,0.00,2.10,0.00,0.000,6,0.000,0.038,2612,1809,3957,0,0,0,0,0,0
$GC,1444,-0.76,-214.1,334.5,-13.5,231,1448,0.00,2.12,0.00,0.000,4,0.000,0.052,2611,3206,3956,0,0,0,0,0,0
$GC,1543,-0.86,-214.1,346.1,-10.3,239,1551,0.12,2.08,0.00,0.000,6,0.083,0.034,2542,1798,3955,0,0,0,0,0,0
$GC,1869,-0.79,-214.1,410.6,-21.0,270,1873,0.15,2.12,0.00,0.000,4,0.171,0.046,2582,388,3955,0,0,0,0,0,0
$GC,1909,-0.79,-214.1,417.9,-17.1,273,1913,0.00,2.10,0.00,0.000,6,0.000,0.039,2575,1800,3954,0,0,0,0,0,0
$GC,2240,-0.79,-214.1,468.0,-14.0,304,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1800,3954,0,0,0,0,0,0
$STATE,2471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2471,begin apogee
$GC,2477,-0.23,0.0,501.2,14.2,326,2658,0.55,0.00,169.50,0.993,6,0.127,0.000,2759,1754,3071,0,0,0,0,0,0
$STATE,2658,end apogee,CONTROL_FINISHED_OK
$STATE,2659,begin climb
$GC,2661,1.16,214.1,510.7,0.0,341,2845,1.23,0.00,172.75,0.968,6,0.049,0.000,3223,1754,2197,0,0,0,0,0,0
$GC,3163,0.86,214.1,396.2,27.4,387,3168,0.35,2.17,0.00,0.000,4,0.194,0.047,3133,342,2191,0,0,0,0,0,0
$GC,3204,0.65,214.1,386.5,22.9,390,3209,0.30,2.15,0.00,0.000,6,0.173,0.040,3050,1751,2190,0,0,0,0,0,0
$GC,3530,0.56,214.1,334.4,15.4,420,3534,0.00,2.12,0.00,0.000,4,0.000,0.047,3042,3166,2188,0,0,0,0,0,0
$GC,3616,0.50,214.1,321.7,14.4,427,3621,0.17,2.12,0.00,0.000,6,0.170,0.037,3000,1738,2186,0,0,0,0,0,0
$GC,3946,0.56,262.8,283.5,11.8,470,3994,0.00,2.20,39.22,0.855,4,0.000,0.047,3009,349,2000,0,0,0,0,0,0
$GC,4030,0.58,262.8,272.8,13.9,483,4038,0.00,2.15,0.00,0.000,6,0.000,0.034,3009,1766,1997,0,0,0,0,0,0
$GC,4365,0.59,274.4,228.1,13.4,544,4387,0.00,2.17,10.52,0.738,4,0.000,0.044,3009,3158,1953,0,0,0,0,0,0
$GC,4416,0.67,322.8,221.9,11.8,552,4464,0.08,2.15,40.97,0.802,6,0.052,0.034,3081,1748,1756,0,0,0,0,0,0
$GC,4794,0.61,322.8,151.1,19.6,619,4802,0.15,0.00,0.00,0.000,6,0.168,0.000,3041,1748,1752,0,0,0,0,0,0
$GC,5120,0.71,383.6,106.2,11.2,680,5180,0.00,2.25,50.15,0.721,4,0.000,0.043,3034,3158,1508,0,0,0,0,0,0
$GC,5205,0.83,424.4,95.6,12.1,692,5249,0.15,2.17,35.38,0.689,6,0.034,0.035,3146,1754,1341,0,0,0,0,0,0
$GC,5569,0.78,424.4,24.0,17.6,758,5578,0.20,2.17,0.00,0.000,4,0.154,0.041,3097,340,1337,0,0,0,0,0,0
$GC,5653,0.95,502.1,13.1,10.5,772,5721,0.10,2.12,61.58,0.633,2,0.043,0.031,3172,1756,1031,0,0,0,0,0,0
$STATE,5722,end climb,SURFACE_DEPTH_REACHED
$STATE,5722,begin surface coast
$FINISH,0.7,1.021744
$STATE,5735,end surface coast,CONTROL_FINISHED_OK
$STATE,5735,begin surface
$SM_CCo,5812,0.00,0.000,0,0,1027,501.64
$SM_GC,1.52,7.90,0.00,0.00,0.032,0.000,0.000,148,1756,1027,-8.35,-1.24,501.64
$IRIDIUM_FIX,2323.87,12632.92,101010,101007
$TT8_MAMPS,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.20
$XPDR_PINGS,80
$24V_AH,24.2,39.751
$10V_AH,10.4,26.173
$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,20.675,47.175,580.075,0.000,0.000,29.560,39.931,150.715,20.000,0.000,16.683,1797.722,1507.845,551.013,2074.658,247.814,0.000,1331.926,0.000,1862.685,0.000,0.846,0.000
$DEVICE_MAMPS,214.200,217.260,992.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.983,800.431,1300.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333920
$DATA_FILE_SIZE,46951,783
$CAP_FILE_SIZE,81726,0
$CFSIZE,260165632,167530496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,327.3,1
$GPS,101010,141444,2330.575,12630.599,12,1.6,12,-3.5