version: 66.08
glider: 166
mission: 3
dive: 222
start: 10 10 110 8 45 54
data:
$ID,166
$MISSION,3
$DIVE,222
$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,-21799.312
$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,43
$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
$GPS1,101010,083732,2333.102,12631.447,14,1.7,14,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.4
$GPS2,101010,084532,2333.057,12631.505,15,1.7,15,-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,201.2,61275,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,111,0.00,0.00,-92.30,0.000,2,0.000,0.000,145,1751,3406,0,0,0,0,0,0
$GC,114,-1.16,-214.1,6.3,-12.4,13,139,8.68,2.10,-9.50,0.000,4,0.216,0.050,2458,382,3949,0,0,0,0,0,0
$GC,268,-0.91,-214.1,84.3,-38.9,40,277,0.30,2.17,0.00,0.000,6,0.161,0.044,2541,1782,3952,0,0,0,0,0,0
$GC,596,-0.77,-214.1,179.0,-27.3,101,603,0.17,2.12,0.00,0.000,4,0.177,0.044,2591,385,3955,0,0,0,0,0,0
$GC,613,-0.64,-214.1,183.4,-25.4,103,621,0.17,2.15,0.00,0.000,6,0.165,0.039,2634,1811,3955,0,0,0,0,0,0
$GC,949,-0.66,-214.1,231.4,-12.9,164,957,0.00,2.12,0.00,0.000,4,0.000,0.050,2627,3197,3957,0,0,0,0,0,0
$GC,1027,-0.76,-214.1,239.9,-10.7,177,1034,0.00,2.08,0.00,0.000,6,0.000,0.035,2627,1795,3956,0,0,0,0,0,0
$GC,1363,-0.80,-214.1,285.9,-13.6,238,1370,0.12,0.00,0.00,0.000,6,0.088,0.000,2560,1794,3956,0,0,0,0,0,0
$GC,1695,-0.74,-214.1,352.0,-19.7,275,1699,0.15,2.20,0.00,0.000,4,0.168,0.052,2592,3210,3955,0,0,0,0,0,0
$GC,1724,-0.74,-214.1,357.5,-16.8,277,1728,0.00,2.10,0.00,0.000,6,0.000,0.036,2592,1791,3955,0,0,0,0,0,0
$GC,2051,-0.74,-214.1,405.4,-14.4,307,2054,0.00,2.10,0.00,0.000,4,0.000,0.047,2592,388,3953,0,0,0,0,0,0
$GC,2070,-0.74,-214.1,408.1,-14.0,308,2074,0.00,2.12,0.00,0.000,6,0.000,0.041,2587,1797,3953,0,0,0,0,0,0
$GC,2396,-0.76,-214.1,453.2,-13.0,338,2400,0.00,2.15,0.00,0.000,4,0.000,0.053,2577,3205,3952,0,0,0,0,0,0
$GC,2484,-0.83,-214.1,463.1,-10.5,345,2491,0.00,2.08,0.00,0.000,6,0.000,0.036,2577,1798,3951,0,0,0,0,0,0
$STATE,2767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2767,begin apogee
$GC,2772,-0.23,0.0,500.5,14.1,372,2952,0.55,0.03,169.23,0.991,6,0.125,0.093,2763,1760,3070,0,0,0,0,0,0
$STATE,2953,end apogee,CONTROL_FINISHED_OK
$STATE,2953,begin climb
$GC,2955,1.16,214.1,510.1,0.0,387,3138,1.20,2.30,171.80,0.968,4,0.047,0.052,3215,3159,2198,0,0,0,0,0,0
$GC,3264,0.88,214.1,445.9,30.2,413,3271,0.38,2.17,0.00,0.000,6,0.192,0.040,3125,1742,2194,0,0,0,0,0,0
$GC,3590,0.69,214.1,373.2,22.0,444,3594,0.22,2.17,0.00,0.000,4,0.175,0.046,3054,3167,2192,0,0,0,0,0,0
$GC,3609,0.52,214.1,369.1,22.6,445,3614,0.20,2.15,0.00,0.000,6,0.168,0.037,3005,1735,2191,0,0,0,0,0,0
$GC,3935,0.56,251.4,326.6,12.3,475,3968,0.00,0.00,30.67,0.877,6,0.000,0.000,3005,1735,2047,0,0,0,0,0,0
$GC,4291,0.62,298.2,283.9,11.9,520,4339,0.10,2.28,38.92,0.850,4,0.103,0.042,3051,3162,1855,0,0,0,0,0,0
$GC,4364,0.57,298.2,272.1,18.4,531,4372,0.12,2.17,0.00,0.000,6,0.181,0.036,3028,1745,1854,0,0,0,0,0,0
$GC,4699,0.57,303.6,221.3,13.7,592,4714,0.00,2.20,5.30,0.597,4,0.000,0.045,3036,351,1833,0,0,0,0,0,0
$GC,4728,0.57,303.6,217.3,13.9,596,4736,0.00,2.15,0.00,0.000,6,0.000,0.033,3036,1759,1833,0,0,0,0,0,0
$GC,5064,0.61,330.6,169.6,12.7,657,5097,0.00,2.20,23.90,0.756,4,0.000,0.044,3036,3166,1724,0,0,0,0,0,0
$GC,5159,0.64,330.6,154.9,14.6,673,5166,0.00,2.15,0.00,0.000,6,0.000,0.036,3045,1741,1723,0,0,0,0,0,0
$GC,5486,0.64,330.6,106.0,13.9,734,5494,0.00,2.12,0.00,0.000,4,0.000,0.044,3055,348,1722,0,0,0,0,0,0
$GC,5581,0.67,362.6,93.7,12.5,751,5619,0.00,2.12,27.80,0.700,6,0.000,0.033,3055,1755,1592,0,0,0,0,0,0
$GC,5941,0.78,412.5,52.7,11.7,816,5994,0.10,2.20,41.33,0.669,4,0.095,0.042,3113,3159,1390,0,0,0,0,0,0
$GC,6025,0.78,412.5,39.2,17.0,828,6033,0.08,2.15,0.00,0.000,6,0.135,0.034,3095,1750,1390,0,0,0,0,0,0
$STATE,6308,end climb,SURFACE_DEPTH_REACHED
$STATE,6308,begin surface coast
$FINISH,0.7,0.998390
$STATE,6335,end surface coast,CONTROL_FINISHED_OK
$STATE,6335,begin surface
$SM_CCo,6412,0.00,0.000,0,0,1384,414.31
$SM_GC,1.69,7.53,0.00,0.00,0.032,0.000,0.000,139,1838,1384,-8.35,1.07,414.31
$IRIDIUM_FIX,2321.52,12629.63,101010,080837
$TT8_MAMPS,0.026215
$HUMID,41.92
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.60
$XPDR_PINGS,84
$24V_AH,24.3,39.433
$10V_AH,10.4,25.954
$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,20.075,56.150,508.950,0.000,0.000,56.393,80.772,139.904,21.000,0.000,16.422,2071.596,1656.665,515.103,2375.356,270.959,0.000,1348.082,0.000,2109.698,0.000,0.850,0.000
$DEVICE_MAMPS,215.730,107.100,991.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.902,904.769,1489.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,53658,885
$CAP_FILE_SIZE,90189,0
$CFSIZE,260165632,167616512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,247.1,1
$GPS,101010,103401,2332.090,12631.055,36,1.6,37,-3.5