version: 66.08
glider: 166
mission: 3
dive: 191
start: 10 7 110 23 53 12
data:
$ID,166
$MISSION,3
$DIVE,191
$N_DIVES,195
$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,-21731.625
$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,47
$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
$GPS1,071010,234728,2359.598,12630.251,9,99.0,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.2
$GPS2,071010,235249,2359.615,12630.248,14,1.2,14,-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,184.0,110408,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,99,0.00,0.00,-81.12,0.000,2,0.000,0.000,136,1810,3399,0,0,0,0,0,0
$GC,102,-1.16,-214.1,6.3,-12.5,11,127,8.77,2.20,-9.75,0.000,4,0.221,0.051,2457,382,3949,0,0,0,0,0,0
$GC,250,-0.90,-214.1,80.9,-43.0,37,260,0.30,2.15,0.00,0.000,6,0.172,0.034,2539,1798,3951,0,0,0,0,0,0
$GC,579,-0.77,-214.1,178.7,-27.9,98,588,0.17,2.15,0.00,0.000,4,0.174,0.045,2580,3203,3954,0,0,0,0,0,0
$GC,596,-0.65,-214.1,183.6,-27.1,100,605,0.12,2.10,0.00,0.000,6,0.144,0.031,2622,1791,3955,0,0,0,0,0,0
$GC,930,-0.65,-214.1,239.4,-14.8,161,937,0.00,2.15,0.00,0.000,4,0.000,0.046,2614,3205,3956,0,0,0,0,0,0
$GC,986,-0.72,-214.1,247.1,-12.0,170,994,0.00,2.10,0.00,0.000,6,0.000,0.032,2614,1798,3956,0,0,0,0,0,0
$GC,1323,-0.73,-214.1,299.5,-15.4,231,1330,0.00,2.08,0.00,0.000,4,0.000,0.041,2613,392,3956,0,0,0,0,0,0
$GC,1385,-0.78,-214.1,309.4,-14.6,237,1393,0.00,2.08,0.00,0.000,6,0.000,0.036,2614,1801,3956,0,0,0,0,0,0
$GC,1711,-0.81,-214.1,357.8,-14.9,268,1715,0.10,2.12,0.00,0.000,4,0.106,0.050,2558,3212,3955,0,0,0,0,0,0
$GC,1731,-0.83,-214.1,360.6,-14.9,269,1735,0.00,2.08,0.00,0.000,6,0.000,0.033,2558,1787,3954,0,0,0,0,0,0
$GC,2058,-0.79,-214.1,421.8,-18.4,299,2062,0.00,2.17,0.00,0.000,4,0.000,0.050,2558,3211,3954,0,0,0,0,0,0
$GC,2135,-0.82,-214.1,434.5,-14.2,305,2143,0.00,2.10,0.00,0.000,6,0.000,0.034,2558,1796,3953,0,0,0,0,0,0
$GC,2462,-0.80,-214.1,486.2,-15.1,336,2466,0.00,2.10,0.00,0.000,4,0.000,0.044,2558,398,3952,0,0,0,0,0,0
$GC,2513,-0.80,-214.1,494.8,-16.0,340,2517,0.00,2.12,0.00,0.000,6,0.000,0.041,2559,1801,3952,0,0,0,0,0,0
$STATE,2551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2551,begin apogee
$GC,2556,-0.23,0.0,501.2,15.8,343,2733,0.60,0.03,168.40,0.982,6,0.130,0.209,2759,1760,3071,0,0,0,0,0,0
$STATE,2734,end apogee,CONTROL_FINISHED_OK
$STATE,2734,begin climb
$GC,2736,1.16,214.1,510.9,0.0,358,2921,1.25,0.00,172.25,0.957,6,0.066,0.000,3212,1760,2198,0,0,0,0,0,0
$GC,3238,0.87,214.1,398.6,27.5,405,3243,0.32,2.17,0.00,0.000,4,0.198,0.047,3116,3162,2194,0,0,0,0,0,0
$GC,3269,0.65,214.1,390.8,24.7,407,3274,0.25,2.15,0.00,0.000,6,0.178,0.038,3053,1737,2191,0,0,0,0,0,0
$GC,3596,0.57,214.1,336.0,16.5,437,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1736,2189,0,0,0,0,0,0
$GC,3918,0.49,214.1,286.7,15.1,475,3926,0.17,2.12,0.00,0.000,4,0.161,0.046,3009,333,2187,0,0,0,0,0,0
$GC,3983,0.54,258.1,278.1,12.0,486,4026,0.00,2.15,35.58,0.838,6,0.000,0.035,3007,1750,2019,0,0,0,0,0,0
$GC,4357,0.61,309.0,233.0,11.7,552,4406,0.00,2.25,42.33,0.804,4,0.000,0.046,3006,3157,1811,0,0,0,0,0,0
$GC,4434,0.68,336.4,223.8,12.7,563,4468,0.12,2.17,24.90,0.767,6,0.079,0.037,3085,1739,1699,0,0,0,0,0,0
$GC,4804,0.62,336.4,148.2,19.4,628,4813,0.15,2.15,0.00,0.000,4,0.166,0.047,3052,358,1694,0,0,0,0,0,0
$GC,4868,0.64,336.4,138.0,14.2,639,4876,0.00,2.12,0.00,0.000,6,0.000,0.034,3050,1756,1694,0,0,0,0,0,0
$GC,5194,0.77,418.7,98.9,10.3,700,5269,0.12,2.17,66.78,0.702,4,0.082,0.042,3117,3169,1365,0,0,0,0,0,0
$GC,5286,0.72,418.7,83.1,19.7,712,5295,0.15,2.20,0.00,0.000,6,0.138,0.035,3077,1753,1365,0,0,0,0,0,0
$GC,5616,0.81,437.2,39.2,13.1,773,5640,0.00,2.15,16.77,0.615,4,0.000,0.044,3085,347,1287,0,0,0,0,0,0
$GC,5675,0.96,493.1,32.2,11.5,782,5728,0.15,2.15,45.72,0.630,6,0.036,0.033,3179,1762,1061,0,0,0,0,0,0
$STATE,5805,end climb,SURFACE_DEPTH_REACHED
$STATE,5805,begin surface coast
$FINISH,0.7,1.022020
$STATE,5817,end surface coast,CONTROL_FINISHED_OK
$STATE,5817,begin surface
$SM_CCo,5894,0.00,0.000,0,0,1054,495.02
$SM_GC,1.52,7.85,0.00,0.00,0.034,0.000,0.000,155,1767,1054,-8.34,-0.96,495.02
$IRIDIUM_FIX,2352.12,12630.96,071010,222249
$TT8_MAMPS,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.70
$XPDR_PINGS,67
$24V_AH,24.3,34.668
$10V_AH,10.5,22.586
$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,20.625,55.700,572.725,0.000,0.000,27.854,15.411,137.489,16.750,0.000,15.893,1862.809,1472.788,548.388,2078.326,250.464,0.000,1336.078,0.000,1905.449,0.000,0.848,0.000
$DEVICE_MAMPS,221.085,208.845,982.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.696,822.935,1349.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,46944,805
$CAP_FILE_SIZE,85239,0
$CFSIZE,260165632,169254912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,105.9,1
$GPS,081010,013237,2358.512,12630.310,35,1.1,35,-3.6