version: 66.08
glider: 166
mission: 3
dive: 204
start: 10 8 110 23 41 12
data:
$ID,166
$MISSION,3
$DIVE,204
$N_DIVES,208
$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,-21748.518
$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,39
$R_STBD_OVSHOOT,38
$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
$GPS1,081010,233515,2347.911,12630.732,14,2.0,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.0
$GPS2,081010,234049,2347.968,12630.777,11,1.6,16,-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,182.2,88847,-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,-214.1,0.0,0.0,0,108,0.00,0.00,-90.80,0.000,2,0.000,0.000,146,1755,3335,0,0,0,0,0,0
$GC,111,-1.16,-214.1,6.0,-12.4,12,136,8.77,2.28,-11.00,0.000,4,0.223,0.059,2445,3207,3948,0,0,0,0,0,0
$GC,176,-0.80,-214.1,42.0,-57.2,22,185,0.45,2.15,0.00,0.000,6,0.182,0.033,2575,1786,3951,0,0,0,0,0,0
$GC,503,-0.69,-214.1,143.6,-24.1,83,512,0.15,2.12,0.00,0.000,4,0.168,0.045,2618,407,3954,0,0,0,0,0,0
$GC,543,-0.65,-214.1,153.3,-21.1,89,550,0.00,2.10,0.00,0.000,6,0.000,0.037,2613,1806,3954,0,0,0,0,0,0
$GC,883,-0.65,-214.1,215.8,-16.2,150,891,0.00,2.15,0.00,0.000,4,0.000,0.044,2613,405,3956,0,0,0,0,0,0
$GC,905,-0.65,-214.1,219.4,-17.0,153,912,0.00,2.10,0.00,0.000,6,0.000,0.037,2613,1805,3956,0,0,0,0,0,0
$GC,1245,-0.65,-214.1,274.6,-16.0,214,1254,0.00,2.15,0.00,0.000,4,0.000,0.053,2613,3197,3956,0,0,0,0,0,0
$GC,1294,-0.71,-214.1,281.2,-12.7,222,1304,0.00,2.10,0.00,0.000,6,0.000,0.035,2613,1804,3956,0,0,0,0,0,0
$GC,1627,-0.74,-214.1,330.2,-14.2,264,1631,0.00,2.15,0.00,0.000,4,0.000,0.052,2611,3204,3955,0,0,0,0,0,0
$GC,1693,-0.84,-214.1,338.3,-11.5,269,1698,0.12,2.08,0.00,0.000,6,0.085,0.036,2544,1799,3955,0,0,0,0,0,0
$GC,2024,-0.77,-214.1,402.7,-19.4,300,2028,0.17,2.15,0.00,0.000,4,0.169,0.047,2592,395,3954,0,0,0,0,0,0
$GC,2102,-0.82,-214.1,414.7,-13.5,306,2111,0.00,2.12,0.00,0.000,6,0.000,0.037,2587,1791,3954,0,0,0,0,0,0
$GC,2428,-0.83,-214.1,460.0,-14.5,337,2432,0.00,2.15,0.00,0.000,4,0.000,0.051,2578,3206,3953,0,0,0,0,0,0
$GC,2471,-0.88,-214.1,465.8,-13.0,340,2474,0.00,2.08,0.00,0.000,6,0.000,0.036,2577,1797,3952,0,0,0,0,0,0
$STATE,2721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2721,begin apogee
$GC,2728,-0.23,0.0,500.8,13.8,363,2901,0.55,0.00,168.12,1.004,6,0.128,0.000,2761,1797,3072,0,0,0,0,0,0
$STATE,2901,end apogee,CONTROL_FINISHED_OK
$STATE,2902,begin climb
$GC,2904,1.16,214.1,507.7,0.0,377,3085,1.20,2.35,171.80,0.975,4,0.047,0.047,3230,353,2199,0,0,0,0,0,0
$GC,3101,0.83,214.1,476.9,30.8,393,3109,0.45,2.20,0.00,0.000,6,0.188,0.039,3110,1750,2198,0,0,0,0,0,0
$GC,3427,0.66,214.1,401.8,21.4,424,3432,0.20,2.15,0.00,0.000,4,0.174,0.044,3047,3159,2193,0,0,0,0,0,0
$GC,3482,0.59,214.1,391.9,15.7,428,3490,0.00,2.15,0.00,0.000,6,0.000,0.037,3055,1747,2191,0,0,0,0,0,0
$GC,3809,0.51,214.1,343.4,14.6,459,3813,0.17,2.12,0.00,0.000,4,0.167,0.046,3014,338,2189,0,0,0,0,0,0
$GC,3892,0.55,248.5,332.4,12.4,466,3927,0.00,2.15,28.20,0.884,6,0.000,0.034,3015,1752,2059,0,0,0,0,0,0
$GC,4251,0.60,292.8,286.0,12.0,510,4292,0.00,2.22,36.80,0.862,4,0.000,0.045,3014,3156,1878,0,0,0,0,0,0
$GC,4363,0.67,331.2,272.8,12.2,528,4404,0.08,2.15,33.83,0.838,6,0.052,0.036,3079,1757,1720,0,0,0,0,0,0
$GC,4736,0.59,331.2,197.3,20.3,594,4745,0.17,2.20,0.00,0.000,4,0.167,0.045,3039,339,1716,0,0,0,0,0,0
$GC,4759,0.54,331.2,193.0,19.7,597,4766,0.00,2.12,0.00,0.000,6,0.000,0.032,3041,1754,1715,0,0,0,0,0,0
$GC,5101,0.55,342.3,143.2,13.4,658,5117,0.00,0.00,9.82,0.686,6,0.000,0.000,3041,1755,1675,0,0,0,0,0,0
$GC,5439,0.64,385.8,102.3,12.0,720,5483,0.00,2.12,36.42,0.721,4,0.000,0.041,3038,3155,1499,0,0,0,0,0,0
$GC,5525,0.83,472.8,93.5,10.1,733,5608,0.12,2.17,72.40,0.703,6,0.038,0.035,3138,1742,1145,0,0,0,0,0,0
$GC,5927,0.79,472.8,11.2,19.7,804,5936,0.15,2.20,0.00,0.000,4,0.158,0.043,3085,3159,1141,0,0,0,0,0,0
$GC,5950,0.79,472.8,7.4,18.0,807,5958,0.00,2.15,0.00,0.000,6,0.000,0.036,3093,1750,1141,0,0,0,0,0,0
$STATE,5981,end climb,SURFACE_DEPTH_REACHED
$STATE,5981,begin surface coast
$FINISH,0.7,1.021844
$STATE,6003,end surface coast,CONTROL_FINISHED_OK
$STATE,6004,begin surface
$SM_CCo,6082,0.00,0.000,0,0,1138,474.41
$SM_GC,1.55,7.43,0.00,0.00,0.026,0.000,0.000,142,1817,1138,-8.33,0.48,474.41
$IRIDIUM_FIX,2337.99,12556.62,081010,212136
$TT8_MAMPS,0.026215
$HUMID,42.24
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.30
$XPDR_PINGS,79
$24V_AH,24.3,36.655
$10V_AH,10.4,24.002
$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,20.200,60.425,557.400,0.000,0.000,29.939,18.744,142.618,19.750,0.000,17.095,1900.813,1575.858,538.047,2142.698,255.946,0.000,1353.220,0.000,1957.027,0.000,0.847,0.000
$DEVICE_MAMPS,222.615,113.220,1003.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.195,834.394,1359.308,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333904
$DATA_FILE_SIZE,47087,816
$CAP_FILE_SIZE,87350,0
$CFSIZE,260165632,168574976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,351.2,1
$GPS,091010,012337,2347.177,12630.711,27,1.1,27,-3.5