version: 66.08
glider: 166
mission: 3
dive: 212
start: 10 9 110 14 27 48
data:
$ID,166
$MISSION,3
$DIVE,212
$N_DIVES,220
$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,-21786.375
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,091010,142131,2340.382,12630.751,38,1.6,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.0
$GPS2,091010,142726,2340.392,12630.659,11,1.6,11,-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,169.2,74814,-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,-214.1,0.0,0.0,0,105,0.00,0.00,-87.35,0.000,2,0.000,0.000,146,1759,3193,0,0,0,0,0,0
$GC,108,-1.16,-214.1,5.2,-10.8,12,139,8.85,2.08,-14.30,0.000,4,0.226,0.051,2457,386,3947,0,0,0,0,0,0
$GC,336,-0.90,-214.1,104.7,-37.3,53,344,0.30,2.17,0.00,0.000,6,0.161,0.044,2541,1787,3950,0,0,0,0,0,0
$GC,670,-0.77,-214.1,200.8,-25.1,114,680,0.17,2.20,0.00,0.000,4,0.173,0.051,2584,3202,3954,0,0,0,0,0,0
$GC,696,-0.67,-214.1,206.2,-23.3,117,703,0.15,2.10,0.00,0.000,6,0.159,0.036,2625,1797,3954,0,0,0,0,0,0
$GC,1037,-0.69,-214.1,258.7,-14.9,178,1046,0.00,2.15,0.00,0.000,4,0.000,0.047,2625,398,3955,0,0,0,0,0,0
$GC,1083,-0.74,-214.1,264.9,-14.0,185,1090,0.00,2.10,0.00,0.000,6,0.000,0.040,2625,1806,3955,0,0,0,0,0,0
$GC,1424,-0.78,-214.1,312.6,-12.7,237,1429,0.12,2.15,0.00,0.000,4,0.091,0.053,2559,3206,3955,0,0,0,0,0,0
$GC,1478,-0.78,-214.1,322.0,-16.3,241,1486,0.00,2.12,0.00,0.000,6,0.000,0.037,2559,1763,3954,0,0,0,0,0,0
$GC,1806,-0.74,-214.1,380.9,-17.2,272,1811,0.15,2.10,0.00,0.000,4,0.164,0.047,2601,391,3953,0,0,0,0,0,0
$GC,1872,-0.79,-214.1,390.8,-12.8,277,1879,0.00,2.12,0.00,0.000,6,0.000,0.041,2600,1812,3954,0,0,0,0,0,0
$GC,2198,-0.82,-214.1,433.6,-13.5,308,2202,0.00,2.15,0.00,0.000,4,0.000,0.053,2591,3206,3952,0,0,0,0,0,0
$GC,2275,-0.90,-214.1,443.4,-11.2,314,2284,0.08,2.12,0.00,0.000,6,0.055,0.037,2533,1802,3952,0,0,0,0,0,0
$STATE,2587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2587,begin apogee
$GC,2592,-0.23,0.0,500.0,18.0,344,2771,0.70,0.00,169.02,0.992,6,0.146,0.000,2756,1750,3071,0,0,0,0,0,0
$STATE,2771,end apogee,CONTROL_FINISHED_OK
$STATE,2771,begin climb
$GC,2775,1.16,214.1,507.3,0.0,359,2955,1.27,2.28,172.18,0.966,4,0.071,0.049,3223,349,2200,0,0,0,0,0,0
$GC,2970,0.85,214.1,480.5,26.7,376,2975,0.38,2.22,0.00,0.000,6,0.193,0.039,3120,1754,2198,0,0,0,0,0,0
$GC,3295,0.66,214.1,411.6,21.8,406,3300,0.22,2.17,0.00,0.000,4,0.174,0.047,3050,3164,2194,0,0,0,0,0,0
$GC,3370,0.58,214.1,398.7,16.6,412,3374,0.00,2.15,0.00,0.000,6,0.000,0.038,3054,1749,2192,0,0,0,0,0,0
$GC,3695,0.48,214.1,345.3,16.0,442,3700,0.20,2.15,0.00,0.000,4,0.161,0.046,3007,346,2190,0,0,0,0,0,0
$GC,3761,0.52,250.6,337.0,12.3,447,3796,0.00,2.12,30.35,0.887,6,0.000,0.036,3007,1766,2050,0,0,0,0,0,0
$GC,4116,0.57,291.5,294.4,12.1,484,4159,0.00,2.22,34.12,0.863,4,0.000,0.045,3014,347,1883,0,0,0,0,0,0
$GC,4179,0.61,317.8,286.7,12.7,493,4207,0.00,2.17,23.48,0.828,6,0.000,0.034,3015,1758,1775,0,0,0,0,0,0
$GC,4542,0.64,344.9,238.2,12.7,557,4570,0.00,2.22,23.50,0.804,4,0.000,0.047,3016,3160,1665,0,0,0,0,0,0
$GC,4607,0.71,364.9,229.3,13.0,567,4636,0.12,2.17,18.67,0.776,6,0.078,0.037,3096,1738,1583,0,0,0,0,0,0
$GC,4973,0.64,364.9,152.4,21.3,631,4981,0.17,2.15,0.00,0.000,4,0.162,0.044,3056,340,1579,0,0,0,0,0,0
$GC,5010,0.64,364.9,144.8,17.5,637,5017,0.00,2.15,0.00,0.000,6,0.000,0.033,3054,1750,1578,0,0,0,0,0,0
$GC,5338,0.64,364.9,95.2,14.6,698,5346,0.00,2.15,0.00,0.000,4,0.000,0.045,3053,3152,1577,0,0,0,0,0,0
$GC,5381,0.69,376.7,89.3,13.4,705,5398,0.00,2.12,10.48,0.649,6,0.000,0.036,3061,1741,1536,0,0,0,0,0,0
$GC,5719,0.86,472.3,51.4,9.7,767,5810,0.15,2.22,78.53,0.672,4,0.072,0.045,3164,350,1145,0,0,0,0,0,0
$GC,5852,0.81,472.3,27.9,19.3,786,5861,0.17,2.17,0.00,0.000,6,0.133,0.032,3103,1764,1143,0,0,0,0,0,0
$STATE,6020,end climb,SURFACE_DEPTH_REACHED
$STATE,6020,begin surface coast
$FINISH,0.7,1.009829
$STATE,6043,end surface coast,CONTROL_FINISHED_OK
$STATE,6044,begin surface
$SM_CCo,6122,0.00,0.000,0,0,1139,474.16
$SM_GC,1.43,7.50,0.00,0.00,0.025,0.000,0.000,142,1770,1139,-8.35,-0.85,474.16
$IRIDIUM_FIX,2330.93,12632.43,091010,121227
$TT8_MAMPS,0.027713
$HUMID,42.04
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.50
$XPDR_PINGS,93
$24V_AH,24.3,37.898
$10V_AH,10.4,24.872
$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,20.725,60.500,560.325,0.000,0.000,26.142,40.545,147.254,23.250,0.000,13.811,1907.806,1586.780,547.398,2177.017,255.654,0.000,1354.585,0.000,1973.849,0.000,0.847,0.000
$DEVICE_MAMPS,225.675,154.530,992.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.344,839.696,1384.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333940
$DATA_FILE_SIZE,46972,821
$CAP_FILE_SIZE,87525,0
$CFSIZE,260165632,168153088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,349.5,1
$GPS,091010,161055,2339.656,12630.900,12,1.2,29,-3.5