version: 66.08
glider: 166
mission: 3
dive: 220
start: 10 10 110 4 52 42
data:
$ID,166
$MISSION,3
$DIVE,220
$N_DIVES,226
$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,-21796.801
$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
$GPS1,101010,044636,2334.831,12631.181,8,1.5,24,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.5
$GPS2,101010,045220,2334.937,12631.218,13,1.4,13,-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,189.0,64737,-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,-214.1,0.0,0.0,0,102,0.00,0.00,-84.62,0.000,2,0.000,0.000,147,1753,3287,0,0,0,0,0,0
$GC,105,-1.16,-214.1,5.5,-10.0,12,137,8.80,2.10,-12.20,0.000,4,0.223,0.054,2457,387,3948,0,0,0,0,0,0
$GC,150,-0.65,-214.1,29.2,-52.3,18,160,0.60,2.15,0.00,0.000,6,0.183,0.037,2621,1793,3949,0,0,0,0,0,0
$GC,479,-0.60,-214.1,119.9,-22.4,79,487,0.00,2.17,0.00,0.000,4,0.000,0.050,2614,3201,3952,0,0,0,0,0,0
$GC,533,-0.62,-214.1,131.6,-18.0,88,541,0.00,2.12,0.00,0.000,6,0.000,0.035,2614,1801,3953,0,0,0,0,0,0
$GC,871,-0.60,-214.1,196.1,-18.8,149,878,0.12,2.17,0.00,0.000,4,0.164,0.047,2648,384,3955,0,0,0,0,0,0
$GC,922,-0.67,-214.1,204.6,-14.3,157,928,0.00,2.12,0.00,0.000,6,0.000,0.038,2644,1801,3955,0,0,0,0,0,0
$GC,1262,-0.73,-214.1,250.4,-12.5,218,1271,0.10,2.17,0.00,0.000,4,0.105,0.053,2586,3199,3955,0,0,0,0,0,0
$GC,1330,-0.75,-214.1,260.3,-16.1,229,1337,0.00,2.08,0.00,0.000,6,0.000,0.035,2586,1792,3955,0,0,0,0,0,0
$GC,1668,-0.72,-214.1,322.7,-19.3,279,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1791,3954,0,0,0,0,0,0
$GC,1995,-0.72,-214.1,380.5,-16.5,310,1999,0.00,2.10,0.00,0.000,4,0.000,0.047,2586,392,3954,0,0,0,0,0,0
$GC,2023,-0.72,-214.1,385.7,-17.4,312,2027,0.00,2.10,0.00,0.000,6,0.000,0.041,2583,1795,3953,0,0,0,0,0,0
$GC,2348,-0.72,-214.1,438.4,-15.3,342,2352,0.00,2.15,0.00,0.000,4,0.000,0.053,2576,3213,3952,0,0,0,0,0,0
$GC,2432,-0.77,-214.1,449.9,-13.1,349,2438,0.00,2.10,0.00,0.000,6,0.000,0.037,2575,1792,3952,0,0,0,0,0,0
$GC,2757,-0.77,-214.1,498.1,-13.2,380,2761,0.00,2.12,0.00,0.000,4,0.000,0.047,2576,387,3950,0,0,0,0,0,0
$STATE,2774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2774,begin apogee
$GC,2781,-0.23,0.0,500.7,13.6,381,2960,0.55,0.00,168.85,0.981,6,0.122,0.000,2758,1752,3072,0,0,0,0,0,0
$STATE,2961,end apogee,CONTROL_FINISHED_OK
$STATE,2961,begin climb
$GC,2963,1.16,214.1,507.7,0.0,396,3143,1.25,2.33,172.57,0.959,4,0.067,0.050,3221,355,2198,0,0,0,0,0,0
$GC,3199,0.85,214.1,466.4,28.7,417,3206,0.35,2.17,0.00,0.000,6,0.189,0.038,3121,1748,2196,0,0,0,0,0,0
$GC,3524,0.67,214.1,399.8,19.6,448,3529,0.22,2.15,0.00,0.000,4,0.174,0.044,3047,3166,2191,0,0,0,0,0,0
$GC,3597,0.60,214.1,388.2,14.3,454,3601,0.00,2.15,0.00,0.000,6,0.000,0.037,3055,1744,2189,0,0,0,0,0,0
$GC,3923,0.51,214.1,338.7,15.2,484,3928,0.17,2.12,0.00,0.000,4,0.169,0.046,3016,346,2188,0,0,0,0,0,0
$GC,3987,0.49,214.5,329.8,13.9,489,3991,0.00,2.10,0.00,0.000,6,0.000,0.035,3016,1757,2187,0,0,0,0,0,0
$GC,4321,0.50,238.9,284.3,12.8,529,4349,0.00,2.15,19.98,0.826,4,0.000,0.045,3016,3164,2098,0,0,0,0,0,0
$GC,4401,0.51,252.8,273.2,13.3,542,4425,0.00,2.17,13.27,0.779,6,0.000,0.035,3026,1750,2040,0,0,0,0,0,0
$GC,4759,0.55,298.3,227.2,11.9,605,4806,0.00,2.25,37.80,0.804,4,0.000,0.044,3025,3156,1854,0,0,0,0,0,0
$GC,4830,0.58,322.5,217.4,12.8,616,4858,0.00,2.17,21.90,0.762,6,0.000,0.035,3034,1751,1756,0,0,0,0,0,0
$GC,5191,0.60,337.7,168.8,13.2,680,5214,0.00,2.15,14.07,0.710,4,0.000,0.044,3044,349,1695,0,0,0,0,0,0
$GC,5274,0.65,347.9,157.9,13.4,693,5290,0.00,2.12,10.25,0.667,6,0.000,0.032,3044,1762,1653,0,0,0,0,0,0
$GC,5613,0.69,360.8,109.5,13.3,755,5636,0.00,2.28,11.98,0.658,4,0.000,0.044,3055,337,1600,0,0,0,0,0,0
$GC,5666,0.80,402.7,102.2,12.1,763,5713,0.08,2.15,35.47,0.695,6,0.052,0.031,3125,1749,1430,0,0,0,0,0,0
$GC,6036,0.80,418.5,42.7,13.2,829,6059,0.00,2.17,14.25,0.617,4,0.000,0.042,3124,3154,1365,0,0,0,0,0,0
$GC,6131,0.83,432.2,30.1,13.3,845,6155,0.00,2.15,13.20,0.599,6,0.000,0.034,3132,1744,1307,0,0,0,0,0,0
$STATE,6297,end climb,SURFACE_DEPTH_REACHED
$STATE,6297,begin surface coast
$FINISH,0.6,1.021006
$STATE,6314,end surface coast,CONTROL_FINISHED_OK
$STATE,6314,begin surface
$SM_CCo,6392,0.00,0.000,0,0,1302,434.18
$SM_GC,1.50,7.62,0.00,0.00,0.032,0.000,0.000,148,1820,1302,-8.34,0.57,434.18
$IRIDIUM_FIX,2328.57,12631.03,101010,020227
$TT8_MAMPS,0.026215
$HUMID,41.29
$INTERNAL_PRESSURE,8.82328
$TCM_TEMP,24.90
$XPDR_PINGS,66
$24V_AH,24.3,39.126
$10V_AH,10.4,25.727
$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,19.875,64.650,533.600,0.000,0.000,27.908,39.803,135.227,16.500,0.000,15.995,2045.007,1605.560,537.015,2281.398,261.880,0.000,1377.149,0.000,2088.497,0.000,0.849,0.000
$DEVICE_MAMPS,222.615,109.395,981.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.792,897.111,1473.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,50188,878
$CAP_FILE_SIZE,91480,0
$CFSIZE,260165632,167727104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110, 83.7,1
$GPS,101010,064022,2334.000,12631.478,12,99.0,31,-3.5