version: 66.08
glider: 166
mission: 3
dive: 331
start: 10 18 110 20 47 6
data:
$ID,166
$MISSION,3
$DIVE,331
$N_DIVES,330
$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,-21940.574
$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,38
$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
$GPS1,181010,204025,2356.277,12630.017,11,1.6,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.6
$GPS2,181010,204644,2356.325,12630.019,12,1.8,12,-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,187.3,104313,-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,-214.1,0.0,0.0,0,117,0.00,0.00,-99.57,0.000,2,0.000,0.000,150,1753,3339,0,0,0,0,0,0
$GC,120,-1.16,-214.1,5.7,-10.9,13,151,9.07,2.15,-11.05,0.000,4,0.226,0.055,2460,386,3949,0,0,0,0,0,0
$GC,256,-0.87,-214.1,68.0,-43.0,36,265,0.32,2.17,0.00,0.000,6,0.154,0.042,2554,1791,3952,0,0,0,0,0,0
$GC,581,-0.76,-214.1,152.7,-25.5,97,588,0.12,2.17,0.00,0.000,4,0.181,0.045,2590,388,3955,0,0,0,0,0,0
$GC,623,-0.72,-214.1,163.4,-22.2,104,631,0.00,2.17,0.00,0.000,6,0.000,0.040,2581,1809,3955,0,0,0,0,0,0
$GC,958,-0.69,-214.1,226.2,-16.3,165,965,0.12,0.00,0.00,0.000,6,0.173,0.000,2615,1810,3956,0,0,0,0,0,0
$GC,1290,-0.73,-214.1,271.1,-12.6,226,1300,0.00,2.20,0.00,0.000,4,0.000,0.047,2614,398,3956,0,0,0,0,0,0
$GC,1320,-0.78,-214.1,274.7,-12.9,230,1328,0.00,2.15,0.00,0.000,6,0.000,0.038,2605,1807,3956,0,0,0,0,0,0
$GC,1651,-0.82,-214.1,315.3,-11.3,279,1655,0.00,2.15,0.00,0.000,4,0.000,0.052,2603,3210,3955,0,0,0,0,0,0
$GC,1693,-0.91,-214.1,319.9,-10.3,282,1698,0.17,2.10,0.00,0.000,6,0.067,0.037,2512,1798,3955,0,0,0,0,0,0
$GC,2019,-0.83,-214.1,385.3,-20.3,312,2024,0.20,2.15,0.00,0.000,4,0.163,0.045,2568,399,3954,0,0,0,0,0,0
$GC,2093,-0.85,-214.1,397.6,-15.7,318,2097,0.00,2.12,0.00,0.000,6,0.000,0.038,2563,1804,3954,0,0,0,0,0,0
$GC,2419,-0.85,-214.1,448.4,-16.2,348,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1805,3952,0,0,0,0,0,0
$GC,2740,-0.87,-214.1,496.5,-14.6,378,2744,0.00,2.15,0.00,0.000,4,0.000,0.047,2562,398,3950,0,0,0,0,0,0
$STATE,2758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2759,begin apogee
$GC,2766,-0.23,0.0,500.4,14.7,379,2942,0.60,0.00,170.18,0.993,6,0.119,0.000,2762,1752,3071,0,0,0,0,0,0
$STATE,2942,end apogee,CONTROL_FINISHED_OK
$STATE,2943,begin climb
$GC,2945,1.16,214.1,510.5,0.0,394,3130,1.20,2.30,172.80,0.966,4,0.047,0.051,3214,3149,2198,0,0,0,0,0,0
$GC,3167,0.86,214.1,476.7,28.9,413,3172,0.40,2.20,0.00,0.000,6,0.187,0.041,3117,1745,2196,0,0,0,0,0,0
$GC,3494,0.69,214.1,410.9,17.5,443,3496,0.17,0.00,0.00,0.000,6,0.177,0.000,3069,1745,2192,0,0,0,0,0,0
$GC,3814,0.59,214.1,362.8,15.5,473,3818,0.12,2.17,0.00,0.000,4,0.180,0.047,3025,3162,2191,0,0,0,0,0,0
$GC,3852,0.56,219.1,356.4,13.7,476,3861,0.00,2.15,4.30,0.581,6,0.000,0.037,3032,1750,2178,0,0,0,0,0,0
$GC,4181,0.56,247.6,311.8,12.7,507,4209,0.00,0.00,25.35,0.861,6,0.000,0.000,3032,1750,2061,0,0,0,0,0,0
$GC,4537,0.58,286.8,268.9,12.2,563,4578,0.00,2.22,33.15,0.842,4,0.000,0.046,3043,354,1901,0,0,0,0,0,0
$GC,4618,0.58,286.8,257.4,14.7,576,4626,0.00,2.17,0.00,0.000,6,0.000,0.034,3043,1753,1898,0,0,0,0,0,0
$GC,4953,0.55,286.8,210.2,14.6,637,4959,0.00,2.17,0.00,0.000,4,0.000,0.047,3041,3171,1895,0,0,0,0,0,0
$GC,5053,0.55,286.8,195.5,14.5,655,5062,0.12,2.15,0.00,0.000,6,0.166,0.037,3015,1740,1894,0,0,0,0,0,0
$GC,5389,0.70,373.9,160.4,10.1,716,5472,0.15,2.22,72.57,0.763,4,0.076,0.043,3099,3161,1546,0,0,0,0,0,0
$GC,5494,0.64,373.9,143.0,19.5,731,5504,0.17,2.17,0.00,0.000,6,0.139,0.035,3052,1760,1546,0,0,0,0,0,0
$GC,5825,0.67,374.1,98.9,13.9,792,5832,0.00,2.17,0.00,0.000,4,0.000,0.046,3060,353,1543,0,0,0,0,0,0
$GC,5911,0.79,422.2,87.3,11.8,807,5958,0.08,2.12,40.42,0.698,6,0.053,0.032,3127,1763,1349,0,0,0,0,0,0
$GC,6280,0.82,449.7,36.3,12.7,873,6311,0.00,2.12,23.75,0.637,4,0.000,0.040,3125,3166,1237,0,0,0,0,0,0
$GC,6412,0.90,466.4,18.4,13.2,895,6436,0.00,2.17,15.32,0.601,6,0.000,0.036,3133,1749,1170,0,0,0,0,0,0
$STATE,6524,end climb,SURFACE_DEPTH_REACHED
$STATE,6524,begin surface coast
$FINISH,0.8,1.021934
$STATE,6550,end surface coast,CONTROL_FINISHED_OK
$STATE,6550,begin surface
$SM_CCo,6627,0.00,0.000,0,0,1166,467.30
$SM_GC,1.59,7.72,0.00,0.00,0.035,0.000,0.000,141,1822,1166,-8.36,0.62,467.30
$IRIDIUM_FIX,2349.77,12656.44,181010,181801
$TT8_MAMPS,0.026215
$HUMID,42.95
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.60
$XPDR_PINGS,79
$24V_AH,24.1,56.840
$10V_AH,10.4,37.977
$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,20.775,56.400,557.850,0.000,0.000,31.522,37.761,153.588,19.750,0.000,13.473,2139.779,1650.836,540.346,2381.138,286.085,0.000,1409.823,0.000,2172.318,0.000,0.848,0.000
$DEVICE_MAMPS,226.440,145.350,992.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.550,939.600,1532.119,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,53611,919
$CAP_FILE_SIZE,92951,0
$CFSIZE,260165632,161832960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 55.2,1
$GPS,181010,223836,2355.674,12630.461,27,1.1,27,-3.6