version: 66.08
glider: 166
mission: 3
dive: 226
start: 10 10 110 16 6 32
data:
$ID,166
$MISSION,3
$DIVE,226
$N_DIVES,238
$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,-21804.627
$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,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
$GPS1,101010,160037,2330.011,12630.693,31,1.3,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.7
$GPS2,101010,160608,2330.066,12630.685,13,1.1,13,-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,180.7,55695,-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,-214.1,0.0,0.0,0,104,0.00,0.00,-86.53,0.000,2,0.000,0.000,144,1764,3278,0,0,0,0,0,0
$GC,107,-1.16,-214.1,5.7,-11.2,12,138,8.82,2.10,-12.20,0.000,4,0.223,0.052,2458,393,3948,0,0,0,0,0,0
$GC,206,-0.94,-214.1,53.3,-38.3,28,214,0.28,2.12,0.00,0.000,6,0.175,0.035,2531,1789,3950,0,0,0,0,0,0
$GC,532,-0.79,-214.1,152.4,-25.2,89,539,0.20,2.12,0.00,0.000,4,0.174,0.045,2579,3204,3954,0,0,0,0,0,0
$GC,560,-0.69,-214.1,159.3,-23.0,93,568,0.15,2.08,0.00,0.000,6,0.161,0.034,2620,1794,3954,0,0,0,0,0,0
$GC,900,-0.69,-214.1,214.1,-15.8,154,909,0.00,2.12,0.00,0.000,4,0.000,0.045,2619,402,3956,0,0,0,0,0,0
$GC,967,-0.73,-214.1,224.5,-15.9,165,974,0.00,2.08,0.00,0.000,6,0.000,0.037,2614,1798,3956,0,0,0,0,0,0
$GC,1305,-0.73,-214.1,278.2,-15.0,226,1313,0.00,2.17,0.00,0.000,4,0.000,0.053,2613,3207,3956,0,0,0,0,0,0
$GC,1351,-0.81,-214.1,283.9,-11.8,233,1358,0.00,2.10,0.00,0.000,6,0.000,0.034,2613,1790,3956,0,0,0,0,0,0
$GC,1689,-0.84,-214.1,331.0,-13.8,275,1694,0.12,2.12,0.00,0.000,4,0.090,0.046,2549,393,3955,0,0,0,0,0,0
$GC,1765,-0.80,-214.1,345.2,-20.3,281,1770,0.12,2.12,0.00,0.000,6,0.174,0.040,2578,1803,3955,0,0,0,0,0,0
$GC,2094,-0.80,-214.1,401.0,-16.0,311,2098,0.00,2.12,0.00,0.000,4,0.000,0.052,2572,3207,3954,0,0,0,0,0,0
$GC,2177,-0.85,-214.1,413.2,-13.1,318,2186,0.00,2.10,0.00,0.000,6,0.000,0.035,2572,1807,3953,0,0,0,0,0,0
$GC,2503,-0.85,-214.1,461.5,-15.0,349,2507,0.00,2.12,0.00,0.000,4,0.000,0.047,2572,398,3952,0,0,0,0,0,0
$GC,2557,-0.87,-214.1,469.9,-14.3,353,2564,0.00,2.10,0.00,0.000,6,0.000,0.040,2571,1803,3952,0,0,0,0,0,0
$STATE,2765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2765,begin apogee
$GC,2772,-0.23,0.0,500.8,14.8,373,2950,0.57,0.00,168.73,1.001,6,0.128,0.000,2763,1743,3073,0,0,0,0,0,0
$STATE,2950,end apogee,CONTROL_FINISHED_OK
$STATE,2951,begin climb
$GC,2953,1.16,214.1,510.5,0.0,388,3137,1.20,2.25,172.38,0.972,4,0.044,0.047,3236,346,2198,0,0,0,0,0,0
$GC,3322,0.83,214.1,427.1,29.4,419,3329,0.43,2.15,0.00,0.000,6,0.195,0.036,3114,1759,2193,0,0,0,0,0,0
$GC,3647,0.65,214.1,358.8,20.6,450,3651,0.22,2.12,0.00,0.000,4,0.177,0.044,3041,3164,2189,0,0,0,0,0,0
$GC,3697,0.57,214.1,350.1,15.2,454,3706,0.00,2.15,0.00,0.000,6,0.000,0.036,3048,1750,2188,0,0,0,0,0,0
$GC,4023,0.49,214.1,302.1,15.5,485,4028,0.17,2.17,0.00,0.000,4,0.167,0.045,3008,337,2187,0,0,0,0,0,0
$GC,4084,0.52,239.0,293.9,12.8,493,4112,0.00,2.12,20.33,0.844,6,0.000,0.033,3000,1755,2097,0,0,0,0,0,0
$GC,4448,0.57,276.1,249.5,12.3,557,4489,0.00,2.20,31.23,0.828,4,0.000,0.045,3000,3152,1945,0,0,0,0,0,0
$GC,4560,0.62,290.6,235.5,13.3,575,4581,0.10,2.12,13.23,0.759,6,0.094,0.034,3067,1744,1886,0,0,0,0,0,0
$GC,4914,0.56,290.6,174.5,16.4,638,4923,0.17,2.17,0.00,0.000,4,0.161,0.044,3027,348,1883,0,0,0,0,0,0
$GC,4961,0.62,326.3,168.2,12.3,645,5003,0.00,2.10,30.52,0.766,6,0.000,0.032,3022,1752,1740,0,0,0,0,0,0
$GC,5326,0.72,387.2,123.6,11.2,711,5387,0.15,2.20,50.83,0.736,4,0.073,0.044,3097,3149,1492,0,0,0,0,0,0
$GC,5450,0.71,387.2,102.1,17.6,730,5460,0.10,2.15,0.00,0.000,6,0.138,0.035,3072,1759,1491,0,0,0,0,0,0
$GC,5780,0.82,442.2,58.9,11.5,791,5831,0.00,2.28,45.15,0.677,4,0.000,0.044,3081,343,1269,0,0,0,0,0,0
$GC,5911,1.08,556.8,45.8,8.9,812,6010,0.25,2.15,93.18,0.656,6,0.031,0.030,3215,1752,801,0,0,0,0,0,0
$STATE,6077,end climb,SURFACE_DEPTH_REACHED
$STATE,6078,begin surface coast
$FINISH,0.7,1.021816
$STATE,6084,end surface coast,CONTROL_FINISHED_OK
$STATE,6084,begin surface
$SM_CCo,6161,0.00,0.000,0,0,796,558.30
$SM_GC,1.44,7.95,0.00,0.00,0.030,0.000,0.000,146,1756,796,-8.34,-1.24,558.30
$IRIDIUM_FIX,2323.87,12632.92,101010,141452
$TT8_MAMPS,0.026215
$HUMID,41.88
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,24.30
$XPDR_PINGS,84
$24V_AH,24.2,40.071
$10V_AH,10.4,26.387
$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,21.025,60.025,625.550,0.000,0.000,28.353,21.566,140.756,21.000,0.000,14.718,1922.536,1517.605,587.636,2194.925,267.866,0.000,1440.702,0.000,2013.795,0.000,0.846,0.000
$DEVICE_MAMPS,222.615,112.455,1001.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.544,856.820,1392.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50279,838
$CAP_FILE_SIZE,89019,0
$CFSIZE,260165632,167415808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092, 37.2,1
$GPS,101010,175022,2329.398,12630.974,13,99.0,32,-3.5