version: 66.08
glider: 166
mission: 3
dive: 145
start: 10 4 110 11 17 19
data:
$ID,166
$MISSION,3
$DIVE,145
$N_DIVES,155
$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,642
$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,-21671.586
$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,42
$R_STBD_OVSHOOT,45
$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
$GPS1,041010,111134,2301.885,12629.597,12,4.4,31,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-62.4
$GPS2,041010,111656,2301.870,12629.568,14,1.5,14,-3.3
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,24.8,107659,-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,-214.1,0.0,0.0,0,128,0.00,0.00,-110.43,0.000,2,0.000,0.000,145,1771,3261,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.4,-10.8,15,162,8.65,2.20,-12.62,0.000,4,0.220,0.057,2449,3197,3949,0,0,0,0,0,0
$GC,186,-0.78,-214.1,34.9,-54.9,23,195,0.45,2.12,0.00,0.000,6,0.174,0.035,2582,1798,3950,0,0,0,0,0,0
$GC,512,-0.70,-214.1,126.7,-23.3,84,521,0.12,2.15,0.00,0.000,4,0.176,0.044,2617,399,3954,0,0,0,0,0,0
$GC,602,-0.70,-214.1,144.9,-16.6,100,610,0.00,2.12,0.00,0.000,6,0.000,0.037,2614,1798,3955,0,0,0,0,0,0
$GC,937,-0.70,-214.1,209.1,-20.1,161,945,0.00,2.12,0.00,0.000,4,0.000,0.051,2613,3205,3955,0,0,0,0,0,0
$GC,985,-0.76,-214.1,217.1,-15.3,169,992,0.00,2.08,0.00,0.000,6,0.000,0.034,2613,1787,3956,0,0,0,0,0,0
$GC,1317,-0.78,-214.1,271.2,-14.6,230,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1787,3955,0,0,0,0,0,0
$GC,1651,-0.81,-214.1,321.6,-14.3,278,1655,0.00,2.10,0.00,0.000,4,0.000,0.047,2613,395,3954,0,0,0,0,0,0
$GC,1689,-0.85,-214.1,327.5,-14.8,281,1697,0.12,2.10,0.00,0.000,6,0.087,0.040,2544,1812,3953,0,0,0,0,0,0
$GC,2014,-0.79,-214.1,391.5,-19.2,312,2016,0.15,0.00,0.00,0.000,6,0.173,0.000,2585,1812,3953,0,0,0,0,0,0
$GC,2334,-0.81,-214.1,439.8,-15.2,342,2337,0.00,2.15,0.00,0.000,4,0.000,0.047,2585,386,3951,0,0,0,0,0,0
$GC,2377,-0.84,-214.1,446.6,-14.5,345,2385,0.00,2.10,0.00,0.000,6,0.000,0.040,2585,1798,3951,0,0,0,0,0,0
$GC,2704,-0.88,-214.1,493.3,-13.6,376,2708,0.00,2.15,0.00,0.000,4,0.000,0.053,2578,3216,3949,0,0,0,0,0,0
$GC,2736,-0.93,-214.1,497.8,-13.1,378,2745,0.08,2.12,0.00,0.000,6,0.054,0.037,2519,1800,3949,0,0,0,0,0,0
$STATE,2751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2751,begin apogee
$GC,2757,-0.23,0.0,500.0,12.6,380,2930,0.75,0.00,166.73,0.965,6,0.138,0.000,2763,1799,3073,0,0,0,0,0,0
$STATE,2930,end apogee,CONTROL_FINISHED_OK
$STATE,2931,begin climb
$GC,2933,1.16,214.1,507.0,0.0,394,3116,1.20,2.40,172.25,0.936,4,0.047,0.049,3234,353,2199,0,0,0,0,0,0
$GC,3141,0.84,214.1,472.0,31.4,413,3147,0.45,2.20,0.00,0.000,6,0.191,0.041,3114,1749,2197,0,0,0,0,0,0
$GC,3470,0.66,214.1,395.0,22.0,443,3478,0.20,0.00,0.00,0.000,6,0.175,0.000,3059,1753,2192,0,0,0,0,0,0
$GC,3796,0.58,214.1,341.6,15.3,474,3800,0.12,2.12,0.00,0.000,4,0.181,0.047,3014,3178,2188,0,0,0,0,0,0
$GC,3838,0.58,240.8,335.9,12.7,477,3867,0.00,2.12,22.08,0.841,6,0.000,0.036,3022,1745,2089,0,0,0,0,0,0
$GC,4191,0.56,240.8,283.7,14.4,519,4198,0.00,2.10,0.00,0.000,4,0.000,0.046,3031,351,2085,0,0,0,0,0,0
$GC,4239,0.53,240.8,276.7,14.4,527,4246,0.00,2.12,0.00,0.000,6,0.000,0.035,3032,1763,2084,0,0,0,0,0,0
$GC,4570,0.54,272.6,230.6,12.5,588,4605,0.00,2.17,26.12,0.787,4,0.000,0.046,3031,3160,1960,0,0,0,0,0,0
$GC,4656,0.56,285.8,219.0,13.3,602,4677,0.00,2.15,12.07,0.717,6,0.000,0.035,3037,1744,1905,0,0,0,0,0,0
$GC,5004,0.56,285.8,169.9,14.4,665,5011,0.00,2.12,0.00,0.000,4,0.000,0.044,3045,340,1900,0,0,0,0,0,0
$GC,5032,0.54,285.8,165.9,15.4,669,5039,0.00,2.12,0.00,0.000,6,0.000,0.032,3045,1759,1900,0,0,0,0,0,0
$GC,5363,0.56,303.8,119.0,13.1,730,5385,0.00,2.10,15.30,0.680,4,0.000,0.043,3043,3156,1832,0,0,0,0,0,0
$GC,5436,0.59,320.4,109.3,13.2,742,5460,0.00,2.12,14.88,0.662,6,0.000,0.034,3050,1752,1765,0,0,0,0,0,0
$GC,5780,0.78,447.9,64.4,8.3,805,5890,0.12,2.20,102.30,0.659,4,0.083,0.042,3144,348,1244,0,0,0,0,0,0
$GC,5943,0.76,447.9,39.7,16.5,829,5952,0.15,2.15,0.00,0.000,6,0.126,0.031,3092,1743,1242,0,0,0,0,0,0
$STATE,6220,end climb,SURFACE_DEPTH_REACHED
$STATE,6220,begin surface coast
$FINISH,0.7,1.021509
$STATE,6243,end surface coast,CONTROL_FINISHED_OK
$STATE,6243,begin surface
$SM_CCo,6261,161.85,0.559,1,0,454,641.95
$SM_CCo,6432,-0.43,0.000,0,0,455,642.20
$SM_GC,1.27,0.00,0.00,-0.43,0.000,0.000,0.000,146,1822,455,-8.42,0.62,642.20
$IRIDIUM_FIX,2251.04,12628.32,041010,090942
$TT8_MAMPS,0.026215
$HUMID,39.52
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,24.70
$XPDR_PINGS,88
$24V_AH,24.4,27.905
$10V_AH,10.5,17.540
$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,20.100,55.775,531.725,161.850,0.000,23.573,15.255,144.169,22.000,0.000,15.132,2035.769,1480.278,719.364,2264.728,254.682,0.000,1554.466,0.000,2091.020,0.000,0.848,0.000
$DEVICE_MAMPS,220.320,218.025,965.430,559.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.757,904.355,1506.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,50479,885
$CAP_FILE_SIZE,89544,0
$CFSIZE,260165632,171655168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141,291.5,1
$GPS,041010,130536,2303.164,12629.438,10,1.4,26,-3.3