version: 66.08
glider: 166
mission: 3
dive: 159
start: 10 5 110 13 0 59
data:
$ID,166
$MISSION,3
$DIVE,159
$N_DIVES,165
$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,-21690.02
$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,41
$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
$GPS1,051010,125307,2320.454,12628.504,34,0.9,34,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.3
$GPS2,051010,130038,2320.509,12628.431,14,1.0,14,-3.4
$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,25.0,73186,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,92,0.00,0.00,-72.95,0.000,2,0.000,0.000,144,1756,3279,0,0,0,0,0,0
$GC,95,-1.16,-214.1,5.6,-11.6,10,127,8.88,2.25,-12.15,0.000,4,0.229,0.057,2446,3215,3948,0,0,0,0,0,0
$GC,135,-0.51,-214.1,27.8,-55.5,15,144,0.77,2.12,0.00,0.000,6,0.186,0.030,2676,1785,3949,0,0,0,0,0,0
$GC,459,-0.53,-214.1,100.0,-14.6,76,467,0.00,2.17,0.00,0.000,4,0.000,0.047,2669,3198,3953,0,0,0,0,0,0
$GC,529,-0.62,-214.1,108.8,-10.6,88,538,0.00,2.08,0.00,0.000,6,0.000,0.034,2669,1812,3953,0,0,0,0,0,0
$GC,859,-0.67,-214.1,155.0,-14.5,149,866,0.12,2.12,0.00,0.000,4,0.089,0.044,2601,392,3955,0,0,0,0,0,0
$GC,887,-0.67,-214.1,159.7,-17.0,153,894,0.00,2.10,0.00,0.000,6,0.000,0.039,2600,1797,3955,0,0,0,0,0,0
$GC,1228,-0.63,-214.1,232.0,-20.6,214,1237,0.12,2.17,0.00,0.000,4,0.181,0.051,2627,3205,3955,0,0,0,0,0,0
$GC,1286,-0.71,-214.1,240.5,-13.0,223,1293,0.00,2.05,0.00,0.000,6,0.000,0.034,2627,1801,3955,0,0,0,0,0,0
$GC,1624,-0.73,-214.1,290.6,-15.1,284,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1801,3955,0,0,0,0,0,0
$GC,1956,-0.77,-214.1,336.6,-12.8,320,1958,0.10,0.00,0.00,0.000,6,0.103,0.000,2571,1801,3954,0,0,0,0,0,0
$GC,2275,-0.74,-214.1,394.3,-18.1,350,2279,0.12,2.17,0.00,0.000,4,0.174,0.051,2600,3202,3953,0,0,0,0,0,0
$GC,2330,-0.82,-214.1,402.0,-12.3,354,2338,0.00,2.10,0.00,0.000,6,0.000,0.035,2600,1798,3953,0,0,0,0,0,0
$GC,2657,-0.85,-214.1,444.4,-13.0,385,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1798,3951,0,0,0,0,0,0
$GC,2988,-0.88,-214.1,490.9,-13.6,416,2996,0.12,0.00,0.00,0.000,6,0.090,0.000,2533,1798,3950,0,0,0,0,0,0
$STATE,3045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3045,begin apogee
$GC,3050,-0.23,0.0,501.8,18.4,422,3226,0.70,0.00,167.07,0.973,6,0.145,0.000,2758,1798,3071,0,0,0,0,0,0
$STATE,3227,end apogee,CONTROL_FINISHED_OK
$STATE,3227,begin climb
$GC,3231,1.16,214.1,508.7,0.0,437,3412,1.25,2.28,171.00,0.942,4,0.069,0.050,3213,3159,2198,0,0,0,0,0,0
$GC,3490,0.89,214.1,458.1,30.1,459,3495,0.35,2.20,0.00,0.000,6,0.190,0.039,3130,1744,2195,0,0,0,0,0,0
$GC,3818,0.70,214.1,380.7,21.5,489,3822,0.22,2.12,0.00,0.000,4,0.169,0.044,3076,343,2193,0,0,0,0,0,0
$GC,3851,0.59,214.1,373.6,18.6,491,3859,0.17,2.12,0.00,0.000,6,0.162,0.037,3028,1751,2191,0,0,0,0,0,0
$GC,4178,0.56,229.8,329.7,13.2,522,4196,0.00,2.12,13.02,0.806,4,0.000,0.044,3024,3164,2134,0,0,0,0,0,0
$GC,4224,0.56,243.8,323.0,13.3,525,4244,0.00,2.12,13.48,0.796,6,0.000,0.037,3028,1737,2076,0,0,0,0,0,0
$GC,4572,0.53,243.8,274.6,14.3,573,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1737,2072,0,0,0,0,0,0
$GC,4911,0.50,243.8,226.0,14.4,634,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1737,2071,0,0,0,0,0,0
$GC,5250,0.51,261.4,180.1,13.1,695,5271,0.00,2.20,14.93,0.728,4,0.000,0.041,3025,3177,2005,0,0,0,0,0,0
$GC,5291,0.51,266.6,174.4,13.7,701,5305,0.00,2.15,5.82,0.579,6,0.000,0.034,3028,1747,1984,0,0,0,0,0,0
$GC,5631,0.58,318.5,131.7,11.6,763,5683,0.00,2.22,43.03,0.721,4,0.000,0.045,3038,347,1772,0,0,0,0,0,0
$GC,5702,0.62,355.8,122.7,12.3,773,5741,0.00,2.17,31.95,0.695,6,0.000,0.031,3039,1761,1621,0,0,0,0,0,0
$GC,6064,0.73,411.3,79.0,11.5,838,6118,0.10,2.15,45.38,0.666,4,0.095,0.041,3098,3162,1394,0,0,0,0,0,0
$GC,6157,0.73,411.3,64.7,15.4,852,6166,0.00,2.17,0.00,0.000,6,0.000,0.034,3103,1752,1394,0,0,0,0,0,0
$GC,6486,0.73,411.3,12.7,14.2,913,6494,0.00,2.15,0.00,0.000,4,0.000,0.043,3103,3155,1392,0,0,0,0,0,0
$GC,6518,0.75,411.3,8.1,14.7,918,6527,0.08,2.12,0.00,0.000,6,0.133,0.034,3086,1744,1392,0,0,0,0,0,0
$STATE,6553,end climb,SURFACE_DEPTH_REACHED
$STATE,6553,begin surface coast
$FINISH,0.6,1.010028
$STATE,6576,end surface coast,CONTROL_FINISHED_OK
$STATE,6576,begin surface
$SM_CCo,6655,0.00,0.000,0,0,1385,413.82
$SM_GC,1.55,7.55,0.00,0.00,0.039,0.000,0.000,156,1823,1385,-8.33,0.65,413.82
$IRIDIUM_FIX,2312.13,12626.84,051010,121208
$TT8_MAMPS,0.027713
$HUMID,41.61
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.40
$XPDR_PINGS,81
$24V_AH,24.4,30.012
$10V_AH,10.5,19.080
$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,20.675,51.750,505.675,0.000,0.000,53.540,57.291,138.588,20.250,0.000,15.803,2165.170,1711.559,507.268,2453.403,265.600,0.000,1368.678,0.000,2215.823,0.000,0.847,0.000
$DEVICE_MAMPS,228.735,108.630,973.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.100,948.474,1605.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53633,928
$CAP_FILE_SIZE,92345,0
$CFSIZE,260165632,170921984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,334.3,1
$GPS,051010,145244,2321.987,12628.749,14,1.7,14,-3.4