version: 66.08
glider: 166
mission: 3
dive: 160
start: 10 5 110 14 58 47
data:
$ID,166
$MISSION,3
$DIVE,160
$N_DIVES,175
$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,-21691.275
$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,43
$R_STBD_OVSHOOT,64
$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
$GPS1,051010,145244,2321.987,12628.749,14,1.7,14,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.4
$GPS2,051010,145826,2322.034,12628.675,13,1.8,13,-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,13.3,70348,-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,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,98,0.00,0.00,-79.68,0.000,2,0.000,0.000,144,1827,3524,0,0,0,0,0,0
$GC,100,-1.16,-214.1,6.9,-13.9,11,125,8.90,2.05,-7.25,0.000,4,0.230,0.055,2446,3187,3947,0,0,0,0,0,0
$GC,155,-0.72,-214.1,42.0,-61.4,19,163,0.52,2.08,0.00,0.000,6,0.174,0.031,2602,1793,3949,0,0,0,0,0,0
$GC,481,-0.64,-214.1,133.8,-22.9,80,489,0.10,2.15,0.00,0.000,4,0.190,0.050,2626,3173,3953,0,0,0,0,0,0
$GC,531,-0.64,-214.1,143.5,-15.9,88,539,0.00,2.05,0.00,0.000,6,0.000,0.035,2626,1805,3953,0,0,0,0,0,0
$GC,866,-0.64,-214.1,201.1,-16.5,149,873,0.00,2.10,0.00,0.000,4,0.000,0.044,2626,396,3954,0,0,0,0,0,0
$GC,892,-0.64,-214.1,206.1,-18.2,153,900,0.00,2.05,0.00,0.000,6,0.000,0.040,2626,1775,3954,0,0,0,0,0,0
$GC,1224,-0.64,-214.1,257.7,-16.1,214,1232,0.00,2.20,0.00,0.000,4,0.000,0.053,2625,3213,3955,0,0,0,0,0,0
$GC,1293,-0.73,-214.1,267.1,-11.9,226,1302,0.00,2.12,0.00,0.000,6,0.000,0.035,2625,1795,3954,0,0,0,0,0,0
$GC,1632,-0.76,-214.1,317.2,-14.7,277,1636,0.00,2.12,0.00,0.000,4,0.000,0.050,2614,3207,3954,0,0,0,0,0,0
$GC,1699,-0.85,-214.1,326.0,-11.8,282,1707,0.10,2.10,0.00,0.000,6,0.047,0.036,2544,1803,3954,0,0,0,0,0,0
$GC,2026,-0.78,-214.1,391.3,-20.3,313,2030,0.15,2.10,0.00,0.000,4,0.174,0.045,2584,393,3953,0,0,0,0,0,0
$GC,2059,-0.76,-214.1,398.0,-18.5,315,2066,0.00,2.10,0.00,0.000,6,0.000,0.040,2584,1807,3953,0,0,0,0,0,0
$GC,2385,-0.76,-214.1,450.3,-15.1,346,2388,0.00,2.10,0.00,0.000,4,0.000,0.052,2578,3213,3951,0,0,0,0,0,0
$GC,2441,-0.82,-214.1,458.6,-13.3,350,2449,0.00,2.12,0.00,0.000,6,0.000,0.037,2577,1796,3951,0,0,0,0,0,0
$STATE,2711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2712,begin apogee
$GC,2717,-0.23,0.0,500.1,14.5,376,2895,0.55,0.00,167.20,0.971,6,0.129,0.000,2762,1795,3073,0,0,0,0,0,0
$STATE,2896,end apogee,CONTROL_FINISHED_OK
$STATE,2896,begin climb
$GC,2898,1.16,214.1,508.2,0.0,391,3085,1.25,2.25,171.98,0.943,4,0.065,0.051,3225,3150,2197,0,0,0,0,0,0
$GC,3132,0.87,214.1,467.2,28.8,412,3137,0.43,2.17,0.00,0.000,6,0.194,0.040,3124,1754,2196,0,0,0,0,0,0
$GC,3459,0.70,214.1,393.2,21.6,442,3460,0.20,0.00,0.00,0.000,6,0.178,0.000,3069,1753,2193,0,0,0,0,0,0
$GC,3777,0.60,214.1,339.5,16.1,472,3782,0.12,2.12,0.00,0.000,4,0.178,0.045,3024,3158,2191,0,0,0,0,0,0
$GC,3810,0.56,214.1,334.0,14.2,474,3819,0.00,2.12,0.00,0.000,6,0.000,0.036,3032,1748,2188,0,0,0,0,0,0
$GC,4139,0.52,224.5,292.2,13.4,510,4154,0.00,2.12,8.23,0.728,4,0.000,0.044,3043,344,2156,0,0,0,0,0,0
$GC,4176,0.50,240.6,287.7,13.2,515,4197,0.15,2.10,15.30,0.799,6,0.157,0.034,2998,1755,2091,0,0,0,0,0,0
$GC,4535,0.60,306.1,247.0,11.0,578,4599,0.12,2.17,54.20,0.813,4,0.085,0.044,3062,3156,1823,0,0,0,0,0,0
$GC,4646,0.57,306.1,228.8,18.0,595,4653,0.15,2.15,0.00,0.000,6,0.170,0.035,3028,1752,1822,0,0,0,0,0,0
$GC,4982,0.57,306.1,179.1,13.9,656,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1751,1819,0,0,0,0,0,0
$GC,5321,0.66,360.1,138.3,11.5,717,5373,0.00,2.22,44.33,0.728,4,0.000,0.044,3028,343,1604,0,0,0,0,0,0
$GC,5394,0.74,393.6,129.4,12.4,727,5433,0.10,2.17,28.95,0.695,6,0.046,0.031,3098,1755,1466,0,0,0,0,0,0
$GC,5753,0.76,413.8,63.1,13.0,792,5777,0.00,2.20,17.20,0.629,4,0.000,0.044,3096,3160,1385,0,0,0,0,0,0
$GC,5822,0.78,413.8,53.0,15.8,803,5830,0.00,2.15,0.00,0.000,6,0.000,0.034,3104,1752,1384,0,0,0,0,0,0
$STATE,6140,end climb,SURFACE_DEPTH_REACHED
$STATE,6140,begin surface coast
$FINISH,0.8,1.021854
$STATE,6157,end surface coast,CONTROL_FINISHED_OK
$STATE,6158,begin surface
$SM_CCo,6237,0.00,0.000,0,0,1377,415.54
$SM_GC,1.60,7.53,0.00,0.00,0.034,0.000,0.000,150,1822,1377,-8.34,0.62,415.54
$IRIDIUM_FIX,2312.13,12630.12,051010,121219
$TT8_MAMPS,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.40
$XPDR_PINGS,86
$24V_AH,24.3,30.152
$10V_AH,10.5,19.191
$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,20.375,55.450,507.375,0.000,0.000,22.600,17.416,150.678,21.500,0.000,14.074,2009.795,1571.040,509.917,2219.580,262.857,0.000,1321.894,0.000,2034.727,0.000,0.846,0.000
$DEVICE_MAMPS,230.265,217.260,970.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.765,885.141,1433.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333904
$DATA_FILE_SIZE,50404,866
$CAP_FILE_SIZE,86695,0
$CFSIZE,260165632,170872832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,291.4,1
$GPS,051010,164401,2323.265,12628.741,41,1.3,41,-3.4