version: 66.08
glider: 166
mission: 3
dive: 165
start: 10 6 110 0 9 30
data:
$ID,166
$MISSION,3
$DIVE,165
$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,-21697.744
$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,57
$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
$GPS1,061010,000354,2329.191,12628.953,26,0.9,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.4
$GPS2,061010,000907,2329.262,12628.936,12,1.3,12,-3.5
$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,6.7,56955,-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,-214.1,0.0,0.0,0,98,0.00,0.00,-80.70,0.000,2,0.000,0.000,142,1825,3297,0,0,0,0,0,0
$GC,101,-1.16,-214.1,5.5,-10.8,11,132,8.88,2.10,-12.02,0.000,4,0.230,0.059,2447,3189,3949,0,0,0,0,0,0
$GC,146,-0.64,-214.1,29.5,-55.1,17,156,0.60,2.08,0.00,0.000,6,0.183,0.032,2621,1796,3950,0,0,0,0,0,0
$GC,473,-0.58,-214.1,122.8,-22.3,78,481,0.10,0.00,0.00,0.000,6,0.183,0.000,2647,1794,3954,0,0,0,0,0,0
$GC,805,-0.60,-214.1,179.5,-15.9,139,812,0.00,2.10,0.00,0.000,4,0.000,0.050,2642,3186,3955,0,0,0,0,0,0
$GC,863,-0.68,-214.1,188.0,-12.2,149,871,0.00,2.03,0.00,0.000,6,0.000,0.035,2642,1798,3955,0,0,0,0,0,0
$GC,1193,-0.72,-214.1,236.9,-14.6,210,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1798,3956,0,0,0,0,0,0
$GC,1527,-0.77,-214.1,282.4,-12.5,271,1534,0.15,0.00,0.00,0.000,6,0.077,0.000,2564,1797,3955,0,0,0,0,0,0
$GC,1858,-0.71,-214.1,349.3,-20.1,310,1862,0.15,2.10,0.00,0.000,4,0.169,0.046,2604,398,3955,0,0,0,0,0,0
$GC,1906,-0.74,-214.1,358.3,-15.1,314,1914,0.00,2.08,0.00,0.000,6,0.000,0.038,2602,1770,3954,0,0,0,0,0,0
$GC,2234,-0.76,-214.1,403.7,-13.9,345,2238,0.00,2.17,0.00,0.000,4,0.000,0.054,2601,3216,3953,0,0,0,0,0,0
$GC,2363,-0.84,-214.1,419.0,-11.3,356,2367,0.00,2.08,0.00,0.000,6,0.000,0.035,2601,1798,3953,0,0,0,0,0,0
$GC,2690,-0.88,-214.1,464.0,-13.7,386,2694,0.12,2.10,0.00,0.000,4,0.090,0.047,2536,399,3952,0,0,0,0,0,0
$GC,2722,-0.84,-214.1,469.7,-17.9,388,2730,0.10,2.12,0.00,0.000,6,0.147,0.040,2566,1795,3951,0,0,0,0,0,0
$STATE,2907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2907,begin apogee
$GC,2914,-0.23,0.0,501.1,16.6,406,3091,0.57,0.00,167.80,0.968,6,0.130,0.000,2760,1795,3072,0,0,0,0,0,0
$STATE,3092,end apogee,CONTROL_FINISHED_OK
$STATE,3092,begin climb
$GC,3094,1.16,214.1,509.5,0.0,421,3279,1.25,2.38,171.73,0.942,4,0.063,0.047,3230,356,2198,0,0,0,0,0,0
$GC,3295,0.85,214.1,478.1,28.8,439,3302,0.45,2.20,0.00,0.000,6,0.187,0.038,3116,1753,2196,0,0,0,0,0,0
$GC,3621,0.68,214.1,406.7,21.3,470,3623,0.20,0.00,0.00,0.000,6,0.174,0.000,3061,1756,2192,0,0,0,0,0,0
$GC,3940,0.59,214.1,353.2,15.1,500,3945,0.12,2.12,0.00,0.000,4,0.182,0.046,3018,3172,2188,0,0,0,0,0,0
$GC,4025,0.63,261.6,342.4,11.8,507,4073,0.00,2.12,38.78,0.867,6,0.000,0.037,3026,1749,2005,0,0,0,0,0,0
$GC,4392,0.61,261.6,294.5,14.6,544,4400,0.00,2.15,0.00,0.000,4,0.000,0.047,3033,355,2000,0,0,0,0,0,0
$GC,4446,0.61,261.6,286.5,14.9,553,4454,0.00,2.12,0.00,0.000,6,0.000,0.034,3036,1764,1999,0,0,0,0,0,0
$GC,4780,0.60,269.8,238.2,13.5,614,4794,0.00,2.12,6.95,0.669,4,0.000,0.045,3033,3167,1972,0,0,0,0,0,0
$GC,4824,0.61,275.9,232.2,13.6,621,4839,0.00,2.10,7.28,0.667,6,0.000,0.035,3039,1742,1946,0,0,0,0,0,0
$GC,5167,0.59,275.9,182.0,14.8,683,5174,0.00,2.08,0.00,0.000,4,0.000,0.044,3047,349,1944,0,0,0,0,0,0
$GC,5197,0.57,275.9,177.0,15.1,688,5205,0.00,2.12,0.00,0.000,6,0.000,0.033,3046,1755,1944,0,0,0,0,0,0
$GC,5526,0.61,308.4,132.1,12.5,749,5564,0.00,2.15,27.12,0.715,4,0.000,0.044,3045,3150,1814,0,0,0,0,0,0
$GC,5619,0.63,328.6,119.9,13.0,764,5643,0.00,2.12,18.27,0.677,6,0.000,0.036,3051,1751,1731,0,0,0,0,0,0
$GC,5965,0.77,408.5,76.3,10.4,827,6041,0.10,2.25,65.38,0.668,4,0.098,0.044,3130,346,1405,0,0,0,0,0,0
$GC,6079,0.74,408.5,58.6,16.9,843,6088,0.15,2.17,0.00,0.000,6,0.128,0.031,3081,1761,1403,0,0,0,0,0,0
$GC,6410,0.81,440.2,16.8,12.5,904,6441,0.00,2.17,26.17,0.604,4,0.000,0.042,3079,3155,1276,0,0,0,0,0,0
$GC,6492,1.01,524.2,6.5,10.2,917,6524,0.17,2.15,25.90,0.588,2,0.036,0.035,3188,1744,1152,0,0,0,0,0,0
$STATE,6525,end climb,SURFACE_DEPTH_REACHED
$STATE,6525,begin surface coast
$FINISH,0.6,1.001600
$STATE,6542,end surface coast,CONTROL_FINISHED_OK
$STATE,6542,begin surface
$SM_CCo,6621,0.00,0.000,0,0,1148,471.71
$SM_GC,1.56,7.80,0.00,0.00,0.028,0.000,0.000,146,1811,1148,-8.34,0.31,471.71
$IRIDIUM_FIX,2319.18,12631.52,051010,222241
$TT8_MAMPS,0.026964
$HUMID,40.54
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.70
$XPDR_PINGS,90
$24V_AH,24.4,30.900
$10V_AH,10.5,19.751
$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,20.925,55.575,555.375,0.000,0.000,28.388,15.078,133.673,22.500,0.000,12.890,2147.107,1603.835,552.484,2362.198,266.805,0.000,1422.640,0.000,2197.561,0.000,0.847,0.000
$DEVICE_MAMPS,229.500,109.395,968.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.612,944.458,1565.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53596,924
$CAP_FILE_SIZE,92766,0
$CFSIZE,260165632,170602496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218, 31.6,1
$GPS,061010,020038,2331.103,12629.392,10,1.9,11,-3.5