version: 66.08
glider: 166
mission: 3
dive: 308
start: 10 17 110 1 1 40
data:
$ID,166
$MISSION,3
$DIVE,308
$N_DIVES,309
$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,-21911.289
$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,39
$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
$GPS1,171010,005501,2344.728,12629.919,41,1.1,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.5
$GPS2,171010,010119,2344.699,12629.943,12,1.8,29,-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,327.3,28338,-19.7,-13.889
$D_GRID,5000
$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,-214.1,0.0,0.0,0,114,0.00,0.00,-95.78,0.000,2,0.000,0.000,150,1804,3453,0,0,0,0,0,0
$GC,117,-1.16,-214.1,6.9,-14.1,13,141,9.07,2.22,-8.48,0.000,4,0.227,0.059,2449,3218,3949,0,0,0,0,0,0
$GC,245,-0.94,-214.1,67.1,-33.9,35,254,0.25,2.17,0.00,0.000,6,0.163,0.037,2527,1801,3952,0,0,0,0,0,0
$GC,573,-0.81,-214.1,163.4,-25.7,96,582,0.15,2.20,0.00,0.000,4,0.174,0.047,2574,389,3955,0,0,0,0,0,0
$GC,655,-0.78,-214.1,182.7,-20.0,110,663,0.00,2.15,0.00,0.000,6,0.000,0.039,2565,1799,3955,0,0,0,0,0,0
$GC,988,-0.72,-214.1,244.9,-17.8,171,997,0.15,2.17,0.00,0.000,4,0.168,0.046,2606,392,3957,0,0,0,0,0,0
$GC,1016,-0.70,-214.1,249.2,-15.9,175,1024,0.00,2.12,0.00,0.000,6,0.000,0.039,2604,1801,3957,0,0,0,0,0,0
$GC,1352,-0.72,-214.1,292.9,-13.3,236,1360,0.00,2.17,0.00,0.000,4,0.000,0.046,2603,398,3957,0,0,0,0,0,0
$GC,1396,-0.76,-214.1,299.0,-14.3,243,1404,0.00,2.12,0.00,0.000,6,0.000,0.038,2603,1809,3956,0,0,0,0,0,0
$GC,1721,-0.79,-214.1,347.4,-15.2,274,1725,0.00,2.10,0.00,0.000,4,0.000,0.051,2597,3203,3956,0,0,0,0,0,0
$GC,1756,-0.86,-214.1,352.3,-13.6,276,1764,0.08,2.12,0.00,0.000,6,0.050,0.036,2534,1802,3955,0,0,0,0,0,0
$GC,2082,-0.80,-214.1,411.3,-16.9,307,2087,0.15,2.17,0.00,0.000,4,0.162,0.047,2575,392,3954,0,0,0,0,0,0
$GC,2216,-0.84,-214.1,430.5,-13.7,318,2224,0.00,2.15,0.00,0.000,6,0.000,0.041,2572,1794,3954,0,0,0,0,0,0
$GC,2543,-0.86,-214.1,478.4,-15.4,349,2547,0.00,2.15,0.00,0.000,4,0.000,0.051,2562,3217,3952,0,0,0,0,0,0
$GC,2586,-0.91,-214.1,485.2,-14.3,352,2594,0.00,2.15,0.00,0.000,6,0.000,0.037,2562,1800,3952,0,0,0,0,0,0
$STATE,2686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2686,begin apogee
$GC,2692,-0.23,0.0,500.3,15.0,362,2866,0.60,0.00,169.85,0.993,6,0.125,0.000,2761,1748,3072,0,0,0,0,0,0
$STATE,2867,end apogee,CONTROL_FINISHED_OK
$STATE,2867,begin climb
$GC,2869,1.16,214.1,509.7,0.0,376,3052,1.20,2.30,172.15,0.965,4,0.047,0.050,3214,3157,2199,0,0,0,0,0,0
$GC,3109,0.87,214.1,469.9,28.1,396,3114,0.38,2.20,0.00,0.000,6,0.190,0.040,3125,1750,2197,0,0,0,0,0,0
$GC,3434,0.69,214.1,400.8,20.2,426,3436,0.20,0.00,0.00,0.000,6,0.175,0.000,3067,1750,2194,0,0,0,0,0,0
$GC,3755,0.60,214.1,351.9,15.1,456,3760,0.12,2.17,0.00,0.000,4,0.178,0.047,3042,333,2191,0,0,0,0,0,0
$GC,3806,0.55,214.1,344.1,14.8,460,3810,0.00,2.15,0.00,0.000,6,0.000,0.035,3041,1757,2190,0,0,0,0,0,0
$GC,4133,0.50,215.0,299.2,13.9,490,4142,0.12,2.15,0.00,0.000,4,0.169,0.047,2997,3155,2187,0,0,0,0,0,0
$GC,4237,0.61,289.6,287.5,10.7,508,4304,0.00,2.12,61.40,0.860,6,0.000,0.037,3006,1747,1891,0,0,0,0,0,0
$GC,4632,0.72,353.1,244.1,11.1,578,4694,0.17,2.20,53.83,0.819,4,0.068,0.043,3118,347,1631,0,0,0,0,0,0
$GC,4722,0.62,353.1,227.3,23.3,591,4730,0.25,2.17,0.00,0.000,6,0.147,0.036,3043,1753,1629,0,0,0,0,0,0
$GC,5056,0.62,353.1,173.1,15.5,652,5064,0.00,2.15,0.00,0.000,4,0.000,0.046,3032,3156,1626,0,0,0,0,0,0
$GC,5143,0.68,356.4,160.3,13.7,667,5150,0.00,2.12,0.00,0.000,6,0.000,0.036,3040,1740,1626,0,0,0,0,0,0
$GC,5471,0.74,384.5,117.7,12.7,728,5503,0.12,2.20,26.12,0.715,4,0.085,0.044,3136,343,1504,0,0,0,0,0,0
$GC,5595,0.69,384.5,94.6,18.8,748,5604,0.20,2.15,0.00,0.000,6,0.129,0.034,3066,1752,1502,0,0,0,0,0,0
$GC,5924,0.91,514.4,56.6,8.2,809,6039,0.17,2.22,106.07,0.670,4,0.066,0.044,3156,3144,973,0,0,0,0,0,0
$GC,6071,0.91,514.4,32.0,16.1,829,6079,0.08,2.17,0.00,0.000,6,0.140,0.036,3138,1757,972,0,0,0,0,0,0
$STATE,6258,end climb,SURFACE_DEPTH_REACHED
$STATE,6258,begin surface coast
$FINISH,0.7,1.013641
$STATE,6282,end surface coast,CONTROL_FINISHED_OK
$STATE,6282,begin surface
$SM_CCo,6359,0.00,0.000,0,0,966,516.60
$SM_GC,1.47,7.70,0.00,0.00,0.032,0.000,0.000,141,1753,966,-8.36,-1.36,516.60
$IRIDIUM_FIX,2337.99,12821.20,161010,232341
$TT8_MAMPS,0.026215
$HUMID,43.38
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.70
$XPDR_PINGS,72
$24V_AH,24.2,53.150
$10V_AH,10.4,35.396
$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,21.175,60.750,589.425,0.000,0.000,24.174,43.244,146.660,18.000,0.000,31.331,2008.518,1598.105,562.123,2293.675,270.955,0.000,1416.571,0.000,2072.108,0.000,0.849,0.000
$DEVICE_MAMPS,227.205,159.120,992.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.480,887.529,1450.846,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333912
$DATA_FILE_SIZE,50287,868
$CAP_FILE_SIZE,90624,0
$CFSIZE,260165632,163057664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,126.8,1
$GPS,171010,024852,2345.015,12629.775,15,2.4,34,-3.5