version: 66.08
glider: 166
mission: 3
dive: 246
start: 10 12 110 5 0 17
data:
$ID,166
$MISSION,3
$DIVE,246
$N_DIVES,252
$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,-21830.52
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,121010,045404,2314.906,12631.021,13,2.1,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.9
$GPS2,121010,045955,2314.973,12631.036,10,1.0,10,-3.4
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2300.000,12630.000
$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,170.9,27787,-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,-214.1,0.0,0.0,0,109,0.00,0.00,-92.03,0.000,2,0.000,0.000,149,1752,3275,0,0,0,0,0,0
$GC,112,-1.16,-214.1,5.5,-10.4,13,144,8.98,2.10,-12.40,0.000,4,0.227,0.050,2459,376,3949,0,0,0,0,0,0
$GC,199,-0.85,-214.1,50.7,-48.1,27,208,0.35,2.17,0.00,0.000,6,0.171,0.037,2553,1796,3950,0,0,0,0,0,0
$GC,524,-0.72,-214.1,150.3,-26.8,88,532,0.17,0.00,0.00,0.000,6,0.175,0.000,2602,1797,3954,0,0,0,0,0,0
$GC,862,-0.70,-214.1,219.2,-19.1,149,869,0.00,2.15,0.00,0.000,4,0.000,0.047,2593,3221,3956,0,0,0,0,0,0
$GC,925,-0.73,-214.1,230.1,-14.6,160,933,0.00,2.15,0.00,0.000,6,0.000,0.032,2593,1786,3956,0,0,0,0,0,0
$GC,1260,-0.72,-214.1,286.4,-16.3,221,1266,0.00,2.08,0.00,0.000,4,0.000,0.042,2593,396,3956,0,0,0,0,0,0
$GC,1319,-0.73,-214.1,295.4,-14.7,231,1327,0.00,2.12,0.00,0.000,6,0.000,0.037,2587,1812,3956,0,0,0,0,0,0
$GC,1653,-0.73,-214.1,345.0,-14.2,265,1657,0.00,2.10,0.00,0.000,4,0.000,0.051,2583,3209,3956,0,0,0,0,0,0
$GC,1698,-0.78,-214.1,351.1,-12.0,268,1706,0.00,2.12,0.00,0.000,6,0.000,0.034,2583,1796,3955,0,0,0,0,0,0
$GC,2024,-0.78,-214.1,397.4,-14.5,299,2028,0.00,2.12,0.00,0.000,4,0.000,0.046,2583,396,3954,0,0,0,0,0,0
$GC,2076,-0.81,-214.1,404.9,-14.5,303,2080,0.00,2.10,0.00,0.000,6,0.000,0.040,2583,1800,3954,0,0,0,0,0,0
$GC,2403,-0.83,-214.1,451.0,-14.3,333,2407,0.00,2.15,0.00,0.000,4,0.000,0.052,2574,3205,3953,0,0,0,0,0,0
$GC,2420,-0.86,-214.1,453.5,-14.1,334,2424,0.00,2.08,0.00,0.000,6,0.000,0.035,2574,1801,3953,0,0,0,0,0,0
$GC,2747,-0.87,-214.1,497.5,-13.0,364,2751,0.00,2.15,0.00,0.000,4,0.000,0.047,2574,390,3951,0,0,0,0,0,0
$STATE,2764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2764,begin apogee
$GC,2772,-0.23,0.0,500.1,12.9,365,2948,0.55,0.00,168.77,1.004,6,0.121,0.000,2758,1750,3071,0,0,0,0,0,0
$STATE,2948,end apogee,CONTROL_FINISHED_OK
$STATE,2948,begin climb
$GC,2951,1.16,214.1,507.0,0.0,380,3141,1.25,2.35,172.40,0.968,4,0.066,0.050,3220,353,2198,0,0,0,0,0,0
$GC,3147,0.86,214.1,478.5,27.4,397,3154,0.35,2.20,0.00,0.000,6,0.191,0.037,3122,1749,2198,0,0,0,0,0,0
$GC,3474,0.67,214.1,406.8,22.3,428,3479,0.22,2.15,0.00,0.000,4,0.174,0.046,3048,3167,2193,0,0,0,0,0,0
$GC,3503,0.54,214.1,400.9,18.3,430,3508,0.15,2.15,0.00,0.000,6,0.178,0.037,3017,1743,2191,0,0,0,0,0,0
$GC,3830,0.52,226.6,357.1,13.3,460,3845,0.00,2.20,10.55,0.815,4,0.000,0.047,3026,342,2147,0,0,0,0,0,0
$GC,3858,0.53,263.4,353.4,12.3,462,3896,0.00,2.15,32.05,0.890,6,0.000,0.035,3028,1758,1998,0,0,0,0,0,0
$GC,4213,0.50,263.4,304.9,14.1,495,4217,0.00,2.12,0.00,0.000,4,0.000,0.047,3027,3156,1993,0,0,0,0,0,0
$GC,4304,0.50,265.8,292.2,13.8,507,4311,0.12,2.10,0.00,0.000,6,0.173,0.037,3002,1742,1991,0,0,0,0,0,0
$GC,4644,0.58,318.2,249.8,11.6,568,4698,0.00,2.22,44.90,0.838,4,0.000,0.046,3010,356,1773,0,0,0,0,0,0
$GC,4743,0.70,374.8,237.9,11.4,583,4799,0.15,2.15,48.70,0.813,6,0.073,0.033,3096,1758,1544,0,0,0,0,0,0
$GC,5134,0.62,374.8,160.4,20.4,651,5141,0.20,2.12,0.00,0.000,4,0.155,0.043,3030,3160,1539,0,0,0,0,0,0
$GC,5177,0.67,381.0,153.4,13.6,658,5191,0.00,2.15,6.07,0.591,6,0.000,0.036,3038,1756,1517,0,0,0,0,0,0
$GC,5513,0.77,422.3,113.4,12.1,720,5554,0.15,2.25,35.15,0.718,4,0.074,0.044,3146,340,1349,0,0,0,0,0,0
$GC,5648,0.70,422.3,84.9,20.1,742,5657,0.22,2.15,0.00,0.000,6,0.126,0.033,3070,1743,1347,0,0,0,0,0,0
$GC,5979,0.99,571.2,50.8,7.4,803,6114,0.25,2.25,120.15,0.659,4,0.052,0.042,3192,3154,741,0,0,0,0,0,0
$GC,6164,0.96,571.2,9.8,22.5,830,6172,0.15,2.17,0.00,0.000,6,0.141,0.036,3153,1756,739,0,0,0,0,0,0
$STATE,6199,end climb,SURFACE_DEPTH_REACHED
$STATE,6199,begin surface coast
$FINISH,0.7,0.999873
$STATE,6211,end surface coast,CONTROL_FINISHED_OK
$STATE,6211,begin surface
$SM_CCo,6289,0.00,0.000,0,0,737,572.78
$SM_GC,1.51,7.75,0.00,0.00,0.030,0.000,0.000,139,1823,737,-8.35,0.65,572.78
$IRIDIUM_FIX,2307.44,12628.73,121010,030333
$TT8_MAMPS,0.026215
$HUMID,42.28
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.80
$XPDR_PINGS,77
$24V_AH,24.2,43.196
$10V_AH,10.4,28.560
$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,21.025,64.650,638.750,0.000,0.000,27.449,41.086,142.157,19.250,0.000,12.822,1924.390,1657.133,607.248,2187.078,261.685,0.000,1445.948,0.000,1986.263,0.000,0.847,0.000
$DEVICE_MAMPS,227.205,144.585,1003.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.159,856.460,1400.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,50251,838
$CAP_FILE_SIZE,90527,0
$CFSIZE,260165632,166363136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,327.9,1
$GPS,121010,064556,2314.538,12630.995,12,1.3,12,-3.4